WorldWideScience

Sample records for single manipulation system

  1. Task-oriented control of Single-Master Multi-Slave Manipulator System

    International Nuclear Information System (INIS)

    Kosuge, Kazuhiro; Ishikawa, Jun; Furuta, Katsuhisa; Hariki, Kazuo; Sakai, Masaru.

    1994-01-01

    A master-slave manipulator system, in general, consists of a master arm manipulated by a human and a slave arm used for real tasks. Some tasks, such as manipulation of a heavy object, etc., require two or more slave arms operated simultaneously. A Single-Master Multi-Slave Manipulator System consists of a master arm with six degrees of freedom and two or more slave arms, each of which has six or more degrees of freedom. In this system, a master arm controls the task-oriented variables using Virtual Internal Model (VIM) based on the concept of 'Task-Oriented Control'. VIM is a reference model driven by sensory information and used to describe the desired relation between the motion of a master arm and task-oriented variables. The motion of slave arms are controlled based on the task oriented variables generated by VIM and tailors the system to meet specific tasks. A single-master multi-slave manipulator system, having two slave arms, is experimentally developed and illustrates the concept. (author)

  2. Single-molecule imaging and manipulation of biomolecular machines and systems.

    Science.gov (United States)

    Iino, Ryota; Iida, Tatsuya; Nakamura, Akihiko; Saita, Ei-Ichiro; You, Huijuan; Sako, Yasushi

    2018-02-01

    Biological molecular machines support various activities and behaviors of cells, such as energy production, signal transduction, growth, differentiation, and migration. We provide an overview of single-molecule imaging methods involving both small and large probes used to monitor the dynamic motions of molecular machines in vitro (purified proteins) and in living cells, and single-molecule manipulation methods used to measure the forces, mechanical properties and responses of biomolecules. We also introduce several examples of single-molecule analysis, focusing primarily on motor proteins and signal transduction systems. Single-molecule analysis is a powerful approach to unveil the operational mechanisms both of individual molecular machines and of systems consisting of many molecular machines. Quantitative, high-resolution single-molecule analyses of biomolecular systems at the various hierarchies of life will help to answer our fundamental question: "What is life?" This article is part of a Special Issue entitled "Biophysical Exploration of Dynamical Ordering of Biomolecular Systems" edited by Dr. Koichi Kato. Copyright © 2017 Elsevier B.V. All rights reserved.

  3. 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)

  4. Coherent manipulation of single spins in semiconductors.

    Science.gov (United States)

    Hanson, Ronald; Awschalom, David D

    2008-06-19

    During the past few years, researchers have gained unprecedented control over spins in the solid state. What was considered almost impossible a decade ago, in both conceptual and practical terms, is now a reality: single spins can be isolated, initialized, coherently manipulated and read out using both electrical and optical techniques. Progress has been made towards full control of the quantum states of single and coupled spins in a variety of semiconductors and nanostructures, and towards understanding the mechanisms through which spins lose coherence in these systems. These abilities will allow pioneering investigations of fundamental quantum-mechanical processes and provide pathways towards applications in quantum information processing.

  5. Trapping and manipulating single molecules of DNA

    Science.gov (United States)

    Shon, Min Ju

    This thesis presents the development and application of nanoscale techniques to trap and manipulate biomolecules, with a focus on DNA. These methods combine single-molecule microscopy and nano- and micro-fabrication to study biophysical properties of DNA and proteins. The Dimple Machine is a lab-on-a-chip device that can isolate and confine a small number of molecules from a bulk solution. It traps molecules in nanofabricated chambers, or "dimples", and the trapped molecules are then studied on a fluorescence microscope at the single-molecule level. The sampling of bulk solution by dimples is representative, reproducible, and automated, enabling highthroughput single-molecule experiments. The device was applied to study hybridization of oligonucleotides, particularly in the context of reaction thermodynamics and kinetics in nanoconfinement. The DNA Pulley is a system to study protein binding and the local mechanical properties of DNA. A molecule of DNA is tethered to a surface on one end, and a superparamagnetic bead is attached to the other. A magnet pulls the DNA taut, and a silicon nitride knife with a nanoscale blade scans the DNA along its contour. Information on the local properties of the DNA is extracted by tracking the bead with nanometer precision in a white-light microscope. The system can detect proteins bound to DNA and localize their recognition sites, as shown with a model protein, EcoRI restriction enzyme. Progress on the measurements of nano-mechanical properties of DNA is included.

  6. Single-photon manipulation in Nanophotonic Circuits

    DEFF Research Database (Denmark)

    Hansen, Sofie Lindskov

    be realized on a chip with embedded quantum dots. This allows for on-chip generation and manipulation of single photons. The router consists of an on-chip interferometer where the phase difference between the arms of the interferometer is controlled electrically. The response time of the device......Quantum dots in photonic nanostructures has long been known to be a very powerful and versatile solid-state platform for conducting quantum optics experiments. The present PhD thesis describes experimental demonstrations of single-photon generation and subsequent manipulation all realized...

  7. Manipulator gaiter system

    International Nuclear Information System (INIS)

    Cole, G.V.

    1991-01-01

    A manipulator is described which comprises a throughtube and a slave arm which is provided with a retainer ring to retain a gaiter enclosing the slave arm while the manipulator is installed in a through-wall liner in a wall of a hot cell. The manipulator also incorporates a cam and spring-loaded pin arranged to push the toggle of the gaiter ring into its expanded position, clamped to the liner. The cam is operated by bending the slave arm relative to the throughtube. Since the gaiter is fitted over the slave arm before installation of the slave arm in the liner, the gaiter is less likely to be damaged or to be knocked out of the liner during installation. (author)

  8. Advanced teleoperators. [remote manipulation system

    Science.gov (United States)

    Bejczy, A. K.

    1979-01-01

    Advanced teleoperators are discussed, with emphasis on the remote manipulation system designed to perform such actions as grasping, orienting, moving, placing, and inserting objects. Geometrical performance dimensions are considered, indicating that a manipulator is limited to three-orders-of-magnitude ratio of workspace extension to positioning accuracy. The control system is examined, showing that a manipulative task requires coordination of several joints, with the relationship between the task definers and the joint variables given by complex trigonometrical transformations. Control modes developed in the last 30 years are noted, including program controlled industrial 'robots' which can endlessly repeat a fixed sequence of motions without operator intervention, and the sensor-referenced/computer-controlled mode manipulators. Advanced proximity sensor systems are taken into account, with emphasis on the applications of the force-torque and slip models. The proximity sensor system for the shuttle-size manipulator is described.

  9. Single-molecule manipulation and detection.

    Science.gov (United States)

    Zhao, Deyu; Liu, Siyun; Gao, Ying

    2018-01-25

    Compared to conventional ensemble methods, studying macromolecules at single-molecule level can reveal extraordinary clear and even surprising views for a biological reaction. In the past 20 years, single-molecule techniques have been undergoing a very rapid development, and these cutting edge technologies have revolutionized the biological research by facilitating single-molecule manipulation and detection. Here we give a brief review about these advanced techniques, including optical tweezers, magnetic tweezers, atomic force microscopy (AFM), hydrodynamic flow-stretching assay, and single-molecule fluorescence resonance energy transfer (smFRET). We are trying to describe their basic principles and provide a few examples of applications for each technique. This review aims to give a rather introductory survey of single-molecule techniques for audiences with biological or biophysical background. © The Author(s) 2018. Published by Oxford University Press on behalf of the Institute of Biochemistry and Cell Biology, Shanghai Institutes for Biological Sciences, Chinese Academy of Sciences. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

  10. Advanced manipulator system for large hot cells

    International Nuclear Information System (INIS)

    Vertut, J.; Moreau, C.; Brossard, J.P.

    1981-01-01

    Large hot cells can be approached as extrapolated from smaller ones as wide, higher or longer in size with the same concept of using mechanical master slave manipulators and high density windows. This concept leads to a large number of working places and corresponding equipments, with a number of penetrations through the biological protection. When the large cell does not need a permanent operation of number of work places, as in particular to serve PIE machines and maintain the facility, use of servo manipulators with a large supporting unit and extensive use of television appears optimal. The advance on MA 23 and supports will be described including the extra facilities related to manipulators introduction and maintenance. The possibility to combine a powered manipulator and MA 23 (single or pair) on the same boom crane system will be described. An advance control system to bring the minimal dead time to control support movement, associated to the master slave arm operation is under development. The general television system includes over view cameras, associated with the limited number of windows, and manipulators camera. A special new system will be described which brings an automatic control of manipulator cameras and saves operator load and dead time. Full scale tests with MA 23 and support will be discussed. (author)

  11. Manipulators and tranfer systems

    International Nuclear Information System (INIS)

    Brossard, J.P.

    1983-01-01

    La CALHENE presents the following subjects: 1) Transfer system α β γ, by use of double door technique. 2) Use of servomanipulators instead of mechanical master slaves, to assume the maintenance tasks in the reprocessing facilities. 3) Use of servomanipulators for the decommissioning of existing facilities. We describe the PIADE device allowing to introduce a servomanipulator MA 23M inside a cell without to break the alpha containment and the gamma protection. The drum system CEFE, and of the servomanipulator MA 23M are described

  12. High-throughput single-cell manipulation in brain tissue.

    Directory of Open Access Journals (Sweden)

    Joseph D Steinmeyer

    Full Text Available The complexity of neurons and neuronal circuits in brain tissue requires the genetic manipulation, labeling, and tracking of single cells. However, current methods for manipulating cells in brain tissue are limited to either bulk techniques, lacking single-cell accuracy, or manual methods that provide single-cell accuracy but at significantly lower throughputs and repeatability. Here, we demonstrate high-throughput, efficient, reliable, and combinatorial delivery of multiple genetic vectors and reagents into targeted cells within the same tissue sample with single-cell accuracy. Our system automatically loads nanoliter-scale volumes of reagents into a micropipette from multiwell plates, targets and transfects single cells in brain tissues using a robust electroporation technique, and finally preps the micropipette by automated cleaning for repeating the transfection cycle. We demonstrate multi-colored labeling of adjacent cells, both in organotypic and acute slices, and transfection of plasmids encoding different protein isoforms into neurons within the same brain tissue for analysis of their effects on linear dendritic spine density. Our platform could also be used to rapidly deliver, both ex vivo and in vivo, a variety of genetic vectors, including optogenetic and cell-type specific agents, as well as fast-acting reagents such as labeling dyes, calcium sensors, and voltage sensors to manipulate and track neuronal circuit activity at single-cell resolution.

  13. Master/slave manipulator system

    Science.gov (United States)

    Vykukal, H. C.; King, R. F.; Vallotton, W. C.

    1973-01-01

    System capabilities are equivalent to mobility, dexterity, and strength of human arm. Arrangement of torque motor, harmonic drive, and potentiometer combination allows all power and control leads to pass through center of slave with position-transducer arrangement of master, and "stovepipe joint" is incorporated for manipulator applications.

  14. Manipulating Quantum Coherence in Solid State Systems

    CERN Document Server

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

    2007-01-01

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

  15. Single-photon manipulation in Nanophotonic Circuits

    DEFF Research Database (Denmark)

    Hansen, Sofie Lindskov

    on a gallium arsenide platform. This platform offers near-unity coupling between embedded single-photon emitters and a photonic mode, as well as the ability to suppress decoherence mechanisms, making it highly suited for quantum information applications. In this thesis we show how a single-photon router can...

  16. Genetic manipulation system in propionibacteria.

    Science.gov (United States)

    Kiatpapan, Pornpimon; Murooka, Yoshikatsu

    2002-01-01

    Members of the genus Propionibacterium are widely used in the production of vitamin B12, tetrapyrrole compounds, and propionic acid as well as in probiotic and cheese industries. Shuttle vectors were developed in propionibacteria using replicons from endogenous plasmids in Propionibacterium and Escherichia coli and an appropriate selection marker. The efficient transformation was achieved using the shuttle vector prepared from Propionibacterium freudenreichii to overcome the high restriction modification system in propionibacteria. Expression vectors with native promoters for use in propionibacteria were also developed. Using this system, cholesterol oxidase, which is used as a diagnostic enzyme, was produced in P. freudenreichii. Genes involved in 5-aminolevulinic acid (ALA) and vitamin B12 biosynthesis in propionibacteria were isolated. ALA in propionibacteria could be synthesized via both the C4 pathway (condensation of glycine and succinyl CoA) and the C5 pathway (from glutamate). The hemA gene encoding ALA synthase from Rhodobacter spheroides, was overexpressed and ALA accumulated in P. freudenreichii. Thus, the genetic manipulation systems in propionibacteria will facilitate genetic studies of probiotics and the vitamin B12 biosynthetic pathway.

  17. Massively Parallel Single-Molecule Manipulation Using Centrifugal Force

    Science.gov (United States)

    Wong, Wesley; Halvorsen, Ken

    2011-03-01

    Precise manipulation of single molecules has led to remarkable insights in physics, chemistry, biology, and medicine. However, two issues that have impeded the widespread adoption of these techniques are equipment cost and the laborious nature of making measurements one molecule at a time. To meet these challenges, we have developed an approach that enables massively parallel single- molecule force measurements using centrifugal force. This approach is realized in the centrifuge force microscope, an instrument in which objects in an orbiting sample are subjected to a calibration-free, macroscopically uniform force- field while their micro-to-nanoscopic motions are observed. We demonstrate high- throughput single-molecule force spectroscopy with this technique by performing thousands of rupture experiments in parallel, characterizing force-dependent unbinding kinetics of an antibody-antigen pair in minutes rather than days. Currently, we are taking steps to integrate high-resolution detection, fluorescence, temperature control and a greater dynamic range in force. With significant benefits in efficiency, cost, simplicity, and versatility, single-molecule centrifugation has the potential to expand single-molecule experimentation to a wider range of researchers and experimental systems.

  18. Manipulation of single neutral atoms in optical lattices

    International Nuclear Information System (INIS)

    Zhang Chuanwei; Das Sarma, S.; Rolston, S. L.

    2006-01-01

    We analyze a scheme to manipulate quantum states of neutral atoms at individual sites of optical lattices using focused laser beams. Spatial distributions of focused laser intensities induce position-dependent energy shifts of hyperfine states, which, combined with microwave radiation, allow selective manipulation of quantum states of individual target atoms. We show that various errors in the manipulation process are suppressed below 10 -4 with properly chosen microwave pulse sequences and laser parameters. A similar idea is also applied to measure quantum states of single atoms in optical lattices

  19. Development of the heavy manipulator vehicle system

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  20. Collision Detection for Underwater ROV Manipulator Systems.

    Science.gov (United States)

    Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel

    2018-04-06

    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.

  1. W-026, acceptance test report manipulator system

    International Nuclear Information System (INIS)

    Watson, T.L.

    1997-01-01

    The purpose of the WRAP Manipulator System Acceptance Test Plan (ATP) is to verify that the 4 glovebox sets of WRAP manipulator components, including rail/carriage, slave arm, master controller and auxiliary equipment, meets the requirements of the functional segments of 14590 specification. The demonstration of performance elements of the ATP are performed as a part of the Assembly specifications. Manipulator integration is integrated in the performance testing of the gloveboxes. Each requirement of the Assembly specification will be carried out in conjunction with glovebox performance tests

  2. Counterweight system for master-slave manipulator

    International Nuclear Information System (INIS)

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

    1981-01-01

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

  3. Femtosecond laser fabrication of optofluidic devices for single cell manipulation

    Directory of Open Access Journals (Sweden)

    Bragheri Francesca

    2015-01-01

    Full Text Available In this work we fabricate and validate two optofludic devices for the manipulation and analysis of single cells. The chips are fabricated by femtosecond laser micromachining exploiting the 3D capabilities of the technique and the inherent perfect alignment between microfluidic channels and optical networks. Both devices have been validated by probing the mechanical properties of different cancer cell lines, which are expected to show different elasticity because of their different metastatic potential.

  4. Spectroscopy and coherent manipulation of single and coupled flux qubits

    International Nuclear Information System (INIS)

    Wu Yu-Lin; Deng Hui; Huang Ke-Qiang; Tian Ye; Yu Hai-Feng; Xue Guang-Ming; Jin Yi-Rong; Li Jie; Zhao Shi-Ping; Zheng Dong-Ning

    2013-01-01

    Measurements of three-junction flux qubits, both single flux qubits and coupled flux qubits, using a coupled direct current superconducting quantum interference device (dc-SQUID) for readout are reported. The measurement procedure is described in detail. We performed spectroscopy measurements and coherent manipulations of the qubit states on a single flux qubit, demonstrating quantum energy levels and Rabi oscillations, with Rabi oscillation decay time T Rabi = 78 ns and energy relaxation time T 1 = 315 ns. We found that the value of T Rabi depends strongly on the mutual inductance between the qubit and the magnetic coil. We also performed spectroscopy measurements on inductively coupled flux qubits. (general)

  5. MicroBioRobots for single cell manipulation

    Science.gov (United States)

    Sakar, Mahmut Selman

    One of the great challenges in nano and micro scale science and engineering is the independent manipulation of biological cells and small man-made objects with active sensing. For such biomedical applications as single cell manipulation, telemetry, and localized targeted delivery of chemicals, it is important to fabricate microstructures that can be powered and controlled without a tether in fluidic environments. These microstructures can be used to develop microrobots that have the potential to make existing therapeutic and diagnostic procedures less invasive. Actuation can be realized using various different organic and inorganic methods. Previous studies explored different forms of actuation and control with microorganisms. Bacteria, in particular, offer several advantages as controllable microactuators: they draw chemical energy directly from their environment, they are genetically modifiable, and they are scalable and configurable in the sense that any number of bacteria can be selectively patterned. Additionally, the study of bacteria inspires inorganic schemes of actuation and control. For these reasons, we chose to employ bacteria while controlling their motility using optical and electrical stimuli. In the first part of the thesis, we demonstrate a biointegrated approach by introducing MicroBioRobots (MBRs). MBRs are negative photosensitive epoxy (SU8) microfabricated structures with typical feature sizes ranging from 1-100 mum coated with a monolayer of the swarming Serratia marcescens . The adherent bacterial cells naturally coordinate to propel the microstructures in fluidic environments which we call Self-Actuation. First, we demonstrate the control of MBRs using self-actuation, DC electric fields and ultra-violet radiation and develop an experimentally-validated mathematical model for the MBRs. This model allows us to to steer the MBR to any position and orientation in a planar micro channel using visual feedback and an inverted microscope. Examples

  6. Optical determination and magnetic manipulation of a single nitrogen-vacancy color center in diamond nanocrystal

    International Nuclear Information System (INIS)

    Diep Lai, Ngoc; Zheng, Dingwei; Treussart, François; Roch, Jean-François

    2010-01-01

    The controlled and coherent manipulation of individual quantum systems is fundamental for the development of quantum information processing. The nitrogen-vacancy (NV) color center in diamond is a promising system since its photoluminescence is perfectly stable at room temperature and its electron spin can be optically read out at the individual level. We review here the experiments currently realized in our laboratory concerning the use of a single NV color center as the single photon source and the coherent magnetic manipulation of the electron spin associated with a single NV color center. Furthermore, we demonstrate a nanoscopy experiment based on the saturation absorption effect, which allows to optically pin-point a single NV color center at sub-λ resolution. This offers the possibility to independently address two or multiple magnetically coupled single NV color centers, which is a necessary step towards the realization of a diamond-based quantum computer

  7. Development of an advanced robot manipulator system

    International Nuclear Information System (INIS)

    Oomichi, Takeo; Higuchi, Masaru; Shimizu, Yujiro; Ohnishi, Ken

    1991-01-01

    A sophisticated manipulator system for an advanced robot was developed under the 'Advanced Robot Technology Development' Program promoted and supported by the Agency of Industrial Science and Technology of MITI. The authors have participated in the development of a fingered manipulator with force and tactile sensors applicable to a masterslave robot system. Our slave manipulator is equipped with four fingers. Though the finger needs many degrees of freedom so as to be suitable for skilful handing of an object, our fingers are designed to have minimum degree of freedom in order to reduce weight. Each finger tip was designed to be similar to a human finger which has flexibility, softness and contact feeling. The shape of the master finger manipulator was so designed that the movement of the fingers is smoother and that the constraint feeling of the operator is smaller. We were adopted to a pneumatic pressure system for transmitting the tactile feeling of the slave fingers to the master fingers. A multiple sensory bilateral control system which gives an operator a feeling of force and tactile reduces his feeling of constraint in carrying out work with a robot system. (author)

  8. Manipulating localized molecular orbitals by single-atom contacts.

    Science.gov (United States)

    Wang, Weihua; Shi, Xingqiang; Lin, Chensheng; Zhang, Rui Qin; Minot, Christian; Van Hove, Michel A; Hong, Yuning; Tang, Ben Zhong; Lin, Nian

    2010-09-17

    We have fabricated atom-molecule contacts by attachment of single Cu atoms to terpyridine side groups of bis-terpyridine tetra-phenyl ethylene molecules on a Cu(111) surface. By means of scanning tunneling microscopy, spectroscopy, and density functional calculations, we have found that, due to the localization characteristics of molecular orbitals, the Cu-atom contact modifies the state localized at the terpyridine side group which is in contact with the Cu atom but does not affect the states localized at other parts of the molecule. These results illustrate the contact effects at individual orbitals and offer possibilities to manipulate orbital alignments within molecules.

  9. Lateral manipulation of small clusters on the Cu and Ag(1 1 1) surfaces with the single-atom and trimer-apex tips: Reliability study

    International Nuclear Information System (INIS)

    Xie Yiqun; Liu Fen; Huang Lei

    2010-01-01

    We study the reliability of the lateral manipulation of small Cu clusters (dimer and trimer) on the flat Cu(1 1 1) surface with both the single-atom and trimer-apex tips and that for the Ag/Ag(1 1 1) system, and compare the results between the two systems as well as with the single-atom manipulation on these surfaces. Manipulations are simulated using molecular statics method with semi-empirical potentials. The dependence of the manipulation reliability on the tip height and tip orientation are investigated. Overall, the manipulation reliability increases with decreasing tip height although it depends obviously on the tip orientation. For the Cu/Cu(1 1 1) system, the manipulation of the dimmer and trimer can be successful with both tips. The manipulation reliability can be improved by the trimer-apex tip, and the tip-height range for the successful manipulation is also broader, as compared to the single-atom apex tip. Differently from the single-atom manipulation, the tip orientation has a noticeable influence on the manipulation reliability even for the single-atom tip due to the stronger tip-cluster and surface-adatom interactions in cluster manipulation. For the Ag/Ag(1 1 1) system, successful manipulations only be achieved with the trimer-apex tip, and the manipulation reliability is worse than that of the Cu/Cu(1 1 1) system, indicating the difference in mechanic properties between the two surfaces at the atomic level.

  10. Anthropomorphic master/slave manipulator system

    Science.gov (United States)

    Vykukal, H. C.; King, R. F.; Vallotton, W. C. (Inventor)

    1977-01-01

    An anthropomorphic master/slave manipulator system including master arm apparatus with a plurality of master tubular articulated portions is outlined. Objectives of this investion were to provide a system that accurately and smoothly simulates human limb movement at a remote location. The system has a high frequency response, a high structural stiffness and a design that protects the components of the slave mechanism. Simulation of human movements is possible in outer space, underwater, and in a hazardous environment such as in a high radiation area. The equivalent ability, dexterity, and strength of a human arm are simulated.

  11. Expert operator preferences in remote manipulator control systems

    International Nuclear Information System (INIS)

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

    1995-06-01

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

  12. 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.)

  13. Physics Based Vision Systems for Robotic Manipulation

    Data.gov (United States)

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

  14. Analytical and semi-analytical inverse kinematics of SSRMS-type manipulators with single joint locked failure

    Science.gov (United States)

    Xu, Wenfu; She, Yu; Xu, Yangsheng

    2014-12-01

    Redundant space manipulators, including Space Station Remote Manipulator System (SSRMS), Special Purpose Dexterous Manipulator (SPDM) and European Robotic Arm (ERA), have been playing important roles in the construction and maintenance of International Space Station (ISS). They all have 7 revolute joints arranged in similar configurations, and are referred to as SSRMS-type manipulators. When a joint is locked in an arbitrary position due to some failures, a 7R manipulator degrades to a 6R manipulator. Without a spherical wrist or three consecutive parallel joints, the inverse kinematics of the 6R manipulator is very complex. In this paper, we propose effective methods to resolve the inverse kinematics for different cases of any joint locked in an arbitrary position. Firstly, configuration characteristics of the SSRMS-type redundant manipulators are analyzed. Then, an existing of closed-form inverse kinematics is discussed for locking different joints. Secondly, D-H frames and corresponding D-H parameters of the new 6-DOF manipulator formed by locking a joint in an arbitrary position are re-constructed. A unified table is then created to describe the kinematics for all possible cases of single joint locking failure. Thirdly, completely analytical and semi-analytical methods are presented to solve the inverse kinematics equations, and the former is used for locking joint 1, 2, 6 or 7 while the latter for locking joint 3, 4 or 5. Finally, typical cases for single joint locking are studied. The results verify the proposed methods.

  15. Optical Manipulation System Using a Plurality of Optical Traps

    DEFF Research Database (Denmark)

    2006-01-01

    The present invention relates to an optical manipulation system (10) for generation of a plurality of optical traps for manipulation of micro-objects including nano-objects using electromagnetic radiation forces in a micro-object manipulation volume (14), the system comprising a spatially modulat...

  16. Controlling speedup in open quantum systems through manipulation of system-reservoir bound states

    Science.gov (United States)

    Behzadi, N.; Ahansaz, B.; Ektesabi, A.; Faizi, E.

    2017-05-01

    In this paper, we give a mechanism for controlling speedup of a single-qubit open quantum system by exclusively manipulating the system-reservoir bound states using additional noninteracting qubits. It is demonstrated that providing stronger bound states in the system-reservoir spectrum makes the single qubit evolve with higher speed. We examine the performance of the mechanism for different spectral densities such as Lorentzian and ohmic and find out the decisive role of bound states' manipulation in the speeding up of quantum evolution.

  17. Hierarchical control system of advanced robot manipulator

    International Nuclear Information System (INIS)

    Oomichi, Takeo; Okino, Akihisa; Nishihara, Masatoshi; Sakamoto, Taizou; Matsuda, Koichi; Ohnishi, Ken

    1990-01-01

    We introduce a double arm with 4-finger's manipulator system which process the large volume of information at high speed. This is under research/development many type of works in the harsh condition. Namely, hierarchization of instruction unit in which motion control system as real time processing unit, and task planning unit as non-real time processing unit, interface with operation through the task planning unit has been made. Also, high speed processing of large volume information has been realized by decentralizing the motion control unit by function, hierarchizing the high speed processing unit, and developing high speed transmission, IC which does not depend on computer OS to avoid the delay in transmission. (author)

  18. Manipulator-deployed laser decontamination system. Final report

    International Nuclear Information System (INIS)

    Littwin, Rene; Hurtado, Antonio; Lippmann, Wolfgang

    2011-09-01

    Project aim is the development of a manipulator-deployed system using laser technology to ablate radioactive concrete surfaces. Manipulator technology competences of Karlsruhe Institute of Technology (KIT) and competences of TU Dresden (TUD) using laser technology for the ablation of surfaces were successfully combined. The report presents the results that were accomplished at TU Dresden. In the first part, the state of development in decommissioning of nuclear facilities in Germany and Europe is presented and technologies commonly used are being identified and compared. So requirements have been derived from this data base to be fulfilled by the laser decontamination technology and the carrier system. Using the results of the research project LASABA II (FKZ: 02S8356, completed in 2008) for optimized laser ablation of concrete surfaces, the technology has been further developed in order to use it as a fully remote controlled device in combination with a manipulator as carrier system. Therefore, the laser ablation unit was equipped with a sensor system developed within this project. Together with the manipulator the latter serves as a basis for the system to be used under industrial conditions. The performance of the laser decontamination system was increased by adapting it to an enhanced diode laser with 10 kW laser power recently put into operation at TU Dresden. The performance of the single components was analysed and verified in several experiments. This includes tests with obstacles of different shapes and sizes occurring in real nuclear power plants like metal bolts, screws and edges. The experiments show that small metal parts are ablated by the laser decontamination system, while bigger parts, which would otherwise damage the system, are detected by the sensors. Thereby, the system is able to avoid these big metal parts. In cooperation with E.ON Kernkraft, concrete samples from the nuclear power plant in Wuergassen were used to show that the developed

  19. Diaphragm pico-liter pump for single-cell manipulation.

    Science.gov (United States)

    Anis, Yasser; Houkal, Jeffrey; Holl, Mark; Johnson, Roger; Meldrum, Deirdre

    2011-08-01

    A pico-liter pump is developed and integrated into a robotic manipulation system that automatically selects and transfers individual living cells of interest to analysis locations. The pump is a displacement type pump comprising one cylindrical chamber connected to a capillary micropipette. The top of the chamber is a thin diaphragm which, when deflected, causes the volume of the fluid-filled cylindrical chamber to change thereby causing fluid in the chamber to flow in and out of the micropipette. This enables aspirating and dispensing individual living cells. The diaphragm is deflected by a piezoelectric actuator that pushes against its center. The pump aspirates and dispenses volumes of fluid between 500 pL and 250 nL at flow rates up to 250 nL/s. The piezo-driven diaphragm arrangement provides exquisite control of the flow rate in and out of the capillary orifice. This feature, in turn, allows reduced perturbation of live cells by controlling and minimizing the applied shear stresses.

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

    Directory of Open Access Journals (Sweden)

    Dazhong Wang

    2015-06-01

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

  1. Vehicle-manipulator systems modeling for simulation, analysis, and control

    CERN Document Server

    From, Pal Johan; Pettersen, Kristin Ytterstad

    2014-01-01

    Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas.  The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain glob...

  2. Manipulators

    International Nuclear Information System (INIS)

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

    2005-01-01

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

  3. Imaging and manipulation of single viruses by atomic force microscopy

    NARCIS (Netherlands)

    Baclayon, M.; Wuite, G.J.L.; Roos, W.H.

    2010-01-01

    The recent developments in virus research and the application of functional viral particles in nanotechnology and medicine rely on sophisticated imaging and manipulation techniques at nanometre resolution in liquid, air and vacuum. Atomic force microscopy (AFM) is a tool that combines these

  4. Single-qubit remote manipulation by magnetic solitons

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-02-15

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

  5. Physical manipulation of single-molecule DNA using microbead and its application to analysis of DNA-protein interaction

    International Nuclear Information System (INIS)

    Kurita, Hirofumi; Yasuda, Hachiro; Takashima, Kazunori; Katsura, Shinji; Mizuno, Akira

    2009-01-01

    We carried out an individual DNA manipulation using an optical trapping for a microbead. This manipulation system is based on a fluorescent microscopy equipped with an IR laser. Both ends of linear DNA molecule were labeled with a biotin and a thiol group, respectively. Then the biotinylated end was attached to a microbead, and the other was immobilized on a thiol-linkable glass surface. We controlled the form of an individual DNA molecule by moving the focal point of IR laser, which trapped the microbead. In addition, we applied single-molecule approach to analyze DNA hydrolysis. We also used microchannel for single-molecule observation of DNA hydrolysis. The shortening of DNA in length caused by enzymatic hydrolysis was observed in real-time. The single-molecule DNA manipulation should contribute to elucidate detailed mechanisms of DNA-protein interactions

  6. Design and Modelling of Distributed Industrial Manipulation System with Wireless Operated Moving Manipulation

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Píša, P.

    2015-01-01

    Roč. 4, č. 3 (2015), s. 69-75 ISSN 1805-3386 Institutional support: RVO:67985556 Keywords : Manipulation system * wireless communication * distributed systems * production lines * physical modelling * DC motors * robotics Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/2015/AS/belda-0448098.pdf

  7. Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure.

    Science.gov (United States)

    Mu, Zonggao; Han, Liang; Xu, Wenfu; Li, Bing; Liang, Bin

    2016-01-01

    A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it to lose one degree of freedom (DOF), hence reducing its movement ability. In this paper, the key problems related to the fault-tolerant including kinematics, workspace, and trajectory planning of a non-redundant space manipulator under single joint failure are handled. First, the analytical inverse kinematics equations are derived for the 5-DOF manipulator formed by locking the failure joint of the original 6-DOF manipulator. Then, the reachable end-effector pose (position and orientation) is determined. Further, we define the missions can be completed by the 5-DOF manipulator. According to the constraints of the on-orbital mission, we determine the grasp envelope required for the end-effector. Combining the manipulability of the manipulator and the performance of its end-effector, a fault tolerance parameter is defined and a planning method is proposed to generate the reasonable trajectory, based on which the 5-DOF manipulator can complete the desired tasks. Finally, typical cases are simulated and the simulation results verify the proposed method.

  8. An efficient single-step scheme for manipulating quantum information of two trapped ions beyond the Lamb-Dicke limit

    International Nuclear Information System (INIS)

    Wei, L.F.; Nori, Franco

    2003-01-01

    Based on the exact conditional quantum dynamics for a two-ion system, we propose an efficient single-step scheme for coherently manipulating quantum information of two trapped cold ions by using a pair of synchronous laser pulses. Neither the auxiliary atomic level nor the Lamb-Dicke approximation are needed

  9. A thin permeable-membrane device for single-molecule manipulation.

    Science.gov (United States)

    Park, Chang-Young; Jacobson, David R; Nguyen, Dan T; Willardson, Sam; Saleh, Omar A

    2016-01-01

    Single-molecule manipulation instruments have unparalleled abilities to interrogate the structure and elasticity of single biomolecules. Key insights are derived by measuring the system response in varying solution conditions; yet, typical solution control strategies require imposing a direct fluid flow on the measured biomolecule that perturbs the high-sensitivity measurement and/or removes interacting molecules by advection. An alternate approach is to fabricate devices that permit solution changes by diffusion of the introduced species through permeable membranes, rather than by direct solution flow through the sensing region. Prior implementations of permeable-membrane devices are relatively thick, disallowing their use in apparatus that require the simultaneous close approach of external instrumentation from two sides, as occurs in single-molecule manipulation devices like the magnetic tweezer. Here, we describe the construction and use of a thin microfluidic device appropriate for single-molecule studies. We create a flow cell of only ∼500 μm total thickness by sandwiching glass coverslips around a thin plastic gasket and then create permeable walls between laterally separated channels in situ through photo-induced cross-linking of poly(ethylene glycol) diacrylate hydrogels. We show that these membranes permit passage of ions and small molecules (thus permitting solution equilibration in the absence of direct flow), but the membranes block the passage of larger biomolecules (thus retaining precious samples). Finally, we demonstrate the suitability of the device for high-resolution magnetic-tweezer experiments by measuring the salt-dependent folding of a single RNA hairpin under force.

  10. A thin permeable-membrane device for single-molecule manipulation

    Science.gov (United States)

    Park, Chang-Young; Jacobson, David R.; Nguyen, Dan T.; Willardson, Sam; Saleh, Omar A.

    2016-01-01

    Single-molecule manipulation instruments have unparalleled abilities to interrogate the structure and elasticity of single biomolecules. Key insights are derived by measuring the system response in varying solution conditions; yet, typical solution control strategies require imposing a direct fluid flow on the measured biomolecule that perturbs the high-sensitivity measurement and/or removes interacting molecules by advection. An alternate approach is to fabricate devices that permit solution changes by diffusion of the introduced species through permeable membranes, rather than by direct solution flow through the sensing region. Prior implementations of permeable-membrane devices are relatively thick, disallowing their use in apparatus that require the simultaneous close approach of external instrumentation from two sides, as occurs in single-molecule manipulation devices like the magnetic tweezer. Here, we describe the construction and use of a thin microfluidic device appropriate for single-molecule studies. We create a flow cell of only ˜500 μm total thickness by sandwiching glass coverslips around a thin plastic gasket and then create permeable walls between laterally separated channels in situ through photo-induced cross-linking of poly(ethylene glycol) diacrylate hydrogels. We show that these membranes permit passage of ions and small molecules (thus permitting solution equilibration in the absence of direct flow), but the membranes block the passage of larger biomolecules (thus retaining precious samples). Finally, we demonstrate the suitability of the device for high-resolution magnetic-tweezer experiments by measuring the salt-dependent folding of a single RNA hairpin under force.

  11. Single qubit manipulation in a microfabricated surface electrode ion trap

    Science.gov (United States)

    Mount, Emily; Baek, So-Young; Blain, Matthew; Stick, Daniel; Gaultney, Daniel; Crain, Stephen; Noek, Rachel; Kim, Taehyun; Maunz, Peter; Kim, Jungsang

    2013-09-01

    We trap individual 171Yb+ ions in a surface trap microfabricated on a silicon substrate, and demonstrate a complete set of high fidelity single qubit operations for the hyperfine qubit. Trapping times exceeding 20 min without laser cooling, and heating rates as low as 0.8 quanta ms-1, indicate stable trapping conditions in these microtraps. A coherence time of more than 1 s, high fidelity qubit state detection and single qubit rotations are demonstrated. The observation of low heating rates and demonstration of high quality single qubit gates at room temperature are critical steps toward scalable quantum information processing in microfabricated surface traps.

  12. Single qubit manipulation in a microfabricated surface electrode ion trap

    International Nuclear Information System (INIS)

    Mount, Emily; Baek, So-Young; Gaultney, Daniel; Crain, Stephen; Noek, Rachel; Kim, Taehyun; Maunz, Peter; Kim, Jungsang; Blain, Matthew; Stick, Daniel

    2013-01-01

    We trap individual 171 Yb + ions in a surface trap microfabricated on a silicon substrate, and demonstrate a complete set of high fidelity single qubit operations for the hyperfine qubit. Trapping times exceeding 20 min without laser cooling, and heating rates as low as 0.8 quanta ms −1 , indicate stable trapping conditions in these microtraps. A coherence time of more than 1 s, high fidelity qubit state detection and single qubit rotations are demonstrated. The observation of low heating rates and demonstration of high quality single qubit gates at room temperature are critical steps toward scalable quantum information processing in microfabricated surface traps. (paper)

  13. A Hierarchical Learning Control Framework for an Aerial Manipulation System

    Science.gov (United States)

    Ma, Le; Chi, yanxun; Li, Jiapeng; Li, Zhongsheng; Ding, Yalei; Liu, Lixing

    2017-07-01

    A hierarchical learning control framework for an aerial manipulation system is proposed. Firstly, the mechanical design of aerial manipulation system is introduced and analyzed, and the kinematics and the dynamics based on Newton-Euler equation are modeled. Secondly, the framework of hierarchical learning for this system is presented, in which flight platform and manipulator are controlled by different controller respectively. The RBF (Radial Basis Function) neural networks are employed to estimate parameters and control. The Simulation and experiment demonstrate that the methods proposed effective and advanced.

  14. Manipulating single enzymes by an external harmonic force

    DEFF Research Database (Denmark)

    Lomholt, Michael A; Urbakh, Michael; Metzler, Ralf

    2007-01-01

    We study a Michaelis-Menten reaction for a single two-state enzyme molecule, whose transition rates between the two conformations are modulated by an harmonically oscillating external force. In particular, we obtain a range of optimal driving frequencies for changing the conformation of the enzyme...

  15. Manipulation of organic polyradicals in a single-molecule transistor

    NARCIS (Netherlands)

    Fock, J.; Leijnse, M.; Jennum, K.; Zyazin, A.S.; Paaske, J.; Hedegard, P.; Brondsted Nielsen, M.; Van der Zant, H.S.J.

    2012-01-01

    Inspired by cotunneling spectroscopy of spin-states in a single OPE5-based molecule, we investigate the prospects for electric control of magnetism in purely organic molecules contacted in a three-terminal geometry. Using the gate electrode, the molecule is reversibly switched between three

  16. ATHLETE: A Mobility and Manipulation System for Mobile Lunar Habitats

    Science.gov (United States)

    Wilcox, B. H.

    2008-03-01

    ATHLETE is a mobility and manipulation system considered by recent Lunar Architecture Teams. This presentation will discuss the possible use of ATHLETE-based mobile habitats for global-scale scientific exploration of the moon.

  17. Manipulating single enzymes by an external harmonic force

    DEFF Research Database (Denmark)

    Lomholt, Michael A; Urbakh, Michael; Metzler, Ralf

    2007-01-01

    We study a Michaelis-Menten reaction for a single two-state enzyme molecule, whose transition rates between the two conformations are modulated by an harmonically oscillating external force. In particular, we obtain a range of optimal driving frequencies for changing the conformation of the enzyme......, thereby controlling the enzymatic activity (i.e., product formation). This analysis demonstrates that it is, in principle, possible to obtain information about particular rates within the kinetic scheme....

  18. The function-manipulating-system SERVUS

    International Nuclear Information System (INIS)

    Thurnay, K.

    1985-04-01

    SERVUS is a service-utility to store functions resulting from a numerical calculation in specially fitted data sets and display them later on. SERVUS enables also the user to manipulate the stored functions, before displaying them. The functions can be presented either as number-columns, or as a family of curves or as surfaces of functions. The paper describes the steps, needed for allocating a SERVUS-data set, for storing a function in this set, for reading a function from this data set, for cataloguing the functions, stored in the set, for copying a SERVUS-data set, for deleting stored functions, for printing stored functions and for drawing two or three-dimensional pictures of them. (orig.) [de

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

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  20. Monitoring and Manipulating Motions of Single Molecules/Nanoparticles

    Science.gov (United States)

    Chen, Fang

    This dissertation has two main research components: 1. the study of mass transport in confined environments; 2. the effort toward driving a molecular car on a solid surface. Understanding mass transport processes, e.g., diffusion, migration, and adsorption/desorption in confined space is important not only to fundamental sciences but also to advanced applications. So far, they are poorly understood because of technical challenges: insufficient spatial and/or temporal resolutions. In this dissertation, we made efforts toward understanding molecular/particular dynamics in confined space by combining a recently developed super resolution technique, stimulated depletion emission microscopy (STED), with the high temporal resolution technique, fluorescence correlation spectroscopy (FCS). We first explored the feasibility of using conventional FCS to study diffusion in a model confined space: cylindrical pores. Since there is no analytical solution to solve the autocorrelation function (ACF) in confined space, we simulated single particle diffusion in hundred-nanometer pores using Monte Carlo simulation. We found that confined 2D diffusion and unconfined 1D diffusion dynamics are separated in both intensity traces and autocorrelation functions, which gives a new opportunity to extract the axial diffusion coefficient in cylindrical pores. We then experimentally studied 45 nm particles diffusing in 300 nm alumina pores. The acquired axial diffusion coefficient is consistent with the expected value. Conventional confocal FCS is insufficient to resolve lateral diffusion in confined space because of the diffraction limit in spatial resolution. To pave the way of using STED microscopy to study the anisotropic diffusion in confined space, we theoretically investigated STED-FCS in cylindrical pores. It showed that by reducing the spatial resolution from 250 nm to 50 nm in STED microscopy, we would be able to determine both lateral and axial diffusion coefficients in hundred

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

    Science.gov (United States)

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

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Philipp Leinen

    2015-11-01

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

  3. Magnetic tweezers for manipulation of magnetic particles in single cells

    Science.gov (United States)

    Ebrahimian, H.; Giesguth, M.; Dietz, K.-J.; Reiss, G.; Herth, S.

    2014-02-01

    Magnetic tweezers gain increasing interest for applications in biology. Here, a setup of magnetic tweezers is introduced using micropatterned conducting lines on transparent glass slides. Magnetic particles of 1 μm diameter were injected in barley cell vacuoles using a microinject system under microscopic control. Time dependent tracking of the particles after application of a magnetic field was used to determine the viscosity of vacuolar sap in vivo relative to water and isolated vacuolar fluid. The viscosity of vacuolar sap in cells was about 2-fold higher than that of extracted vacuolar fluid and 5 times higher than that of water.

  4. Reliable lateral manipulation of a single Ag adatom on a Ag(1 1 1) surface with a trimer-apex tip

    International Nuclear Information System (INIS)

    Xie Yiqun; Shi Wangzhou; Du Guoping

    2009-01-01

    We study the reliability of the lateral manipulation of a single Ag adatom on a Ag(1 1 1) surface with the single-atom and trimer-apex tips based on molecular statics simulations using surface embedded-atom-method potential. The dependence of the manipulation reliability on tip height and orientation is investigated. For the single-atom tip the manipulation reliability increases monotonically with decreasing tip height, which is owing to the strengthened lateral tip-adatom interaction as the tip height lowers. For the trimer-apex tip, the manipulation reliability is sensitive to the tip orientation in the lower tip-height range, while in the higher tip-height range the manipulation reliability is independent of the tip orientation and moreover can be greatly improved due to the strong vertical attraction of the tip on the adatom as compared to the single-atom tip. We also compare these results to those for manipulating single Cu adatoms on the Cu(1 1 1) surface, reveal the underlying physics, and propose the method to improve the manipulation reliability for different systems.

  5. Interleukin 2-regulated in vitro antibody production following a single spinal manipulative treatment in normal subjects

    Directory of Open Access Journals (Sweden)

    Teodorczyk-Injeyan Julita A

    2010-09-01

    Full Text Available Abstract Background Our recent investigations have demonstrated that cell cultures from subjects, who received a single spinal manipulative treatment in the upper thoracic spine, show increased capacity for the production of the key immunoregulatory cytokine, interleukin-2. However, it has not been determined if such changes influence the response of the immune effector cells. Thus, the purpose of the present study was to determine whether, in the same subjects, spinal manipulation-related augmentation of the in vitro interleukin-2 synthesis is associated with the modulation of interleukin 2-dependent and/or interleukin-2-induced humoral immune response (antibody synthesis. Methods A total of seventy-four age and sex-matched healthy asymptomatic subjects were studied. The subjects were assigned randomly to: venipuncture control (n = 22, spinal manipulative treatment without cavitation (n = 25 or spinal manipulative treatment associated with cavitation (n = 27 groups. Heparinized blood samples were obtained from the subjects before (baseline and then at 20 minutes and 2 hours post-treatment. Immunoglobulin (antibody synthesis was induced in cultures of peripheral blood mononuclear cells by stimulation with conventional pokeweed mitogen or by application of human recombinant interleukin-2. Determinations of the levels of immunoglobulin G and immunoglobulin M production in culture supernatants were performed by specific immunoassays. Results The baseline levels of immunoglobulin synthesis induced by pokeweed mitogen or human recombinant interleukin-2 stimulation were comparable in all groups. No significant changes in the production of pokeweed mitogen-induced immunoglobulins were observed during the post-treatment period in any of the study groups. In contrast, the production of interleukin-2 -induced immunoglobulin G and immunoglobulin M was significantly increased in cultures from subjects treated with spinal manipulation. At 20 min post-manipulation

  6. Manipulating Scrip Systems: Sybils and Collusion

    Science.gov (United States)

    Kash, Ian A.; Friedman, Eric J.; Halpern, Joseph Y.

    Game-theoretic analyses of distributed and peer-to-peer systems typically use the Nash equilibrium solution concept, but this explicitly excludes the possibility of strategic behavior involving more than one agent. We examine the effects of two types of strategic behavior involving more than one agent, sybils and collusion, in the context of scrip systems where agents provide each other with service in exchange for scrip. Sybils make an agent more likely to be chosen to provide service, which generally makes it harder for agents without sybils to earn money and decreases social welfare. Surprisingly, in certain circumstances it is possible for sybils to make all agents better off. While collusion is generally bad, in the context of scrip systems it actually tends to make all agents better off, not merely those who collude. These results also provide insight into the effects of allowing agents to advertise and loan money.

  7. Wireless communication for control of manipulation systems

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Rychnovský, V.; Píša, P.

    2012-01-01

    Roč. 22, č. 1 (2012), s. 29-41 ISSN 1230-2384 Institutional research plan: CEZ:AV0Z10750506 Keywords : distributed mechatronic system * model-based control * multi-level control * odometry * optical sensors * standard IEEE 802.15.4 * ZigBee protocol Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering http://library.utia.cas.cz/separaty/2012/AS/belda-0376476.pdf

  8. Systems and Methods of Coordination Control for Robot Manipulation

    Science.gov (United States)

    Chang, Chu-Yin (Inventor); English, James (Inventor); Tardella, Neil (Inventor); Bacon, James (Inventor)

    2013-01-01

    Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.

  9. Genetic Manipulation of the Endocannabinoid System.

    Science.gov (United States)

    Zimmer, Andreas

    2015-01-01

    The physiological and pathophysiological functions of the endocannabinoid system have been studied extensively using transgenic and targeted knockout mouse models. The first gene deletions of the cannabinoid CB(1) receptor were described in the late 1990s, soon followed by CB(2) and FAAH mutations in early 2000. These mouse models helped to elucidate the fundamental role of endocannabinoids as retrograde transmitters in the CNS and in the discovery of many unexpected endocannabinoid functions, for example, in the skin, bone and liver. We now have knockout mouse models for almost every receptor and enzyme of the endocannabinoid system. Conditional mutant mice were mostly developed for the CB(1) receptor, which is widely expressed on many different neurons, astrocytes and microglia, as well as on many cells outside the CNS. These mouse strains include "floxed" CB(1) alleles and mice with a conditional re-expression of CB(1). The availability of these mice made it possible to decipher the function of CB(1) in specific neuronal circuits and cell populations or to discriminate between central and peripheral effects. Many of the genetic mouse models were also used in combination with viral expression systems. The purpose of this review is to provide a comprehensive overview of the existing genetic models and to summarize some of the most important discoveries that were made with these animals.

  10. A New Cryogenic Sample Manipulator For SRC's Scienta 2002 System

    International Nuclear Information System (INIS)

    Gundelach, Chad T.; Fisher, Mike V.; Hoechst, Hartmut

    2004-01-01

    We discuss the first bench tests of a sample manipulator which was recently designed at SRC for the Scienta 2002 User system. The manipulator concept utilizes the 10 deg. angular window of the Scienta in the horizontal plane (angle dispersion) by rotating the sample normal around the vertical axis while angular scans along the vertical axis (energy dispersion) are continuous within ±30 deg. relative to the electron lens by rotating the sample around the horizontal axis. With this concept it is possible to precisely map the entire two-dimensional k-space of a crystal by means of stitching together 10 deg. wide stripes centered +15 deg. to -50 deg. relative to the sample normal. Three degrees of translational freedom allow positioning the sample surface at the focal point of the analyzer. Two degrees of rotational freedom are available at this position for manipulating the sample. Samples are mounted to a standard holder and transferred to the manipulator via a load-lock system attached to a prep chamber. The manipulator is configured with a cryogenic cold head, an electrical heater, and a temperature sensor permitting continuous closed-loop operation for 20-380 K

  11. First generation long-reach manipulator for retrieval of waste from Hanford single-shell tanks

    International Nuclear Information System (INIS)

    Gibbons, P.W.; McDaniel, L.B.

    1994-10-01

    The US Department of Energy, Richland Operations Office, has established the Tank Waste Remediation System to resolve environmental and safety issues related to underground waste-storage tanks at the Hanford Site. The Tank Waste Remediation System has identified the use of an advanced-technology, long-reach manipulator system as a low-water-addition retrieval alternative to past-practice sluicing

  12. First generation long-reach manipulator for retrieval of waste from Hanford single-shell tanks

    Energy Technology Data Exchange (ETDEWEB)

    Gibbons, P.W.; McDaniel, L.B.

    1994-10-01

    The US Department of Energy, Richland Operations Office, has established the Tank Waste Remediation System to resolve environmental and safety issues related to underground waste-storage tanks at the Hanford Site. The Tank Waste Remediation System has identified the use of an advanced-technology, long-reach manipulator system as a low-water-addition retrieval alternative to past-practice sluicing.

  13. MANAGERIAL ACCOUNTING SYSTEM: UTILITY, PRACTICE, MANIPULATION, NORMALIZATION

    Directory of Open Access Journals (Sweden)

    Flavius-Andrei GUINEA

    2017-05-01

    Full Text Available Economic entities accuse current managerial accounting instruments due to their used indicators, their post operativeness, and their lack of necessary adjustments, short-term target, information handling and decisions taken for various reasons, except the efficiency one. In order to manage a more and more complex organization, located in an uncertain environment, managers require a permanent, real-time, information system. There is no longer sufficient the simple retrospective measurement of results, as there should be provided those instruments that support the decision making process throughout the strategic and operational processes. The implementation of a managerial accounting tool will always interact with the human behavioural dimension. In the initial stage, the actors of an organization will initially manifest reactions of difficult acceptance or even rejection. Each of them will adopt that behaviour which ensures the maximization of its own goals, even if these are, or not, convergent with the organizational objectives.

  14. Micro-particle manipulation by single beam acoustic tweezers based on hydrothermal PZT thick film

    International Nuclear Information System (INIS)

    Zhu, Benpeng; Xu, Jiong; Yang, Xiaofei; Li, Ying; Lee, Changyang; Zhou, Qifa; Shung, K. Kirk; Wang, Tian; Xiong, Ke; Shiiba, Michihisa; Takeuchi, Shinichi

    2016-01-01

    Single-beam acoustic tweezers (SBAT), used in laboratory-on-a-chip (LOC) device has promising implications for an individual micro-particle contactless manipulation. In this study, a freestanding hydrothermal PZT thick film with excellent piezoelectric property (d 33 = 270 pC/N and k t = 0.51) was employed for SBAT applications and a press-focusing technology was introduced. The obtained SBAT, acting at an operational frequency of 50 MHz, a low f-number (∼0.9), demonstrated the capability to trap and manipulate a micro-particle sized 10μm in the distilled water. These results suggest that such a device has great potential as a manipulator for a wide range of biomedical and chemical science applications.

  15. Mechanical Design of a Manipulation System for Unmanned Aerial Vehicles

    NARCIS (Netherlands)

    Keemink, A.Q.L.; Fumagalli, M.; Stramigioli, S.; Carloni, R.

    In this paper, we present the mechanical design and modeling of a manipulation system for unmanned aerial vehicles, which have to physically interact with environments and perform ultrasonic non-destructive testing experiments and other versatile tasks at unreachable locations for humans. The

  16. Manipulation of intracellular auxin in a single cell by light with esterase-resistant caged auxins.

    Science.gov (United States)

    Kusaka, Naoyuki; Maisch, Jan; Nick, Peter; Hayashi, Ken-ichiro; Nozaki, Hiroshi

    2009-09-04

    Auxin, a plant hormone, is polar transported from its site of production. This auxin polar transport system establishes an auxin gradient in plant tissue that is necessary for proper plant development. Therefore, the spatial effect of the auxin gradient on plant development is highly important for the understanding of plant auxin responses. Herein we report the design, syntheses and biological properties of esterase-resistant caged auxins. The conventional caging group, 2-nitrobenzyl ester, was found to be enzymatically hydrolyzed in plant cells and released original auxin without photolysis. The esterase-resistant caging group, (2,5-dimethoxyphenyl)(2-nitrobenzyl) ester, (DMPNB) was designed to improve the stability of caged auxins. Three auxins, indole 3-acetic acid, naphthalene 1-acetic acid and 2,4-dichlorophenoxy acetic acid were caged with the DMPNB caging group. DMPNB-caged auxins were inactive within a plant cell until photolysis, but they release auxins with photoirradiation to activate auxin-responsive gene expression. We demonstrated spatial and temporal control of intracellular auxin levels with photoirradiation by using this caged auxin system and were able to photocontrol the physiological auxin response in Arabidopsis plants. Additionally, the photoirradiation of DMPNB-caged auxin within a single cell can manipulate the intracellular auxin level and triggers auxin response.

  17. Single Purpose Satellite Systems

    OpenAIRE

    Watkins, Warren

    1989-01-01

    This paper examines the need for tactically responsive space systems capable of supporting battlefield and fleet commanders. Terminology used to describe this category of satellite system varies according to organization or agency. The Defense Advanced Research Projects Agency's Lightsat, the Naval Space Command's SPINSAT, and the Air Force Space Command s TACSAT, are reviewed. The United State Space Command's space support mission IS addressed and the role single-purpose satellites can play ...

  18. Development of manipulator system with good portability and usability

    International Nuclear Information System (INIS)

    Anon.

    1990-01-01

    Recently, accompanying the development of such elementary technologies as control technology, communication technology and ultrasmall, high accuracy sensor technology, the demand for the development of small, light weight manipulator systems which have the ingenuity comparable with human arms and can be moved and installed in any place becomes high. This time, by combining these elementary technologies with robot technology, the electric multi-articulate manipulator which can be applied to the ultrasonic flaw inspection of the welded parts and others in the various machinery and equipment for nuclear power stations was developed, and in the function confirmation test, the good results were obtained. This manipulator was developed jointly with five electric power companies. It was necessary to solve the subjects for the development. The system is composed of the equipment to be carried to a site and the equipment always installed in a control room, that is, ten components in total. The feature of the system is shown. The design of equipment constitution and control of the manipulator proper, the control technique, the function confirmation test and the results are reported. (K.I.)

  19. Preparation, Single-Molecule Manipulation, and Energy Transfer Investigation of a Polyfluorene-graft-DNA polymer.

    Science.gov (United States)

    Madsen, Mikael; Christensen, Rasmus S; Krissanaprasit, Abhichart; Bakke, Mette R; Riber, Camilla F; Nielsen, Karina S; Zelikin, Alexander N; Gothelf, Kurt V

    2017-08-04

    Conjugated polymers have been intensively studied due to their unique optical and electronic properties combined with their physical flexibility and scalable bottom up synthesis. Although the bulk qualities of conjugated polymers have been extensively utilized in research and industry, the ability to handle and manipulate conjugated polymers at the nanoscale lacks significantly behind. Here, the toolbox for controlled manipulation of conjugated polymers was expanded through the synthesis of a polyfluorene-DNA graft-type polymer (poly(F-DNA)). The polymer possesses the characteristics associated with the conjugated polyfluorene backbone, but the protruding single-stranded DNA provides the material with an exceptional addressability. This study demonstrates controlled single-molecule patterning of poly(F-DNA), as well as energy transfer between two different polymer-DNA conjugates. Finally, highly efficient DNA-directed quenching of polyfluorene fluorescence was shown. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  20. Manipulation and Motion of Organelles and Single Molecules in Living Cells

    DEFF Research Database (Denmark)

    Norregaard, Kamilla; Metzler, Ralf; Ritter, Christine M.

    2017-01-01

    driving many cellular processes. The forces on a molecular scale are exactly in the range that can be manipulated and probed with single molecule force spectroscopy. The natural environment of a biomolecule is inside a living cell, hence, this is the most relevant environment for probing their function....... In vivo studies are, however, challenged by the complexity of the cell. In this review, we start with presenting relevant theoretical tools for analyzing single molecule data obtained in intracellular environments followed by a description of state-of-the art visualization techniques. The most commonly...

  1. Manipulating single second mode transparency in a corrugated waveguide via the thickness of sputtered gold

    International Nuclear Information System (INIS)

    Xu, Dan; Fan, Ya-Xian; Sang, Tang-Qing; Xu, Lan-Lan; Bibi, Aysha; Tao, Zhi-Yong

    2016-01-01

    We propose a classical analog of electromagnetically induced transparency in a cylindrical waveguide with undulated metallic walls. The transparency, induced by multi-mode interactions in waveguides, not only has a narrow line-width, but also consists of a single second-order transverse mode, which corresponds to the Bessel function distributions investigated extensively due to their unique characteristics. By increasing the thickness of sputtered gold layers of the waveguide, we demonstrate a frequency-agile single mode transparency phenomenon in a terahertz radiation. It is found that the center frequency of the transparency is linearly related to the gold thickness, indicating the achievement of a controllable single mode terahertz device. The field distributions at the cross-sections of outlets verify the single second mode transparency and indicate the mechanism of its frequency manipulation, which will significantly benefit the mode-control engineering in terahertz applications. - Highlights: • An analog of electromagnetically induced transparency in terahertz tubes is proposed. • A single second transverse mode of Bessel distributions is observed in the pass band. • The operating frequency can be linearly controlled by the sputtered gold thickness. • We can effectively manipulate the slow down factor of light by the gold thickness. • The transparency characteristics rely on the transition of multi-mode interactions.

  2. Manipulating single second mode transparency in a corrugated waveguide via the thickness of sputtered gold

    Energy Technology Data Exchange (ETDEWEB)

    Xu, Dan [Key Lab of In-fiber Integrated Optics, Ministry of Education of China, Harbin Engineering University, Harbin 150001 (China); Photonics Research Center, College of Science, Harbin Engineering University, Harbin 150001 (China); Fan, Ya-Xian, E-mail: yxfan@hrbeu.edu.cn [Key Lab of In-fiber Integrated Optics, Ministry of Education of China, Harbin Engineering University, Harbin 150001 (China); Photonics Research Center, College of Science, Harbin Engineering University, Harbin 150001 (China); Sang, Tang-Qing; Xu, Lan-Lan; Bibi, Aysha [Key Lab of In-fiber Integrated Optics, Ministry of Education of China, Harbin Engineering University, Harbin 150001 (China); Photonics Research Center, College of Science, Harbin Engineering University, Harbin 150001 (China); Tao, Zhi-Yong, E-mail: zytao@hrbeu.edu.cn [Key Lab of In-fiber Integrated Optics, Ministry of Education of China, Harbin Engineering University, Harbin 150001 (China); Photonics Research Center, College of Science, Harbin Engineering University, Harbin 150001 (China)

    2016-03-11

    We propose a classical analog of electromagnetically induced transparency in a cylindrical waveguide with undulated metallic walls. The transparency, induced by multi-mode interactions in waveguides, not only has a narrow line-width, but also consists of a single second-order transverse mode, which corresponds to the Bessel function distributions investigated extensively due to their unique characteristics. By increasing the thickness of sputtered gold layers of the waveguide, we demonstrate a frequency-agile single mode transparency phenomenon in a terahertz radiation. It is found that the center frequency of the transparency is linearly related to the gold thickness, indicating the achievement of a controllable single mode terahertz device. The field distributions at the cross-sections of outlets verify the single second mode transparency and indicate the mechanism of its frequency manipulation, which will significantly benefit the mode-control engineering in terahertz applications. - Highlights: • An analog of electromagnetically induced transparency in terahertz tubes is proposed. • A single second transverse mode of Bessel distributions is observed in the pass band. • The operating frequency can be linearly controlled by the sputtered gold thickness. • We can effectively manipulate the slow down factor of light by the gold thickness. • The transparency characteristics rely on the transition of multi-mode interactions.

  3. System for manipulating and optically targeting micro objects

    DEFF Research Database (Denmark)

    2013-01-01

    The present invention relates to a system 100 for independently holding and manipulating one or more microscopic objects 158 and for targeting at least a part of the one or more microscopic objects within a trapping volume 102 with electromagnetic radiation 138. The system comprises trapping means...... for holding and manipulating the one or more microscopic objects and electromagnetic radiation targeting means (116). The light means comprising a light source and a spatial light modulator which serve to modify the light from the light source so as to enable specific illumination of at least a part...... of the one or more microscopic objects. The trapping means and the electromagnetic radiation targeting means (116) are enabled to function independently of each other, so that the trapped objects may be moved around without taking being dependent on which parts are being targeted and vice versa....

  4. Assembly, destruction and manipulation of atomic, molecular and complex systems

    International Nuclear Information System (INIS)

    Le Padellec, Arnaud Pierre Frederic

    2003-04-01

    In this report for Accreditation to Supervise Researches (HDR), the author first indicates his professional curriculum (diplomas, teaching activities, responsibilities in the field of education and research, publications), and then proposes a presentation of his scientific works and researches. He notably proposes an overview of the different experimental techniques he implemented: CRYRING storage ring, confluent beams, flow post-discharge with mass spectrometry and Langmuir probe, crossed beams, and so on. He reports works dealing with the manipulation and destruction of atomic, molecular and complex systems: detachment of atomic anions by electronic impact, detachment and dissociation of small carbon aggregates by electronic impact, dissociative recombination, dissociative ionisation and excitation, creation of pairs of ions, manipulation of sodium fluoride aggregates. He finally presents research projects regarding the assembly of molecular and complex systems

  5. Study of a Microfluidic Chip Integrating Single Cell Trap and 3D Stable Rotation Manipulation

    Directory of Open Access Journals (Sweden)

    Liang Huang

    2016-08-01

    Full Text Available Single cell manipulation technology has been widely applied in biological fields, such as cell injection/enucleation, cell physiological measurement, and cell imaging. Recently, a biochip platform with a novel configuration of electrodes for cell 3D rotation has been successfully developed by generating rotating electric fields. However, the rotation platform still has two major shortcomings that need to be improved. The primary problem is that there is no on-chip module to facilitate the placement of a single cell into the rotation chamber, which causes very low efficiency in experiment to manually pipette single 10-micron-scale cells into rotation position. Secondly, the cell in the chamber may suffer from unstable rotation, which includes gravity-induced sinking down to the chamber bottom or electric-force-induced on-plane movement. To solve the two problems, in this paper we propose a new microfluidic chip with manipulation capabilities of single cell trap and single cell 3D stable rotation, both on one chip. The new microfluidic chip consists of two parts. The top capture part is based on the least flow resistance principle and is used to capture a single cell and to transport it to the rotation chamber. The bottom rotation part is based on dielectrophoresis (DEP and is used to 3D rotate the single cell in the rotation chamber with enhanced stability. The two parts are aligned and bonded together to form closed channels for microfluidic handling. Using COMSOL simulation and preliminary experiments, we have verified, in principle, the concept of on-chip single cell traps and 3D stable rotation, and identified key parameters for chip structures, microfluidic handling, and electrode configurations. The work has laid a solid foundation for on-going chip fabrication and experiment validation.

  6. Single-cell manipulation and DNA delivery technology using atomic force microscopy and nanoneedle.

    Science.gov (United States)

    Han, Sung-Woong; Nakamura, Chikashi; Miyake, Jun; Chang, Sang-Mok; Adachi, Taiji

    2014-01-01

    The recent single-cell manipulation technology using atomic force microscopy (AFM) not only allows high-resolution visualization and probing of biomolecules and cells but also provides spatial and temporal access to the interior of living cells via the nanoneedle technology. Here we review the development and application of single-cell manipulations and the DNA delivery technology using a nanoneedle. We briefly describe various DNA delivery methods and discuss their advantages and disadvantages. Fabrication of the nanoneedle, visualization of nanoneedle insertion into living cells, DNA modification on the nanoneedle surface, and the invasiveness of nanoneedle insertion into living cells are described. Different methods of DNA delivery into a living cell, such as lipofection, microinjection, and nanoneedles, are then compared. Finally, single-cell diagnostics using the nanoneedle and the perspectives of the nanoneedle technology are outlined. The nanoneedle-based DNA delivery technology provides new opportunities for efficient and specific introduction of DNA and other biomolecules into precious living cells with a high spatial resolution within a desired time frame. This technology has the potential to be applied for many basic cellular studies and for clinical studies such as single-cell diagnostics.

  7. An information system on toxicological risks linked to drug manipulation.

    Science.gov (United States)

    Pourabbas, E; Mucci, N; Maceratini, R; Rafanelli, M

    1999-01-01

    Aim of the project is to define and to implement an information system able to help people, who produce chemotherapic antineoplastic drugs, and health care operators, who manipulate such drugs, to prevent short and long term adverse effects connected to the above mentioned activities. The system is able to give a detailed and updated information about these problems, and to give an up-to date, from a professional point of view, to the users of the system. Also an information system prototype was implemented, which consists of an object-oriented database, a decision support system, able to manage and to plan a periodic control of workers, to verify the adverse effects of the antineoplastic chemotherapic drugs, a management system for the network communications.

  8. The effects of a single session of spinal manipulation on strength and cortical drive in athletes

    DEFF Research Database (Denmark)

    Christiansen, Thomas Lykke; Niazi, Imran Khan; Holt, Kelly

    2018-01-01

    PURPOSE: The primary purpose of this study was to investigate whether a single session of spinal manipulation (SM) increases strength and cortical drive in the lower limb (soleus muscle) of elite Taekwondo athletes. METHODS: Soleus-evoked V-waves, H-reflex and maximum voluntary contraction (MVC.......01], and V-waves [F(3,30) = 4.25, p = 0.01] over time compared to the control intervention. Between group differences were significant for all time periods (p strength and corticospinal...

  9. Characterization of steady streaming for a particle manipulation system.

    Science.gov (United States)

    Amit, Roni; Abadi, Avi; Kosa, Gabor

    2016-04-01

    Accurate positioning of biological cells or microscopic particle without directly contacting them is a challenging task in biomedical engineering. Various trapping methods for controlling the position of a particle have been suggested. The common driving methods are based on laser and ultrasonic actuation principles. In this work we suggest a design for a hydrodynamic particle manoeuvring system. The system operates using steady streaming in a viscous fluid media induced by high frequency vibration of piezoelectric cantilevers. A particle within the workspace of the system can be trapped and manipulated to a desired position by the fairly unidirectional flow field created by the beams. In this paper, the flow field in the particle manipulation system is characterized numerically and experimentally. We find that the flow field resembles the analytical solutions of a flow field created by an oscillating sphere. Furthermore, we validate numerically the quadratic relation between the steady streaming velocity and the vibration amplitude of the beam. The calibration of the piezoelectric actuator's oscillation amplitudes enables effective positioning of particles with a diameter of 20 um to 1 mm. We find that a 30X0.8X2 mm(3) piezoelectric beam vibrating at its first resonance frequency, 200 Hz, is able to move a particle at a typical flow velocity ranging between 0.05 mm/sec and 0.13 mm/s in 430 cSt Si oil (Re=0.2).

  10. 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.

  11. Solar maximum mission panel jettison analysis remote manipulator system

    Science.gov (United States)

    Bauer, R. B.

    1980-01-01

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

  12. Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

    Directory of Open Access Journals (Sweden)

    Juan Manuel Ibarra-Zannatha

    2007-01-01

    Full Text Available The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

  13. Manipulator system for remote maintenance of fusion experimental reactor

    International Nuclear Information System (INIS)

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

    1991-01-01

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

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

    International Nuclear Information System (INIS)

    Boehm, H.H.; Foerch, H.

    1984-01-01

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

  15. An overview of the Accident Response Mobile Manipulation System (ARMMS)

    International Nuclear Information System (INIS)

    Morse, W.D.; Hayward, D.R.; Jones, D.P.; Sanchez, A.; Shirey, D.L.

    1993-01-01

    The development of a high mobility platform integrated with high strength manipulation is under development at Sandia National Laboratories. The mobility platform used is a High Mobility Multipurpose Wheeled Vehicle (HMMWV). Manipulation is provided by two Titan 7F Schilling manipulators integrated onboard the HMMWV. The current state of development is described and future plans are discussed

  16. The single lineup paradigm: A new way to manipulate target presence in eyewitness identification experiments.

    Science.gov (United States)

    Oriet, Chris; Fitzgerald, Ryan J

    2018-02-01

    The suspect in eyewitness lineups may be guilty or innocent. These possibilities are traditionally simulated in eyewitness identification studies using a dual-lineup paradigm: All witnesses observe the same perpetrator and then receive one of two lineups. In this paradigm, the suspect's guilt is manipulated by including the perpetrator in one lineup and an innocent suspect in the other. The lineup is then filled with people matched to either the suspect (resulting in different fillers in perpetrator-present and perpetrator-absent lineups) or to the perpetrator (resulting in the same fillers in each lineup). An inescapable feature of the dual-lineup paradigm is that the perpetrator-present and perpetrator-absent lineups differ not only in the suspect's guilt, but also in their composition. Here, we describe a single-lineup paradigm: Subjects observe one of two perpetrators and then all subjects receive the same lineup containing one of the perpetrators. This alternative paradigm allows manipulation of the suspect's guilt without changing the lineup's composition. In three experiments, we applied the single-lineup paradigm to explore suspect-filler similarity and consistently found that increasing similarity reduced perpetrator identifications but did little to prevent innocent suspect misidentifications. Conversely, when fillers were matched to the perpetrator using a dual-lineup paradigm, increasing similarity reduced identification of perpetrators and innocent suspects. This finding suggests that the effect of filler similarity may depend on the person to whom the fillers are matched. We suggest that the single-lineup paradigm is a more ecologically valid and better controlled approach to creating suspect-matched lineups in laboratory investigations of eyewitness memory than existing procedures. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

  17. Can Constraint Induced Movement Therapy Improve In-Hand Manipulation Skills: A Single Subject Design

    Directory of Open Access Journals (Sweden)

    Somaye Kavousipor

    2012-04-01

    Full Text Available Objectives: This study describes a single subject design (ABA that shows the effective use of constraint induced movement therapy in improvement of quality and performance of in-hand manipulation skills for a 10 year old boy and a 9 years old girl with hemiplegic cerebral palsy, as Dickerson (2007 showed it in arm movement and function. Methods: To determine the effectiveness of CIMT by the use of C-statistic analysis and visual analysis. Approach: The first step was to design a child friendly group activity and home based intervention program through occupation. The possible effectiveness of CIMT was evaluated by daily measurements and video recording of 6 sub skills of in-hand manipulation according to Pont category (2009 in defined activity. Results: For making the treatment more cost effective, families can produce a simple clinical setting at home and participate in their child treatment plan actively. Discussion: A client center intervention will facilitate the use and quality of fingers and hand motion. Also a group activity can motivate participants to participate more and better.

  18. The effects of a single session of spinal manipulation on strength and cortical drive in athletes

    DEFF Research Database (Denmark)

    Christiansen, Thomas Lykke; Niazi, Imran Khan; Holt, Kelly

    2018-01-01

    PURPOSE: The primary purpose of this study was to investigate whether a single session of spinal manipulation (SM) increases strength and cortical drive in the lower limb (soleus muscle) of elite Taekwondo athletes. METHODS: Soleus-evoked V-waves, H-reflex and maximum voluntary contraction (MVC......) of the plantar flexors were recorded from 11 elite Taekwondo athletes using a randomized controlled crossover design. Interventions were either SM or passive movement control. Outcomes were assessed at pre-intervention and at three post-intervention time periods (immediate post, post 30 min and post 60 min......). A multifactorial repeated measures ANOVA was conducted to assess within and between group differences. Time and session were used as factors. A post hoc analysis was carried out, when an interactive effect was present. Significance was set at p ≤ 0.05. RESULTS: SM increased MVC force [F(3,30) = 5.95, p 

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

    Science.gov (United States)

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

    2015-01-01

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

  20. Comprehending emergent systems phenomena through direct-manipulation animation

    Science.gov (United States)

    Aguirre, Priscilla Abel

    This study seeks to understand the type of interaction mode that best supports learning and comprehension of emergent systems phenomena. Given that the literature has established that students hold robust misconceptions of such phenomena, this study investigates the influence of using three types of interaction; speed-manipulation animation (SMN), post-manipulation animation (PMA) and direct-manipulation animation (DMA) for increasing comprehension and testing transfer of the phenomena, by looking at the effect of simultaneous interaction of haptic and visual channels on long term and working memories when seeking to comprehend emergent phenomena. The questions asked were: (1) Does the teaching of emergent phenomena, with the aid of a dynamic interactive modeling tool (i.e., SMA, PMA or DMA), improve students' mental model construction of systems, thus increasing comprehension of this scientific concept? And (2) does the teaching of emergent phenomena, with the aid of a dynamic interactive modeling tool, give the students the necessary complex cognitive skill which can then be applied to similar (near transfer) and/or novel, but different, (far transfer) scenarios? In an empirical study undergraduate and graduate students were asked to participate in one of three experimental conditions: SMA, PMA, or DMA. The results of the study found that it was the participants of the SMA treatment condition that had the most improvement in post-test scores. Students' understanding of the phenomena increased most when they used a dynamic model with few interactive elements (i.e., start, stop, and speed) that allowed for real time visualization of one's interaction on the phenomena. Furthermore, no indication was found that the learning of emergent phenomena, with the aid of a dynamic interactive modeling tool, gave the students the necessary complex cognitive skill which could then be applied to similar (near transfer) and/or novel, but different, (far transfer) scenarios

  1. Enhancement of in vitro interleukin-2 production in normal subjects following a single spinal manipulative treatment

    Directory of Open Access Journals (Sweden)

    Harris Glen M

    2008-05-01

    Full Text Available Abstract Background Increasing evidence supports somato-visceral effects of manual therapies. We have previously demonstrated that a single spinal manipulative treatment (SMT accompanied by audible release has an inhibitory effect on the production of proinflammatory cytokines in asymptomatic subjects. The purpose of this study is to report on SMT-related changes in the production of the immunoregulatory cytokine interleukin 2 (IL-2 and to investigate whether such changes might differ with respect to the treatment approach related to the presence or absence of an audible release (joint cavitation. Methods Of 76 asymptomatic subjects, 29 received SMT with cavitation (SMT-C, 23 were treated with SMT without cavitation (SMT-NC and 24 comprised the venipuncture control (VC group. The SMT-C and SMT-NC subjects received a single, similar force high velocity low amplitude manipulation, in the upper thoracic spine. However, in SMT-NC subjects, positioning and line of drive were not conducive to cavitation. Blood and serum samples were obtained before and then at 20 and 120 min post-intervention. The production of IL-2 in peripheral blood mononuclear cell cultures was induced by activation for 48 hr with Staphylococcal protein A (SPA and, in parallel preparations, with the combination of phorbol ester (TPA and calcium ionophore. The levels of IL-2 in culture supernatants and serum were assessed by specific immunoassays. Results Compared with VC and their respective baselines, SPA-induced secretion of IL-2 increased significantly in cultures established from both SMT-C and SMT-NC subjects at 20 min post-intervention. At 2 hr post-treatment, significant elevation of IL-2 synthesis was still apparent in preparations from SMT-treated groups though it became somewhat attenuated in SMT-NC subjects. Conversely, IL-2 synthesis induced by TPA and calcium ionophore was unaltered by either type of SMT and was comparable to that in VC group at all time points. No

  2. Analysis and improvement of digital control stability for master-slave manipulator system

    International Nuclear Information System (INIS)

    Yoshida, Koichi; Yabuta, Tetsuro

    1992-01-01

    Some bilateral controls of master-slave system have been designed, which can realize high-fidelity telemanipulation as if the operator were manipulating the object directly. While usual robot systems are controlled by software-servo system using digital computer, little work has been published on design and analysis for digital control of these systems, which must consider time-delay of sensor signals and zero order hold effect of command signals on actuators. This paper presents a digital control analysis for single degree of freedom master-slave system including impedance models of both the human operator and the task object, which clarifies some index for the stability. The stability result shows a virtual master-slave system concepts, which improve the digital control stability. We first analyze a dynamic control method of master-slave system in discrete-time system for the stability problem, which can realize high-fidelity telemanipulation in the continuous-time. Secondly, using the results of the stability analysis, the robust control scheme for master-slave system is proposed, and the validity of this scheme is finally confirmed by the simulation. Consequently, it would be considered that any combination of master and slave modules with dynamic model of these manipulators is possible to construct the stable master-slave system. (author)

  3. Optically pumped semiconductor lasers: Conception and characterization of a single mode source for Cesium atoms manipulation

    International Nuclear Information System (INIS)

    Cocquelin, B.

    2009-02-01

    Lasers currently used in atomic clocks or inertial sensors are suffering from a lack of power, narrow linewidth or compactness for future spatial missions. Optically pumped semiconductor lasers, which combine the approach of classical solid state lasers and the engineering of semiconductor laser, are considered here as a candidate to a metrological laser source dedicated to the manipulation of Cesium atoms in these instruments. These lasers have demonstrated high power laser emission in a circular single transverse mode, as well as single longitudinal mode emission, favoured by the semiconductor structure and the external cavity design. We study the definition and the characterization of a proper semiconductor structure for the cooling and the detection of Cesium atoms at 852 nm. A compact and robust prototype tunable on the Cesium D2 hyperfine structure is built. The laser frequency is locked to an atomic transition thanks to a saturated absorption setup. The emission spectral properties are investigated, with a particular attention to the laser frequency noise and the laser linewidth. Finally, we describe and model the thermal properties of the semiconductor structure, which enables the simulation of the laser power characteristic. The experimental parameters are optimised to obtain the maximum output power with our structure. Thanks to our analysis, we propose several ways to overcome these limitations, by reducing the structure heating. (authors)

  4. Trapping, manipulation and rapid rotation of NBD-C8 fluorescent single microcrystals in optical tweezers

    International Nuclear Information System (INIS)

    GALAUP, Jean-Pierre; RODRIGUEZ-OTAZO, Mariela; AUGIER-CALDERIN, Angel; LAMERE; Jean-Francois; FERY-FORGUES, Suzanne

    2009-01-01

    We have built an optical tweezers experiment based on an inverted microscope to trap and manipulate single crystals of micro or sub-micrometer size made from fluorescent molecules of 4-octylamino-7-nitrobenzoxadiazole (NBD-C8). These single crystals have parallelepiped shapes and exhibit birefringence properties evidenced through optical experiments between crossed polarizers in a polarizing microscope. The crystals are uniaxial with their optical axis oriented along their largest dimension. Trapped in the optical trap, the organic micro-crystals are oriented in such a way that their long axis is along the direction of the beam propagation, and their short axis follows the direction of the linear polarization. Therefore, with linearly polarized light, simply rotating the light polarization can orient the crystal. When using circularly or only elliptically polarized light, the crystal can spontaneously rotate and reach rotation speed of several hundreds of turns per second. A surprising result has been observed: when the incident power is growing up, the rotation speed increases to reach a maximum value and then decreases even when the power is still growing up. Moreover, this evolution is irreversible. Different possible explanations can be considered. The development of a 3D control of the crystals by dynamical holography using liquid crystal spatial modulators will be presented and discussed on the basis of the most recent results obtained. (Author)

  5. Manipulation and Immobilization of a Single Fluorescence Nanosensor for Selective Injection into Cells.

    Science.gov (United States)

    Hashim, Hairulazwan; Maruyama, Hisataka; Masuda, Taisuke; Arai, Fumihito

    2016-12-01

    Manipulation and injection of single nanosensors with high cell viability is an emerging field in cell analysis. We propose a new method using fluorescence nanosensors with a glass nanoprobe and optical control of the zeta potential. The nanosensor is fabricated by encapsulating a fluorescence polystyrene nanobead into a lipid layer with 1,3,3-trimethylindolino-6'-nitrobenzopyrylospiran (SP), which is a photochromic material. The nanobead contains iron oxide nanoparticles and a temperature-sensitive fluorescent dye, Rhodamine B. The zeta potential of the nanosensor switches between negative and positive by photo-isomerization of SP with ultraviolet irradiation. The positively-charged nanosensor easily adheres to a negatively-charged glass nanoprobe, is transported to a target cell, and then adheres to the negatively-charged cell membrane. The nanosensor is then injected into the cytoplasm by heating with a near-infrared (NIR) laser. As a demonstration, a single 750 nm nanosensor was picked-up using a glass nanoprobe with optical control of the zeta potential. Then, the nanosensor was transported and immobilized onto a target cell membrane. Finally, it was injected into the cytoplasm using a NIR laser. The success rates of pick-up and cell immobilization of the nanosensor were 75% and 64%, respectively. Cell injection and cell survival rates were 80% and 100%, respectively.

  6. Manipulation and Immobilization of a Single Fluorescence Nanosensor for Selective Injection into Cells

    Science.gov (United States)

    Hashim, Hairulazwan; Maruyama, Hisataka; Masuda, Taisuke; Arai, Fumihito

    2016-01-01

    Manipulation and injection of single nanosensors with high cell viability is an emerging field in cell analysis. We propose a new method using fluorescence nanosensors with a glass nanoprobe and optical control of the zeta potential. The nanosensor is fabricated by encapsulating a fluorescence polystyrene nanobead into a lipid layer with 1,3,3-trimethylindolino-6′-nitrobenzopyrylospiran (SP), which is a photochromic material. The nanobead contains iron oxide nanoparticles and a temperature-sensitive fluorescent dye, Rhodamine B. The zeta potential of the nanosensor switches between negative and positive by photo-isomerization of SP with ultraviolet irradiation. The positively-charged nanosensor easily adheres to a negatively-charged glass nanoprobe, is transported to a target cell, and then adheres to the negatively-charged cell membrane. The nanosensor is then injected into the cytoplasm by heating with a near-infrared (NIR) laser. As a demonstration, a single 750 nm nanosensor was picked-up using a glass nanoprobe with optical control of the zeta potential. Then, the nanosensor was transported and immobilized onto a target cell membrane. Finally, it was injected into the cytoplasm using a NIR laser. The success rates of pick-up and cell immobilization of the nanosensor were 75% and 64%, respectively. Cell injection and cell survival rates were 80% and 100%, respectively. PMID:27916931

  7. Manipulation and Immobilization of a Single Fluorescence Nanosensor for Selective Injection into Cells

    Directory of Open Access Journals (Sweden)

    Hairulazwan Hashim

    2016-12-01

    Full Text Available Manipulation and injection of single nanosensors with high cell viability is an emerging field in cell analysis. We propose a new method using fluorescence nanosensors with a glass nanoprobe and optical control of the zeta potential. The nanosensor is fabricated by encapsulating a fluorescence polystyrene nanobead into a lipid layer with 1,3,3-trimethylindolino-6′-nitrobenzopyrylospiran (SP, which is a photochromic material. The nanobead contains iron oxide nanoparticles and a temperature-sensitive fluorescent dye, Rhodamine B. The zeta potential of the nanosensor switches between negative and positive by photo-isomerization of SP with ultraviolet irradiation. The positively-charged nanosensor easily adheres to a negatively-charged glass nanoprobe, is transported to a target cell, and then adheres to the negatively-charged cell membrane. The nanosensor is then injected into the cytoplasm by heating with a near-infrared (NIR laser. As a demonstration, a single 750 nm nanosensor was picked-up using a glass nanoprobe with optical control of the zeta potential. Then, the nanosensor was transported and immobilized onto a target cell membrane. Finally, it was injected into the cytoplasm using a NIR laser. The success rates of pick-up and cell immobilization of the nanosensor were 75% and 64%, respectively. Cell injection and cell survival rates were 80% and 100%, respectively.

  8. Can osteopathic manipulative treatment modify the posture in elderly people? - a single-case study.

    Science.gov (United States)

    Pellerin, F; Papin-Richard, E; Guihéneuc, P; Niel, S; Guihard, G

    2015-04-01

    In this research, we have studied the consequences of three consecutive osteopathic manipulative sessions (OMS) on postural control by using a single-case research (SCR) design. The patient was a 77 years old woman complaining of altered balance and low-back pain. OMS were delivered by a single practitioner. The pain level was self-rated by using a visual Borg scale. The posture was monitored on a force platform. Postural parameters were deduced from the analysis of the centre of foot pressure (CoP) displacement. The statistical significance of the observed differences was established by using an SCR-related effect size indicator (i.e. Taunovlap). Our results indicate that OMS decrease the patient's pain, modify CoP mean position and decreased the length and velocity of the CoP displacement. Furthermore, modifications of the body oscillations were observed after OMS. This work indicates that OMS can improve body balance and that SCR allows the objective evaluation of the consequences of OMS. Copyright © 2014 Elsevier Ltd. All rights reserved.

  9. Manipulation of the Endocannabinoid System in Colitis: A Comprehensive Review.

    Science.gov (United States)

    Leinwand, Kristina L; Gerich, Mark E; Hoffenberg, Edward J; Collins, Colm B

    2017-02-01

    Inflammatory bowel disease (IBD) is a lifelong disease of the gastrointestinal tract whose annual incidence and prevalence is on the rise. Current immunosuppressive therapies available for treatment of IBD offer limited benefits and lose effectiveness, exposing a significant need for the development of novel therapies. In the clinical setting, cannabis has been shown to provide patients with IBD symptomatic relief, although the underlying mechanisms of their anti-inflammatory effects remain unclear. This review reflects our current understanding of how targeting the endocannabinoid system, including cannabinoid receptors 1 and 2, endogenous cannabinoids anandamide and 2-arachidonoylglycerol, atypical cannabinoids, and degrading enzymes including fatty acid amide hydrolase and monoacylglycerol lipase, impacts murine colitis. In addition, the impact of cannabinoids on the human immune system is summarized. Cannabinoid receptors 1 and 2, endogenous cannabinoids, and atypical cannabinoids are upregulated in inflammation, and their presence and stimulation attenuate murine colitis, whereas cannabinoid receptor antagonism and cannabinoid receptor deficient models reverse these anti-inflammatory effects. In addition, inhibition of endocannabinoid degradation through monoacylglycerol lipase and fatty acid amide hydrolase blockade can also attenuate colitis development, and is closely linked to cannabinoid receptor expression. Although manipulation of the endocannabinoid system in murine colitis has proven to be largely beneficial in attenuating inflammation, there is a paucity of human study data. Further research is essential to clearly elucidate the specific mechanisms driving this anti-inflammatory effect for the development of therapeutics to target inflammatory disease such as IBD.

  10. Lateral and vertical manipulations of single atoms on the Ag(1 1 1) surface with the copper single-atom and trimer-apex tips

    International Nuclear Information System (INIS)

    Xie Yiqun; Yang Tianxing; Ye Xiang; Huang Lei

    2011-01-01

    We study the lateral and vertical manipulations of single Ag and Cu atoms on the Ag(1 1 1) surface with the Cu single-atom and trimer-apex tips using molecular statics simulations. The reliability of the lateral manipulation with the Cu single-atom tip is investigated, and compared with that for the Ag tips. We find that overall the manipulation reliability (MR) increases with the decreasing tip height, and in a wide tip-height range the MR is better than those for both the Ag single-atom and trimer-apex tips. This is due to the stronger attractive force of the Cu tip and its better stability against the interactions with the Ag surface. With the Cu trimer-apex tip, the single Ag and Cu adatoms can be picked up from the flat Ag(1 1 1) surface, and moreover a reversible vertical manipulation of single Ag atoms on the stepped Ag(1 1 1) surface is possible, suggesting a method to modify two-dimensional Ag nanostructures on the Ag(1 1 1) surface with the Cu trimer-apex tip.

  11. Combined single cell AFM manipulation and TIRFM for probing the molecular stability of multilayer fibrinogen matrices

    Energy Technology Data Exchange (ETDEWEB)

    Christenson, W. [Department of Physics, Arizona State University, Tempe, AZ 85287 (United States); Center for Biological Physics, Arizona State University, Tempe, AZ 85287 (United States); Yermolenko, I. [Department of Physics, Arizona State University, Tempe, AZ 85287 (United States); School of Life Sciences, Arizona State University, Tempe, AZ 85287 (United States); Plochberger, B. [Department of Physics, Arizona State University, Tempe, AZ 85287 (United States); Camacho-Alanis, F.; Ros, A. [Department of Chemistry and Biochemistry, Arizona State University, Tempe, AZ 85287 (United States); Ugarova, T.P. [School of Life Sciences, Arizona State University, Tempe, AZ 85287 (United States); Ros, R., E-mail: Robert.Ros@asu.edu [Department of Physics, Arizona State University, Tempe, AZ 85287 (United States); Center for Biological Physics, Arizona State University, Tempe, AZ 85287 (United States)

    2014-01-15

    Adsorption of fibrinogen on various surfaces produces a nanoscale multilayer matrix, which strongly reduces the adhesion of platelets and leukocytes with implications for hemostasis and blood compatibility of biomaterials. The nonadhesive properties of fibrinogen matrices are based on their extensibility, ensuing the inability to transduce strong mechanical forces via cellular integrins and resulting in weak intracellular signaling. In addition, reduced cell adhesion may arise from the weaker associations between fibrinogen molecules in the superficial layers of the matrix. Such reduced stability would allow integrins to pull fibrinogen molecules out of the matrix with comparable or smaller forces than required to break integrin–fibrinogen bonds. To examine this possibility, we developed a method based on the combination of total internal reflection fluorescence microscopy, single cell manipulation with an atomic force microscope and microcontact printing to study the transfer of fibrinogen molecules out of a matrix onto cells. We calculated the average fluorescence intensities per pixel for wild-type HEK 293 (HEK WT) and HEK 293 cells expressing leukocyte integrin Mac-1 (HEK Mac-1) before and after contact with multilayered matrices of fluorescently labeled fibrinogen. For contact times of 500 s, HEK Mac-1 cells show a median increase of 57% of the fluorescence intensity compared to 6% for HEK WT cells. The results suggest that the integrin Mac-1-fibrinogen interactions are stronger than the intermolecular fibrinogen interactions in the superficial layer of the matrix. The low mechanical stability of the multilayer fibrinogen surface may contribute to the reduced cell adhesive properties of fibrinogen-coated substrates. We anticipate that the described method can be applied to various cell types to examine their integrin-mediated adhesion to the extracellular matrices with a variable protein composition. - Highlights: • We present a method combining

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

    International Nuclear Information System (INIS)

    Blight, J.; Cornec, G.

    2003-01-01

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

  13. Auxiliary extended reach system for 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 at each end of the support, the slave arm being of a doubly telescopic nature. (U.K.)

  14. Manipulating quantum information on the controllable systems or subspaces

    OpenAIRE

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

    2010-01-01

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

  15. Microscale methods to investigate and manipulate multispecies biological systems

    Science.gov (United States)

    Fong, Erika Jo

    This thesis details the development of a continuous perfusion platform capable of more closely mimicking in vivo cell-virus dynamics, while surpassing the experimental control and flexibility of standard cell culture. First, a microfluidic flow through acoustic device is optimized to enable efficient and controllable separation of cells and viruses. Repeatable isolation of cell and virus species is demonstrated with both a well-characterized virus, Dengue Virus (DENV), and the novel Golden Gate Virus. Next, a platform is built around this device to enable controllable, automated, continuous cell culture. Beads are used to assess system performance and optimize operation. Subsequently, the platform is used to culture both murine hybridoma (4G2) and human monocyte (THP-1) cell lines for over one month, and demonstrate the ability to manipulate population dynamics. Finally, we use the platform to establish a multispecies culture with THP-1 cells and Sindbis Virus (SINV). This work integrates distinct engineering feats to create a platform capable of enhancing existing cell virus studies and opening the door to a variety of high-impact investigations. (Abstract shortened by ProQuest.).

  16. Assembling three-dimensional nanostructures on metal surfaces with a reversible vertical single-atom manipulation: A theoretical modeling

    International Nuclear Information System (INIS)

    Yang Tianxing; Ye Xiang; Huang Lei; Xie Yiqun; Ke Sanhuang

    2012-01-01

    Highlights: ► We simulate the reversible vertical single-atom manipulations on several metal surfaces. ► We propose a method to predict whether a reversible vertical single-atom manipulation can be successful on several metal surfaces. ► A 3-dimensional Ni nanocluster is assembled on the Ni(1 1 1) surface using a Ni trimer-apex tip. - Abstract: We propose a theoretical model to show that pulling up an adatom from an atomic step requires a weaker force than from the flat surfaces of Al(0 0 1), Ni(1 1 1), Pt(1 1 0) and Au(1 1 0). Single adatom in the atomic step can be extracted vertically by a trimer-apex tip while can be released to the flat surface. This reversible vertical manipulation can then be used to fabricate a supported three-dimensional (3D) nanostructure on the Ni(1 1 1) surface. The present modeling can be used to predict whether the reversible vertical single-atom manipulation and thus the assembling of 3D nanostructures can be achieved on a metal surface.

  17. Evaluation of phantom-based education system for acupuncture manipulation.

    Science.gov (United States)

    Lee, In-Seon; Lee, Ye-Seul; Park, Hi-Joon; Lee, Hyejung; Chae, Younbyoung

    2015-01-01

    Although acupuncture manipulation has been regarded as one of the important factors in clinical outcome, it has been difficult to train novice students to become skillful experts due to a lack of adequate educational program and tools. In the present study, we investigated whether newly developed phantom acupoint tools would be useful to practice-naïve acupuncture students for practicing the three different types of acupuncture manipulation to enhance their skills. We recruited 12 novice students and had them practice acupuncture manipulations on the phantom acupoint (5% agarose gel). We used the Acusensor 2 and compared their acupuncture manipulation techniques, for which the target criteria were depth and time factors, at acupoint LI11 in the human body before and after 10 training sessions. The outcomes were depth of needle insertion, depth error from target criterion, time of rotating, lifting, and thrusting, time error from target criteria and the time ratio. After 10 training sessions, the students showed significantly improved outcomes in depth of needle, depth error (rotation, reducing lifting/thrusting), thumb-forward time error, thumb-backward time error (rotation), and lifting time (reinforcing lifting/thrusting). The phantom acupoint tool could be useful in a phantom-based education program for acupuncture-manipulation training for students. For advanced education programs for acupuncture manipulation, we will need to collect additional information, such as patient responses, acupoint-specific anatomical characteristics, delicate tissue-like modeling, haptic and visual feedback, and data from an acupuncture practice simulator.

  18. The effects of a single session of spinal manipulation on strength and cortical drive in athletes.

    Science.gov (United States)

    Christiansen, Thomas Lykke; Niazi, Imran Khan; Holt, Kelly; Nedergaard, Rasmus Wiberg; Duehr, Jens; Allen, Kathryn; Marshall, Paul; Türker, Kemal S; Hartvigsen, Jan; Haavik, Heidi

    2018-04-01

    The primary purpose of this study was to investigate whether a single session of spinal manipulation (SM) increases strength and cortical drive in the lower limb (soleus muscle) of elite Taekwondo athletes. Soleus-evoked V-waves, H-reflex and maximum voluntary contraction (MVC) of the plantar flexors were recorded from 11 elite Taekwondo athletes using a randomized controlled crossover design. Interventions were either SM or passive movement control. Outcomes were assessed at pre-intervention and at three post-intervention time periods (immediate post, post 30 min and post 60 min). A multifactorial repeated measures ANOVA was conducted to assess within and between group differences. Time and session were used as factors. A post hoc analysis was carried out, when an interactive effect was present. Significance was set at p ≤ 0.05. SM increased MVC force [F(3,30) = 5.95, p < 0.01], and V-waves [F(3,30) = 4.25, p = 0.01] over time compared to the control intervention. Between group differences were significant for all time periods (p < 0.05) except for the post60 force measurements (p = 0.07). A single session of SM increased muscle strength and corticospinal excitability to ankle plantar flexor muscles in elite Taekwondo athletes. The increased MVC force lasted for 30 min and the corticospinal excitability increase persisted for at least 60 min.

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

    Directory of Open Access Journals (Sweden)

    Tao Yue

    2014-02-01

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

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

    Science.gov (United States)

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

    2016-10-02

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

  1. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok

    2013-01-01

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  2. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2013-10-15

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  3. A Study of Multi-Representation of Geometry Problem Solving with Virtual Manipulatives and Whiteboard System

    Science.gov (United States)

    Hwang, Wu-Yuin; Su, Jia-Han; Huang, Yueh-Min; Dong, Jian-Jie

    2009-01-01

    In this paper, the development of an innovative Virtual Manipulatives and Whiteboard (VMW) system is described. The VMW system allowed users to manipulate virtual objects in 3D space and find clues to solve geometry problems. To assist with multi-representation transformation, translucent multimedia whiteboards were used to provide a virtual 3D…

  4. Real-time monitoring and manipulation of single bio-molecules in free solution

    Energy Technology Data Exchange (ETDEWEB)

    Li, Hung-Wing [Iowa State Univ., Ames, IA (United States)

    2005-01-01

    The observation and manipulation of single biomolecules allow their dynamic behaviors to be studied to provide insight into molecular genetics, biochip assembly, biosensor design, DNA biophysics. In a PDMS/glass microchannel, a nonuniform electroosmotic flow (EOF) was created. By using a scanning confocal fluorescence microscope and total internal-reflection fluorescence microscope (TIRFM), we demonstrated that negatively charged DNA molecules were focused by the nonuniform EOF into a thin layer at the glass surface. This phenomenon was applied to selectively detect target DNA molecules without requiring the separation of excessive probes and can be applied continuously to achieve high throughput. A variable-angle-TIRFM was constructed for imaging single DNA molecule dynamics at a solid/liquid interface. Implications we have are that the measured intensities cannot be used directly to determine the distances of molecules from the surface and the experimental counting results depict the distance-dependent dynamics of molecules near the surface; Molecules at low ionic strengths experience electrostatic repulsion at distances much further away from the surface than the calculated thickness of the electrical double layer. {delta}-DNA was employed as a nanoprobe for different functionalized surfaces to elucidate adsorption in chromatography. The 12-base unpaired ends of this DNA provide exposed purine and pyrimidine groups for adsorption. Patterns of self-assembled monolayers (SAMs) and patterns of metal oxides are generated. By recording the real-time dynamic motion of DNA molecules at the SAMs/aqueous interface, the various parameters governing the retention of an analyte during chromatographic separation can be studied. Even subtle differences among adsorptive forces can be revealed. Dynamic conformational changes of the prosthetic group, flavin adenine dinucleotide (FAD), in flavoprotein NADH peroxidase, in thioredoxin reductase, and in free solution were monitored

  5. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  6. Single molecule manipulation at low temperature and laser scanning tunnelling photo-induced processes analysis through time-resolved studies

    International Nuclear Information System (INIS)

    Riedel, Damien

    2010-01-01

    This paper describes, firstly, the statistical analysis used to determine the processes that occur during the manipulation of a single molecule through electronically induced excitations with a low temperature (5 K) scanning tunnelling microscope (STM). Various molecular operation examples are described and the ability to probe the ensuing molecular manipulation dynamics is discussed within the excitation context. It is, in particular, shown that such studies can reveal reversible manipulation for tuning dynamics through variation of the excitation energy. Secondly, the photo-induced process arising from the irradiation of the STM junction is also studied through feedback loop dynamics analysis, allowing us to distinguish between photo-thermally and photo-electronically induced signals.

  7. Single molecule manipulation at low temperature and laser scanning tunnelling photo-induced processes analysis through time-resolved studies.

    Science.gov (United States)

    Riedel, Damien

    2010-07-07

    This paper describes, firstly, the statistical analysis used to determine the processes that occur during the manipulation of a single molecule through electronically induced excitations with a low temperature (5 K) scanning tunnelling microscope (STM). Various molecular operation examples are described and the ability to probe the ensuing molecular manipulation dynamics is discussed within the excitation context. It is, in particular, shown that such studies can reveal reversible manipulation for tuning dynamics through variation of the excitation energy. Secondly, the photo-induced process arising from the irradiation of the STM junction is also studied through feedback loop dynamics analysis, allowing us to distinguish between photo-thermally and photo-electronically induced signals. © 2010 IOP Publishing Ltd

  8. A new method to manipulate broiler chicken growth and metabolism: Response to mixed LED light system.

    Science.gov (United States)

    Yang, Yefeng; Yu, Yonghua; Pan, Jinming; Ying, Yibin; Zhou, Hong

    2016-05-12

    Present study introduced a new method to manipulate broiler chicken growth and metabolism by mixing the growth-advantage LED. We found that the green/blue LED mixed light system (G-B and G × B) have the similar stimulatory effect on chick body weight with single green light and single blue light (G and B), compared with normal artificial light (P = 0.028). Moreover, the percentage of carcass was significantly greater in the mixed light (G × B) when compared with the single light (P = 0.003). Synchronized with body weight, the mixed light (G-B and G × B) had a significant improved influence on the feed conversion of birds compared with normal light (P = 0.002). A significant improvement in feed conversion were found in mixed light (G × B) compared with single LED light (P = 0.037). G group resulted in a greater high-density lipoprotein cholesterol level than B group (P = 0.002), whereas B group resulted in a greater low-density lipoprotein cholesterol level than G group (P = 0.017). The mixed light significantly increased the birds' glucose level in comparison with the single light (P = 0.003). This study might establish an effective strategy for maximizing growth of chickens by mixed LED technology.

  9. Manipulation and Motion of Organelles and Single Molecules in Living Cells

    DEFF Research Database (Denmark)

    Norregaard, Kamilla; Metzler, Ralf; Ritter, Christine M.

    2017-01-01

    used force spectroscopy techniques, namely optical tweezers, magnetic tweezers, and atomic force microscopy, are described in detail, and their strength and limitations related to in vivo experiments are discussed. Finally, recent exciting discoveries within the field of in vivo manipulation...

  10. In-Situ Single DNA Manipulation with phi 20nm Electron-Beam-Deposited Probe

    National Research Council Canada - National Science Library

    Fujioka, Sota

    2001-01-01

    .... In this method full-time observation of the manipulation is provided for the purpose of keeping the information about where the isolated DNA fragment used to he located in the original DNA fiber...

  11. Ultra-fast optical manipulation of single proteins binding to the actin cytoskeleton

    Science.gov (United States)

    Capitanio, Marco; Gardini, Lucia; Pavone, Francesco Saverio

    2014-02-01

    In the last decade, forces and mechanical stresses acting on biological systems are emerging as regulatory factors essential for cell life. Emerging evidences indicate that factors such as applied forces or the rigidity of the extracellular matrix (ECM) determine the shape and function of cells and organisms1. Classically, the regulation of biological systems is described through a series of biochemical signals and enzymatic reactions, which direct the processes and cell fate. However, mechanotransduction, i.e. the conversion of mechanical forces into biochemical and biomolecular signals, is at the basis of many biological processes fundamental for the development and differentiation of cells, for their correct function and for the development of pathologies. We recently developed an in vitro system that allows the investigation of force-dependence of the interaction of proteins binding the actin cytoskeleton, at the single molecule level. Our system displays a delay of only ~10 μs between formation of the molecular bond and application of the force and is capable of detecting interactions as short as 100 μs. Our assay allows direct measurements of load-dependence of lifetimes of single molecular bonds and conformational changes of single proteins and molecular motors. We demonstrate our technique on molecular motors, using myosin II from fast skeletal muscle and on protein-DNA interaction, specifically on Lactose repressor (LacI). The apparatus is stabilized to less than 1 nm with both passive and active stabilization, allowing resolving specific binding regions along the actin filament and DNA molecule. Our technique extends single-molecule force-clamp spectroscopy to molecular complexes that have been inaccessible up to now, opening new perspectives for the investigation of the effects of forces on biological processes.

  12. Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly

    Directory of Open Access Journals (Sweden)

    Zhan Yang

    2016-09-01

    Full Text Available Carbon nanotubes (CNT have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM. Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis. Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system.

  13. Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly.

    Science.gov (United States)

    Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

    2016-09-14

    Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system.

  14. Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly

    Science.gov (United States)

    Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

    2016-01-01

    Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system. PMID:27649180

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

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  16. Preliminary evaluation of the Accident Response Mobile Manipulation System for accident site salvage operations

    International Nuclear Information System (INIS)

    Trujillo, J.M.; Morse, W.D.; Jones, D.P.

    1994-01-01

    This paper describes and evaluates operational experiences with the Accident Response Mobile Manipulation System (ARMMS) during simulated accident site salvage operations which might involve nuclear weapons. The ARMMS is based upon a teleoperated mobility platform with two Schilling Titan 7F Manipulators

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

    International Nuclear Information System (INIS)

    Grundmann, J.G.

    1975-01-01

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

  18. Numerical analysis of right-half plane zeros for a single-link manipulator. M.S. Thesis

    Science.gov (United States)

    Girvin, Douglas Lynn

    1992-01-01

    The purpose of this research is to further develop an understanding of how nonminimum phase zero location is affected by structural link design. As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links become more of an issue in controls problems. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. The research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixes, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to inverse dynamic algorithms currently under development at Georgia Tech.

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

    Directory of Open Access Journals (Sweden)

    Puntumetakul R

    2015-01-01

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

  20. Versatile optical manipulation system for inspection, laser processing, and isolation of individual living cells

    Science.gov (United States)

    Stuhrmann, B.; Jahnke, H.-G.; Schmidt, M.; Jähn, K.; Betz, T.; Müller, K.; Rothermel, A.; Käs, J.; Robitzki, A. A.

    2006-06-01

    Isolation of individual cells from a heterogeneous cell population is an invaluable step in the analysis of single cell properties. The demands in molecular and cellular biology as well as molecular medicine are the selection, isolation, and monitoring of single cells and cell clusters of biopsy material. Of particular interest are methods which complement a passive optical or spectroscopic selection with a variety of active single cell processing techniques such as mechanical, biochemical, or genetic manipulation prior to isolation. Sophisticated laser-based cell processing systems are available which can perform single cell processing in a contact-free and sterile manner. Until now, however, these multipurpose turnkey systems offer only basic micromanipulation and are not easily modified or upgraded, whereas laboratory situations often demand simple but versatile and adaptable solutions. We built a flexible laser micromanipulation platform combining contact-free microdissection and catapulting capabilities using a pulsed ultraviolet (337nm) laser with simultaneous generation of optical tweezing forces using a continuous wave infrared (1064nm) laser. The potential of our platform is exemplified with techniques such as local laser-induced injection of biomolecules into individual living cells, laser surgery, isolation of single cells by laser catapulting, and control of neuronal growth using optical gradient forces. Arbitrary dynamic optical force patterns can be created by fast laser scanning with acousto-optical deflectors and galvanometer mirrors, allowing multibeam contact-free micromanipulation, a prerequisite for reliable handling of material in laboratory-on-a-chip applications. All common microscopy techniques can be used simultaneously with the offered palette of micromanipulation methods. Taken together, we show that advanced optical micromanipulation systems can be designed which combine quality, cost efficiency, and adaptability.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-12-15

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

  2. Site-selective substitutional doping with atomic precision on stepped Al (111) surface by single-atom manipulation.

    Science.gov (United States)

    Chen, Chang; Zhang, Jinhu; Dong, Guofeng; Shao, Hezhu; Ning, Bo-Yuan; Zhao, Li; Ning, Xi-Jing; Zhuang, Jun

    2014-01-01

    In fabrication of nano- and quantum devices, it is sometimes critical to position individual dopants at certain sites precisely to obtain the specific or enhanced functionalities. With first-principles simulations, we propose a method for substitutional doping of individual atom at a certain position on a stepped metal surface by single-atom manipulation. A selected atom at the step of Al (111) surface could be extracted vertically with an Al trimer-apex tip, and then the dopant atom will be positioned to this site. The details of the entire process including potential energy curves are given, which suggests the reliability of the proposed single-atom doping method.

  3. UHV-STM manipulation of single flat gold nano-islands for constructing interconnection nanopads on MoS2

    International Nuclear Information System (INIS)

    Yang, JianShu; Jie, Deng; Chandrasekhar, N; Joachim, C

    2007-01-01

    We demonstrate manipulation of metallic islands containing nearly a million atoms with a precision of one lattice spacing on a MoS 2 surface, one at a time. Optimizing the growth conditions yields triangular shape metallic nano-islands 40 nm in lateral size and 12 nm in height on the MoS2 surface. The manipulation of these nano-islands is done one at a time using the scanning tunneling microscope, and a fully planar 4 pad nanostructure is demonstrated, where one apex of each triangular nano-island is pointing towards a central working MoS 2 area of 12 nm x 24 nm in which atomic cleanliness is preserved. The feedback loop conditions to achieve this manipulation are discussed. This fully planar 4 pads nano-structure is ready to be interconnected by a multi-tip system

  4. CHAMP: A bespoke integrated system for mobile manipulation

    CSIR Research Space (South Africa)

    Van Eden, B

    2014-11-01

    Full Text Available radially around the palm. The motion of the fingers is coupled, but torque-controlled to permit flexible grasping. The WAM is equipped with two emergency stop pendants which when triggered will initiate a resistive breaking collapse of the arm. This ceases..., and have commercialised mobile manipulators. However, a number of research labs have developed their own such robots, typically through the combination of simpler devices (see Section II for a review of both commercial and lab-built platforms). These in-house...

  5. Bit Manipulation Accelerator for Communication Systems Digital Signal Processor

    Directory of Open Access Journals (Sweden)

    Jeong Sug H

    2005-01-01

    Full Text Available This paper proposes application-specific instructions and their bit manipulation unit (BMU, which efficiently support scrambling, convolutional encoding, puncturing, interleaving, and bit stream multiplexing. The proposed DSP employs the BMU supporting parallel shift and XOR (exclusive-OR operations and bit insertion/extraction operations on multiple data. The proposed architecture has been modeled by VHDL and synthesized using the SEC 0.18 m standard cell library and the gate count of the BMU is only about 1700 gates. Performance comparisons show that the number of clock cycles can be reduced about for scrambling, convolutional encoding, and interleaving compared with existing DSPs.

  6. Apparatus, Systems, and Methods for Reconfigurable Robotic Manipulator and Coupling

    Science.gov (United States)

    Burridge, Robert Raven (Inventor); Chu, Mars Wei (Inventor); Wolfe, Bryn Tyler (Inventor)

    2016-01-01

    A robotic manipulator arm is disclosed. The arm includes joints that are attachable and detachable in a tool-free manner via a universal mating adapter. The universal mating adapter includes a built-in electrical interface for an operative electrical connection upon mechanical coupling of the adapter portions. The universal mating adapter includes mechanisms and the ability to store and communicate parameter configurations such that the joints can be rearranged for immediate operation of the arm without further reprogramming, recompiling, or other software intervention.

  7. Optical manipulation of aerosol droplets using a holographic dual and single beam trap

    Czech Academy of Sciences Publication Activity Database

    Brzobohatý, Oto; Šiler, Martin; Ježek, Jan; Jákl, Petr; Zemánek, Pavel

    2013-01-01

    Roč. 38, č. 22 (2013), s. 4601-4604 ISSN 0146-9592 R&D Projects: GA ČR GPP205/11/P294; GA ČR GPP205/12/P868; GA MŠk LH12018; GA MŠk ED0017/01/01 Institutional support: RVO:68081731 Keywords : optical tweezers * optical manipulation Subject RIV: BH - Optics, Masers, Lasers Impact factor: 3.179, year: 2013

  8. Cold Atmospheric Plasma Manipulation of Proteins in Food Systems

    DEFF Research Database (Denmark)

    Tolouie, Haniye; Hashemi, Maryam; Mohammadifar, Mohammad Amin

    2017-01-01

    -functional characteristics of processed foods and/or the physico-chemical properties of protein-based films. At the same time, some proteins are responsible for reduction in quality and nutritional value, and/or causing allergic reactions in the human body. This study is a review of the influences of different types...... of plasma on the conformation and function of proteins with food origin, especially enzymes and allergens, as well as protein-made packaging films. In enzyme manipulation with plasma, deactivation has been reported to be either partial or complete. In addition, an activity increase has been observed in some...... factors, including treatment power, time, and gas type, as well as the nature of the substance and the treatment environment....

  9. Electrical manipulation of the light emission of single CdSe/CdS nanorods; Elektrische Manipulation der Lichtemission von einzelnen CdSe/CdS Nanostaebchen

    Energy Technology Data Exchange (ETDEWEB)

    Mueller, J.

    2005-09-14

    In the center of the present thesis lies the study and manipulation of the light emission of novel rod-shaped cadmium-selenide/cadmium-sulfide (CdSe/CdS) nanocrystals. These nanocrystals consist of a spherical CdSe nucleus, on which a CdS nanorod is grown monocrystallinely. By this grow spatially asymmetric semiconductor nanorods with an aspect ratio between 1.6 and 4.0. By the measurement of the radiation rate in this thesis it could be shown that the electron is delocalized over the whole nanorod, while the hole is localized in the CdSe nucleus. Therefore by the length of the cadmium-sulfide rod the wave-function overlap can be directly manipulated. The wave functions and by this the emission energies can be beside the geometry especially also controlled by external fields. Because the magnitude of the so-called ''Stark effect in quantum-bounded structures'' increases with the spatial extension of the nanostructure, in the nanorods an in comparison with spherical nanocrystals distinctly increased field effect could be observed. Experiments on single CdSe/CdS nanorods exhibit however not only a shift of the emission energy by the 50-fold of the line width, but simultaneously a field-induced decreasement of the emission intensity by one order of magnitude. The experimental results can be excellently compared with a theoretical model. For this the effective-mass model was supplemented by the Coulomb interaction and extended by a finite-element method for asymmetric geometries. By this it is possible to predict both the radiation rate, the Stark shift of the emission energy, and the intensity modulation by electric fields qualitatively and quantitatively and to describe the Stark effect in colloidal nanocrystal by a quantum-mechanical model. The emission characteristics is not only influenced by external fields, but also by fluctuations of local fields, which arise by diffunding surface charges. These local field changes induce also a Stark shift

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

    Science.gov (United States)

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

    2018-02-01

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

  11. Reliable lateral and vertical manipulations of a single Cu adatom on a Cu(111) surface with multi-atom apex tip: semiempirical and first-principles simulations

    International Nuclear Information System (INIS)

    Xie Yiqun; Liu Qingwei; Zhang Peng; Wang Songyou; Li Yufen; Gan Fuxi; Zhuang Jun; Zhang Wenqing; Zhuang Min

    2008-01-01

    We study the reliability of the lateral manipulation of a single Cu adatom on a Cu(111) surface with single-atom, dimer and trimer apex tips using both semiempirical and first-principles simulations. The dependence of the manipulation reliability on tip height is investigated. For the single-atom apex tip the manipulation reliability increases monotonically with decreasing tip height. For the dimer and trimer apex tips the manipulation reliability is greatly improved compared to that for the single-atom apex tip over a certain tip-height range. Two kinds of mechanism are found responsible for this improvement. One is the so-called enhanced interaction mechanism in which the lateral tip-adatom interaction in the manipulation direction is improved. The other is the suspended atom mechanism in which the relative lateral trapping ability of the tip is improved due to the strong vertical attraction of the tip on the adatom. Both mechanisms occur in the manipulations with the trimer apex tip, while in those with the dimer apex tip only the former is effective. Moreover, we present a method to realize reversible vertical manipulation of a single atom on a Cu(111) surface with the trimer apex tip, based on its strong vertical and lateral attraction on the adatom

  12. Fabrication of bridge transportation system for dual arm master-slave servo manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Ha, Chan Ho; Lee, Dong Cheol; Kim, Hae Jin [Moojin Keeyeon, Gwangju (Korea, Republic of)

    2010-05-15

    A bridge transportation system for dual arm master-slave servo manipulator consists of an overhead transportation system for slave manipulator and a wall transportation system for master manipulator. This work includes fabrication of bridge(x-direction), trolley(y-direction), telescopic tube(z-direction), and rotation assembly for the overhead transportation system, and tube and rotation assembly for the wall transportation system. Moojin Co., Ltd. checked the drawings provided by KAERI and undertook the fabrication after minor revisions. Also, assembling procedures were addressed before tasks and used as assembling guides. After completion of the fabrication, inspection and performance tests were carried out and showed the bridge transportation system could fulfill its own functions

  13. An Exploration of Dual Systems via Time Pressure Manipulation in Decision-making Problems

    Science.gov (United States)

    Guo, Lisa

    Every day, decisions need to be made where time is a limiting factor. Regardless of situation, time constraints often place a premium on rapid decision-making. Researchers have been interested in studying this human behavior and understanding its underlying cognitive processes. In previous studies, scientists have believed that the cognitive processes underlying decision-making behavior were consistent with dual-process modes of thinking. Critics of dual-process theory question the vagueness of its definition, and claim that single-process accounts can explain the data just as well. My aim is to elucidate the cognitive processes that underlie decisions which involve some level of risk through the experimental manipulation of time pressure. Using this method, I hope to distinguish between competing hypotheses related to the origin of the effect. I will explore three types of decisions that illustrate these concepts: risky decision-making involving gambles, intertemporal choice, and one-shot public goods games involving social cooperation. In our experiments, participants made decisions about gambles framed as either gains or losses; decided upon intertemporal choices for smaller but sooner rewards or larger but later rewards; and played a one-shot public goods game involving social cooperation and contributing an amount of money to a group. In each case, we experimentally manipulated time pressure, either within subjects or among individuals. Results showed under time pressure, increased framing effects under in both hypothetical and incentivized choices; and greater contributions and cooperation among individuals, lending support to the dual process hypothesis that these effects arise from a fast, intuitive system. However, our intertemporal choice experiment showed that time constraints led to increased selection of the larger but later options, which suggests that the magnitude of the reward may play larger role in choice selection under cognitive load than

  14. Robot Manipulators

    Science.gov (United States)

    1988-01-01

    Space Shuttle's Remote Manipulator System (Canadarm) is a 50 foot robot arm used to deploy, retrieve or repair satellites in orbit. Initial spinoff version is designed to remove, inspect and replace large components of Ontario Hydro's CANDU nuclear reactors, which supply 50 percent of Ontario Hydro's total power reduction. CANDU robot is the first of SPAR's Remote Manipulator Systems intended for remote materials handling operations in nuclear servicing, chemical processing, smelting and manufacturing. Inco Limited used remote manipulator for remote control mining equipment to enhance safety and productivity of Inco's hardrock mining operations. System not only improves safety in a hazardous operation that costs more than a score of lives annually, it also increases productivity fourfold. Remote Manipulator System Division is also manufacturing a line of industrial robots and developing additional system for nuclear servicing, mining, defense and space operations.

  15. Optical manipulation with two beam traps in microfluidic polymer systems

    DEFF Research Database (Denmark)

    Khoury Arvelo, Maria; Matteucci, Marco; Sørensen, Kristian Tølbøl

    2015-01-01

    An optical trapping system with two opposing laser beams, also known as the optical stretcher, are naturally constructed inside a microfluidic lab-on-chip system. We present and compare two approaches to combine a simple microfluidic system with either waveguides directly written in the microflui......An optical trapping system with two opposing laser beams, also known as the optical stretcher, are naturally constructed inside a microfluidic lab-on-chip system. We present and compare two approaches to combine a simple microfluidic system with either waveguides directly written...... in the microfluidic chip or with optical fibers mounted in the chip....

  16. CEGB intergraph computer aided design system as an aid for the navigation of remote manipulators

    International Nuclear Information System (INIS)

    Lichnowski, A.J.M.; Hopton, G.

    1988-01-01

    Computer Aided Design Systems with 3D Graphic capability can offer substantial benefits for the simulation and navigation of remote manipulators. The CEGB has been experimenting with its own Corporate INTERGRAPH CAD Network using as an example a remote links manipulator working within the above gas baffle dome area of an Advanced Gas Cooled Reactor. A report of this work is presented together with graphic simulations of the manipulator within the above dome area and reconstructions of images anticipated from the on board cameras. Future improvements in the speed of graphic processing will enable these techniques to be used for the on-line navigation of manipulators, as an aid to the interpretation of video images and for the training of operators without the need for full size test and training facilities. (author)

  17. Preparation, single-molecule manipulation and energy transfer investigation of a polyfluorene-graft-DNA polymer

    DEFF Research Database (Denmark)

    Madsen, Mikael; Christensen, Rasmus S.; Krissanaprasit, Abhichart

    2017-01-01

    with the conjugated polyfluorene backbone, but the protruding single-stranded DNA provides the material with an exceptional addressability. This allows us to demonstrate controlled single polymer patterning, as well as energy transfer between two different polymer-DNA conjugates. Finally, we demonstrate highly...

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

    Energy Technology Data Exchange (ETDEWEB)

    D.R. Jackson; G.R. Kiebel

    1999-08-24

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

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

    International Nuclear Information System (INIS)

    D.R. Jackson; G.R. Kiebel

    1999-01-01

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

  20. On-chip magnetically actuated robot with ultrasonic vibration for single cell manipulations.

    Science.gov (United States)

    Hagiwara, Masaya; Kawahara, Tomohiro; Yamanishi, Yoko; Masuda, Taisuke; Feng, Lin; Arai, Fumihito

    2011-06-21

    This paper presents an innovative driving method for an on-chip robot actuated by permanent magnets in a microfluidic chip. A piezoelectric ceramic is applied to induce ultrasonic vibration to the microfluidic chip and the high-frequency vibration reduces the effective friction on the MMT significantly. As a result, we achieved 1.1 micrometre positioning accuracy of the microrobot, which is 100 times higher accuracy than without vibration. The response speed is also improved and the microrobot can be actuated with a speed of 5.5 mm s(-1) in 3 degrees of freedom. The novelty of the ultrasonic vibration appears in the output force as well. Contrary to the reduction of friction on the microrobot, the output force increased twice as much by the ultrasonic vibration. Using this high accuracy, high speed, and high power microrobot, swine oocyte manipulations are presented in a microfluidic chip.

  1. Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

    Science.gov (United States)

    Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

    2017-01-01

    Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

  2. A contribution about ferrofluid based flow manipulation and locomotion systems

    International Nuclear Information System (INIS)

    Zimmermann, K; Zeidis, I; Bohm, V; Popp, J

    2009-01-01

    With the background of developing apedal bionic inspired locomotion systems for future application fields like autonomous (swarm) robots, medical engineering and inspection systems, this article presents a selection of locomotion systems with bifluidic flow control using ferrofluid. By controlling the change of shape, position and pressure of the ferrofluid in a secondary low viscous fluid by magnetic fields locomotion of objects or the ferrofluid itself can be realised. The locomotion of an object is caused in the first example by a ferrofluid generated flow of the secondary fluid and in the second and third case by the direct alteration of the ferrofluid position.

  3. A contribution about ferrofluid based flow manipulation and locomotion systems

    Energy Technology Data Exchange (ETDEWEB)

    Zimmermann, K; Zeidis, I; Bohm, V; Popp, J [TU Ilmenau, Fak. f. Maschinenbau, FG Technische Mechanik, Max-Planck-Ring 12, 98693 Ilmenau (Germany)], E-mail: klaus.zimmermann@tu-ilmenau.de, E-mail: jana.popp@tu-ilmenau.de

    2009-02-01

    With the background of developing apedal bionic inspired locomotion systems for future application fields like autonomous (swarm) robots, medical engineering and inspection systems, this article presents a selection of locomotion systems with bifluidic flow control using ferrofluid. By controlling the change of shape, position and pressure of the ferrofluid in a secondary low viscous fluid by magnetic fields locomotion of objects or the ferrofluid itself can be realised. The locomotion of an object is caused in the first example by a ferrofluid generated flow of the secondary fluid and in the second and third case by the direct alteration of the ferrofluid position.

  4. Fault tolerant design of a servo manipulator system for hot cell operation

    International Nuclear Information System (INIS)

    Jin, Jae Hyun; Park, Byung Suk; Ahn, Sung Ho; Yoon, Ji Sup; Jung, Jae Hoo

    2003-01-01

    In this paper, fault tolerant mechanisms are presented for a servo manipulator system designed to operate in a hot cell. A hot cell is a sealed and shielded room to handle radioactive materials, and it is dangerous for people to work in the hot cell. So, remote operations are necessary to handle the radioactive materials in the hot cell. KAERI has developed a servo manipulator system to perform such remote operations. However, since electric components such as servo motors are weakened with radiation, fault tolerant mechanisms have to be considered. For fault tolerance of the servo manipulator system, hardware and software redundancy has been considered. In the case of hardware, radioactive resistant electric components such as cables and connectors have been adopted and motors driving a transport have been duplicated. In case of software, a reconfiguration algorithm accommodating one motor's failure has been developed. The algorithm uses redundant axes to recover the end effector's motion in spite of one motor's failure

  5. Site-specific labeling of Saccharomyces cerevisiae ribosomes for single-molecule manipulations

    Science.gov (United States)

    Petrov, Alexey; Puglisi, Joseph D.

    2010-01-01

    Site-specific labeling of Escherichia coli ribosomes has allowed application of single-molecule fluorescence spectroscopy and force methods to probe the mechanism of translation. To apply these approaches to eukaryotic translation, eukaryotic ribosomes must be specifically labeled with fluorescent labels and molecular handles. Here, we describe preparation and labeling of the small and large yeast ribosomal subunits. Phylogenetically variable hairpin loops in ribosomal RNA are mutated to allow hybridization of oligonucleotides to mutant ribosomes. We demonstrate specific labeling of the ribosomal subunits, and their use in single-molecule fluorescence and force experiments. PMID:20501598

  6. Hydrodynamic lift for single cell manipulation in a femtosecond laser fabricated optofluidic chip

    Directory of Open Access Journals (Sweden)

    Bragheri Francesca

    2017-08-01

    Full Text Available Single cell sorting based either on fluorescence or on mechanical properties has been exploited in the last years in microfluidic devices. Hydrodynamic focusing allows increasing the efficiency of theses devices by improving the matching between the region of optical analysis and that of cell flow. Here we present a very simple solution fabricated by femtosecond laser micromachining that exploits flow laminarity in microfluidic channels to easily lift the sample flowing position to the channel portion illuminated by the optical waveguides used for single cell trapping and analysis.

  7. Simulation analysis of control strategies for a tank waste retrieval manipulator system

    International Nuclear Information System (INIS)

    Schryver, J.C.; Draper, J.V.

    1995-01-01

    A network simulation model was developed for the Tank Waste Retrieval Manipulator System, incorporating two distinct levels of control: teleoperation and supervisory control. The model included six error modes, an attentional resource model, and a battery of timing variables. A survey questionnaire administered to subject matter experts provided data for estimating timing distributions for level of control-critical tasks. Simulation studies were performed to evaluate system behavior as a function of control level and error modes. The results provide important insights for development of waste retrieval manipulators

  8. See me, feel me: methods to concurrently visualize and manipulate single DNA molecules and associated proteins

    NARCIS (Netherlands)

    van Mameren, J.; Peterman, E.J.G.; Wuite, G.J.L.

    2008-01-01

    Direct visualization of DNA and proteins allows researchers to investigate DNA-protein interactions with great detail. Much progress has been made in this area as a result of increasingly sensitive single-molecule fluorescence techniques. At the same time, methods that control the conformation of

  9. Development and characterization of a CCD camera system for use on six-inch manipulator systems

    International Nuclear Information System (INIS)

    Logory, L.M.; Bell, P.M.; Conder, A.D.; Lee, F.D.

    1996-01-01

    The Lawrence Livermore National Laboratory has designed, constructed, and fielded a compact CCD camera system for use on the Six Inch Manipulator (SIM) at the Nova laser facility. The camera system has been designed to directly replace the 35 mm film packages on all active SIM-based diagnostics. The unit's electronic package is constructed for small size and high thermal conductivity using proprietary printed circuit board technology, thus reducing the size of the overall camera and improving its performance when operated within the vacuum environment of the Nova laser target chamber. The camera has been calibrated and found to yield a linear response, with superior dynamic range and signal-to-noise levels as compared to T-Max 3200 optic film, while providing real-time access to the data. Limiting factors related to fielding such devices on Nova will be discussed, in addition to planned improvements of the current design

  10. Single-leg landing neuromechanical data following load and land height manipulations

    Directory of Open Access Journals (Sweden)

    Andrew D. Nordin

    2016-09-01

    Full Text Available Lower extremity sagittal kinematic and kinetic data are summarized alongside electrical muscle activities during single-leg landing trials completed in contrasting external load and landing height conditions. Nineteen subjects were analyzed during 9 landing trials in each of 6 experimental conditions computed as percentages of subject anthropometrics (bodyweight: BW and subject height: H; BW, BW+12.5%, BW+25%, and H12.5%, H25%. Twelve lower extremity variables (sagittal hip, knee, ankle angles and moments, vertical ground reaction force (GRFz, gluteus maximus, biceps femoris, vastus medials, medial gastrocnemius, and tibialis anterior muscles were assessed using separate principal component analyses (PCA. Variable trends across conditions were summarized in “Neuromechanical synergies in single-leg landing reveal changes in movement control. Human Movement Science” (Nordin and Dufek, 2016 [1], revealing changes in landing biomechanics and movement control.

  11. Electrical manipulation of spin states in a single electrostatically gated transition-metal complex

    DEFF Research Database (Denmark)

    Osorio, Edgar A; Moth-Poulsen, Kasper; van der Zant, Herre S J

    2010-01-01

    We demonstrate an electrically controlled high-spin (S = 5/2) to low-spin (S = 1/2) transition in a three-terminal device incorporating a single Mn(2+) ion coordinated by two terpyridine ligands. By adjusting the gate-voltage we reduce the terpyridine moiety and thereby strengthen the ligand......-field on the Mn-atom. Adding a single electron thus stabilizes the low-spin configuration and the corresponding sequential tunnelling current is suppressed by spin-blockade. From low-temperature inelastic cotunneling spectroscopy, we infer the magnetic excitation spectrum of the molecule and uncover also...... a strongly gate-dependent singlet-triplet splitting on the low-spin side. The measured bias-spectroscopy is shown to be consistent with an exact diagonalization of the Mn-complex, and an interpretation of the data is given in terms of a simplified effective model....

  12. Monitoring single membrane protein dynamics in a liposome manipulated in solution by the ABELtrap

    Science.gov (United States)

    Rendler, T.; Renz, M.; Hammann, E.; Ernst, S.; Zarrabi, N.; Börsch, M.

    2011-02-01

    FoF1-ATP synthase is the essential membrane enzyme maintaining the cellular level of adenosine triphosphate (ATP) and comprises two rotary motors. We measure subunit rotation in FoF1-ATP synthase by intramolecular Foerster resonance energy transfer (FRET) between two fluorophores at the rotor and at the stator of the enzyme. Confocal FRET measurements of freely diffusing single enzymes in lipid vesicles are limited to hundreds of milliseconds by the transit times through the laser focus. We evaluate two different methods to trap the enzyme inside the confocal volume in order to extend the observation times. Monte Carlo simulations show that optical tweezers with low laser power are not suitable for lipid vesicles with a diameter of 130 nm. A. E. Cohen (Harvard) and W. E. Moerner (Stanford) have recently developed an Anti-Brownian electrokinetic trap (ABELtrap) which is capable to apparently immobilize single molecules, proteins, viruses or vesicles in solution. Trapping of fluorescent particles is achieved by applying a real time, position-dependent feedback to four electrodes in a microfluidic device. The standard deviation from a given target position in the ABELtrap is smaller than 200 nm. We develop a combination of the ABELtrap with confocal FRET measurements to monitor single membrane enzyme dynamics by FRET for more than 10 seconds in solution.

  13. Manipulation of the Complement System for Benefit in Sepsis

    Directory of Open Access Journals (Sweden)

    Peter A. Ward

    2012-01-01

    Full Text Available There is evidence in sepsis, both in rodents and in humans, that activation of the complement system results in excessive production of C5a, which triggers a series of events leading to septic shock, multiorgan failure, and lethality. In rodents following cecal ligation and puncture (CLP, which induces polymicrobial sepsis, in vivo blockade of C5a using neutralizing antibodies dramatically improved survival, reduced apoptosis of lymphoid cells, and attenuated the ensuing coagulopathy. Based on these data, it seems reasonable to consider therapeutic blockade of C5a in humans entering into sepsis and septic shock. Strategies for the development of such an antibody for use in humans are presented.

  14. Molecules with multiple switching units on a Au(111) surface: self-organization and single-molecule manipulation

    Science.gov (United States)

    Mielke, Johannes; Selvanathan, Sofia; Peters, Maike; Schwarz, Jutta; Hecht, Stefan; Grill, Leonhard

    2012-10-01

    Three different molecules, each containing two azobenzene switching units, were synthesized, successfully deposited onto a Au(111) surface by sublimation and studied by scanning tunneling microscopy at low temperatures. To investigate the influence of electronic coupling between the switching units as well as to the surface, the two azo moieties were connected either via π-conjugated para-phenylene or decoupling meta-phenylene bridges, and the number of tert-butyl groups was varied in the meta-phenylene-linked derivatives. Single molecules were found to be intact after deposition as identified by their characteristic appearance in STM images. Due to their mobility on the Au(111) surface at room temperature, the molecules spontaneously formed self-organized molecular arrangements that reflected their chemical structure. While lateral displacement of the molecules was accomplished by manipulation, trans-cis isomerization processes, typical for azobenzene switches, could not be induced.

  15. Single Qubit Manipulation in a Microfabricated Surface Electrode Ion Trap (Open Access, Publisher’s Version)

    Science.gov (United States)

    2013-09-13

    electrode ion trap with field compensation using a modulated Raman effect D T C Allcock, J A Sherman, D N Stacey et al. Spatially uniform single-qubit gate...in thermal states of motion G Kirchmair, J Benhelm, F Zähringer et al. Normal modes of trapped ions in the presence of anharmonic trap potentials J P...Qloaded = 280) [35]. New Journal of Physics 15 (2013) 093018 (http://www.njp.org/) 5 2.1 GHz Zeeman = 1.4 MHz/G 36 9. 5 nm HF = 12.6 GHz 171Yb+ 2P 1

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

    Directory of Open Access Journals (Sweden)

    Elkhateeb Nasr A.

    2017-12-01

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

  17. Manipulation of the spin in single molecule magnets via Landau-Zener transitions

    Science.gov (United States)

    Palii, Andrew; Tsukerblat, Boris; Clemente-Juan, Juan M.; Gaita-Ariño, Alejandro; Coronado, Eugenio

    2011-11-01

    We theoretically investigate the effects of a magnetic pulse on a single-molecule magnet (SMM) initially magnetized by a dc field along the easy axis of magnetization. In the Landau-Zener (LZ) scheme, it is shown that the final spin state is a function of the shape and duration of the pulse, conditioned by the decoherence time of the SMM. In the case of coherent tunneling, the asymmetric pulses are shown to reverse the direction of the magnetization, while the symmetric pulses can only decrease the value of the initial magnetization. It is also demonstrated that the application of an external variable dc field in the hard plane of magnetization provides the possibility to tune the resulting magnetization due to quantum interference effects. The results and the conditions for the observation of the pulse-triggered LZ transitions are illustrated by the application of the proposed scheme to the well-studied single-molecule magnet Fe8. To put the results into perspective, some potential applications of SMMs experiencing pulse-induced LZ transitions, such as switching devices and qubits, are discussed.

  18. Manipulation of spin states in single II-VI-semiconductor quantum dots; Manipulation von Spinzustaenden in einzelnen II-VI-Halbleiter-Quantenpunkten

    Energy Technology Data Exchange (ETDEWEB)

    Hundt, Andreas

    2007-10-09

    Semiconductor quantum dots (QD) are objects on the nanometer scale, where charge carriers are confined in all three dimensions. This leads to a reduced interaction with the semiconductor lattice and to a discrete density of states. The spin state of a particle defines the polarisation of the emitted light when relaxating to an energetically lower state. Spin exchange and optical transition selection rules (conservation law for spin) define the optical control of spin states. In the examined QD in II-VI seminconductor systems the large polar character of the bindings enables to observe particle interactions by spectroscopy of the photo-luminescence (PL), making QD attractive for basic research. This work subjects in its first part single negatively charged non-magnetic QD. The odd number of carriers allows to study the latter in an unpaired state. By using polarization-resolved micro-PL spectroscopy, the spin-states of single, isolated QD can be studied reproducibly. Of special interest are exchange interactions in this few-particle system named trion. By excitation spectroscopy energetically higher states can be identified and characterized. The exchange interactions appearing here lead to state mixing and fine structure patterns in the spectra. Couplings in excited hole states show the way to the optical orientation of the resident electron spin. The spin configuration of the trion triplet state can be used to optically control the resident electron spin. Semimagnetic QD are focused in the second part of this work. The interaction with a paramagnetic environment of manganese spins leads to new magneto-optical properties of the QD. They reveal on a single dot level by line broadening due to spin fluctuations and by the giant Zeeman effect of the dot ensemble. Of special interest in this context is the influence of the reduced system dimension and the relatively larger surface of the system on the exchange mechanisms. The strong temperature dependence of the spin

  19. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2004-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a distributed, collaborative virtual environment system supporting remote scientific collaboration between users of the nanoManipulator interface to atomic force microscopes. This paper describes the entire...... collaboration system, but focuses on the shared nanoManipulator (nM) application. To be readily accepted by users, the shared nM application had to have the same high level of interactivity as the single-user system and include all the functions of the single-user system. In addition the application had...

  20. New Factorization Techniques and Parallel (log N) Algorithms for Forward Dynamics Solution of Single Closed-Chain Robot Manipulators

    Science.gov (United States)

    Fijany, Amir

    1993-01-01

    In this paper parallel 0(log N) algorithms for dynamic simulation of single closed-chain rigid multibody system as specialized to the case of a robot manipulatoar in contact with the environment are developed.

  1. Coherent manipulation of three-qubit states in a molecular single-ion magnet

    Science.gov (United States)

    Jenkins, M. D.; Duan, Y.; Diosdado, B.; García-Ripoll, J. J.; Gaita-Ariño, A.; Giménez-Saiz, C.; Alonso, P. J.; Coronado, E.; Luis, F.

    2017-02-01

    We study the quantum spin dynamics of nearly isotropic Gd3 + ions entrapped in polyoxometalate molecules and diluted in crystals of a diamagnetic Y3 + derivative. The full energy-level spectrum and the orientations of the magnetic anisotropy axes have been determined by means of continuous-wave electron paramagnetic resonance experiments, using X-band (9-10 GHz) cavities and on-chip superconducting waveguides and 1.5-GHz resonators. The results show that seven allowed transitions between the 2 S +1 spin states can be separately addressed. Spin coherence T2 and spin-lattice relaxation T1 rates have been measured for each of these transitions in properly oriented single crystals. The results suggest that quantum spin coherence is limited by residual dipolar interactions with neighbor electronic spins. Coherent Rabi oscillations have been observed for all transitions. The Rabi frequencies increase with microwave power and agree quantitatively with predictions based on the spin Hamiltonian of the molecular spin. We argue that the spin states of each Gd3 + ion can be mapped onto the states of three addressable qubits (or, alternatively, of a d =8 -level "qudit"), for which the seven allowed transitions form a universal set of operations. Within this scheme, one of the coherent oscillations observed experimentally provides an implementation of a controlled-controlled-NOT (or Toffoli) three-qubit gate.

  2. Pulsed-laser-deposited, single-crystalline Cu2O films with low resistivity achieved through manipulating the oxygen pressure

    Science.gov (United States)

    Liu, Xiaohui; Xu, Meng; Zhang, Xijian; Wang, Weiguang; Feng, Xianjin; Song, Aimin

    2018-03-01

    Low-resistivity, single-crystalline Cu2O films were realized on MgO (110) substrates through manipulating the oxygen pressure (PO2) of pulsed-laser deposition. X-ray diffraction and high resolution transmission electron microscopy measurements revealed that the films deposited at PO2 of 0.06 and 0.09 Pa were single phase Cu2O and the 0.09-Pa-deposited film exhibited the best crystallinity with an epitaxial relationship of Cu2O (110)∥MgO (110) with Cu2O (001)∥MgO (001). The pure phase Cu2O films exhibited higher transmittances and larger band gaps with an optical band gap of 2.56 eV obtained for the 0.09 Pa-deposited film. Hall-effect measurements demonstrated that the Cu2O film deposited at 0.09 Pa had the lowest resistivity of 6.67 Ω cm and highest Hall mobility of 23.75 cm2 v-1 s-1.

  3. Novel Approaches to Manipulating Bacterial Pathogen Biofilms: Whole-Systems Design Philosophy and Steering Microbial Evolution.

    Science.gov (United States)

    Penn, Alexandra S

    2016-01-01

    Understanding and manipulating bacterial biofilms is crucial in medicine, ecology and agriculture and has potential applications in bioproduction, bioremediation and bioenergy. Biofilms often resist standard therapies and the need to develop new means of intervention provides an opportunity to fundamentally rethink our strategies. Conventional approaches to working with biological systems are, for the most part, "brute force", attempting to effect control in an input and effort intensive manner and are often insufficient when dealing with the inherent non-linearity and complexity of living systems. Biological systems, by their very nature, are dynamic, adaptive and resilient and require management tools that interact with dynamic processes rather than inert artefacts. I present an overview of a novel engineering philosophy which aims to exploit rather than fight those properties, and hence provide a more efficient and robust alternative. Based on a combination of evolutionary theory and whole-systems design, its essence is what I will call systems aikido; the basic principle of aikido being to interact with the momentum of an attacker and redirect it with minimal energy expenditure, using the opponent's energy rather than one's own. In more conventional terms, this translates to a philosophy of equilibrium engineering, manipulating systems' own self-organisation and evolution so that the evolutionarily or dynamically stable state corresponds to a function which we require. I illustrate these ideas with a description of a proposed manipulation of environmental conditions to alter the stability of co-operation in the context of Pseudomonas aeruginosa biofilm infection of the cystic fibrosis lung.

  4. Learning control system design based on 2-D theory - An application to parallel link manipulator

    Science.gov (United States)

    Geng, Z.; Carroll, R. L.; Lee, J. D.; Haynes, L. H.

    1990-01-01

    An approach to iterative learning control system design based on two-dimensional system theory is presented. A two-dimensional model for the iterative learning control system which reveals the connections between learning control systems and two-dimensional system theory is established. A learning control algorithm is proposed, and the convergence of learning using this algorithm is guaranteed by two-dimensional stability. The learning algorithm is applied successfully to the trajectory tracking control problem for a parallel link robot manipulator. The excellent performance of this learning algorithm is demonstrated by the computer simulation results.

  5. Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System

    Directory of Open Access Journals (Sweden)

    Wang Congqing

    2013-02-01

    Full Text Available The flexible space manipulator is a highly nonlinear and coupled dynamic system. This paper proposes a novel composite sliding mode control to deal with the vibration suppression and trajectory tracking of a free-floating space rigid-flexible coupling manipulator with a rigid payload. First, the dynamic equations of this system are established by using Lagrange and assumed mode methods and in the meantime this dynamic modelling allows consideration of the modelling errors, the external disturbance and the vibration damping of a flexible link. Then, in modal space, the problems of the manipulator system's trajectory tracking and the vibration suppression are discussed by using the composite control approach, which combines a non-singular terminal sliding mode control (NTSMC with an active vibration suppression control (AVSC. The NTSMC uses a fuzzy logic output instead of the symbol item, which smoothes the control signal, thereby inhibiting the chattering of the sliding mode control. Compared with common sliding mode control (SMC, the approach not only can reduce the chattering of the sliding mode control, but also can eliminate the singular phenomenon of the system's control input. In addition, it can assure the trajectory tracking and the vibration suppression. Many space missions can benefit from this modelling system, such as autonomous docking of satellites, rescuing and satellite servicing. Finally, the numerical simulations were carried out, which confirmed the effectiveness of these methods.

  6. Identification of single-input-single-output quantum linear systems

    Science.gov (United States)

    Levitt, Matthew; GuÅ£ǎ, Mǎdǎlin

    2017-03-01

    The purpose of this paper is to investigate system identification for single-input-single-output general (active or passive) quantum linear systems. For a given input we address the following questions: (1) Which parameters can be identified by measuring the output? (2) How can we construct a system realization from sufficient input-output data? We show that for time-dependent inputs, the systems which cannot be distinguished are related by symplectic transformations acting on the space of system modes. This complements a previous result of Guţă and Yamamoto [IEEE Trans. Autom. Control 61, 921 (2016), 10.1109/TAC.2015.2448491] for passive linear systems. In the regime of stationary quantum noise input, the output is completely determined by the power spectrum. We define the notion of global minimality for a given power spectrum, and characterize globally minimal systems as those with a fully mixed stationary state. We show that in the case of systems with a cascade realization, the power spectrum completely fixes the transfer function, so the system can be identified up to a symplectic transformation. We give a method for constructing a globally minimal subsystem direct from the power spectrum. Restricting to passive systems the analysis simplifies so that identifiability may be completely understood from the eigenvalues of a particular system matrix.

  7. A Ground Experiment System of a Free-Floating Robot for Fine Manipulation

    Directory of Open Access Journals (Sweden)

    Houde Liu

    2012-11-01

    Full Text Available Robotic systems are expected to play an increasingly important role in future space activities with the development of space technology. One broad area of application is in the servicing, construction and maintenance of satellites and large space structures in orbit. Fine manipulation technology is very important for space robots to be able to perform these tasks, since it must ensure safe and reliable interaction with objects or the environment. In order to assure the task is accomplished successfully, ground experimentations are required in order to verify key planning and control algorithms before the space robot is launched. In this paper, based on the concept of a hybrid approach combining the mathematical model with the physical model, a ground experiment system is set up, which is composed of two industrial robots, global and hand-eye visual equipment, six-axis force/torquesensors, guide rail and four computers. Many control approaches of fine manipulation, such as compliance control, impedance control, hybrid force/position control, intelligent control and so on, can be verified using this system. As an example, a contour curves tracking experiment based on the compliance control strategy is performed. Experiment results show that the ground system is very useful for verifying the dexterous manipulation technology of space robots.

  8. Design and real-time control of a robotic system for fracture manipulation.

    Science.gov (United States)

    Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S

    2015-08-01

    This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

  9. Control system developments for a range of kinematically redundant hydraulic manipulators

    International Nuclear Information System (INIS)

    Smith, A.L.; Rice, P.S.; Thiruarooran, C.

    2000-01-01

    This paper describes a range of control system improvements developed and implemented for in-reactor use during the last three years. Novel control techniques have been developed to provide accurate closed-loop velocity control of pumped hydraulic manipulator joints under a wide range of operating conditions. As a result the supervisory computer system can provide accurate trajectory following, even when more than ten joints are required to move simultaneously. Accurately coordinated motion has given rise to some spectacular gains in in-reactor performance in terms of deployment time, safety and accessibility. The same low-level control improvements have made it feasible to integrate and use the 'geometric controller' to provide accurate resolved motion control of a kinematically redundant manipulator. Examples of recent in-reactor use of all these techniques are given. (author)

  10. Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

    Science.gov (United States)

    Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

    2017-01-01

    Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

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

    International Nuclear Information System (INIS)

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

    1982-10-01

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

  12. Applicability of a cable-driven manipulator system for hazardous environments

    International Nuclear Information System (INIS)

    Wentz, J.D.; Weldon, G.S.

    2000-01-01

    The cable-driven EMMA serpentine manipulator has been under development for the past several years GreyPilgrim has explored many of the possible applications of this technology in both hazardous and non-hazardous environments. This paper will investigate the advantages and disadvantages of a cable-driven system operating in hazardous environments such as nuclear storage tanks, high-temperature FinMet reactors and ship construction sites. (author)

  13. On the dynamics of chain systems. [applications in manipulator and human body models

    Science.gov (United States)

    Huston, R. L.; Passerello, C. E.

    1974-01-01

    A computer-oriented method for obtaining dynamical equations of motion for chain systems is presented. A chain system is defined as an arbitrarily assembled set of rigid bodies such that adjoining bodies have at least one common point and such that closed loops are not formed. The equations of motion are developed through the use of Lagrange's form of d'Alembert's principle. The method and procedure is illustrated with an elementary study of a tripod space manipulator. The method is designed for application with systems such as human body models, chains and cables, and dynamic finite-segment models.

  14. Using joined minicomputer-microcomputer systems for intricate sample and data manipulations

    International Nuclear Information System (INIS)

    Meng, J.D.

    1980-09-01

    We have produced, over the past three years, three automated x-ray fluorescence based elemental analysis systems, that combine a minicomputer and a microcomputer to perform intricate sample and data manipulations. The mini-micro combination facilitates the reuse of sizable sections of hardware and programs for different x-ray analysis projects. Each of our systems has been a step closer to an optimum general solution. The combination reaps economic benefits throughout development, fabrication and maintenance, an important consideration for designers of custom-built, one-of-a-kind data analysis systems such as these

  15. MACS, the manipulation and collimation system on the NPD at LANSCE

    International Nuclear Information System (INIS)

    Bourke, M.A.M.; Goldstone, J.A.; Lovell, K.J.

    1991-01-01

    The practical problems associated with beam collimation and specimen manipulation at a pulsed neutron source are identical to those on a steady state source. However extra constraints result from the limited space available and from the time of flight analysis of the diffracted neutrons. A manipulation and collimation system (MACS) has been designed for the neutron powder diffractometer (NPD) at the Los Alamos spallation neutron source (LANSCE). It provides specimen motion and aperture positioning with accuracies of better than 0.1mm and is constructed as a rigid unit. For flat sided specimens sampling volumes less than 30 mm 3 have been obtained demonstrating the viability of making spatially resolved strain measurements at a pulsed neutron source. 3 figs

  16. Research towards ultrasonic systems to assist in-vessel manipulations in liquid metal cooled reactors

    International Nuclear Information System (INIS)

    Dierckx, Marc; Van-Dyck, Dries

    2013-06-01

    We describe the state of the art of the research towards ultrasonic measurement methods for use in lead-bismuth cooled liquid metal reactors. Our current research activities are highly focused on specific tasks in the MYRRHA system, which is a fast spectrum research reactor cooled with the eutectic mixture of lead and bismuth (LBE) and is conceived as an accelerator driven system capable of operating in both sub-critical and critical mode. As liquid metal is opaque to light, normal visual feedback during fuel manipulations in the reactor vessel is not available and must therefore be replaced by a system that is not hindered by the opacity of the coolant. In this respect ultrasonic measurement techniques have been proposed and even developed in the past for operation in sodium cooled reactors. To our knowledge, no such systems have ever been deployed in lead based reactors and we are the first to have a research program in this direction as will be detailed in this paper. We give an overview of the acoustic properties of LBE and compare them with the properties of sodium and water to theoretically show the feasibility of ultrasonic systems operating in LBE. In the second part of the paper we discuss the results of the validation experiments in water and LBE. A typical scene is ultrasonically probed by a mechanical scanning system while the signals are processed to render a 3D visualization on a computer screen. It will become clear that mechanical scanning is capable of producing acceptable images but that it is a time consuming process that is not fit to solve the initial task to providing feedback during manipulations in the reactor vessel. That is why we propose to use several dedicated ultrasonic systems each adapted to a specific task and capable to provide real-time feedback of the ongoing manipulations, as is detailed in the third and final part of the paper. (authors)

  17. Electrochemistry of single molecules and biomolecules, molecular scale nanostructures, and low-dimensional systems

    DEFF Research Database (Denmark)

    Nazmutdinov, Renat R.; Zinkicheva, Tamara T.; Zinkicheva, Tamara T.

    2018-01-01

    Electrochemistry at ultra-small scales, where even the single molecule or biomolecule can be characterized and manipulated, is on the way to a consolidated status. At the same time molecular electrochemistry is expanding into other areas of sophisticated nano- and molecular scale systems including...

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

    Science.gov (United States)

    Zhang, Linan; Zhou, Ningxin; Wang, Shuxin

    2014-12-01

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

  19. Fabrication of a pen-shaped portable biochemical reaction system based on magnetic bead manipulation

    International Nuclear Information System (INIS)

    Shikida, Mitsuhiro; Inagaki, Noriyuki; Okochi, Mina; Honda, Hiroyuki; Sato, Kazuo

    2011-01-01

    A pen-shaped platform that is similar to a mechanical pencil is proposed for producing a portable reaction system. A reaction unit, as the key component in the system, was produced by using a heat shrinkable tube. A mechanical pencil supplied by Mitsubishi Pencil Co. Ltd was used as the pen-shaped platform for driving the reaction cylinder. It was actuated using an inchworm motion. We confirmed that the magnetic beads were successfully manipulated in the droplet in the cylinder-shaped reaction units. (technical note)

  20. Interactive Web-based e-learning for Studying Flexible Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Abul K. M. Azad

    2008-03-01

    Full Text Available Abstract— This paper presents a web-based e-leaning facility for simulation, modeling, and control of flexible manipulator systems. The simulation and modeling part includes finite difference and finite element simulations along with neural network and genetic algorithm based modeling strategies for flexible manipulator systems. The controller part constitutes a number of open-loop and closed-loop designs. Closed loop control designs include the classical, adaptive, and neuro-model based strategies. Matlab software package and its associated toolboxes are used to implement these. The Matlab web server is used as the gateway between the facility and web-access. ASP.NET technology and SQL database are utilized to develop web applications for access control, user account and password maintenance, administrative management, and facility utilization monitoring. The reported facility provides a flexible but effective approach of web-based interactive e-learning facility of an engineering system. This can be extended to incorporate additional engineering systems within the e-learning framework.

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

    Science.gov (United States)

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

    2018-02-01

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

  2. From Single Microparticles to Microfluidic Emulsification: Fundamental Properties (Solubility, Density, Phase Separation from Micropipette Manipulation of Solvent, Drug and Polymer Microspheres

    Directory of Open Access Journals (Sweden)

    Koji Kinoshita

    2016-11-01

    Full Text Available The micropipette manipulation technique is capable of making fundamental single particle measurements and analyses. This information is critical for establishing processing parameters in systems such as microfluidics and homogenization. To demonstrate what can be achieved at the single particle level, the micropipette technique was used to form and characterize the encapsulation of Ibuprofen (Ibp into poly(lactic-co-glycolic acid (PLGA microspheres from dichloromethane (DCM solutions, measuring the loading capacity and solubility limits of Ibp in typical PLGA microspheres. Formed in phosphate buffered saline (PBS, pH 7.4, Ibp/PLGA/DCM microdroplets were uniformly solidified into Ibp/PLGA microparticles up to drug loadings (DL of 41%. However, at DL 50 wt% and above, microparticles showed a phase separated pattern. Working with single microparticles, we also estimated the dissolution time of pure Ibp microspheres in the buffer or in detergent micelle solutions, as a function of the microsphere size and compare that to calculated dissolution times using the Epstein-Plesset (EP model. Single, pure Ibp microparticles precipitated as liquid phase microdroplets that then gradually dissolved into the surrounding PBS medium. Analyzing the dissolution profiles of Ibp over time, a diffusion coefficient of 5.5 ± 0.2 × 10−6 cm2/s was obtained by using the EP model, which was in excellent agreement with the literature. Finally, solubilization of Ibp into sodium dodecyl sulfate (SDS micelles was directly visualized microscopically for the first time by the micropipette technique, showing that such micellization could increase the solubility of Ibp from 4 to 80 mM at 100 mM SDS. We also introduce a particular microfluidic device that has recently been used to make PLGA microspheres, showing the importance of optimizing the flow parameters. Using this device, perfectly smooth and size-homogeneous microparticles were formed for flow rates of 0.167 mL/h for

  3. Technique for using a geometry and visualization system to monitor and manipulate information in other codes

    Science.gov (United States)

    Dickens, Thomas P.

    1992-01-01

    A technique was developed to allow the Aero Grid and Paneling System (AGPS), a geometry and visualization system, to be used as a dynamic real-time geometry monitor, manipulator, and interrogator for other codes. This technique involves the direct connection of AGPS with one or more external codes through the use of Unix pipes. AGPS has several commands that control communication with the external program. The external program uses several special subroutines that allow simple, direct communication with AGPS. The external program creates AGPS command lines and transmits the line over the pipes or communicates on a subroutine level. AGPS executes the commands, displays graphics/geometry information, and transmits the required solutions back to the external program. The basic ideas discussed in this paper could easily be implemented in other graphics/geometry systems currently in use or under development.

  4. Development of a dexterous manipulator system with redundant degrees of freedom

    International Nuclear Information System (INIS)

    Senoh, M.; Suzuki, M.; Tsuchita, K.; Kamimura, H.; Fujii, M.; Otsu, M.

    1987-01-01

    To keep plant availability as high as possible, more flexible and higher performance robots are desirable. At the same time, lower radiation exposures to operating personnel can be achieved by employing more sophisticated robotic systems. A new maintenance system has been proposed to realize consecutive disassembling and inspecting tasks by a robotic approach. The maintenance system includes three subsystems: a subsystem for the minor disassembling operations in the field; a transportation subsystem, which carries disassembled machines or components from the place where they were installed to a maintenance shop; and a subsystem for consecutive disassembling and grooming operations. Of these three subsystems, the maintenance robot for the first is the most challenging, and much development work is needed in the area of maneuverability in narrow spaces and obstacle avoidance ability. A master/slave-type manipulator with redundant degrees of freedom, mounted on a vehicle that travels along a spatially located railway, has been developed

  5. Highly Sensitive and Miniaturized Fluorescence Detection System with an Autonomous Capillary Fluid Manipulation Chip

    Directory of Open Access Journals (Sweden)

    Ji Fang

    2012-05-01

    Full Text Available This paper presents a novel, highly sensitive and ultra-small fluorescent detection system, including an autonomous capillary fluid manipulation chip. The optical detector integrates a LED light source, all necessary optical components, and a photodiode with preamplifier into one package of about 2 cm × 2 cm × 2 cm. Also, the low-cost and simple pumpless microfluidic device works well in sample preparation and manipulation. This chip consists of capillary stop valves and trigger valves which are fabricated by lithography and then bonded with a polydimethylsiloxane-ethylene oxide polymer polydimethylsiloxane (PEO-PDMS cover. The contact angle of the PEO-PDMS can be adjusted by changing the concentration of the PEO. Hence, the fluidic chip can achieve functionalities such as timing features and basic logical functions. The prototype has been tested by fluorescence dye 5-Carboxyfluorescein (5-FAM dissolved into the solvent DMSO (Dimethyl Sulfoxide. The results prove a remarkable sensitivity at a pico-scale molar, around 1.08 pM. The low-cost and miniaturized optical detection system, with a self-control capillary-driven microfluidic chip developed in this work, can be used as the crucial parts in portable biochemical detection applications and point of care testing.

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

    Directory of Open Access Journals (Sweden)

    F. Adelhed

    2015-12-01

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

  7. Thermally activated, single component epoxy systems

    KAUST Repository

    Unruh, David A.

    2011-08-23

    A single component epoxy system in which the resin and hardener components found in many two-component epoxies are combined onto the same molecule is described. The single molecule precursor to the epoxy resin contains both multiple epoxide moieties and a diamine held latent by thermally degradable carbamate linkages. These bis-carbamate "single molecule epoxies" have an essentially infinite shelf life and access a significant range in curing temperatures related to the structure of the carbamate linkages used. © 2011 American Chemical Society.

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

    International Nuclear Information System (INIS)

    Stratton, D.; Butt, C.

    1982-04-01

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

  9. Development of a Bridge Transport System for the PRIDE Dual Arm Servo-manipulator

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-11-15

    A bridge transport system is needed to locate a dual arm servo-manipulator anywhere in a PRIDE cell and to perform remote handling tasks such as operation and repair. To develop a highly reliable bridge transport system, patent surveys were first performed, and then new ideas concerning the principles of telescopic motion and cable management were proposed in consideration of their appropriateness to our system. These ideas are superior to PaR systems inc.'s in terms of structural strength as well as the aesthetic configuration attributed to hidden chains which are needed for telescopic motion with equal extension and retraction. Small space in the PRIDE cell invokes difficulties in designing telescopic tube because it restricts full stroke to 2,000 mm and fully retractable tubset length to as short as possible. To solve this problem, an optimization problem was formulated to determine the number of tubes and a tube length satisfying the spatial restrictions. Also, a motor and gearhead sizing process was established to select proper motors with gearheads driving the girder, trolley, telescopic tube and manipulator interface, in the direction of x, y, z and rotation, respectively. 3D modeling tasks were carried out after 2D drawings to check mechanical interference between parts which is difficult to find out in 2D drawings, to estimate mass and moment of inertia and then to verify if the selected motors and gearheads are appropriate. As a design verification process, a structural analysis was performed after importing 3D models into ABAQUS and then assembling parts, generating mesh, and imposing boundary and load conditions. As a result, a part of the design was revised and the safety factor was quantified. As of Nov 2009, all design processes were finished and the fabrication of the bridge transport system will be completed by the end of Dec.

  10. Volumetric reach comparison of possible end-effectors for the articulated transporter and manipulator system

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Babcock, S.M.; Hamel, W.R. (Oak Ridge National Lab., TN (USA)); Bills, K.C. (Martin Marietta Energy Systems, Inc., Oak Ridge, TN (USA))

    1990-01-01

    The goal of this research was to investigate the performance of the Articulated Transporter and Manipulator System (ATMS) during various tasks relative to the choice of wrist/end-effector configuration. The approach taken was to generate computer graphics-aided three-dimensional interactive application (CATIA) system-based models of four wrist/end-effector combinations and consider the volumetric reach of each of these configurations based on the capacity of the ATMS. The results indicate that a simple, lightweight end-effector provides a greater volumetric reach. The greatest variation presented herein is {approximately}40% when comparing a 7-degree-of-freedom (DOF) dexterous arm with a simple 3-DOF arm; however, the benefit of increasing volumetric reach by only 40% by using a simple arm may be outweighed by the loss of dexterity. 10 refs., 5 figs., 3 tabs.

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

    International Nuclear Information System (INIS)

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

    2001-01-01

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

  12. Modelling, Simulation and Testing of a Reconfigurable Cable-Based Parallel Manipulator as Motion Aiding System

    Directory of Open Access Journals (Sweden)

    Gianni Castelli

    2010-01-01

    Full Text Available This paper presents results on the modelling, simulation and experimental tests of a cable-based parallel manipulator to be used as an aiding or guiding system for people with motion disabilities. There is a high level of motivation for people with a motion disability or the elderly to perform basic daily-living activities independently. Therefore, it is of great interest to design and implement safe and reliable motion assisting and guiding devices that are able to help end-users. In general, a robot for a medical application should be able to interact with a patient in safety conditions, i.e. it must not damage people or surroundings; it must be designed to guarantee high accuracy and low acceleration during the operation. Furthermore, it should not be too bulky and it should exert limited wrenches after close interaction with people. It can be advisable to have a portable system which can be easily brought into and assembled in a hospital or a domestic environment. Cable-based robotic structures can fulfil those requirements because of their main characteristics that make them light and intrinsically safe. In this paper, a reconfigurable four-cable-based parallel manipulator has been proposed as a motion assisting and guiding device to help people to accomplish a number of tasks, such as an aiding or guiding system to move the upper and lower limbs or the whole body. Modelling and simulation are presented in the ADAMS environment. Moreover, experimental tests are reported as based on an available laboratory prototype.

  13. Single Bit Radar Systems for Digital Integration

    OpenAIRE

    Bjørndal, Øystein

    2017-01-01

    Small, low cost, radar systems have exciting applications in monitoring and imaging for the industrial, healthcare and Internet of Things (IoT) sectors. We here explore, and show the feasibility of, several single bit square wave radar architectures; that benefits from the continuous improvement in digital technologies for system-on-chip digital integration. By analysis, simulation and measurements we explore novel and harmonic-rich continuous wave (CW), stepped-frequency CW (SFCW) and freque...

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

    DEFF Research Database (Denmark)

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

    2014-01-01

    This paper describes an adaptable system which is able to perform manipulation operations (such as Peg-in-Hole or Laying-Down actions) with flexible objects. As such objects easily change their shape significantly during the execution of an action, traditional strategies, e. g., for solve path......-planning problems, are often not applicable. It is therefore required to integrate visual tracking and shape reconstruction with a physical modeling of the materials and their deformations as well as action learning techniques. All these different submodules have been integrated into a demonstration platform......, operating in real-time. Simulations have been used to bootstrap the learning of optimal actions, which are subsequently improved through real-world executions. To achieve reproducible results, we demonstrate this for casted silicone test objects of regular shape. Note to Practitioners-The aim of this work...

  15. CSA's robotic arm, the Space Station Remote Manipulator System, inside the SSPF

    Science.gov (United States)

    1999-01-01

    Workers in the Space Station Processing Facility raise a segment of the Canadian Space Agency's Space Station Remote Manipulator System (SSRMS) to move it to a workstand. CSA's first contribution to the International Space Station (ISS), the SSRMS is the primary means of transferring payloads between the orbiter payload bay and the ISS for assembly. The 56-foot-long robotic arm includes two 12-foot booms joined by a hinge. Seven joints on the arm allow highly flexible and precise movement. Latching End Effectors are mounted on each end of the arm for grappling. Video cameras mounted on the booms and end effectors will give astronauts maximum visibility for operations and maintenance tasks on the ISS. The SSRMS is at KSC to begin a campaign of prelaunch processing activities. It is scheduled to be launched aboard Space Shuttle Endeavour on mission STS-100, currently planned for July 2000.

  16. Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

    Science.gov (United States)

    Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

    2017-12-01

    To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

  17. Optimizing a 3D model system for molecular manipulation of tenogenesis.

    Science.gov (United States)

    Chien, Chun; Pryce, Brian; Tufa, Sara F; Keene, Douglas R; Huang, Alice H

    2017-09-22

    Tendon injuries are clinically challenging due to poor healing. A better understanding of the molecular events that regulate tendon differentiation would improve current strategies for repair. The mouse model system has been instrumental to tendon studies and several key molecules were initially established in mouse. However, the study of gene function has been limited by the absence of a standard in vitro tendon system for efficiently testing multiple mutations, physical manipulations, and mis-expression. The purpose of this study is therefore to establish such a system. We adapted an existing design for generating three-dimensional (3D) tendon constructs for use with mouse progenitor cells harboring the ScxGFP tendon reporter and the Rosa26-TdTomato Cre reporter. Using these cells, we optimized the parameters for construct formation, inducing tenogenesis via transforming growth factor-β2 (TGFβ2), and genetic recombination via an adenovirus encoding Cre recombinase. Finally, for proof of concept, we used Smad4 floxed cells and tested the robustness of the system for gene knockdown. We found that TGFβ2 treatment induced a tenogenic phenotype depending on the timing of initiation. Addition of TGFβ2 after 3D "tensioning" enhanced tendon differentiation. Interestingly, while TGFβ2-induced proliferation depended on Smad4, tenogenic parameters such as ScxGFP expression and fibril diameter were independent of Smad4. Our results demonstrate the feasibility of this optimized system for harnessing the power of mouse genetics for in vitro applications.

  18. Manipulator system of the sampling complex of the Phobos-Grunt spacecraft

    Science.gov (United States)

    Kozlov, O. E.; Aleksashkin, S. N.; Ivanov, A. V.; Kozlova, T. O.; Sutugin, S. E.

    2010-10-01

    This paper is devoted to the problem of sampling with the use of a manipulator during the mission of the Phobos-Grunt spacecraft. The principle of operation accepted for the chosen engineering solution, as well as the construction of the manipulator scoop, mechanical gears, and the manipulator as a whole, are considered; brief technical specifications are given. The issue of the selection of the soil as an analog of the soil of Phobos to conduct ground-based tests is discussed; the test results and principles of the manipulator operation and control are presented.

  19. Automated imaging system for single molecules

    Science.gov (United States)

    Schwartz, David Charles; Runnheim, Rodney; Forrest, Daniel

    2012-09-18

    There is provided a high throughput automated single molecule image collection and processing system that requires minimal initial user input. The unique features embodied in the present disclosure allow automated collection and initial processing of optical images of single molecules and their assemblies. Correct focus may be automatically maintained while images are collected. Uneven illumination in fluorescence microscopy is accounted for, and an overall robust imaging operation is provided yielding individual images prepared for further processing in external systems. Embodiments described herein are useful in studies of any macromolecules such as DNA, RNA, peptides and proteins. The automated image collection and processing system and method of same may be implemented and deployed over a computer network, and may be ergonomically optimized to facilitate user interaction.

  20. Real Driving NOx Emissions of European Trucks and Detection of Manipulated Emission Systems

    Science.gov (United States)

    Pöhler, Denis; Adler, Tim; Krufczik, Chsristopher; Horbanski, Martin; Lampel, Johannes; Platt, Ulrich

    2017-04-01

    Nitrogen dioxide (NO2) is the most problematic pollutant in Europe and many other countries. NO2 has a negative impact for the health and the environment, and in most European cities the currently allowed mean annual limit of 40μg/m3 is exceeded. Vehicles, especially Diesel, are the most relevant source. They emit NOx (NO + NO2), and NO can also be converted to NO2 in the atmosphere. Thus vehicle NOx emissions are regulated in the EU with the EURO Norm Standard (e.g. EURO 6 since 1.1.2013 for trucks with 400mg/kWh). Trucks achieve these low emissions with complex emission after treatment systems. All EURO 6 trucks and almost all EURO 5 trucks use the SCR system consuming AdBlue to reduce the NOx emissions. Since the diesel emission scandal for cars, it is well known that real driving emissions (RDE) can be several times higher that the EURO Norm Standard. The main problem is that RDE are only randomly investigated. Here we present a study of NOx RDE of more than 250 randomly chosen trucks on German highways. The measurements were performed with a newly developed mobile NOx-ICAD + CO2 -instrument applying the plume chasing measurement principle, where the pollutants are investigated in the emission plume and were converted to emission factors to be compared to the EURO standard. For most trucks the brand, the model name, the country of registration and its EURO class could be determined and used in a statistical analysis. The observed NOx emission data show that typical truck RDE are in the range of the expected EURO Norm or slightly higher. However, almost every fourth truck from Eastern Europe show emissions much higher that the EURO Norm. This was not observed for German trucks. As the emissions increase up to a factor of 5 to 10 these view trucks contribute significantly to the air pollution. These high emissions clearly indicate a defect emission treatment system. Most likely it indicates illegal manipulated emissions systems where the AdBlue injection is

  1. Homologous recombination-mediated cloning and manipulation of genomic DNA regions using Gateway and recombineering systems.

    Science.gov (United States)

    Rozwadowski, Kevin; Yang, Wen; Kagale, Sateesh

    2008-11-17

    Employing genomic DNA clones to characterise gene attributes has several advantages over the use of cDNA clones, including the presence of native transcription and translation regulatory sequences as well as a representation of the complete repertoire of potential splice variants encoded by the gene. However, working with genomic DNA clones has traditionally been tedious due to their large size relative to cDNA clones and the presence, absence or position of particular restriction enzyme sites that may complicate conventional in vitro cloning procedures. To enable efficient cloning and manipulation of genomic DNA fragments for the purposes of gene expression and reporter-gene studies we have combined aspects of the Gateway system and a bacteriophage-based homologous recombination (i.e. recombineering) system. To apply the method for characterising plant genes we developed novel Gateway and plant transformation vectors that are of small size and incorporate selectable markers which enable efficient identification of recombinant clones. We demonstrate that the genomic coding region of a gene can be directly cloned into a Gateway Entry vector by recombineering enabling its subsequent transfer to Gateway Expression vectors. We also demonstrate how the coding and regulatory regions of a gene can be directly cloned into a plant transformation vector by recombineering. This construct was then rapidly converted into a novel Gateway Expression vector incorporating cognate 5' and 3' regulatory regions by using recombineering to replace the intervening coding region with the Gateway Destination cassette. Such expression vectors can be applied to characterise gene regulatory regions through development of reporter-gene fusions, using the Gateway Entry clones of GUS and GFP described here, or for ectopic expression of a coding region cloned into a Gateway Entry vector. We exemplify the utility of this approach with the Arabidopsis PAP85 gene and demonstrate that the expression

  2. [An Introduction to A Newly-developed "Acupuncture Needle Manipulation Training-evaluation System" Based on Optical Motion Capture Technique].

    Science.gov (United States)

    Zhang, Ao; Yan, Xing-Ke; Liu, An-Guo

    2016-12-25

    In the present paper, the authors introduce a newly-developed "Acupuncture Needle Manipulation Training-evaluation System" based on optical motion capture technique. It is composed of two parts, sensor and software, and overcomes some shortages of mechanical motion capture technique. This device is able to analyze the data of operations of the pressing-hand and needle-insertion hand during acupuncture performance and its software contains personal computer (PC) version, Android version, and Internetwork Operating System (IOS) Apple version. It is competent in recording and analyzing information of any ope-rator's needling manipulations, and is quite helpful for teachers in teaching, training and examining students in clinical practice.

  3. Manipulating stored phonological input during verbal working memory

    Science.gov (United States)

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

    2016-01-01

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

  4. From laboratory manipulations to Earth system models: scaling calcification impacts of ocean acidification

    Directory of Open Access Journals (Sweden)

    J. R. Young

    2009-11-01

    Full Text Available The observed variation in the calcification responses of coccolithophores to changes in carbonate chemistry paints a highly incoherent picture, particularly for the most commonly cultured "species", Emiliania huxleyi. The disparity between magnitude and potentially even sign of the calcification change under simulated end-of-century ocean surface chemical changes (higher pCO2, lower pH and carbonate saturation, raises challenges to quantifying future carbon cycle impacts and feedbacks because it introduces significant uncertainty in parameterizations used for global models. Here we compile the results of coccolithophore carbonate chemistry manipulation experiments and review how ocean carbon cycle models have attempted to bridge the gap from experiments to global impacts. Although we can rule out methodological differences in how carbonate chemistry is altered as introducing an experimental bias, the absence of a consistent calcification response implies that model parameterizations based on small and differing subsets of experimental observations will lead to varying estimates for the global carbon cycle impacts of ocean acidification. We highlight two pertinent observations that might help: (1 the degree of coccolith calcification varies substantially, both between species and within species across different genotypes, and (2 the calcification response across mesocosm and shipboard incubations has so-far been found to be relatively consistent. By analogy to descriptions of plankton growth rate vs. temperature, such as the "Eppley curve", which seek to encapsulate the net community response via progressive assemblage change rather than the response of any single species, we posit that progressive future ocean acidification may drive a transition in dominance from more to less heavily calcified coccolithophores. Assemblage shift may be more important to integrated community calcification response than species

  5. Emulating a robotic manipulator arm with an hybrid motion-control system

    Science.gov (United States)

    Aragón-González, G.; León-Galicia, A.; Noriega-Hernández, M.; Salazar-Hueta, A.

    2015-01-01

    A motion control system with four and 1/2 degrees of freedom, designed to move small objects within a 0.25 m3 space, parallel to a horizontal table, with high speed and performance similar to a robotic manipulator arm was built. The machine employs several actuators and control devices. Its main characteristic is to incorporate a servomotor, steeper motors, electromechanical and fluid power actuators and diverse control resources. A group of actuators arranged on a spherical coordinates system is attached to the servomotor platform. A linear pneumatic actuator with an angular grip provides the radial extension and load clamping capacity. Seven inductive proximity sensors and one encoder provide feedback, for operating the actuators under closed loop conditions. Communication between the sensors and control devices is organized by a PLC. A touch screen allows governing the system remotely, easily and interactively, without knowing the specific programming language of each control component. The graphic environment on the touch screen guides the user to design and store control programs, establishing coordinated automatic routines for moving objects in space, simulation and implementation of industrial positioning or machining processes.

  6. Assembly of Complex Nano-Structure from Single Atoms —Chemical Identification, Manipulation and Assembly by AFM—

    Science.gov (United States)

    Morita, Seizo; Sugimoto, Yoshiaki; Ooyabu, Noriaki; Custance, Óscar; Abe, Masayuki; Pou, Pablo; Jelinek, Pavel; Pérez, Rubén

    An atomic force microscope (AFM) under noncontact and nearcontact regions operated at room-temperature (RT) in ultrahigh vacuum, is used as a tool for topography-based atomic discrimination and atomic-interchange manipulations of two intermixed atomic species on semiconductor surfaces. Noncontact AFM topography based site-specific force curves provide the chemical covalent bonding forces between the tip apex and the atoms at the surface. Here, we introduced an example related to topography-based atomic discrimination using selected Sn and Si adatoms in Sn/Si(111)-(√3 ×√3 ) surface. Recently, under nearcontact region, we found a lateral atom-interchange manipulation phenomenon at RT in Sn/Ge(111)-c(2×8) intermixed sample. This phenomenon can interchange an embedded Sn atom with a neighbor Ge atom at RT. Using the vector scan method under nearcontact region, we constructed “Atom Inlay”, that is, atom letters “Sn” consisted of 19 Sn atoms embedded in Ge(111)-c(2×8) substrate. Using these methods, now we can assemble compound semiconductor nanostructures atom-by-atom.

  7. Systems interaction and single failure criterion

    International Nuclear Information System (INIS)

    1981-01-01

    This report documents the results of a six-month study to evaluate the ongoing research programs of the U.S. Nuclear Regulatory Commission (NRC) and U.S. commercial nuclear station owners which address the safety significance of systems interaction and the regulatory adequacy of the single failure criterion. The evaluation of system interactions provided is the initial phase of a more detailed study leading to the development and application of methodology for quantifying the relative safety of operating nuclear plants. (Auth.)

  8. Single event upsets in spacecraft digital systems

    Science.gov (United States)

    Leukowicz, P. E.; Richter, L. J.

    This paper describes the physical environments that can result in random bit changes in spaceborne memory systems. The impact of bit flips in digital telemetry systems is emphasized, with special attention paid to software requirements for protection from single event upset (SEU) effects. Some observations on incidence rates are presented along with an outline of hardware and software methods that can be taken to prevent future SEU problems. Several conclusions are drawn about strategies for preventing data corruption on the next generation of satellites in the presence of SEU-inducing particles.

  9. Compliant Aerial Manipulators

    DEFF Research Database (Denmark)

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

    2016-01-01

    This letter focuses on the problem of handling impacts by means of an aerial manipulator and proposes a solution that combines the control of the aerial manipulator's end-effector position with an innovative design approach of aerial manipulation systems, consisting of both active and passive...... 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...

  10. Independent Orbiter Assessment (IOA): Analysis of the electrical power distribution and control/remote manipulator system subsystem

    Science.gov (United States)

    Robinson, W. W.

    1987-01-01

    The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the Electrical Power Distribution and Control (EPD and C)/Remote Manipulator System (RMS) hardware to determine failure modes, criticality, and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained in the NASA FMEA/CIL documentation. This report documents the results of the independent analysis of the EPD and C/RMS (both port and starboard) hardware. The EPD and C/RMS subsystem hardware provides the electrical power and power control circuitry required to safely deploy, operate, control, and stow or guillotine and jettison two (one port and one starboard) RMSs. The EPD and C/RMS subsystem is subdivided into the four following functional divisions: Remote Manipulator Arm; Manipulator Deploy Control; Manipulator Latch Control; Manipulator Arm Shoulder Jettison; and Retention Arm Jettison. The IOA analysis process utilized available EPD and C/RMS hardware drawings and schematics for defining hardware assemblies, components, and hardware items. Each level of hardware was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based on the severity of the effect for each failure mode.

  11. Data from: Two different strategies of host manipulation allow parasites to persist in intermediate-definitive host systems

    NARCIS (Netherlands)

    Vries, de Lana; Langevelde, van F.

    2017-01-01

    Trophically-transmitted parasites start their development in an intermediate host, before they finish the development in their definitive host when the definitive host preys on the intermediate host. In intermediate-definitive host systems, two strategies of host manipulation have been evolved:

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

    Science.gov (United States)

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

    2015-01-01

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

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

    Science.gov (United States)

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

    1989-01-01

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

  14. The Integration of an Electro-Hydraulic Manipulator Arm into a Self-Contained Mobile Delivery System

    Energy Technology Data Exchange (ETDEWEB)

    M. Borland; S. M. Berry

    1999-04-01

    The Portable Articulated Arm Deployment System (PAADS) is a remotely controlled vehicle for delivering a tele-operated electro-hydraulic manipulator arm to a field-deployable location. The self-contained system includes a boom vehicle with long reach capability, an electro-hydraulic manipulator arm, closed circuit television (CCTV) systems, and onboard tools. On board power systems consist of a self-contained, propane-fired 8-KW generator and an air compressor for pneumatic tools. The generator provides the power to run the air compressor as well as power to operate the 110-VAC auxiliary lighting system for the video cameras. The separate control console can be located up to 500 ft from the vehicle. PAADS is a fully integrated system, containing all equipment required to perform complex field operations. Hydraulic integration of the manipulator arm into the vehicle hydraulic drive system was necessary to eliminate the tether management of hoses, which extended vehicle operating range, minimized hydraulic pressure losses, and provided the opportunity to go to a radio frequency (RF) control system in the future, thereby eliminating the control cable. This paper presents the key decision points during system development. Emphasis is placed on ease of operator control and not on an intelligent machine approach. In addition, emphasis is placed on the philosophy of remote operation based on sound principles of integration.

  15. The Integration of an Electro-hydraulic Manipulator Arm into a Self-contained Mobile Delivery System

    Energy Technology Data Exchange (ETDEWEB)

    Borland, Mark Wilson; Berry, Stephen Michael

    1999-04-01

    The Portable Articulated Arm Deployment System (PAADS) is a remotely controlled vehicle for delivering a tele-operated electro-hydraulic manipulator arm to a field deployable location. The self-contained system includes a boom vehicle with long reach capability, an electro-hydraulic manipulator arm, closed circuit television (CCTV) systems, and onboard tools. On board power systems consist of a self contained, propane fired 8 KW generator and an air compressor for pneumatic tools. The generator provides the power to run the air compressor as well as provide power to operate the 110 VAC auxiliary lighting system for the video cameras. The separate control console can be located up to 500 ft from the vehicle. PAADS is a fully integrated system, containing all equipment required to perform complex field operations. Hydraulic integration of the manipulator arm into the vehicle hydraulic drive system was necessary to eliminate the tether management of hoses, which extended vehicle operating range, minimized hydraulic pressure losses, and provided the opportunity to go to a radio frequency (RF) control system in the future, thereby eliminating the control cable. This paper presents the key decision points during system development. Emphasis is placed on ease of operator control and not on an intelligent machine approach. In addition, emphasis is placed on the philosophy of remote operation based on sound principles on integration.

  16. Parasitic manipulation and neuroinflammation: Evidence from the system Microphallus papillorobustus (Trematoda - Gammarus (Crustacea

    Directory of Open Access Journals (Sweden)

    Thomas Frederic

    2010-04-01

    Full Text Available Abstract Background Neuropathological consequences of neuroinflammatory processes have been implicated in a wide range of diseases affecting the central nervous system (CNS. Glial cells, the resident immune cells of the CNS, respond to tissue injury by releasing proinflammatory cytokines and free radicals such as nitric oxide. We explored the possibility that neuroimmune responses are involved in parasitic manipulation of host behavior in a trematode-crustacean association. The cerebral larva of the flatworm Microphallus papillorobustus alters responses to environmental stimuli - and thus reflex pathways - in the crustacean Gammarus insensibilis, in a way that enhances predation of the crustacean by birds, definitive hosts of the parasite. Results Immunocytochemical experiments followed by confocal microscopy were performed to study the distribution of glutamine synthetase, a glial cell marker, and nitric oxide synthase in the brain of gammarids. Astrocyte-like glia and their processes were abundant at the surface of the parasites while levels of nitric oxide synthase were elevated at the host-parasite interface in the brain of gammarids harboring mature cerebral larvae and demonstrating altered behavior. Conclusion Taken together these results lend support to the neuroinflammation hypothesis whereby a chronic CNS specific immune response induced by the parasite plays a role in the disruption of neuromodulation, neuronal integrity, and behavior in infected hosts.

  17. Underwater-manipulation system for measuring- and cutting tasks in dismantling decommissioned nuclear facilities. Final report

    International Nuclear Information System (INIS)

    Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.

    1995-01-01

    Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de

  18. Single-Shell tank system description

    International Nuclear Information System (INIS)

    FIELD, J.G.

    2003-01-01

    The Hanford Site single-shell tank (SST) system consists of 149 underground SSTs and processing equipment designed and constructed between 1940 and 1964 to transport and store radioactive hazardous/dangerous wastes generated from irradiated nuclear fuel processing. The tanks, designed to store waste, vary in size from between 190,000 to 3,800,000 L (50,000 gal to 1,000,000 gal) and contain a variety of solid and liquid waste. The system also includes miscellaneous underground storage tanks (IMUST). In addition to the tanks, there is a large amount of ancillary equipment associated with the system and although not designed to store wastes, the ancillary equipment is contaminated through contact with the waste. Waste was routed to the tanks through a network of underground piping, with interconnections provided in concrete pits that allowed changes to the routing through instrumentation. Processing vaults used during waste handling operations, evaporators used to reduce the waste stored in the system, and other miscellaneous structures used for a variety of waste handling operations are also included in the system. The SST system was taken out of service in 1980 and no additional waste has been added to the tanks. The SSTs and ancillary equipment were designed and constructed before promulgation of Resource Conservation and Recovery Act (RCRA) in 1986. The purpose of this document is to describe the SST system for use in performing an engineering and compliance assessment in support of M-23 milestones (Ecology, et al. 2000). This system description provides estimated locations and volumes of waste within the SST system, including storage tanks, transfer systems, evaporators aid miscellaneous support facilities

  19. 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)

  20. 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

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

    Directory of Open Access Journals (Sweden)

    Mansor Nuratiqa Natrah

    2018-01-01

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

  2. Impedance Control of a Redundant Parallel Manipulator

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  3. Nonlinear optical techniques for imaging and manipulating the mouse central nervous system

    Science.gov (United States)

    Farrar, Matthew John

    The spinal cord of vertebrates serves as the conduit for somatosensory information and motor control, as well as being the locus of neural circuits that govern fast reflexes and patterned behaviors, such as walking in mammals or swimming in fish. Consequently, pathologies of the spinal cord -such as spinal cord injury (SCI)- lead to loss of motor control and sensory perception, with accompanying decline in life expectancy and quality of life. Despite the devastating effects of these diseases, few therapies exist to substantially ameliorate patient outcome. In part, studies of spinal cord pathology have been limited by the inability to perform in vivo imaging at the level of cellular processes. The focus of this thesis is to present the underlying theory for and demonstration of novel multi-photon microscopy (MPM) and optical manipulation techniques as they apply to studies the mouse central nervous system (CNS), with an emphasis on the spinal cord. The scientific findings which have resulted from the implementation of these techniques are also presented. In particular, we have demonstrated that third harmonic generation is a dye-free method of imaging CNS myelin, a fundamental constituent of the spinal cord that is difficult to label using exogenous dyes and/or transgenic constructs. Since gaining optical access to the spinal cord is a prerequisite for spinal cord imaging, we review our development of a novel spinal cord imaging chamber and surgical procedure which allowed us to image for multiple weeks following implantation without the need for repeated surgeries. We also have used MPM to characterize spinal venous blood flow before and after point occlusions. We review a novel nonlinear microscopy technique that may serve to show optical interfaces in three dimensions inside scattering tissue. Finally, we discuss a model and show results of optoporation, a means of transfecting cells with genetic constructs. Brief reviews of MPM and SCI are also presented.

  4. CMV immune evasion and manipulation of the immune system with aging.

    Science.gov (United States)

    Jackson, Sarah E; Redeker, Anke; Arens, Ramon; van Baarle, Debbie; van den Berg, Sara P H; Benedict, Chris A; Čičin-Šain, Luka; Hill, Ann B; Wills, Mark R

    2017-06-01

    Human cytomegalovirus (HCMV) encodes numerous proteins and microRNAs that function to evade the immune response and allow the virus to replicate and disseminate in the face of a competent innate and acquired immune system. The establishment of a latent infection by CMV, which if completely quiescent at the level of viral gene expression would represent an ultimate in immune evasion strategies, is not sufficient for lifelong persistence and dissemination of the virus. CMV needs to reactivate and replicate in a lytic cycle of infection in order to disseminate further, which occurs in the face of a fully primed secondary immune response. Without reactivation, latency itself would be redundant for the virus. It is also becoming clear that latency is not a totally quiescent state, but is characterized by limited viral gene expression. Therefore, the virus also needs immune evasion strategies during latency. An effective immune response to CMV is required or viral replication will cause morbidity and ultimately mortality in the host. There is clearly a complex balance between virus immune evasion and host immune recognition over a lifetime. This poses the important question of whether long-term evasion or manipulation of the immune response driven by CMV is detrimental to health. In this meeting report, three groups used the murine model of CMV (MCMV) to examine if the contribution of the virus to immune senescence is set by the (i) initial viral inoculum, (ii) inflation of T cell responses, (iii) or the balance between functionally distinct effector CD4+ T cells. The work of other groups studying the CMV response in humans is discussed. Their work asks whether the ability to make immune responses to new antigens is compromised by (i) age and HCMV carriage, (ii) long-term exposure to HCMV giving rise to an overall immunosuppressive environment and increased levels of latent virus, or (iii) adapted virus mutants (used as potential vaccines) that have the capacity to

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

    Science.gov (United States)

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

    2013-01-01

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

  6. Manipulation of Origin of Life Molecules: Recognizing Single-Molecule Conformations in β-Carotene and Chlorophyll-a/β-Carotene Clusters

    Energy Technology Data Exchange (ETDEWEB)

    Ngo, Anh T.; Skeini, Timur [Nanoscale; amp, Quantum Phenomena Institute and Physics & amp, Astronomy Department, Ohio University, Athens, Ohio 45701, United States; Iancu, Violeta [Nanoscale; amp, Quantum Phenomena Institute and Physics & amp, Astronomy Department, Ohio University, Athens, Ohio 45701, United States; Redfern, Paul C.; Curtiss, Larry A.; Hla, Saw Wai [Nanoscale; amp, Quantum Phenomena Institute and Physics & amp, Astronomy Department, Ohio University, Athens, Ohio 45701, United States

    2018-01-11

    Carotenoids and chlorophyll are essential parts of plant leaves and are involved in photosynthesis, a vital biological process responsible for the origin of life on Earth. Here, we investigate how beta-carotene and chlorophyll-a form mixed molecular phases On a Au(111) surface using low-temperature scanning tunneling microscopy and molecular manipulation at the single-molecule level supported by density functional theory calculations. By isolating individual molecules from nanoscale molecular clusters with a scanning tunneling microscope tip, we are able to identify five beta-carotene conformations including a structure exhibiting a three-dimensional conformation. Furthermore, molecular resolution images enable direct visualization of beta-carotene/chlorophyll-a clsuters, with intimate structural details highlighting how they pair: beta-carotene preferentially positions next to chlorophyll-a and induces switching of chlorophyll-a from straight to several bent tail conformations in the molecular clusters.

  7. The Influence of Habitat Manipulations on Beneficial Ground-Dwelling Arthropods in a Southeast US Organic Cropping System.

    Science.gov (United States)

    Fox, Aaron F; Orr, David B; Cardoza, Yasmin J

    2015-02-01

    Habitat manipulations, intentional provisioning of natural vegetation along crop edges, have been shown to enhance beneficial epigaeic invertebrate activity in many agricultural settings, but little research has been conducted on this practice in the southeast United States. We conducted a field-scale study to determine if habitat manipulations along the field edges of an organic crop rotation increase the activity-density of beneficial ground-dwelling invertebrates. Pitfall traps were used to collect micro and macro ground-dwelling organisms in nine organic crop fields (three each of maize, soybeans, and hay; 2.5-4.0 ha each) surrounded by four experimental habitat manipulations (planted native grass and prairie flowers, planted prairie flowers only, fallow vegetation, or mowed vegetation) during 2009 and 2010 in eastern North Carolina. Beneficial macro and micro invertebrates collected in these pitfall traps consisted primarily of Carabidae, Araneae, Collembola, and mite species. Results show that habitat manipulations had little effect on the activity-density of the dominant epigaeic invertebrates in our study system. Our results suggest that the activity-density of these organisms were instead determined by a combination of in-field characteristics, such as crop type, weed management practices, and within-field resources, along with the diversity of crop type in neighboring fields and the availability of other resources in the area. © The Author 2015. Published by Oxford University Press on behalf of Entomological Society of America. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

  8. 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

  9. Force Feedback of a Manipulator System in the port-Hamiltonian Framework

    NARCIS (Netherlands)

    Muñoz Arias, Mauricio; Scherpen, Jacquelien M.A.; Dirksz, Daniel

    2012-01-01

    Skilled manipulation is required when a robot is in contact with the environment. The interaction robot-environment is intentional in industrial applications such as grinding, polishing, cutting, excavating and non-industrial such as domotics [1] and [2]. Implementation of all these tasks requires

  10. Voice controlled adaptive manipulator and mobility systems for the severely handicapped

    Science.gov (United States)

    Heer, E.; Wiker, G. A.; Karchak, A., Jr.

    1975-01-01

    Efforts by NASA and the VA to apply available teleoperator/robot technology to rehabilitate amputees and spinal cord injured patients having severe loss of motor, manipulative, and sensory capabilities in the lower and/or upper extremities are summarized. Techniques developed include the control of a wheelchair by voice control or tongue chinswitch. The voice recognition computer and its operation are also described.

  11. Method and system for manipulating a digital representation of a three-dimensional object

    DEFF Research Database (Denmark)

    2010-01-01

    A method of manipulating a three-dimensional virtual building block model by means of two-dimensional cursor movements, the virtual building block model including a plurality of virtual building blocks each including a number of connection elements for connecting the virtual building block with a...

  12. Unlimited Gender: The Discursive Construction of the Travesti Identity Through the Manipulation of the Grammatical Gender System

    Directory of Open Access Journals (Sweden)

    Rodrigo Borba

    2008-05-01

    Full Text Available This study investigates Southern Brazilian traveestis’ manipulation of the Portuguese grammatical gender system. During field work, it was verified that feminine forms are the preferred choice in the group. However, ideological and bodily tensions that surround travestis seem to force them to make use of masculine forms in specific discursive contexts. Travestis use masculine forms 1 to produce narratives about the time before their body modifications took place; 2 to report speech produced by others when talking about transvestites; 3 to talk about themselves within their family relationships; and 4 to distinguish themselves from ‘other’ travestis they do not identify with. Thus, the study shows how Southern Brazilian travestis use the Brazilian Portuguese grammatical gender system as a resource to manipulate their identities and the identities of the community they belong to.

  13. Phase manipulation of Goos–Hänchen shifts in a single-layer of graphene nanostructure under strong magnetic field

    Science.gov (United States)

    Solookinejad, Gh; Jabbari, M.; Panahi, M.; Ahmadi Sangachin, E.

    2017-11-01

    In this paper, we discuss the phase management of Goos–Hänchen (GH) shifts of a probe light through a cavity with a single-layer graphene nanostructure under a strong magnetic field. By using the quantum mechanical density matrix formalism we study the GH shifts of reflected and transmitted light beams. It is realized that negative or positive GH shifts can be achieved simultaneously by tuning some controllable parameters such as relative phase and the Rabi frequency of the applied fields. Moreover, the thickness effect of the cavity structure is considered as an effective parameter for adjusting the GH shifts of reflected and transmitted light beams. We find that by choosing suitable parameters, a maximum negative shift of 4.5 mm and positive shift of 5.4 mm are possible for GH shifts in reflected and transmitted light. Our proposed model may be useful for developing all-optical devices in the infrared region.

  14. The direct manipulation shell

    International Nuclear Information System (INIS)

    Allen, M.E.; Christiansen, M.

    1992-01-01

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

  15. Gravisensing in single-celled systems

    Science.gov (United States)

    Braun, M.; Limbach, C.

    Single-celled systems are favourable cell types for studying several aspects of gravisensing and gravitropic responses. Whether and how actin is involved in both processes in higher plant statocytes is still a matter of intensive debate. In single-celled and tip-growing characean rhizoids and protonemata, however, there is clear evidence that actin is a central keyplayer controlling polarized growth and the mechanisms of gravity sensing and growth reorientation. Both cell types exhibit a unique actin polymerization in the extending tip, strictly colocalized with the prominent ER-aggregate in the center of the Spitzenkoerper. The local accumulation of ADF and profilin in this central array suggest that actin polymerization is controlled by these actin-binding proteins, which can be regulated by calcium, pH and a variety of other parameters. Distinct actin filaments extend even into the outermost tip and form a dense meshwork in the apical and subapical region, before they become bundled by villin to form two populations of thick actin cables that generate rotational cytoplasmic streaming in the basal region. Actomyosin not only mediates the delivery of secretory vesicles to the growing tip and controls the incorporation pattern of cell wall material, but also coordinates the tip-focused distribution pattern of calcium channels in the apical membrane. They establish the tip-high calcium gradient, a prerequisite for exocytosis. Microgravity experiments have added much to our understanding that both cell types use an efficient actomyosin-based system to control and correct the position of their statoliths and to direct sedimenting statoliths to confined graviperception sites at the plasma membrane. Actin's involvement in the graviresponses is more indirect. The upward growth of negatively gravitropic protonemata was shown to be preceded by a statolith-induced relocalization the Ca2+-calcium gradient to the upper flank that does not occur in positively gravitropic

  16. Observing dynamics of chromatin fibers in Xenopus egg extracts by single DNA manipulation using a transverse magnetic tweezer setup

    Science.gov (United States)

    Yan, Jie; Skoko, Dunja; Marko, John; Maresca, Tom; Heald, Rebecca

    2005-03-01

    We have studied assembly of chromatin on single DNAs using Xenopus egg extracts and a specially designed magnetic tweezer setup which generates controlled force in the focal plane of the objective, allowing us to visualize and measure DNA extension under a wide range of constant tensions. We found, in the absence of ATP, interphase extracts assembled nucleosomes against DNA tensions of up to 3.5 piconewtons (pN). We observed force-induced disassembly and opening-closing fluctuations indicating our experiments were in mechano-chemical equilibrium. We found that the ATP-depleted reaction can do mechanical work of 27 kcal/mol per nucleosome, providing a measurement of the free energy difference between core histone octamers on and off DNA. Addition of ATP leads to highly dynamic behavior: time courses show processive runs of assembly and disassembly of not observed in the -ATP case, with forces of 2 pN leading to nearly complete fiber disassembly. Our study shows that ATP hydrolysis plays a major role in nucleosome rearrangement and removal, and suggests that chromatin in vivo may be subject to continual assembly and disassembly.

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

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  18. Electronic Architecture for a Mobile Manipulator

    OpenAIRE

    Oscar Aviles; Mauricio Felipe Mauledoux Monroy; Oscar Rubiano

    2018-01-01

    A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environm...

  19. Does the mechanism of sex determination constrain the potential for sex manipulation? A test in geckos with contrasting sex-determining systems

    Science.gov (United States)

    Kratochvíl, Lukáš; Kubička, Lukáš; Landová, Eva

    2008-03-01

    The concentration of yolk steroids was suggested to influence offspring gender in oviparous animals subject to both temperature-dependent sex determination (TSD) and genotypic sex determination (GSD). However, the proposed mechanisms of steroid effects are thought to differ between TSD and GSD: a direct effect of oestrogens on gonad feminisation in TSD species vs a differential induction of male-producing or female-producing gametes in GSD species. Geckos offer an ideal opportunity for testing these suggested mechanisms. Closely related gecko species differ in their modes of sex determination. They lay clutches of two synchronously formed eggs; both eggs share equal steroid levels. If identical hormonal composition and environment during vitellogenesis, gravidity and incubation determine the sex of the progeny, siblings should share the same gender in both TSD and GSD geckos. We found strong support for this prediction in a TSD gecko species. Among clutches that were incubated at the temperature that produced both sexes, there were no clutches with siblings of the opposite sex. On the other hand, about half of the clutches yielded siblings of the opposite sex in four GSD species. These results suggest that sex-determining systems constrain the ability of the female to produce single-sex siblings and, hence, it seems that the GSD mechanism constrains the opportunities for sex ratio manipulation in geckos via yolk steroid manipulation.

  20. Finite-time state-dependent Riccati equation for time-varying nonaffine systems: rigid and flexible joint manipulator control.

    Science.gov (United States)

    Korayem, M H; Nekoo, S R

    2015-01-01

    This article investigates finite-time optimal and suboptimal controls for time-varying systems with state and control nonlinearities. The state-dependent Riccati equation (SDRE) controller was the main framework. A finite-time constraint imposed on the equation changes it to a differential equation, known as the state-dependent differential Riccati equation (SDDRE) and this equation was applied to the problem reported in this study that provides general formulation and stability analysis. The following four solution methods were developed for solving the SDDRE; backward integration, state transition matrix (STM) and the Lyapunov based method. In the Lyapunov approach, both positive and negative definite solutions to related SDRE were used to provide suboptimal gain for the SDDRE. Finite-time suboptimal control is applied for robotic manipulator, as finite-time constraint strongly decreases state error and operation time. General state-dependent coefficient (SDC) parameterizations for rigid and flexible joint arms (prismatic or revolute joints) are introduced. By including nonlinear control inputs in the formulation, the actuator׳s limits can be inserted directly to the state-space equation of a manipulator. A finite-time SDRE was implemented on a 6R manipulator both in theory and experimentally. And a reduced 3R arm was modeled and tested as a flexible joint robot (FJR). Evaluations of load carrying capacity and operation time were investigated to assess the capability of this approach, both of which showed significant improvement. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  1. Underwater manipulator

    Science.gov (United States)

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

    1993-04-20

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

  2. Underwater manipulator

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  3. The optical design of the spin manipulation system for the SLAC Linear Collider

    International Nuclear Information System (INIS)

    Fieguth, T.H.

    1989-03-01

    The optical design of the beam transport lines between the SLAC Linac and the electron damping ring and the design of part of the Linac lattice itself will be modified to accommodate three superconducting solenoids for the purpose of manipulating the polarization of the electron beam. In order to allow arbitrary orientation of the polarization vector, this design will be capable of compensating the fields of two independent solenoids for arbitrary strengths ranging to 7.0 T-m. The method of dealing with the coupling of the betatron functions and the method of handling both the electron and positron beams in the common region are discussed. 8 refs., 5 figs

  4. Parameter identification for a robotic manipulator arm

    Science.gov (United States)

    Brewer, D. W.; Gibson, J. S.

    1985-01-01

    The development is described of a nonlinear dynamic model for large oscillations of a robotic manipulator arm about a single joint. Optimization routines are formulated and implemented for the identification of electrical and physical parameters from dynamic data taken from an industrial robot arm. Special attention is given to the role of sensitivity in the formulation of robust models of this motion. The importance of actuator effects in the reduction of sensitivity is established and used to develop an electromechanical model of the manipulator system.

  5. Electronic Architecture for a Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    Oscar Aviles

    2018-02-01

    Full Text Available A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environment through the manipulation of objects. This article will present the electronic design for a mobile robot manipulator with five degrees of freedom and a 6-wheel traction with four of these directional.

  6. Development of a system for genetic manipulation of the facultative methanotroph Methylocella silvestris BL2.

    Science.gov (United States)

    Crombie, Andrew; Murrell, J Colin

    2011-01-01

    An understanding of the metabolism and metabolic regulation of the facultative methanotroph Methylocella silvestris BL2 is required to understand its role in methane oxidation in the environment, and methods for genetics manipulation are essential tools in these investigations. In addition, the ability to engineer the metabolic capabilities of M. silvestris may well have useful biotechnological applications. We describe a simple and effective method of genetic manipulation for this organism which relies on the electroporation of a linear DNA fragment to introduce chromosomal gene deletions. In a two-step procedure, the gene of interest is first replaced with an antibiotic-resistance cassette which is subsequently removed, resulting in an unmarked gene deletion. This method is illustrated by the deletion of isocitrate lyase, which abolished growth on one-carbon and severely disabled growth on two-carbon compounds. Subsequent complementation with the wild-type gene and promoter restored growth, demonstrating stable transcription from the broad-host-range plasmid employed. Copyright © 2011 Elsevier Inc. All rights reserved.

  7. A systematic method of dynamics for flexible robot manipulators

    Science.gov (United States)

    Li, Chang-Jin; Sankar, T. S.

    1992-10-01

    The Lagrangian assumed-modes method is employed to determine the dynamic equations of motion of flexible robot manipulators with an application to a single-link manipulator. A truncated modal expansion is used which is limited to the use of 3 x 3 matrices and/or 3 x 1 vectors, and link-coordinate systems are used to compute the dynamics. Kinematic computations take place in the forward recursion from the base to the hand tip, whereas the dynamic computations are undertaken in the return recursion. A single-link flexible robot manipulator is described and employed for a simulation to test the algorithms for dynamic modeling. Results are given for joint-actuator torque, joint-angle position, first- and second-mode positions, and joint-angle velocity. The method is shown to be effective for the design of control systems and simulations for flexible manipulators.

  8. The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

  9. Program computes single-point failures in critical system designs

    Science.gov (United States)

    Brown, W. R.

    1967-01-01

    Computer program analyzes the designs of critical systems that will either prove the design is free of single-point failures or detect each member of the population of single-point failures inherent in a system design. This program should find application in the checkout of redundant circuits and digital systems.

  10. 34 CFR 200.12 - Single State accountability system.

    Science.gov (United States)

    2010-07-01

    ... 34 Education 1 2010-07-01 2010-07-01 false Single State accountability system. 200.12 Section 200... Improving Basic Programs Operated by Local Educational Agencies State Accountability System § 200.12 Single State accountability system. (a)(1) Each State must demonstrate in its State plan that the State has...

  11. Manipulatives Work!

    Science.gov (United States)

    Moch, Peggy L.

    2001-01-01

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

  12. Optimizing single irrigation scheme to improve water use efficiency by manipulating winter wheat sink-source relationships in Northern China Plain.

    Science.gov (United States)

    Xu, Xuexin; Zhang, Yinghua; Li, Jinpeng; Zhang, Meng; Zhou, Xiaonan; Zhou, Shunli; Wang, Zhimin

    2018-01-01

    Improving winter wheat grain yield and water use efficiency (WUE) with minimum irrigation is very important for ensuring agricultural and ecological sustainability in the Northern China Plain (NCP). A three-year field experiment was conducted to determine how single irrigation can improve grain yield and WUE by manipulating the "sink-source" relationships. To achieve this, no-irrigation after sowing (W0) as a control, and five single irrigation treatments after sowing (75 mm of each irrigation) were established. They included irrigation at upstanding (WU), irrigation at jointing (WJ), irrigation at booting (WB), irrigation at anthesis (WA) and irrigation at medium milk (WM). Results showed that compared with no-irrigation after sowing (W0), WU, WJ, WB, WA and WM significantly improved mean grain yield by 14.1%, 19.9%, 17.9%, 11.6%, and 7.5%, respectively. WJ achieved the highest grain yield (8653.1 kg ha-1) and WUE (20.3 kg ha-1 mm-1), and WB observed the same level of grain yield and WUE as WJ. In comparison to WU, WJ and WB coordinated pre- and post-anthesis water use while reducing pre-anthesis and total evapotranspiration (ET). They also retained higher soil water content above 180 cm soil layers at anthesis, increased post-anthesis water use, and ultimately increased WUE. WJ and WB optimized population quantity and individual leaf size, delayed leaf senescence, extended grain-filling duration, improved post-anthesis biomass and biomass remobilization (source supply capacity) as well as post-anthesis biomass per unit anthesis leaf area (PostBA-leaf ratio). WJ also optimized the allocation of assimilation, increased the spike partitioning index (SPI, spike biomass/biomass at anthesis) and grain production efficiency (GPE, the ratio of grain number to biomass at anthesis), thus improved mean sink capacity by 28.1%, 5.7%, 21.9%, and 26.7% in comparison to W0, WU, WA and WM, respectively. Compared with WA and WM, WJ and WB also increased sink capacity, post

  13. Unvented single stack sanitary drainage system I

    DEFF Research Database (Denmark)

    Najman, Z.

    This report forms the basis of the preparation of design recommendations. In the observation tables all single results from 147 tests of charging are dispersed on 53 test set-ups. At test set-ups in 1 till 4 floors height discharge pipes with dimensions of 100, 125, and 150 mm were tested with di...

  14. Performance measurement of mobile manipulators

    Science.gov (United States)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

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

  15. Automated visual attention manipulation

    NARCIS (Netherlands)

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

    2009-01-01

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

  16. Initial Single-Shell Tank Retrieval System mission analysis report

    International Nuclear Information System (INIS)

    Hertzel, J.S.

    1996-03-01

    This document provides the mission analysis for the Initial Single-Shell Tank Retrieval System task, which supports the Single-Shell Tank Waste Retrieval Program in its commitment to remove waste from single-shell tanks for treatment and final closure

  17. Highly energetic nonequilibrium microstructure fabricated by ion beam manipulation in the Ag-Pd system

    CERN Document Server

    Li, Z C

    2003-01-01

    An artificial ordered layered structure of high energy was obtained by a form of ion beam manipulation, namely interface-assisted ion beam mixing, of appropriately designed nano-sized Ag-Pd multilayered films, in which the interfacial free energy elevated the Ag-Pd multilayered films to near to the corresponding highly energetic state. Diffraction analysis suggested that the ordered layered structure consisted of two overlapped face-centred-cubic lattices with lattice constants smaller than those of both pure Ag and pure Pd. The growth mechanism was also discussed in terms of a dynamic atomic collision, followed by a relaxation lasting for an extremely short time, involved in the irradiation process.

  18. Highly energetic nonequilibrium microstructure fabricated by ion beam manipulation in the Ag Pd system

    Science.gov (United States)

    Li, Z. C.; Liu, B. X.

    2003-03-01

    An artificial ordered layered structure of high energy was obtained by a form of ion beam manipulation, namely interface-assisted ion beam mixing, of appropriately designed nano-sized Ag-Pd multilayered films, in which the interfacial free energy elevated the Ag-Pd multilayered films to near to the corresponding highly energetic state. Diffraction analysis suggested that the ordered layered structure consisted of two overlapped face-centred-cubic lattices with lattice constants smaller than those of both pure Ag and pure Pd. The growth mechanism was also discussed in terms of a dynamic atomic collision, followed by a relaxation lasting for an extremely short time, involved in the irradiation process.

  19. Computer systems for annotation of single molecule fragments

    Science.gov (United States)

    Schwartz, David Charles; Severin, Jessica

    2016-07-19

    There are provided computer systems for visualizing and annotating single molecule images. Annotation systems in accordance with this disclosure allow a user to mark and annotate single molecules of interest and their restriction enzyme cut sites thereby determining the restriction fragments of single nucleic acid molecules. The markings and annotations may be automatically generated by the system in certain embodiments and they may be overlaid translucently onto the single molecule images. An image caching system may be implemented in the computer annotation systems to reduce image processing time. The annotation systems include one or more connectors connecting to one or more databases capable of storing single molecule data as well as other biomedical data. Such diverse array of data can be retrieved and used to validate the markings and annotations. The annotation systems may be implemented and deployed over a computer network. They may be ergonomically optimized to facilitate user interactions.

  20. Recent Developments in the Design, Capabilities and Autonomous Operations of a Lightweight Surface Manipulation System and Test-bed

    Science.gov (United States)

    Dorsey, John T.; Jones, Thomas C.; Doggett, W. R.; Brady, Jeffrey S.; Berry, Felecia C.; Ganoe, George G.; Anderson, Eric; King, Bruce D.; Mercer, David C.

    2011-01-01

    The first generation of a versatile high performance device for performing payload handling and assembly operations on planetary surfaces, the Lightweight Surface Manipulation System (LSMS), has been designed and built. Over the course of its development, conventional crane type payload handling configurations and operations have been successfully demonstrated and the range of motion, types of operations and the versatility greatly expanded. This enhanced set of 1st generation LSMS hardware is now serving as a laboratory test-bed allowing the continuing development of end effectors, operational techniques and remotely controlled and automated operations. This paper describes the most recent LSMS and test-bed development activities, that have focused on two major efforts. The first effort was to complete a preliminary design of the 2nd generation LSMS that has the capability for limited mobility and can reposition itself between lander decks, mobility chassis, and fixed base locations. A major portion of this effort involved conducting a study to establish the feasibility of, and define, the specifications for a lightweight cable-drive waist joint. The second effort was to continue expanding the versatility and autonomy of large planetary surface manipulators using the 1st generation LSMS as a test-bed. This has been accomplished by increasing manipulator capabilities and efficiencies through both design changes and tool and end effector development. A software development effort has expanded the operational capabilities of the LSMS test-bed to include; autonomous operations based on stored paths, use of a vision system for target acquisition and tracking, and remote command and control over a communications bridge.

  1. Visualization Techniques for Single Channel DPF Systems

    Energy Technology Data Exchange (ETDEWEB)

    Dillon, Heather E.; Maupin, Gary D.; Carlson, Shelley J.; Saenz, Natalio T.; Gallant, Thomas R.

    2007-04-01

    New techniques have been developed to visualize soot deposition in both traditional and new diesel particulate filter (DPF) substrate materials using a modified cyanoacrylate fuming technique. Loading experiments have been conducted on a variety of single channel DPF substrates to develop a deeper understanding of soot penetration, soot deposition characteristics, and to confirm modeling results. Early results indicate that stabilizing the soot layer using a vapor adhesive may allow analysis of the layer with new methods.

  2. Atomic and molecular manipulation

    CERN Document Server

    Mayne, Andrew J

    2011-01-01

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

  3. Hydraulic manipulator

    International Nuclear Information System (INIS)

    Sinha, A.K.; Srikrishnamurty, G.

    1990-01-01

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

  4. Systems interaction and single failure criterion

    International Nuclear Information System (INIS)

    1983-10-01

    This study is a continued assessment of US research. All three of the systems interaction review methodologies which NRC's Systems Interaction Section (SIS) is studying are recommended. They are the Digraph-Matrix Analysis and Interactive Fault Tree/Failure Modes and Effects Analysis methodologies. A third methodology was developed for the Indian Point 3 system interaction review. It is recommended to developing the capability to perform and evaluate systems interaction reviews at Swedish nuclear plants. The Swedish demonstration studies should be performed on BWR's. (G.B.)

  5. Point-of-Care Determination of Acetaminophen Levels with Multi-Hydrogen Bond Manipulated Single-Molecule Recognition (eMuHSiR).

    Science.gov (United States)

    Zhang, Yan; Huang, Zhongyuan; Wang, Letao; Wang, Chunming; Zhang, Changde; Wiese, Tomas; Wang, Guangdi; Riley, Kevin; Wang, Zhe

    2018-04-03

    This work aims to face the challenge of monitoring small molecule drugs accurately and rapidly for point-of-care (POC) diagnosis in current clinical settings. Overdose of acetaminophen (AP), a commonly used over the counter (OTC) analgesic drug, has been determined to be a major cause of acute liver failure in the US and the UK. However, there is no rapid and accurate detection method available for this drug in the emergency room. The present study examined an AP sensing strategy that relies on a previously unexplored strong interaction between AP and the arginine (Arg) molecule. It was found that as many as 4 hydrogen bonds can be formed between one Arg molecule and one AP molecule. By taking advantages of this structural selectivity and high tenability of hydrogen bonds, Arg, immobilized on a graphene surface via electrostatic interactions, was utilized to structurally capture AP. Interestingly, bonded AP still remained the perfect electrochemical activities. The extent of Arg-AP bonds was quantified using a newly designed electrochemical (EC) sensor. To verify the feasibility of this novel assay, based on multihydrogen bond manipulated single-molecule recognition (eMuHSiR), both pharmaceutical and serum sample were examined. In commercial tablet measurement, no significant difference was seen between the results of eMuHSiR and other standard methods. For measuring AP concentration in the mice blood, the substances in serum, such as sugars and fats, would not bring any interference to the eMuHSiR in a wide concentration range. This eMuHSiR method opens the way for future development of small molecule detection for the POC testing.

  6. System for manipulating radioactive fuel rods within a nuclear fuel assembly

    International Nuclear Information System (INIS)

    Tolino, R.W.; King, W.E.; Blickenderfer, J.L.; Roth, C.H. Jr.

    1987-01-01

    A tool is described for manipulating the peripherally located fuel rods of a fuel assembly so that the rods can be visually inspected. The fuel assembly includes top and bottom nozzles, each of which is connected to a support skeleton, as well as grids, and wherein the rods are retained within the grids and confined between the top and bottom nozzles thereof. It consists of: (a) a fixture that is detachably connectable to one of the nozzles of the fuel assembly. The fixture having holes therein, (b) rotating means pivotally mountable within the holes of the fixture for selectively gripping and rotating the rod, and (c) a displacing means mounted on the fixture for reciprocably displacing the rods within the fuel assembly, including a lifting assembly and a push-down assembly for lifting and pushing down a selected one of the rods, respectively, whereby the rods can be selectively rotated, lifted, and pushed down in order to expose portions of the rods which are normally hidden to visual inspection while the nozzles stay connected to the support skeleton and the rods stay confined between the top and bottom nozzles of the fuel assembly

  7. Manipulator Comparative Testing Program: Final report

    International Nuclear Information System (INIS)

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

    1987-02-01

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

  8. Double and triple entanglement in a single neutron system

    International Nuclear Information System (INIS)

    Erdösi, D.

    2015-01-01

    Single-neutron interferometry is used in various experiments to study the foundations of quantum mechanics. The drawback of this technique, however, is that the contrast of neutron interferometers is very prone to disturbances, in particular, temperature variations. In order to achieve very low degrading of the contrast, we develop new devices to manipulate the neutron-s spin and energy in the interferometer. These devices open the door for quantum state generation with much higher fidelities than it has been possible so far in neutron interferometry. Spin rotators with time-dependent (radio-frequency (RF)) field change both spin and energy. We improve our RF spin-rotators for the interferometer by equipping them with miniature Helmholtz coils, which allows to adjust the energy shift due to each RF coil independently. This is essential for the generation of certain quantum states. This improvement is made possible by a new coil cooling method. Furthermore, we also develop new Larmor precession accelerators and decelerators that do not consume energy and hence do not produce heat at all. We demonstrate two applications of the new spin and energy manipulators by generating bi- and tripartite entanglement between the neutron's spin, energy and path degrees of freedom in the interferometer: we succeed in generating a Bell-like state and GHZ- and W-like states. For Bell state generation we also introduce a convenient spin preparation scheme that uses our Larmor precession manipulator. We achieve a considerably more significant violation of a Bell-like inequality than with the previous method, thus further confirming quantum contextuality. With our RF spin rotators we achieve for the GHZ- and W-like states fidelities between 95 and 99%. (author) [de

  9. Single board system for fuzzy inference

    Science.gov (United States)

    Symon, James R.; Watanabe, Hiroyuki

    1991-01-01

    The very large scale integration (VLSI) implementation of a fuzzy logic inference mechanism allows the use of rule-based control and decision making in demanding real-time applications. Researchers designed a full custom VLSI inference engine. The chip was fabricated using CMOS technology. The chip consists of 688,000 transistors of which 476,000 are used for RAM memory. The fuzzy logic inference engine board system incorporates the custom designed integrated circuit into a standard VMEbus environment. The Fuzzy Logic system uses Transistor-Transistor Logic (TTL) parts to provide the interface between the Fuzzy chip and a standard, double height VMEbus backplane, allowing the chip to perform application process control through the VMEbus host. High level C language functions hide details of the hardware system interface from the applications level programmer. The first version of the board was installed on a robot at Oak Ridge National Laboratory in January of 1990.

  10. Family Systems and the Single Client.

    Science.gov (United States)

    Baldwin, Cynthia

    1997-01-01

    Describes how a counselor used a combination of systemic family counseling techniques with a divorced middle-aged male client. The counselor states that it proved to be an efficient and honoring combination that helped the client move differently, with more freedom and self-assurance, toward his goals. (MKA)

  11. 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

  12. 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.

  13. Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

    Science.gov (United States)

    Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

    2008-01-01

    This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

  14. Smart Hand For Manipulators

    Science.gov (United States)

    Fiorini, Paolo

    1987-10-01

    Sensor based, computer controlled end effectors for mechanical arms are receiving more and more attention in the robotics industry, because commonly available grippers are only adequate for simple pick and place tasks. This paper describes the current status of the research at JPL on a smart hand for a Puma 560 robot arm. The hand is a self contained, autonomous system, capable of executing high level commands from a supervisory computer. The mechanism consists of parallel fingers, powered by a DC motor, and controlled by a microprocessor embedded in the hand housing. Special sensors are integrated in the hand for measuring the grasp force of the fingers, and for measuring forces and torques applied between the arm and the surrounding environment. Fingers can be exercised under position, velocity and force control modes. The single-chip microcomputer in the hand executes the tasks of communication, data acquisition and sensor based motor control, with a sample cycle of 2 ms and a transmission rate of 9600 baud. The smart hand described in this paper represents a new development in the area of end effector design because of its multi-functionality and autonomy. It will also be a versatile test bed for experimenting with advanced control schemes for dexterous manipulation.

  15. A survey of commercially available manipulators, end-effectors, and delivery systems for reactor decommissioning activities

    International Nuclear Information System (INIS)

    Henley, D.R.; Litka, T.J.

    1996-05-01

    Numerous nuclear facilities owned by the U.S. Department of Energy (DOE) are under consideration for decommissioning. Currently, there are no standardized, automated, remote systems designed to dismantle and thereby reduce the size of activated reactor components and vessels so that they can be packaged and shipped to disposal sites. Existing dismantling systems usually consist of customized, facility-specific tooling that has been developed to dismantle a specific reactor system. Such systems have a number of drawbacks. Generally, current systems cannot be disassembled, moved, and reused. Developing and deploying the tooling for current systems is expensive and time-consuming. In addition, the amount of manual work is significant because long-handled tools must be used; as a result, personnel are exposed to excessive radiation. A standardized, automated, remote system is therefore needed to deliver the tooling necessary to dismantle nuclear facilities at different locations. Because this system would be reusable, it would produce less waste. The system would also save money because of its universal design, and it would be more reliable than current systems

  16. [Treatment of type C3 distal radius fractures with AO 2.4 mm locking plate system after manipulative reduction].

    Science.gov (United States)

    Zhang, Chuan; Zhang, Zuo-Jun; Wang, Lei; Niu, Su-Ling; Wen, Ya-Fei; Guo, Yan-Xing

    2014-11-01

    To summarize our experiences in the treatment of type C3 (AO/OTA) distal radius fractures fixed with AO 2.4 mm locking plates combined with percutaneous pinning after manipulative reduction. From May 2009 to March 2012, 19 patients (2 cases of both sides) with type C3 (AO/OTA) distal radius fractures were treated with volar locking plates combined with percutaneous pinning for distal radius after manipulative reduction. Among the patients, the average age was (45.3 ± 17.4) years old (ranged, 31 to 66 years old). The fracture were complicated with ulnar styloid fracture in 14 wrists and 6 wrists had distal radioulnar joint instability. All the patients had closed fracture and the mean duration was (6.7 ± 3.5) days (4.5 to 9 days). The Henry approach was applied to expose the fracture site. Joint capsule and ligaments were retained for indirect reduction. After indirect reduction, the poking reduction technique was used to correct the residual compression, and congruence of distal ulnar radial joint was verified under fluorscopic guidance. Styloid process was first pinned percutaneously and then AO 2.4 mm volar locking plate was used to support rigid fixation. The fractures complicated with distal radioulnar joint instability and ulnar styloid fracture were treated with forearm plaster support in supination for 6 weeks. Nineteen patients (21 wrists) were followed up for an average duration of 10.5 months (ranged, 7 to 17 months). Radiographic bone union of distal radius was achieved in all cases, nonunion of the ulnar styloid occurred in 3 cases, and no distal radioulnar joint instability occurred. Tendon irritation was found in 2 cases and disappeared after the internal fixation was removed. The volar tilt, radial angle, radial length, incongruence of articular surface and distal radioulnar joint were observed at the follow-up. According to Batra and Gupta scoring system, 13 wrists were assessed to have a score of more than 80, 5 wrists 70 to 90, 3 wrists less

  17. A novel locally operated master-slave robot system for single-incision laparoscopic surgery.

    Science.gov (United States)

    Horise, Yuki; Matsumoto, Toshinobu; Ikeda, Hiroki; Nakamura, Yuta; Yamasaki, Makoto; Sawada, Genta; Tsukao, Yukiko; Nakahara, Yujiro; Yamamoto, Masaaki; Takiguchi, Shuji; Doki, Yuichiro; Mori, Masaki; Miyazaki, Fumio; Sekimoto, Mitsugu; Kawai, Toshikazu; Nishikawa, Atsushi

    2014-12-01

    Single-incision laparoscopic surgery (SILS) provides more cosmetic benefits than conventional laparoscopic surgery but presents operational difficulties. To overcome this technical problem, we have developed a locally operated master-slave robot system that provides operability and a visual field similar to conventional laparoscopic surgery. A surgeon grasps the master device with the left hand, which is placed above the abdominal wall, and holds a normal instrument with the right hand. A laparoscope, a slave robot, and the right-sided instrument are inserted through one incision. The slave robot is bent in the body cavity and its length, pose, and tip angle are changed by manipulating the master device; thus the surgeon has almost the same operability as with normal laparoscopic surgery. To evaluate our proposed system, we conducted a basic task and an ex vivo experiment. In basic task experiments, the average object-passing task time was 9.50 sec (SILS cross), 22.25 sec (SILS parallel), and 7.23 sec (proposed SILS). The average number of instrument collisions was 3.67 (SILS cross), 14 (SILS parallel), and 0.33 (proposed SILS). In the ex vivo experiment, we confirmed the applicability of our system for single-port laparoscopic cholecystectomy. We demonstrated that our proposed robot system is useful for single-incision laparoscopic surgery.

  18. Technical water system of the Reactor - Design description, operation regime and manipulation

    International Nuclear Information System (INIS)

    Badrljica, R.

    1984-05-01

    Technical water, reactor secondary coolant system is made of four parts: pumping station on the Danube; sedimentation facility in the village Vinca; coolant, heat exchangers and other elements within the RA reactor building; leading outer pipes and the stream Mlaka. All the four parts are connected to form a functional entirety, and each of them connected to cooling heat exchangers forms a partial functional system which enable the whole system to fulfill its fundamental task [sr

  19. Design and Manipulation 3D Imaging System by using Photodiode Grid

    Directory of Open Access Journals (Sweden)

    Seyed Mahdi Safavi

    2011-06-01

    Full Text Available Introduction: Radiation imaging is one of the applicable methods in diagnostic medicine and nondestructive testing for industrial applications. In nondestructive 3D imaging, in addition to the radiation source, there is a requirement for a suitable detection system, data acquisition system, mechanical sections for moving objects, reconstruction algorithm and finally a computer for processing and control. Method and Materials: One of the most important components of a digital radiation imaging system is its detector. Light photodiode is a new light sensor which is used in digital imaging systems because of its high efficiency. In the present research, a photodiode grid has been implemented to design and make a detection system. The photodiode grid has an array of 10×10 photodiodes in a 50×50 mm2 area. Beside the photodiode grid, a control board has been designed. Furthermore, a mechanical system has been designed to move the objects in the horizontal and vertical directions, and also rotate it around its own axis. The maximum displacement in the horizontal and vertical directions is 60 cm with step accuracy of about 0.015 mm. Step accuracy of the rotational movement is about 0.9 degrees.  Results: After the imaging system was constructed, background and uniformity of the system were tested. All the photodiodes in the imaging system showed good uniformity. The image data was transferred to a computer and processed using a MATLAB program to display the images on a monitor. As the physical resolution of the system is about the pixel size (5 mm, only the overall images of the object's dimensions were expected to be produced. Discussion and Conclusion: The fidelity of the detection system has been successfully tested using a visible light source and several test samples. The presented system is able to reconstruct 3D images and obtain cross-sectional images of the objects, by using the image processing algorithm specifically designed for it.

  20. Development of the Symbolic Manipulator Laboratory modeling package for the kinematic design and optimization of the Future Armor Rearm System robot. Ammunition Logistics Program

    Energy Technology Data Exchange (ETDEWEB)

    March-Leuba, S.; Jansen, J.F.; Kress, R.L.; Babcock, S.M. [Oak Ridge National Lab., TN (United States); Dubey, R.V. [Tennessee Univ., Knoxville, TN (United States). Dept. of Mechanical and Aerospace Engineering

    1992-08-01

    A new program package, Symbolic Manipulator Laboratory (SML), for the automatic generation of both kinematic and static manipulator models in symbolic form is presented. Critical design parameters may be identified and optimized using symbolic models as shown in the sample application presented for the Future Armor Rearm System (FARS) arm. The computer-aided development of the symbolic models yields equations with reduced numerical complexity. Important considerations have been placed on the closed form solutions simplification and on the user friendly operation. The main emphasis of this research is the development of a methodology which is implemented in a computer program capable of generating symbolic kinematic and static forces models of manipulators. The fact that the models are obtained trigonometrically reduced is among the most significant results of this work and the most difficult to implement. Mathematica, a commercial program that allows symbolic manipulation, is used to implement the program package. SML is written such that the user can change any of the subroutines or create new ones easily. To assist the user, an on-line help has been written to make of SML a user friendly package. Some sample applications are presented. The design and optimization of the 5-degrees-of-freedom (DOF) FARS manipulator using SML is discussed. Finally, the kinematic and static models of two different 7-DOF manipulators are calculated symbolically.

  1. Development of the Symbolic Manipulator Laboratory modeling package for the kinematic design and optimization of the Future Armor Rearm System robot

    Energy Technology Data Exchange (ETDEWEB)

    March-Leuba, S.; Jansen, J.F.; Kress, R.L.; Babcock, S.M. (Oak Ridge National Lab., TN (United States)); Dubey, R.V. (Tennessee Univ., Knoxville, TN (United States). Dept. of Mechanical and Aerospace Engineering)

    1992-08-01

    A new program package, Symbolic Manipulator Laboratory (SML), for the automatic generation of both kinematic and static manipulator models in symbolic form is presented. Critical design parameters may be identified and optimized using symbolic models as shown in the sample application presented for the Future Armor Rearm System (FARS) arm. The computer-aided development of the symbolic models yields equations with reduced numerical complexity. Important considerations have been placed on the closed form solutions simplification and on the user friendly operation. The main emphasis of this research is the development of a methodology which is implemented in a computer program capable of generating symbolic kinematic and static forces models of manipulators. The fact that the models are obtained trigonometrically reduced is among the most significant results of this work and the most difficult to implement. Mathematica, a commercial program that allows symbolic manipulation, is used to implement the program package. SML is written such that the user can change any of the subroutines or create new ones easily. To assist the user, an on-line help has been written to make of SML a user friendly package. Some sample applications are presented. The design and optimization of the 5-degrees-of-freedom (DOF) FARS manipulator using SML is discussed. Finally, the kinematic and static models of two different 7-DOF manipulators are calculated symbolically.

  2. Process tomography via sequential measurements on a single quantum system

    CSIR Research Space (South Africa)

    Bassa, H

    2015-09-01

    Full Text Available The authors utilize a discrete (sequential) measurement protocol to investigate quantum process tomography of a single two-level quantum system, with an unknown initial state, undergoing Rabi oscillations. The ignorance of the dynamical parameters...

  3. Mixing Ventilation System in a Single-Aisle Aircraft Cabin

    DEFF Research Database (Denmark)

    Nielsen, Peter Vilhelm; Zhang, Chen; Wojcik, Kamil

    2014-01-01

    and present a design procedure of the system. Finally, a personalised ventilation system will be described, which can be used together with the mixing ventilation system. The experiments are made in a full-scale, left side mock-up of a single-aisle (Boeing 737) cabin with four seats. The four passengers...

  4. Remote Evaluation of the Coherence of Indirect Manipulation Interface Systems For Agent-Mediated Legacy Data

    National Research Council Canada - National Science Library

    Schafer, Joseph

    2000-01-01

    Many information systems depend heavily on distributed legacy data sources. These data sources introduce a number of significant problems, especially when the sources must be combined and displayed to remote users...

  5. Methods and systems using encapsulated tracers and chemicals for reservoir interrogation and manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Roberts, Jeffery; Aines, Roger D; Duoss, Eric B; Spadaccini, Christopher M

    2014-11-04

    An apparatus, method, and system of reservoir interrogation. A tracer is encapsulating in a receptacle. The receptacle containing the tracer is injected into the reservoir. The tracer is analyzed for reservoir interrogation.

  6. Sports teams as complex adaptive systems: manipulating player numbers shapes behaviours during football small-sided games.

    Science.gov (United States)

    Silva, Pedro; Vilar, Luís; Davids, Keith; Araújo, Duarte; Garganta, Júlio

    2016-01-01

    Small-sided and conditioned games (SSCGs) in sport have been modelled as complex adaptive systems. Research has shown that the relative space per player (RSP) formulated in SSCGs can impact on emergent tactical behaviours. In this study we adopted a systems orientation to analyse how different RSP values, obtained through manipulations of player numbers, influenced four measures of interpersonal coordination observed during performance in SSCGs. For this purpose we calculated positional data (GPS 15 Hz) from ten U-15 football players performing in three SSCGs varying in player numbers (3v3, 4v4 and 5v5). Key measures of SSCG system behaviours included values of (1) players' dispersion, (2) teams' separateness, (3) coupling strength and time delays between participants' emerging movements, respectively. Results showed that values of participants' dispersion increased, but the teams' separateness remained identical across treatments. Coupling strength and time delay also showed consistent values across SSCGs. These results exemplified how complex adaptive systems, like football teams, can harness inherent degeneracy to maintain similar team spatial-temporal relations with opponents through changes in inter-individual coordination modes (i.e., players' dispersion). The results imply that different team behaviours might emerge at different ratios of field dimension/player numbers. Therefore, sport pedagogists should carefully evaluate the effects of changing RSP in SSCGs as a way of promoting increased or decreased pressure on players.

  7. Toward Single Enzyme Analysis in a Droplet-based Micro and Nanofluidic Systems

    NARCIS (Netherlands)

    Arayanarakool, Rerngchai

    2012-01-01

    In this thesis, we demonstrate the application of a micro- and nanofluidic device for the single-enzyme analysis by encapsulating single enzymes into the generated aqueous droplets in oil. This thesis consists of the introduction (chapter 1), a review of the generation and manipulation of droplets

  8. CMV immune evasion and manipulation of the immune system with aging.

    NARCIS (Netherlands)

    Jackson, Sarah E; Redeker, Anke; Arens, Ramon; van Baarle, Debbie; van den Berg, Sara P H; Benedict, Chris A; Čičin-Šain, Luka; Hill, Ann B; Wills, Mark R

    Human cytomegalovirus (HCMV) encodes numerous proteins and microRNAs that function to evade the immune response and allow the virus to replicate and disseminate in the face of a competent innate and acquired immune system. The establishment of a latent infection by CMV, which if completely quiescent

  9. Port-Hamiltonian and power-based integral control of a manipulator system

    NARCIS (Netherlands)

    Dirksz, Daniel; Scherpen, Jacquelien M.A.

    2011-01-01

    In industrial applications integral control is often used in controllers to counteract the effects of disturbances and other uncertainties. The integral action compensates for steady-state errors caused by such uncertainties. However, for nonlinear systems, when adding an integrator in the classical

  10. Manipulations of the ubiquitin proteasome system and their effects on antigen presentation

    NARCIS (Netherlands)

    Groothuis, Tom Alphonsus Maria

    2006-01-01

    Surgery is the most effective cancer therapy, followed by radiotherapy. These techniques usually target tumour specific tissue only, unlike most forms of chemotherapy as is best illustrated by the relatively moderate side effects of such treatments. When the immune system could find and destroy

  11. Concept design for real time interactive control system with haptic feedback for tele-manipulation RH system

    International Nuclear Information System (INIS)

    Rastogi, Naveen; Srivastava, Amit Kumar; Dutta, Pramit; Gotewal, Krishan Kumar

    2017-01-01

    In the field of Remote Handling (RH) and robotics, there is a growing need to provide robot with the ability to interact with the dynamic, complex and unstructured environments. RH operations in such environments pose significant challenges in terms of sensing, planning, and control. In particular, it is critical to design control algorithms that account for the dynamics of the robot and environment. The remote maintenance operations in environments such as in Joint European Torus (JET) shows that the most efficient and effective RH operations are achieved only when the operator has the sense that they are themselves performing the manipulation at the workspace rather than by means of a remote controlled device(2). (author)

  12. Image reconstruction of dynamic infrared single-pixel imaging system

    Science.gov (United States)

    Tong, Qi; Jiang, Yilin; Wang, Haiyan; Guo, Limin

    2018-03-01

    Single-pixel imaging technique has recently received much attention. Most of the current single-pixel imaging is aimed at relatively static targets or the imaging system is fixed, which is limited by the number of measurements received through the single detector. In this paper, we proposed a novel dynamic compressive imaging method to solve the imaging problem, where exists imaging system motion behavior, for the infrared (IR) rosette scanning system. The relationship between adjacent target images and scene is analyzed under different system movement scenarios. These relationships are used to build dynamic compressive imaging models. Simulation results demonstrate that the proposed method can improve the reconstruction quality of IR image and enhance the contrast between the target and the background in the presence of system movement.

  13. Effect of dietary protein manipulation in subclinical portal-systemic encephalopathy.

    OpenAIRE

    de Bruijn, K M; Blendis, L M; Zilm, D H; Carlen, P L; Anderson, G H

    1983-01-01

    Eight stable cirrhotic patients with mild or subclinical portal-systemic encephalopathy (PSE) were studied after shunt surgery when they were off all antiencephalopathic therapy. Equal amounts of mixed proteins were alternated with animal or vegetable protein in a crossover protocol under metabolic conditions for five consecutive, one week periods. The different dietary periods were not associated with either a change in the neurological impairment score or the Trailmaking Tests, which showed...

  14. Manipulating the sudden death of entanglement in two-qubit atomic systems

    Energy Technology Data Exchange (ETDEWEB)

    Hussain, Mahmood Irtiza; Tahira, Rabia; Ikram, Manzoor [COMSATS Institute of Information Technology, Islamabad (Pakistan)

    2011-10-15

    We investigate the entanglement dynamics of a general two-qubit system in a noisy environment presenting analytical descriptions of the time evolution of entanglement having some unitary operations after its evolution in dissipative environments. We show that quantum gates (unitary operators) and bath switching can change the subsequent dynamics of entanglement. For this purpose, we consider {sigma}{sub x} and bath switching operations that change the disentanglement time from finite to infinite.

  15. Manipulating the sudden death of entanglement in two-qubit atomic systems

    International Nuclear Information System (INIS)

    Hussain, Mahmood Irtiza; Tahira, Rabia; Ikram, Manzoor

    2011-01-01

    We investigate the entanglement dynamics of a general two-qubit system in a noisy environment presenting analytical descriptions of the time evolution of entanglement having some unitary operations after its evolution in dissipative environments. We show that quantum gates (unitary operators) and bath switching can change the subsequent dynamics of entanglement. For this purpose, we consider σ x and bath switching operations that change the disentanglement time from finite to infinite.

  16. Overview of Single-Phase Grid-Connected Photovoltaic Systems

    DEFF Research Database (Denmark)

    Yang, Yongheng; Blaabjerg, Frede

    2017-01-01

    A continuous booming installation of solar photovoltaic (PV) systems has been witnessed worldwide. It is mainly driven by the imperative demand of “clean” power generation from renewables. Grid-connected PV systems will thus become an even more active player in the future mixed power systems, which...... systems. This chapter thus gives an overview of the advancement of power electronics converters in single-phase grid-connected PV systems, being commonly used in residential applications. Demands to single-phase grid-connected PV systems and the general control strategies are also addressed...... are linked together by a vast of power electronics converters and the power grid. In order to achieve a reliable and efficient power generation from PV systems, more stringent demands have been imposed on the entire PV system. It, in return, advances the development of the power converter technology in PV...

  17. Manipulation of Superparamagnetic Beads on Patterned Exchange-Bias Layer Systems for Biosensing Applications.

    Science.gov (United States)

    Ehresmann, Arno; Koch, Iris; Holzinger, Dennis

    2015-11-13

    A technology platform based on a remotely controlled and stepwise transport of an array arrangement of superparamagnetic beads (SPB) for efficient molecular uptake, delivery and accumulation in the context of highly specific and sensitive analyte molecule detection for the application in lab-on-a-chip devices is presented. The near-surface transport of SPBs is realized via the dynamic transformation of the SPBs' magnetic potential energy landscape above a magnetically stripe patterned Exchange-Bias (EB) thin film layer systems due to the application of sub-mT external magnetic field pulses. In this concept, the SPB velocity is dramatically influenced by the magnitude and gradient of the magnetic field landscape (MFL) above the magnetically stripe patterned EB substrate, the SPB to substrate distance, the magnetic properties of both the SPBs and the EB layer system, respectively, as well as by the properties of the external magnetic field pulses and the surrounding fluid. The focus of this review is laid on the specific MFL design in EB layer systems via light-ion bombardment induced magnetic patterning (IBMP). A numerical approach is introduced for the theoretical description of the MFL in comparison to experimental characterization via scanning Hall probe microscopy. The SPB transport mechanism will be outlined in terms of the dynamic interplay between the EB substrate's MFL and the pulse scheme of the external magnetic field.

  18. Realization of single-phase single-stage grid-connected PV system

    Directory of Open Access Journals (Sweden)

    Osama M. Arafa

    2017-05-01

    Full Text Available This paper presents a single phase single stage grid-tied PV system. Grid angle detection is introduced to allow operation at any arbitrary power factor but unity power factor is chosen to utilize the full inverter capacity. The system ensures MPPT using the incremental conductance method and it can track the changes in insolation level without oscillations. A PI voltage controller and a dead-beat current controller are used to ensure high quality injected current to the grid. The paper investigates the system structure and performance through numerical simulation using Matlab/Simulink. An experimental setup controlled by the MicrolabBox DSP prototyping platform is utilized to realize the system and study its performance. The precautions for smooth and safe system operation including the startup sequence are fully considered in the implementation.

  19. Use of an automated digital images system for detecting plant status changes in response to climate change manipulations

    Science.gov (United States)

    Cesaraccio, Carla; Piga, Alessandra; Ventura, Andrea; Arca, Angelo; Duce, Pierpaolo

    2014-05-01

    The importance of phenological research for understanding the consequences of global environmental change on vegetation is highlighted in the most recent IPCC reports. Collecting time series of phenological events appears to be of crucial importance to better understand how vegetation systems respond to climatic regime fluctuations, and, consequently, to develop effective management and adaptation strategies. However, traditional monitoring of phenology is labor intensive and costly and affected to a certain degree of subjective inaccuracy. Other methods used to quantify the seasonal patterns of vegetation development are based on satellite remote sensing (land surface phenology) but they operate at coarse spatial and temporal resolution. To overcome the issues of these methodologies different approaches for vegetation monitoring based on "near-surface" remote sensing have been proposed in recent researches. In particular, the use of digital cameras has become more common for phenological monitoring. Digital images provide spectral information in the red, green, and blue (RGB) wavelengths. Inflection points in seasonal variations of intensities of each color channel can be used to identify phenological events. Canopy green-up phenology can be quantified from the greenness indices. Species-specific dates of leaf emergence can be estimated by RGB image analyses. In this research, an Automated Phenological Observation System (APOS), based on digital image sensors, was used for monitoring the phenological behavior of shrubland species in a Mediterranean site. The system was developed under the INCREASE (an Integrated Network on Climate Change Research) EU-funded research infrastructure project, which is based upon large scale field experiments with non-intrusive climatic manipulations. Monitoring of phenological behavior was conducted continuously since October 2012. The system was set to acquire one panorama per day at noon which included three experimental plots for

  20. Electorate redistricting for a single-member district plurality, two-ballot voting system: Taiwan’s electoral reform

    Directory of Open Access Journals (Sweden)

    Lin Pei-Chun

    2014-01-01

    Full Text Available In this study, we formulated a mathematical model for electorate demarcation in line with Taiwan’s electoral reforms, minimizing legislative seats for the main opposition party in Taipei City. The model is compared with historical election data to establish characteristics that are most contested and germane to the reform. Examination of the constituency demarcation for the Seventh Legislator Election ascertains that electorate demarcation can/can not be manipulated to create electoral advantage. Demonstrable evidence of a bias toward disproportionate representation in the single-member district plurality, two-ballot voting system ultimately attests the importance of scenario analysis before adopting new electorate systems.

  1. The Vibrio parahaemolyticus Type III Secretion Systems manipulate host cell MAPK for critical steps in pathogenesis.

    LENUS (Irish Health Repository)

    Matlawska-Wasowska, Ksenia

    2010-12-01

    Vibrio parahaemolyticus is a food-borne pathogen causing inflammation of the gastrointestinal epithelium. Pathogenic strains of this bacterium possess two Type III Secretion Systems (TTSS) that deliver effector proteins into host cells. In order to better understand human host cell responses to V. parahaemolyticus, the modulation of Mitogen Activated Protein Kinase (MAPK) activation in epithelial cells by an O3:K6 clinical isolate, RIMD2210633, was investigated. The importance of MAPK activation for the ability of the bacterium to be cytotoxic and to induce secretion of Interleukin-8 (IL-8) was determined.

  2. Simulation of a Mobile Manipulator on Webots

    Directory of Open Access Journals (Sweden)

    Oscar F. Avilés S.

    2018-02-01

    Full Text Available A mobile manipulator is a mobile platform with a mounted serial manipulator. A Mobile Manipulator is a system subject to its kinematic restrictions and the degrees of freedom of the manipulator arm mounted on it. These systems combine the advantages of mobile platforms and robotic arms, and reduce their disadvantages. For example, a mobile manipulator has larger working space when it has a mobile platform, as it offers more functionality during operation. For the previously mentioned in this work will be shown the implementation in the robotic simulation software Webots, a mobile manipulator that allows to determine its operation in a virtual environment

  3. Quantum behavior of a SQUID qubit manipulated with fast pulses

    Energy Technology Data Exchange (ETDEWEB)

    Spilla, Samuele; Messina, Antonino; Napoli, Anna [Dipartimento di Fisica dell' Universita di Palermo, Via Archirafi 36, 90123 Palermo (Italy); Castellano, Maria Gabriella; Chiarello, Fabio [Istituto Fotonica e Nanotecnologie - CNR, Roma (Italy); Migliore, Rosanna [Institute of Biophysics, National Research Council, via Ugo La Malfa 153, 90146 Palermo (Italy)

    2013-07-01

    A SQUID qubit manipulated with fast variation of the energy potential is analyzed. Varying the potential shape from a single to a double-well configuration, quantum behaviors are brought into light and discussed. We show that the presence of quantum coherences in the initial state of the system plays a central role in the appearance of these quantum effects.

  4. Single Microfluidic Electrochemical Sensor System for Simultaneous Multi-Pulmonary Hypertension Biomarker Analyses.

    Science.gov (United States)

    Lee, GeonHui; Lee, JuKyung; Kim, JeongHoon; Choi, Hak Soo; Kim, Jonghan; Lee, SangHoon; Lee, HeaYeon

    2017-08-08

    Miniaturized microfluidic biosensors have recently been advanced for portable point-of-care diagnostics by integrating lab-on-a-chip technology and electrochemical analysis. However, the design of a small, integrated, and reliable biosensor for multiple and simultaneous electrochemical analyses in a single device remains a challenge. Here, we present a simultaneous microfluidic electrochemical biosensing system to detect multiple biomarkers of pulmonary hypertension diseases in a single device. The miniaturized biosensor, which is composed of five chambers, is precisely and individually controlled using in-house-built pneumatic microvalves to manipulate the flow pathway. Each chamber is connected to an electrochemical sensor designed to detect four different biomarkers plus a reference control. Our design allows for loading of multiple reagents for simultaneous analyses. On the basis of the developed microfluidic electrochemical sensor system, we successfully detected four well-defined pulmonary hypertension-associated biomarkers, namely, fibrinogen, adiponectin, low-density lipoprotein, and 8-isoprostane. This novel approach offers a new platform for a rapid, miniaturized, and sensitive diagnostic sensor in a single device for various human diseases.

  5. Load compensation for single phase system using series active filter ...

    African Journals Online (AJOL)

    In this paper a new control strategy for series active filter has been proposed for improvement of power quality problems in single phase system. Since the non linear loads in the system comprises of both voltage source harmonic and current source harmonic loads and the dominancy of each type of load varies from time to ...

  6. IVA the robot: Design guidelines and lessons learned from the first space station laboratory manipulation system

    Science.gov (United States)

    Konkel, Carl R.; Powers, Allen K.; Dewitt, J. Russell

    1991-01-01

    The first interactive Space Station Freedom (SSF) lab robot exhibit was installed at the Space and Rocket Center in Huntsville, AL, and has been running daily since. IntraVehicular Activity (IVA) the robot is mounted in a full scale U.S. Lab (USL) mockup to educate the public on possible automation and robotic applications aboard the SSF. Responding to audio and video instructions at the Command Console, exhibit patrons may prompt IVA to perform a housekeeping task or give a speaking tour of the module. Other exemplary space station tasks are simulated and the public can even challenge IVA to a game of tic tac toe. In anticipation of such a system being built for the Space Station, a discussion is provided of the approach taken, along with suggestions for applicability to the Space Station Environment.

  7. MPC of Single Phase Inverter for PV System

    OpenAIRE

    Irtaza M. Syed; Kaamran Raahemifar

    2014-01-01

    This paper presents a model predictive control (MPC) of a utility interactive (UI) single phase inverter (SPI) for a photovoltaic (PV) system at residential/distribution level. The proposed model uses single-phase phase locked loop (PLL) to synchronize SPI with the grid and performs MPC control in a dq reference frame. SPI model consists of boost converter (BC), maximum power point tracking (MPPT) control, and a full bridge (FB) voltage source inverter (VSI). No PI regula...

  8. System and method for single-phase, single-stage grid-interactive inverter

    Science.gov (United States)

    Liu, Liming; Li, Hui

    2015-09-01

    The present invention provides for the integration of distributed renewable energy sources/storages utilizing a cascaded DC-AC inverter, thereby eliminating the need for a DC-DC converter. The ability to segment the energy sources and energy storages improves the maintenance capability and system reliability of the distributed generation system, as well as achieve wide range reactive power compensation. In the absence of a DC-DC converter, single stage energy conversion can be achieved to enhance energy conversion efficiency.

  9. Magnetic manipulation of superparamagnetic nanoparticles in a microfluidic system for drug delivery applications

    Energy Technology Data Exchange (ETDEWEB)

    Agiotis, L.; Theodorakos, I.; Samothrakitis, S.; Papazoglou, S.; Zergioti, I.; Raptis, Y.S.

    2016-03-01

    Magnetic nanoparticles (MNPs), such as superparamagnetic iron oxide nanoparticles (SPIONS), have attracted major interest, due to their small size and unique magnetic properties, for drug delivery applications. In this context, iron oxide nanoparticles of magnetite (Fe{sub 3}O{sub 4}) (150 nm magnetic core diameter), were used as drug carriers, aiming to form a magnetically controlled nano-platform. The navigation capabilities of the iron oxide nanoparticles in a microfluidic channel were investigated by simulating the magnetic field and the magnetic force applied on the magnetic nanoparticles inside a microfluidic chip. The simulations have been performed using finite element method (ANSY’S software). The optimum setup which intends to simulate the magnetic navigation of the nanoparticles, by the use of MRI-type fields, in the human circulatory system, consists of two parallel permanent magnets to produce a homogeneous magnetic field, in order to ensure the maximum magnetization of the magnetic nanoparticles, an electromagnet for the induction of the magnetic gradients and the creation of the magnetic force and a microfluidic setup so as to simulate the blood flow inside the human blood vessels. The magnetization of the superparamagnetic nanoparticles and the consequent magnetic torque developed by the two permanent magnets, together with the mutual interactions between the magnetized nanoparticles lead to the creation of rhabdoid aggregates in the direction of the homogeneous field. Additionally, the magnetic gradients introduced by the operation of the electromagnet are capable of directing the aggregates, as a whole, to the desired direction. By removing the magnetic fields, the aggregates are disrupted, due to the super paramagnetic nature of the nanoparticles, avoiding thus the formation of undesired thrombosis. - Highlights: • Homogeneous field yields an aggregation of particles along the lines of the field. • Additional electromagnet field rotates the

  10. Magnetic manipulation of superparamagnetic nanoparticles in a microfluidic system for drug delivery applications

    International Nuclear Information System (INIS)

    Agiotis, L.; Theodorakos, I.; Samothrakitis, S.; Papazoglou, S.; Zergioti, I.; Raptis, Y.S.

    2016-01-01

    Magnetic nanoparticles (MNPs), such as superparamagnetic iron oxide nanoparticles (SPIONS), have attracted major interest, due to their small size and unique magnetic properties, for drug delivery applications. In this context, iron oxide nanoparticles of magnetite (Fe 3 O 4 ) (150 nm magnetic core diameter), were used as drug carriers, aiming to form a magnetically controlled nano-platform. The navigation capabilities of the iron oxide nanoparticles in a microfluidic channel were investigated by simulating the magnetic field and the magnetic force applied on the magnetic nanoparticles inside a microfluidic chip. The simulations have been performed using finite element method (ANSY’S software). The optimum setup which intends to simulate the magnetic navigation of the nanoparticles, by the use of MRI-type fields, in the human circulatory system, consists of two parallel permanent magnets to produce a homogeneous magnetic field, in order to ensure the maximum magnetization of the magnetic nanoparticles, an electromagnet for the induction of the magnetic gradients and the creation of the magnetic force and a microfluidic setup so as to simulate the blood flow inside the human blood vessels. The magnetization of the superparamagnetic nanoparticles and the consequent magnetic torque developed by the two permanent magnets, together with the mutual interactions between the magnetized nanoparticles lead to the creation of rhabdoid aggregates in the direction of the homogeneous field. Additionally, the magnetic gradients introduced by the operation of the electromagnet are capable of directing the aggregates, as a whole, to the desired direction. By removing the magnetic fields, the aggregates are disrupted, due to the super paramagnetic nature of the nanoparticles, avoiding thus the formation of undesired thrombosis. - Highlights: • Homogeneous field yields an aggregation of particles along the lines of the field. • Additional electromagnet field rotates the

  11. Numeric processor and text manipulator for the ''MASTER CONTROL'' data-base-management system

    International Nuclear Information System (INIS)

    Kuhn, R.W.

    1976-01-01

    The numeric and text processor of the MASTER CONTROL (MCP) data-base-management system permits the user to define fields and arrays that are functionally dependent on the data retained in a data base. This allows the storage of only the essential and unique information and data, and the calculation of derivable quantities as required. The derived quantity can be expressed as an arithmetic expression, that is, a functional relationship. Functions can be multiply subscripted and can be embedded within other functions at up to 58 levels. They can be stored either semi-permanently in a repertoire of functional relations, or they can be defined interactively from a terminal and used immediately for searching on the derived value. The processor also permits the conversion of literal strings into numbers, and vice versa. In addition, the user can define dictionaries that allow the expansion of keyed sentinels associated with records in the data base into fully descriptive expressions. This option can be used for cost-effective searching and data compaction. The functional definitions are reduced to Polish notation and stored in a disk file from which they are either retrieved on demand and evaluated according to the data of records specified or used in any given MASTER CONTROL command. The language used for the definitions of the numeric processor is essentially FORTRAN; most of the standard functions and over two dozen special functions are thus available. The functional processor provides a powerful technique for the integration of text and data for energy research and for scientific and technological work in general. MASTER CONTROL is operational at the Lawrence Livermore Laboratory (LLL) and at the Los Alamos Scientific Laboratory (LASL). 6 figures, 1 table

  12. Door breaching robotic manipulator

    Science.gov (United States)

    Schoenfeld, Erik; Parrington, Lawrence; von Muehlen, Stephan

    2008-04-01

    As unmanned systems become more commonplace in military, police, and other security forces, they are tasked to perform missions that the original hardware was not designed for. Current military robots are built for rough outdoor conditions and have strong inflexible manipulators designed to handle a wide range of operations. However, these manipulators are not well suited for some essential indoor tasks, including opening doors. This is a complicated kinematic task that places prohibitively difficult control challenges on the robot and the operator. Honeybee and iRobot have designed a modular door-breaching manipulator that mechanically simplifies the demands upon operator and robot. The manipulator connects to the existing robotic arm of the iRobot PackBot EOD. The gripper is optimized for grasping a variety of door knobs, levers, and car-door handles. It works in conjunction with a compliant wrist and magnetic lock-out mechanism that allows the wrist to remain rigid until the gripper has a firm grasp of the handle and then bend with its rotation and the swing of the door. Once the door is unlatched, the operator simply drives the robot through the doorway while the wrist compensates for the complex, multiple degree-of-freedom motion of the door. Once in the doorway the operator releases the handle, the wrist pops back into place, and the robot is ready for the next door. The new manipulator dramatically improves a robot's ability to non-destructively breach doors and perform an inspection of a room's content, a capability that was previously out of reach of unmanned systems.

  13. In-Bore Prostate Transperineal Interventions with an MRI-guided Parallel Manipulator: System Development and Preliminary Evaluation

    Science.gov (United States)

    Eslami, Sohrab; Shang, Weijian; Li, Gang; Patel, Nirav; Fischer, Gregory S.; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Iordachita, Iulian

    2015-01-01

    Background The robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of the prostate cancer in human. Methods In this paper the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of 4 sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in the clinical trials. Results The manipulator has undergone several experiments to evaluate the repeatability and accuracy of the needle placement which is an essential concern in percutaneous prostate interventions. Conclusion The acquired results endorse the sustainability, precision (about 1 mm in air (in x or y direction) at the needle's reference point) and reliability of the manipulator. PMID:26111458

  14. A Robotic System with a Hybrid Motion Cueing Controller for Inertia Tensor Approximation in Micro-Manipulations

    Directory of Open Access Journals (Sweden)

    Umar Asif

    2011-09-01

    Full Text Available This paper summarizes the development of a robotic system for the approximation of inertia tensor of micro‐sized rigid bodies. We described the design and computer‐based simulation of a 6‐DOF motion platform in our earlier work [32] that benefits from an anthropological serial manipulator design. In [32] we emphasized that, in contrast to a standard configuration based on linear actuators, a mechanism with actuator design inspired from an anthropological kinematic structure offers relatively a larger motion envelope and higher dexterity making it a viable motion platform for micromanipulations. After having described the basic design and kinematic analysis of our motion platform in [32], we now aim to propose an advanced motion cueing algorithm for facilitating the identification of inertial parameters at micron‐level. The motion cueing algorithm for achieving high fidelity dynamic simulation is described in this paper using a hybrid force‐position‐based controller. The inertia tensor identification is done by generating a controlled motion on the specimen and measuring the resultant forces and moments to approximate the inertia tensor using rigid body dynamics equations. The paper evaluates the performance of the controller using closed‐loop dynamic simulations and validates the significance of the proposed method through experimental results.

  15. A Robotic System with a Hybrid Motion Cueing Controller for Inertia Tensor Approximation in Micro-Manipulations

    Directory of Open Access Journals (Sweden)

    Umar Asif

    2011-09-01

    Full Text Available This paper summarizes the development of a robotic system for the approximation of inertia tensor of micro-sized rigid bodies. We described the design and computer-based simulation of a 6-DOF motion platform in our earlier work [32] that benefits from an anthropological serial manipulator design. In [32] we emphasized that, in contrast to a standard configuration based on linear actuators, a mechanism with actuator design inspired from an anthropological kinematic structure offers relatively a larger motion envelope and higher dexterity making it a viable motion platform for micromanipulations. After having described the basic design and kinematic analysis of our motion platform in [32], we now aim to propose an advanced motion cueing algorithm for facilitating the identification of inertial parameters at micron-level. The motion cueing algorithm for achieving high fidelity dynamic simulation is described in this paper using a hybrid force-position-based controller. The inertia tensor identification is done by generating a controlled motion on the specimen and measuring the resultant forces and moments to approximate the inertia tensor using rigid body dynamics equations. The paper evaluates the performance of the controller using closed-loop dynamic simulations and validates the significance of the proposed method through experimental results.

  16. A Reconfigurable System Approach to the Direct Kinematics of a 5 D.o.f Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Diego F. Sánchez

    2010-01-01

    Full Text Available Hardware acceleration in high performance computer systems has a particular interest for many engineering and scientific applications in which a large number of arithmetic operations and transcendental functions must be computed. In this paper a hardware architecture for computing direct kinematics of robot manipulators with 5 degrees of freedom (5 D.o.f using floating-point arithmetic is presented for 32, 43, and 64 bit-width representations and it is implemented in Field Programmable Gate Arrays (FPGAs. The proposed architecture has been developed using several floating-point libraries for arithmetic and transcendental functions operators, allowing the designer to select (pre-synthesis a suitable bit-width representation according to the accuracy and dynamic range, as well as the area, elapsed time and power consumption requirements of the application. Synthesis results demonstrate the effectiveness and high performance of the implemented cores on commercial FPGAs. Simulation results have been addressed in order to compute the Mean Square Error (MSE, using the Matlab as statistical estimator, validating the correct behavior of the implemented cores. Additionally, the processing time of the hardware architecture was compared with the same formulation implemented in software, using the PowerPC (FPGA embedded processor, demonstrating that the hardware architecture speeds-up by factor of 1298 the software implementation.

  17. A single-chip computer analysis system for liquid fluorescence

    International Nuclear Information System (INIS)

    Zhang Yongming; Wu Ruisheng; Li Bin

    1998-01-01

    The single-chip computer analysis system for liquid fluorescence is an intelligent analytic instrument, which is based on the principle that the liquid containing hydrocarbons can give out several characteristic fluorescences when irradiated by strong light. Besides a single-chip computer, the system makes use of the keyboard and the calculation and printing functions of a CASIO printing calculator. It combines optics, mechanism and electronics into one, and is small, light and practical, so it can be used for surface water sample analysis in oil field and impurity analysis of other materials

  18. Supernova: A Versatile Vector System for Single-Cell Labeling and Gene Function Studies in vivo.

    Science.gov (United States)

    Luo, Wenshu; Mizuno, Hidenobu; Iwata, Ryohei; Nakazawa, Shingo; Yasuda, Kosuke; Itohara, Shigeyoshi; Iwasato, Takuji

    2016-10-24

    Here we describe "Supernova" series of vector systems that enable single-cell labeling and labeled cell-specific gene manipulation, when introduced by in utero electroporation (IUE) or adeno-associated virus (AAV)-mediated gene delivery. In Supernova, sparse labeling relies on low TRE leakage. In a small population of cells with over-threshold leakage, initial tTA-independent weak expression is enhanced by tTA/TRE-positive feedback along with a site-specific recombination system (e.g., Cre/loxP, Flpe/FRT). Sparse and bright labeling by Supernova with little background enables the visualization of the morphological details of individual neurons in densely packed brain areas such as the cortex and hippocampus, both during development and in adulthood. Sparseness levels are adjustable. Labeled cell-specific gene knockout was accomplished by introducing Cre/loxP-based Supernova vectors into floxed mice. Furthermore, by combining with RNAi, TALEN, and CRISPR/Cas9 technologies, IUE-based Supernova achieved labeled cell-specific gene knockdown and editing/knockout without requiring genetically altered mice. Thus, Supernova system is highly extensible and widely applicable for single-cell analyses in complex organs, such as the mammalian brain.

  19. A Novel Single Phase Hybrid Switched Reluctance Motor Drive System

    DEFF Research Database (Denmark)

    Liang, Jianing; Xu, Guoqing; Jian, Linni

    2011-01-01

    phase boost converter is applied to improve the performance of this motor. It is easy to generate a double dclink voltage and dc-link voltage and switch both of them. The voltage of boost capacitor is self balance, so the protective circuit is not need to consider. The fast excitation mode helps hybrid......In this paper, a novel single phase hybrid switched reluctance motor(SRM) drive system is proposed. It integrated a single phase hybrid SRM and a novel single phase boost converter. This motor can reduce the number of phase switch. And the permanent magnet which is used in the motor can improve...... the performance and efficiency of SR motor. However, the inherent characteristic of this motor is that the negative torque is very sensitive with the excitation current near the turn-on angle. The slow excitation current limits the torque generation region and reduces the average torque. Therefore, a novel single...

  20. A novel optimal coordinated control strategy for the updated robot system for single port surgery.

    Science.gov (United States)

    Bai, Weibang; Cao, Qixin; Leng, Chuntao; Cao, Yang; Fujie, Masakatsu G; Pan, Tiewen

    2017-09-01

    Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating. Copyright © 2017 John Wiley & Sons, Ltd.

  1. Single-cell technologies to study the immune system.

    Science.gov (United States)

    Proserpio, Valentina; Mahata, Bidesh

    2016-02-01

    The immune system is composed of a variety of cells that act in a coordinated fashion to protect the organism against a multitude of different pathogens. The great variability of existing pathogens corresponds to a similar high heterogeneity of the immune cells. The study of individual immune cells, the fundamental unit of immunity, has recently transformed from a qualitative microscopic imaging to a nearly complete quantitative transcriptomic analysis. This shift has been driven by the rapid development of multiple single-cell technologies. These new advances are expected to boost the detection of less frequent cell types and transient or intermediate cell states. They will highlight the individuality of each single cell and greatly expand the resolution of current available classifications and differentiation trajectories. In this review we discuss the recent advancement and application of single-cell technologies, their limitations and future applications to study the immune system. © 2015 The Authors. Immunology Published by John Wiley & Sons Ltd.

  2. A novel manipulation method of human body ownership using an fMRI-compatible master-slave system.

    Science.gov (United States)

    Hara, Masayuki; Salomon, Roy; van der Zwaag, Wietske; Kober, Tobias; Rognini, Giulio; Nabae, Hiroyuki; Yamamoto, Akio; Blanke, Olaf; Higuchi, Toshiro

    2014-09-30

    Bodily self-consciousness has become an important topic in cognitive neuroscience aiming to understand how the brain creates a unified sensation of the self in a body. Specifically, full body illusion (FBI) in which changes in bodily self-consciousness are experimentally introduced by using visual-tactile stimulation has led to improve understanding of these mechanisms. This paper introduces a novel approach to the classic FBI paradigm using a robotic master-slave system which allows us to examine interactions between action and the sense of body ownership in behavioral and MRI experiments. In the proposed approach, the use of the robotic master-slave system enables unique stimulation in which experimental participants can administer tactile cues on their own back using active self-touch. This active self-touch has never been employed in FBI experiments and it allows to test the role of sensorimotor integration and agency (the feeling of control over our actions) in FBI paradigms. The objective of this study is to propose a robotic-haptic platform allowing a new FBI paradigm including the active self-touch in MRI environments. This paper, first, describes the design concept and the performance of the prototype device in the fMRI environment (for 3T and 7T MRI scanners). In addition, the prototype device is applied to a classic FBI experiment, and we verify that the use of the prototype device succeeded in inducing the FBI. These results indicate that the proposed approach has a potential to drive advances in our understanding of human body ownership and agency by allowing novel manipulation and paradigms. Copyright © 2014 Elsevier B.V. All rights reserved.

  3. A performance comparison of single product kanban control systems

    Directory of Open Access Journals (Sweden)

    Alvin Ang

    2015-01-01

    Full Text Available This paper presents a simulation experiment comparing the Single Stage, Single Product Base Stock (BS, Traditional Kanban Control System (TKCS and Extended Kanban Control System (EKCS. The results showed that BS incurs the highest cost in all scenarios; while EKCS is found to be effective only in a very niche scenario. TKCS is still a very powerful factory management system to date; and EKCS did not perform exceptionally well. The only time EKCS did outperform TKCS was during low demand arrival rates and low Backorder (Cb and Shortage costs (Cs. That is because during then, it holds no stock. The most important discovery made here is that EKCS becomes TKCS once it has base stock (or dispatched kanbans. The results have also evinced the strength of the pure kanban system, the TKCS over BS. Hence managers using BS should consider upgrading to TKCS to save cost.

  4. Investigations of Intelligent Solar Heating Systems for Single Family House

    DEFF Research Database (Denmark)

    Andersen, Elsa; Chen, Ziqian; Fan, Jianhua

    2014-01-01

    Three differently designed intelligent solar heating systems are investigated experimentally in a test facility. The systems provide all the needed yearly heating demand in single family houses. The systems are based on highly stratified tanks with variable auxiliary heated volumes. The tank...... is a tank in tank heat storage with domestic hot water in the inner tank and space heating water in the outer tank. The total tank volume is 750 liters and the solar collector area is 9 m2. The auxiliary energy supply system is based on electrical heating element(s)/heat pump and is different for all three...... systems.The system will be equipped with an intelligent control system where the control of the electrical heating element(s)/heat pump is based on forecasts of the variable electricity price, the heating demand and the solar energy production.By means of numerical models of the systems made in Trnsys...

  5. Microtechnology for cell manipulation and sorting

    CERN Document Server

    Tseng, Peter; Carlo, Dino

    2017-01-01

    This book delves into the recent developments in the microscale and microfluidic technologies that allow manipulation at the single and cell aggregate level. Expert authors review the dominant mechanisms that manipulate and sort biological structures, making this a state-of-the-art overview of conventional cell sorting techniques, the principles of microfluidics, and of microfluidic devices. All chapters highlight the benefits and drawbacks of each technique they discuss, which include magnetic, electrical, optical, acoustic, gravity/sedimentation, inertial, deformability, and aqueous two-phase systems as the dominant mechanisms utilized by microfluidic devices to handle biological samples. Each chapter explains the physics of the mechanism at work, and reviews common geometries and devices to help readers decide the type of style of device required for various applications. This book is appropriate for graduate-level biomedical engineering and analytical chemistry students, as well as engineers and scientist...

  6. A single phase photovoltaic inverter control for grid connected system

    Indian Academy of Sciences (India)

    Melo G and Canesin C A 2013 Evaluation of the main MPPT techniques for photovoltaic applications. IEEE Trans. Ind. Electron. 60(3): 1156–1167. [7] Jain S and Agarwal V 2007 Comparison of the perfor- mance of maximum power point tracking schemes applied to single-stage grid-connected photovoltaic systems.

  7. Water Flow Experiments: Single and Double Bottle Systems

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 23; Issue 1. Water Flow Experiments: Single and Double Bottle Systems ... Jain International Residential School, Jakkasandra Post, Kanakapura Road, Ramanagara Dist., Karnataka 562 112, India. Room No 425, SH-3 Ashoka University, Near Rai Police ...

  8. Bilateral single system ectopic ureters: Case report with literature ...

    African Journals Online (AJOL)

    Bilateral single system ureteral ectopia (BSSEU) is one of the rarest entities in urology, with less than 80 cases reported so far. Incontinence resulting from the underlying anomaly can be devastating to the child. It is generally agreed that suitable urinary continence and long dry intervals are seldom obtainable because of ...

  9. A single phase photovoltaic inverter control for grid connected system

    Indian Academy of Sciences (India)

    This paper presents a control scheme for single phase grid connected photovoltaic (PV) system operating under both grid connected and isolated grid mode. The control techniques include voltage and current control of grid-tie PV inverter. During grid connected mode, grid controls the amplitude and frequency of the PV ...

  10. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2003-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high...

  11. Acoustic manipulation: Bessel beams and active carriers

    Science.gov (United States)

    Rajabi, Majid; Mojahed, Alireza

    2017-10-01

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

  12. Manipulation of the oxytocin system alters social behavior and attraction in pair-bonding primates, Callithrix penicillata.

    Science.gov (United States)

    Smith, Adam S; Agmo, Anders; Birnie, Andrew K; French, Jeffrey A

    2010-02-01

    The establishment and maintenance of stable, long-term male-female relationships, or pair-bonds, are marked by high levels of mutual attraction, selective preference for the partner, and high rates of sociosexual behavior. Central oxytocin (OT) affects social preference and partner-directed social behavior in rodents, but the role of this neuropeptide has yet to be studied in heterosexual primate relationships. The present study evaluated whether the OT system plays a role in the dynamics of social behavior and partner preference during the first 3 weeks of cohabitation in male and female marmosets, Callithrix penicillata. OT activity was stimulated by intranasal administration of OT, and inhibited by oral administration of a non-peptide OT-receptor antagonist (L-368,899; Merck). Social behavior throughout the pairing varied as a function of OT treatment. Compared to controls, marmosets initiated huddling with their social partner more often after OT treatments but reduced proximity and huddling after OT antagonist treatments. OT antagonist treatment also eliminated food sharing between partners. During the 24-h preference test, all marmosets interacted more with an opposite-sex stranger than with the partner. By the third-week preference test, marmosets interacted with the partner and stranger equally with the exception that intranasal-OT treatments facilitated initial partner-seeking behavior over initial contact with the stranger. Our findings demonstrate that pharmacological manipulations of OT activity alter partner-directed social behavior during pair interactions, suggesting that central OT may facilitate the process of pair-bond formation and social relationships in marmoset monkeys. Published by Elsevier Inc.

  13. New apparatus of single particle trap system for aerosol visualization

    Science.gov (United States)

    Higashi, Hidenori; Fujioka, Tomomi; Endo, Tetsuo; Kitayama, Chiho; Seto, Takafumi; Otani, Yoshio

    2014-08-01

    Control of transport and deposition of charged aerosol particles is important in various manufacturing processes. Aerosol visualization is an effective method to directly observe light scattering signal from laser-irradiated single aerosol particle trapped in a visualization cell. New single particle trap system triggered by light scattering pulse signal was developed in this study. The performance of the device was evaluated experimentally. Experimental setup consisted of an aerosol generator, a differential mobility analyzer (DMA), an optical particle counter (OPC) and the single particle trap system. Polystylene latex standard (PSL) particles (0.5, 1.0 and 2.0 μm) were generated and classified according to the charge by the DMA. Singly charged 0.5 and 1.0 μm particles and doubly charged 2.0 μm particles were used as test particles. The single particle trap system was composed of a light scattering signal detector and a visualization cell. When the particle passed through the detector, trigger signal with a given delay time sent to the solenoid valves upstream and downstream of the visualization cell for trapping the particle in the visualization cell. The motion of particle in the visualization cell was monitored by CCD camera and the gravitational settling velocity and the electrostatic migration velocity were measured from the video image. The aerodynamic diameter obtained from the settling velocity was in good agreement with Stokes diameter calculated from the electrostatic migration velocity for individual particles. It was also found that the aerodynamic diameter obtained from the settling velocity was a one-to-one function of the scattered light intensity of individual particles. The applicability of this system will be discussed.

  14. Always one step ahead: How pathogenic bacteria use the type III secretion system to manipulate the intestinal mucosal immune system

    Directory of Open Access Journals (Sweden)

    Marchès Olivier

    2011-05-01

    Full Text Available Abstract The intestinal immune system and the epithelium are the first line of defense in the gut. Constantly exposed to microorganisms from the environment, the gut has complex defense mechanisms to prevent infections, as well as regulatory pathways to tolerate commensal bacteria and food antigens. Intestinal pathogens have developed strategies to regulate intestinal immunity and inflammation in order to establish or prolong infection. The organisms that employ a type III secretion system use a molecular syringe to deliver effector proteins into the cytoplasm of host cells. These effectors target the host cell cytoskeleton, cell organelles and signaling pathways. This review addresses the multiple mechanisms by which the type III secretion system targets the intestinal immune response, with a special focus on pathogenic E. coli.

  15. Image analysis driven single-cell analytics for systems microbiology.

    Science.gov (United States)

    Balomenos, Athanasios D; Tsakanikas, Panagiotis; Aspridou, Zafiro; Tampakaki, Anastasia P; Koutsoumanis, Konstantinos P; Manolakos, Elias S

    2017-04-04

    Time-lapse microscopy is an essential tool for capturing and correlating bacterial morphology and gene expression dynamics at single-cell resolution. However state-of-the-art computational methods are limited in terms of the complexity of cell movies that they can analyze and lack of automation. The proposed Bacterial image analysis driven Single Cell Analytics (BaSCA) computational pipeline addresses these limitations thus enabling high throughput systems microbiology. BaSCA can segment and track multiple bacterial colonies and single-cells, as they grow and divide over time (cell segmentation and lineage tree construction) to give rise to dense communities with thousands of interacting cells in the field of view. It combines advanced image processing and machine learning methods to deliver very accurate bacterial cell segmentation and tracking (F-measure over 95%) even when processing images of imperfect quality with several overcrowded colonies in the field of view. In addition, BaSCA extracts on the fly a plethora of single-cell properties, which get organized into a database summarizing the analysis of the cell movie. We present alternative ways to analyze and visually explore the spatiotemporal evolution of single-cell properties in order to understand trends and epigenetic effects across cell generations. The robustness of BaSCA is demonstrated across different imaging modalities and microscopy types. BaSCA can be used to analyze accurately and efficiently cell movies both at a high resolution (single-cell level) and at a large scale (communities with many dense colonies) as needed to shed light on e.g. how bacterial community effects and epigenetic information transfer play a role on important phenomena for human health, such as biofilm formation, persisters' emergence etc. Moreover, it enables studying the role of single-cell stochasticity without losing sight of community effects that may drive it.

  16. Selective microrobot control using a thermally responsive microclamper for microparticle manipulation

    Science.gov (United States)

    Go, Gwangjun; Choi, Hyunchul; Jeong, Semi; Ko, Seong Young; Park, Jong-Oh; Park, Sukho

    2016-03-01

    Microparticle manipulation using a microrobot in an enclosed environment, such as a lab-on-a-chip, has been actively studied because an electromagnetic actuated microrobot can have accurate motility and wireless controllability. In most studies on electromagnetic actuated microrobots, only a single microrobot has been used to manipulate cells or microparticles. However, the use of a single microrobot can pose several limitations when performing multiple roles in microparticle manipulation. To overcome the limitations associated with using a single microrobot, we propose a new method for the control of multiple microrobots. Multiple microrobots can be controlled independently by an electromagnetic actuation system and multiple microclampers combined with microheaters. To select a specific microrobot among multiple microrobots, we propose a microclamper composed of a clamper structure using thermally responsive hydrogel and a microheater for controlling the microclamper. A fundamental test of the proposed microparticle manipulation system is performed by selecting a specific microrobot among multiple microrobots. Through the independent locomotion of multiple microrobots with U- and V-shaped tips, heterogeneous microparticle manipulation is demonstrated in the creation of a two-dimensional structure. In the future, our proposed multiple-microrobot system can be applied to tasks that are difficult to perform using a single microrobot, such as cell manipulation, cargo delivery, tissue assembly, and cloning.

  17. Selective microrobot control using a thermally responsive microclamper for microparticle manipulation

    International Nuclear Information System (INIS)

    Go, Gwangjun; Choi, Hyunchul; Ko, Seong Young; Park, Jong-Oh; Park, Sukho; Jeong, Semi

    2016-01-01

    Microparticle manipulation using a microrobot in an enclosed environment, such as a lab-on-a-chip, has been actively studied because an electromagnetic actuated microrobot can have accurate motility and wireless controllability. In most studies on electromagnetic actuated microrobots, only a single microrobot has been used to manipulate cells or microparticles. However, the use of a single microrobot can pose several limitations when performing multiple roles in microparticle manipulation. To overcome the limitations associated with using a single microrobot, we propose a new method for the control of multiple microrobots. Multiple microrobots can be controlled independently by an electromagnetic actuation system and multiple microclampers combined with microheaters. To select a specific microrobot among multiple microrobots, we propose a microclamper composed of a clamper structure using thermally responsive hydrogel and a microheater for controlling the microclamper. A fundamental test of the proposed microparticle manipulation system is performed by selecting a specific microrobot among multiple microrobots. Through the independent locomotion of multiple microrobots with U- and V-shaped tips, heterogeneous microparticle manipulation is demonstrated in the creation of a two-dimensional structure. In the future, our proposed multiple-microrobot system can be applied to tasks that are difficult to perform using a single microrobot, such as cell manipulation, cargo delivery, tissue assembly, and cloning. (paper)

  18. Parameter identification and sensitivity analysis for a robotic manipulator arm

    Science.gov (United States)

    Brewer, D. W.; Gibson, J. S.

    1988-01-01

    The development of a nonlinear dynamic model for large oscillations of a robotic manipulator arm about a single joint is described. Optimization routines are formulated and implemented for the identification of electrical and physical parameters from dynamic data taken from an industrial robot arm. Special attention is given to difficulties caused by the large sensitivity of the model with respect to unknown parameters. Performance of the parameter identification algorithm is improved by choosing a control input that allows actuator emf to be included in an electro-mechanical model of the manipulator system.

  19. Single-system ureteroceles in infants and children: imaging features

    Energy Technology Data Exchange (ETDEWEB)

    Zerin, J.M.; Baker, D.R. [Dept. of Radiology, Indiana University Medical Center, James Whitcomb Riley Hospital for Children, Indianapolis, IN (United States); Casale, J.A. [Dept. of Urology, Indiana University Medical Center, James Whitcomb Riley Hospital for Children, Indianapolis, IN (United States)

    2000-03-01

    Purpose. The purpose of this manuscript is to describe the clinical and imaging findings in children who have single-system ureteroceles.Materials and methods. We reviewed the urology records and imaging studies in 32 consecutive infants and children who were diagnosed in our department with single-system ureteroceles.Results. There were 35 ureteroceles in the 32 patients - 29 were unilateral (14 right-sided, 15 left-sided) and 3 were bilateral. Twenty-five patients were boys (78 %) and 7 girls. Mean age at presentation was 0.7 years (0-9.2 years). Prenatally detected hydronephrosis or cystic renal dysplasia was the most common presentation (24 patients). Four presented with urinary infection, 2 with abdominal mass, 1 had myelomeningocele, and 1 had hypospadias. Three patients also had multiple non-urologic, congenital anomalies. Thirty-three ureteroceles were intravesical, and 2 were ectopic to the bladder neck. Twenty-four ureteroceles were associated with ipsilateral hydroureteronephrosis and 10 with ipsilateral multicystic dysplastic kidney. One patient had a normal ipsilateral kidney and a contralateral multicystic dysplastic kidney. The ureterocele was identified on at least one imaging study in each patient. Sixteen ureteroceles (47 %) everted at VCUG, mimicking paraureteral diverticula. Other variations included ureterocele prolapse and inadvertent ureterocele catheterization (1 each).Conclusions. Single-system ureterocele is an important, although uncommon cause of hydronephrosis and renal dysplasia in infants and children. Single-system ureterocele is distinguished clinically from the more common duplex-system ureterocele by its frequent occurrence in boys and its association with multicystic dysplastic kidney. Because these ureteroceles are frequently small and have a propensity to evert at VCUG, they can be mistaken for paraureteral diverticula. (orig.)

  20. A quasi-proportional electoral system 'only for honest men'? The hidden potential for manipulating mixed compensatory electoral systems

    DEFF Research Database (Denmark)

    Bochsler, Daniel

    2012-01-01

    , and Venezuela, however, demonstrate a particular loophole for such systems: strategic voting, organized by political parties. Large parties can achieve over-representation by encouraging their voters to split their votes. In this way, they outsmart the compensatory mechanism designed to lead to proportional...

  1. Evaluation of Remote Collaborative Manipulation for Scientific Data Analysis

    OpenAIRE

    Fleury, Cédric; Duval, Thierry; Gouranton, Valérie; Steed, Anthony

    2012-01-01

    International audience; In the context of scientific data analysis, we propose to compare a remote collaborative manipulation technique with a single user manipulation technique. The manipulation task consists in positioning a clipping plane in order to perform cross-sections of scientific data which show several points of interest located inside this data. For the remote collaborative manipulation, we have chosen to use the 3-hand manipulation technique proposed by Aguerreche et al. which is...

  2. Activation of the human mirror neuron system during the observation of the manipulation of virtual tools in the absence of a visible effector limb.

    Science.gov (United States)

    Modroño, Cristián; Navarrete, Gorka; Rodríguez-Hernández, Antonio F; González-Mora, José L

    2013-10-25

    This work explores the mirror neuron system activity produced by the observation of virtual tool manipulations in the absence of a visible effector limb. Functional MRI data was obtained from healthy right-handed participants who manipulated a virtual paddle in the context of a digital game and watched replays of their actions. The results show how action observation produced extended bilateral activations in the parietofrontal mirror neuron system. At the same time, three regions in the left hemisphere (in the primary motor and the primary somatosensory cortex, the supplementary motor area and the dorsolateral prefrontal cortex) showed a reduced BOLD, possibly related with the prevention of inappropriate motor execution. These results can be of interest for researchers and developers working in the field of action observation neurorehabilitation. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

  3. Model Based Control of Single-Phase Marine Cooling Systems

    DEFF Research Database (Denmark)

    Hansen, Michael

    2014-01-01

    these systems. Traditionally, control for this type of cooling system has been limited to open-loop control of pumps combined with a couple of local PID controllers for bypass valves to keep critical temperatures within design limits. This research considers improvements in a retrofit framework to the control...... linearization, an H∞-control design is applied to the resulting linear system. Disturbance rejection capabilities and robustness of performance for this control design methodology is compared to a baseline design derived from classical control theory. This shows promising results for the nonlinear robust design......This thesis is concerned with the problem of designing model-based control for a class of single-phase marine cooling systems. While this type of cooling system has been in existence for several decades, it is only recently that energy efficiency has become a focus point in the design and operation...

  4. Development of a Single-Axis Edge Detection System

    Energy Technology Data Exchange (ETDEWEB)

    Hanshaw, R.A.

    2000-02-18

    A SIP (Societe Genevoise d'Instruments de Physique) Trioptic coordinate measuring machine was modified for calibration of high quality single-axis glass standards to an uncertainty of {+-}0.000020 inch. The modification was accomplished through the addition of a frame grabber board, vision software, a high-resolution camera, stepper motors, a two-axis motor controller, and an HP-IB interface card. An existing temperature system (hygrometer, barometer, laser interferometer system, and optics) was retained as part of the system. An existing Hewlett Packard computer was replaced with a personal computer to accommodate the frame grabber board. Each component was integrated into the existing system using Visual Basic. The system was automated for unattended measurements by creating a machine programming language, which is recognized within the main program.

  5. Development of an air heating system for single family housing

    DEFF Research Database (Denmark)

    Afshari, Alireza; Gunner, Amalie; Nikolaisen, Christian Grønborg

    2017-01-01

    The initial objective of the project was to break with common thinking about Space heating and to document that air heating can be used as the sole source of heating in a single Family house. The basic idea is that the ventilation must be installed in any case and it may equally well form the heat...... source of the house - Thus the waterborne heating system can be eliminated....

  6. On the origin of nonclassicality in single systems

    International Nuclear Information System (INIS)

    Aravinda, S; Srikanth, R; Pathak, Anirban

    2017-01-01

    In the framework of certain general probability theories of single systems, we identify various nonclassical features such as incompatibility, multiple pure-state decomposability, measurement disturbance, no-cloning and the impossibility of certain universal operations, with the non-simpliciality of the state space. This is shown to naturally suggest an underlying simplex as an ontological model. Contextuality turns out to be an independent nonclassical feature, arising from the intransitivity of compatibility. (paper)

  7. Introduction of a single chip TLD system for patient dosimetry

    International Nuclear Information System (INIS)

    Hranitzky, C.; Halda, M.; Mueller, G.; Stadtmann, H.; Obryk, B.

    2008-01-01

    A thermoluminescence dosimetry system with single detector chips was developed for patient dosimetry applications. LiF:Mg,Cu,P detector chips, dosimetry protocol, calibration, and dose calculation were prepared for measurements inside phantoms for determining organ and effective doses in medical diagnostic examinations. The first step was optimizing the readout time-temperature-profile for reaching a well resolved dosimetric peak and stability of the glow curves. A number of parameters was varied for the optimization process, e.g. preheating and heating rate. Individual chip sensitivities, residual dose and dose linearity were studied for establishing a reliable and accurate TL dosimetry system. (author)

  8. Synchronization of uncertain chaotic systems using a single transmission channel

    International Nuclear Information System (INIS)

    Feng Yong; Yu Xinghuo; Sun Lixia

    2008-01-01

    This paper proposes a robust sliding mode observer for synchronization of uncertain chaotic systems with multi-nonlinearities. A new control strategy is proposed for the construction of the robust sliding mode observer, which can avoid the strict conditions in the design process of Walcott-Zak observer. A new method of multi-dimensional signal transmission via single transmission channel is proposed and applied to chaos synchronization of uncertain chaotic systems with multi-nonlinearities. The simulation results are presented to validate the method

  9. Accurate and agile digital control of optical phase, amplitude and frequency for coherent atomic manipulation of atomic systems.

    Science.gov (United States)

    Thom, Joseph; Wilpers, Guido; Riis, Erling; Sinclair, Alastair G

    2013-08-12

    We demonstrate a system for fast and agile digital control of laser phase, amplitude and frequency for applications in coherent atomic systems. The full versatility of a direct digital synthesis radiofrequency source is faithfully transferred to laser radiation via acousto-optic modulation. Optical beatnotes are used to measure phase steps up to 2π, which are accurately implemented with a resolution of ≤ 10 mrad. By linearizing the optical modulation process, amplitude-shaped pulses of durations ranging from 500 ns to 500 ms, in excellent agreement with the programmed functional form, are demonstrated. Pulse durations are limited only by the 30 ns rise time of the modulation process, and a measured extinction ratio of > 5 × 10(11) is achieved. The system presented here was developed specifically for controlling the quantum state of trapped ions with sequences of multiple laser pulses, including composite and bichromatic pulses. The demonstrated techniques are widely applicable to other atomic systems ranging across quantum information processing, frequency metrology, atom interferometry, and single-photon generation.

  10. Nickel-Titanium Single-file System in Endodontics.

    Science.gov (United States)

    Dagna, Alberto

    2015-10-01

    This work describes clinical cases treated with a innovative single-use and single-file nickel-titanium (NiTi) system used in continuous rotation. Nickel-titanium files are commonly used for root canal treatment but they tend to break because of bending stresses and torsional stresses. Today new instruments used only for one treatment have been introduced. They help the clinician to make the root canal shaping easier and safer because they do not require sterilization and after use have to be discarded. A new sterile instrument is used for each treatment in order to reduce the possibility of fracture inside the canal. The new One Shape NiTi single-file instrument belongs to this group. One Shape is used for complete shaping of root canal after an adequate preflaring. Its protocol is simple and some clinical cases are presented. It is helpful for easy cases and reliable for difficult canals. After 2 years of clinical practice, One Shape seems to be helpful for the treatment of most of the root canals, with low risk of separation. After each treatment, the instrument is discarded and not sterilized in autoclave or re-used. This single-use file simplifies the endodontic therapy, because only one instrument is required for canal shaping of many cases. The respect of clinical protocol guarantees predictable good results.

  11. The locating ways of laying pipe manipulator

    Science.gov (United States)

    Wang, Dan; Li, Bin; Lei, DongLiang

    2010-01-01

    The laying pipe manipulator is a new equipment to lay concrete pipe. This kind of manipulator makes the work of laying pipes mechanized and automated. We report here a new laying pipe manipulator. The manipulator has 5 free degrees, and is driven by the hydraulic system. In the paper, one critical question of manipulator is studied: the locating ways of the manipulator to lay concrete pipe. During the process of laying concrete pipe, how to locate the manipulator is realized by the locating system of manipulator. The locating system consists of photoelectric target, laser producer, and computer. According to different construction condition, one or two or three photoelectric targets can be used. During the process of laying concrete pipe, if the interface of pipes are jointed together, and the other segment of pipe deviates from the pipe way, one target can be used, if the angle that the manipulator rotates around the holding pipe's axes is 0°, two targets can be used, three targets can be used at any site. In the paper, according to each locating way, the theory analysis is done. And the mathematical models of the manipulator moving from original position to goal position are obtained by different locating way. And the locating experiment was done. According to the experiment result, the work principle and mathematical models of different locating way was turned out to be well adopted for requirement, the mathematical model of different locating way supplies the basic control theory for the manipulator to lay and joint concrete pipe automatically.

  12. Indicial tensor manipulation on MACSYMA

    International Nuclear Information System (INIS)

    Bogen, R.A.; Pavelle, R.

    1977-01-01

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

  13. Decoupled macro/micro-manipulator for fast and precise assembly operations: design and experiments

    Science.gov (United States)

    Hodac, Agathe; Siegwart, Roland Y.

    1999-08-01

    This paper presents a high performance single arm robot configuration, based on a macro-manipulator coupled with a micro-manipulator. The system is well suited to fast and precise positioning tasks for repetitive pick and place applications in the manufacturing industry. Firstly, the paper focuses on the design of the micro-manipulator, particularly on the selection of the proper micro-actuator type and location. We show that the micro-manipulator's design with an actuator placed between endpoint and ground and with a flexible suspension system can reduce the dynamic coupling between the macro-manipulator and the micro- manipulator. The overall system performance can then be improved. We describe two different designs of compact and fast micro-manipulators composed of voice coil actuators and a monolithic flexure suspension with notch hinges. Secondly, the paper presents a control strategy that allows both correction of possible misalignments of the end-effector relative to the target and compensation of tip oscillations. The dynamic interaction is analyzed and stability is verified. Finally, experimental results demonstrate significant improvements in acceleration, endpoint accuracy and settling time achieved by the novel configuration of the macro/micro-manipulator.

  14. The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Chung Oh; Cho, Hyung Seok; Jang, Pyung Hoon; Park, Ki Chul; Hyun, Jang Hwan; Kim, Joo Gon; Park, Young Joon; Hwang, Woong Tae; Jeon, Yong Soo; Lee, Joo Yeon; Ahn, Kyung Mo [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1996-07-01

    In this project the following 4 sub- projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed= by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal fain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3- DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to identify the possibility in a clear form. 33 refs., 3 tabs., 11 figs. (author)

  15. A new technique for dynamic load distribution when two manipulators mutually lift a rigid object. Part 2, Derivation of entire system model and control architecture

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1994-04-01

    A rigid body model for the entire system which accounts for the load distribution scheme proposed in Part 1 as well as for the dynamics of the manipulators and the kinematic constraints is derived in the joint space. A technique is presented for expressing the object dynamics in terms of the joint variables of both manipulators which leads to a positive definite and symmetric inertia matrix. The model is then transformed to obtain reduced order equations of motion and a separate set of equations which govern the behavior of the internal contact forces. The control architecture is applied to the model which results in the explicit decoupling of the position and internal contact force-controlled degrees of freedom (DOF).

  16. Generalized finite element dynamic modelling and simulation for flexible robot manipulators

    Science.gov (United States)

    Zhou, Feng

    1993-01-01

    The finite element approach is used to model multi-link flexible robotic manipulators. The kinematic character of flexible manipulators is analyzed using body-fixed and link element attached coordinates. Dynamic equations for flexible robot manipulators are then derived. The position of each point on the link is expressed using a transformation matrix, and the kinetic and potential energy for each element is computed and summed over all the elements. The Lagrangian formulation is applied to set up the dynamic equations of the system. Computational simulations are performed on single- and two-link manipulators with and without torque to check the validity and correctness of the derived dynamic equations. The Runge-Kutta method is used to solve the dynamic equations for flexible manipulators on which all the joints are revolute.

  17. Using a single chip FEC for satellite systems

    Science.gov (United States)

    Onotera, L.; Nicholson, R.

    Information transmission over digital satellite communication channels is primarily power-limited, where forward error correction (FEC) codes can significantly improve performance. The use of FEC can reduce the required signal to noise ratio to sustain a given bit error rate. The use of forward error correction has become a standard part of present day digital satellite communication systems. Means of applying a new very large scale integration (VLSI) integrated circuit FEC chip into various kinds of systems is discussed. Specifically, some of the considerations and tradeoffs in continuous single channel per carrier (SCPC), multiple channels per carrier (MCPC), and burst systems are related to the new design. This new chip will provide an effective space and cost advantage by inserting a powerful forward error correction capability into most types of satellite digital communication links.

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

    Science.gov (United States)

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

    2018-03-01

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

  19. Deep-well ultrafast manipulation of a SQUID flux qubit

    Energy Technology Data Exchange (ETDEWEB)

    Castellano, M G; Chiarello, F; Mattioli, F; Torrioli, G [Istituto Fotonica e Nanotecnologie-CNR, Roma (Italy); Carelli, P [Dip. Ingegneria Elettrica e dell' Informazione, Universita dell' Aquila, L' Aquila (Italy); Cosmelli, C, E-mail: mgcastellano@ifn.cnr.i [Dip. Fisica, Sapienza Universita di Roma (Italy)

    2010-04-15

    Superconducting devices based on the Josephson effect are effectively used for the implementation of qubits and quantum gates. The manipulation of superconducting qubits is generally performed by using microwave pulses with frequencies from 5 to 15 GHz, obtaining a typical operating frequency from 100 MHz to 1 GHz. A manipulation based on simple pulses in the absence of microwaves is also possible. In our system, a magnetic flux pulse modifies the potential of a double SQUID qubit from a symmetric double well to a single deep-well condition. By using this scheme with a Nb/AlO{sub x}/Nb system, we obtained coherent oscillations with sub-nanosecond period (tunable from 50 to 200 ps), very fast with respect to other manipulating procedures, and with a coherence time up to 10 ns, of the order of that obtained with similar devices and technologies but using microwave manipulation. We introduce ultrafast manipulation, presenting experimental results, new issues related to this approach (such as the use of a compensation procedure for canceling the effect of 'slow' fluctuations) and open perspectives, such as the possible use of RSFQ logic for qubit control.

  20. Simple test system for single molecule recognition force microscopy

    International Nuclear Information System (INIS)

    Riener, Christian K.; Stroh, Cordula M.; Ebner, Andreas; Klampfl, Christian; Gall, Alex A.; Romanin, Christoph; Lyubchenko, Yuri L.; Hinterdorfer, Peter; Gruber, Hermann J.

    2003-01-01

    We have established an easy-to-use test system for detecting receptor-ligand interactions on the single molecule level using atomic force microscopy (AFM). For this, avidin-biotin, probably the best characterized receptor-ligand pair, was chosen. AFM sensors were prepared containing tethered biotin molecules at sufficiently low surface concentrations appropriate for single molecule studies. A biotin tether, consisting of a 6 nm poly(ethylene glycol) (PEG) chain and a functional succinimide group at the other end, was newly synthesized and covalently coupled to amine-functionalized AFM tips. In particular, PEG 800 diamine was glutarylated, the mono-adduct NH 2 -PEG-COOH was isolated by ion exchange chromatography and reacted with biotin succinimidylester to give biotin-PEG-COOH which was then activated as N-hydroxysuccinimide (NHS) ester to give the biotin-PEG-NHS conjugate which was coupled to the aminofunctionalized AFM tip. The motional freedom provided by PEG allows for free rotation of the biotin molecule on the AFM sensor and for specific binding to avidin which had been adsorbed to mica surfaces via electrostatic interactions. Specific avidin-biotin recognition events were discriminated from nonspecific tip-mica adhesion by their typical unbinding force (∼40 pN at 1.4 nN/s loading rate), unbinding length (<13 nm), the characteristic nonlinear force-distance relation of the PEG linker, and by specific block with excess of free d-biotin. The convenience of the test system allowed to evaluate, and compare, different methods and conditions of tip aminofunctionalization with respect to specific binding and nonspecific adhesion. It is concluded that this system is well suited as calibration or start-up kit for single molecule recognition force microscopy

  1. Electron-assisted magnetization tunneling in single spin systems

    Science.gov (United States)

    Balashov, Timofey; Karlewski, Christian; Märkl, Tobias; Schön, Gerd; Wulfhekel, Wulf

    2018-01-01

    Magnetic excitations of single atoms on surfaces have been widely studied experimentally in the past decade. Lately, systems with unprecedented magnetic stability started to emerge. Here, we present a general theoretical investigation of the stability of rare-earth magnetic atoms exposed to crystal or ligand fields of various symmetry and to exchange scattering with an electron bath. By analyzing the properties of the atomic wave function, we show that certain combinations of symmetry and total angular momentum are inherently stable against first or even higher-order interactions with electrons. Further, we investigate the effect of an external magnetic field on the magnetic stability.

  2. A Transformer-less Single Phase Inverter For photovoltaic Systems

    DEFF Research Database (Denmark)

    Mostaan, Ali; Alizadeh, Ebrahim; Qu, Ying

    2017-01-01

    A single phase transformer-less inverter is introduced in this paper. The negative polarities of the input voltage and output terminal have common ground. Therefore, the leakage current problem that is common in PV systems is eliminated naturally. In addition, the proposed inverter has fewer...... components compared with its counterparts and only one switch conducts during the active states which enhance the inverter efficiency. The proposed inverter is analyzed in details and compared with some existing topologies. The performance of the proposed inverter is validated using the simulation results....

  3. Algorithm For Control Of Underactuated Manipulators

    Science.gov (United States)

    Jain, Abhinandan; Rodriguez, Guillermo

    1994-01-01

    Algorithm for improved control of underactuated multiple-link robotic manipulators developed via spatial-algebra-operator approach. Aspects of this approach described in several previous articles in NASA Tech Briefs-most recently "Robot Control Based on Spatial-Operator Algebra" (NPO-17918). Underactuated manipulator has fewer actuators than it has degrees of freedom. Complexity of underactuated systems managed by unified analysis. It has implications for fault-tolerant control, and many practical manipulators underactuated. Examples include manipulators with flexible joints and/or flexible links; space/underwater robots; manipulators that operate with some actuators that turned off because of failure or because of need to conserve energy; manipulators that grasp objects loosely, and manipulators that grasp objects with internal degrees of freedom (e.g., plungers, rollers).

  4. Manipulation of systemic oxygen flux by acute exercise and normobaric hypoxia: implications for reactive oxygen species generation.

    Science.gov (United States)

    Davison, Gareth W; Morgan, Rhian M; Hiscock, Natalie; Garcia, Juan M; Grace, Fergal; Boisseau, Natalie; Davies, Bruce; Castell, Linda; McEneny, Jane; Young, Ian S; Hullin, David; Ashton, Tony; Bailey, Damian M

    2006-01-01

    Maximal exercise in normoxia results in oxidative stress due to an increase in free radical production. However, the effect of a single bout of moderate aerobic exercise performed in either relative or absolute normobaric hypoxia on free radical production and lipid peroxidation remains unknown. To examine this, we randomly matched {according to their normobaric normoxic VO2peak [peak VO2 (oxygen uptake)]} and assigned 30 male subjects to a normoxia (n = 10), a hypoxia relative (n = 10) or a hypoxia absolute (n = 10) group. Each group was required to exercise on a cycle ergometer at 55% of VO2peak for 2 h double-blinded to either a normoxic or hypoxic condition [FiO2 (inspired fraction of O2) = 0.21 and 0.16 respectively]. ESR (electron spin resonance) spectroscopy in conjunction with ex vivo spin trapping was utilized for the direct detection of free radical species. The main findings show that moderate intensity exercise increased plasma-volume-corrected free radical and lipid hydroperoxide concentration (pooled rest compared with exercise data, P 0.05). The delta change in free radical concentration was moderately correlated with systemic VO2 (r2 = 0.48, P telsa)] are suggestive of oxygen-centred free radical species formed via the decomposition of lipid hydroperoxides. Peripheral leucocyte and neutrophil cells and total CK (creatine kinase) activity all increased following sustained exercise (pooled rest compared with exercise data, P 0.05). We conclude that a single bout of moderate aerobic exercise increases secondary free radical species. There is also evidence of exercise-induced muscle damage, possibly caused by the increase in free radical generation.

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

    Science.gov (United States)

    Fukasaku, K; Negoro, M; Himeno, R

    2001-12-22

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

  6. Remote Manipulation of Guidewire using a Virtual Reality Device

    OpenAIRE

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

    2001-01-01

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

  7. Single bunch transfer system for the National Synchrotron Light Source

    International Nuclear Information System (INIS)

    Sheehan, J.; Singh, O.; Rambo, W.

    1983-01-01

    The accelerator system at the National Synchrotron Light Source consists of an S-band 85 MeV linac and three synchrotron rings. The electron beam from the linac is accelerated by the booster ring to 600 MeV and transferred to one of the two storage rings. The smaller of the two rings operates between 300 and 800 MeV emtting photons in the vacuum ultraviolet (VUV), while the larger storage ring operates up to 2.5 GeV and emits photons in the x-ray spectrum. A system is described for loading the storage rings by filling a single-phase space bunch in the booster ring and transferring it at the end of each booster cycle into a selected bucket in one of the storage rings. By controlling the timing of the transfer on successive transfer cycles, many fill patterns may be obtained

  8. Single Station System and Method of Locating Lightning Strikes

    Science.gov (United States)

    Medelius, Pedro J. (Inventor); Starr, Stanley O. (Inventor)

    2003-01-01

    An embodiment of the present invention uses a single detection system to approximate a location of lightning strikes. This system is triggered by a broadband RF detector and measures a time until the arrival of a leading edge of the thunder acoustic pulse. This time difference is used to determine a slant range R from the detector to the closest approach of the lightning. The azimuth and elevation are determined by an array of acoustic sensors. The leading edge of the thunder waveform is cross-correlated between the various acoustic sensors in the array to determine the difference in time of arrival, AT. A set of AT S is used to determine the direction of arrival, AZ and EL. The three estimated variables (R, AZ, EL) are used to locate a probable point of the lightning strike.

  9. Synchronization of impacting mechanical systems with a single constraint

    Science.gov (United States)

    Baumann, Michael; Biemond, J. J. Benjamin; Leine, Remco I.; van de Wouw, Nathan

    2018-01-01

    This paper addresses the synchronization problem of mechanical systems subjected to a single geometric unilateral constraint. The impacts of the individual systems, induced by the unilateral constraint, generally do not coincide even if the solutions are arbitrarily 'close' to each other. The mismatch in the impact time instants demands a careful choice of the distance function to allow for an intuitively correct comparison of the discontinuous solutions resulting from the impacts. We propose a distance function induced by the quotient metric, which is based on an equivalence relation using the impact map. The distance function obtained in this way is continuous in time when evaluated along jumping solutions. The property of maximal monotonicity, which is fulfilled by most commonly used impact laws, is used to significantly reduce the complexity of the distance function. Based on the simplified distance function, a Lyapunov function is constructed to investigate the synchronization problem for two identical one-dimensional mechanical systems. Sufficient conditions for the uncoupled individual systems are provided under which local synchronization is guaranteed. Furthermore, we present an interaction law which ensures global synchronization, also in the presence of grazing trajectories and accumulation points (Zeno behavior). The results are illustrated using numerical examples of a 1-DOF mechanical impact oscillator which serves as stepping stone in the direction of more general systems.

  10. 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.

  11. 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

  12. Magnetic domain wall conduits for single cell applications

    DEFF Research Database (Denmark)

    Donolato, Marco; Torti, A.; Kostesha, Natalie

    2011-01-01

    The ability to trap, manipulate and release single cells on a surface is important both for fundamental studies of cellular processes and for the development of novel lab-on-chip miniaturized tools for biological and medical applications. In this paper we demonstrate how magnetic domain walls...... walls technology in lab-on-chip systems devoted to accurate individual cell trapping and manipulation....

  13. A tunable rf SQUID manipulated as flux and phase qubits

    Energy Technology Data Exchange (ETDEWEB)

    Poletto, S; Lisenfeld, J; Lukashenko, A; Ustinov, A V [Physikalisches Institut, Universitaet Karlsruhe (Thailand), D-76131 Karlsruhe (Germany); Chiarello, F; Castellano, M G [Istituto di Fotonica e Nanotecnologie, CNR, 00156 Roma (Italy); Carelli, P [Dipartimento di Ingegneria Elettrica, Universita dell' Aquila, 67040 Monteluco di Roio (Italy)], E-mail: ustinov@physik.uni-karlsruhe.de

    2009-12-15

    We report on two different manipulation procedures of a tunable rf superconducting quantum interference device (SQUID). First, we operate this system as a flux qubit, where the coherent evolution between the two flux states is induced by a rapid change of the energy potential, turning it from a double well into a single well. The measured coherent Larmor-like oscillation of the retrapping probability in one of the wells has a frequency ranging from 6 to 20 GHz, with a theoretically expected upper limit of 40 GHz. Furthermore, here we also report a manipulation of the same device as a phase qubit. In the phase regime, the manipulation of the energy states is realized by applying a resonant microwave drive. In spite of the conceptual difference between these two manipulation procedures, the measured decay times of Larmor oscillation and microwave-driven Rabi oscillation are rather similar. Due to the higher frequency of the Larmor oscillations, the microwave-free qubit manipulation allows for much faster coherent operations.

  14. A Single Deformed Bow Shock for Titan-Saturn System

    Science.gov (United States)

    Sulaiman, A. H.; Omidi, N.; Kurth, W. S.; Madanian, H.; Cravens, T.; Sergis, N.; Dougherty, M. K.; Edberg, N. J. T.

    2017-12-01

    During periods of high solar wind pressure, Saturn's bow shock is pushed inside Titan's orbit exposing the moon and its ionosphere to the supersonic solar wind. The Cassini spacecraft's T96 encounter with Titan occurred during such a period and is the subject of this presentation. The observations during this encounter show evidence for the presence of outbound and inbound shock crossings associated with Saturn and Titan. They also reveal the presence of two foreshocks: one between the outbound Kronian and inbound Titan bow shocks (foreshock-1) and the other between the outbound Titan and inbound Kronian bow shocks (foreshock-2). Using electromagnetic hybrid (kinetic ions, fluid electrons) simulations and Cassini observations we show that the origin of foreshock-1 is tied to the formation of a single deformed bow shock for the Titan-Saturn system. We also report for the first time, the observations of spontaneous hot flow anomalies (SHFAs) in foreshock-1 making Saturn the fourth planet this phenomenon has been observed and indicating its universal nature. The results of hybrid simulations also show the generation of oblique fast magnetosonic waves upstream of the outbound Titan bow shock in agreement with the observations of large amplitude magnetosonic pulsations in foreshock-2. The formation of a single deformed bow shock results in unique foreshock-bow shock or foreshock-foreshock geometries. For example, the presence of Saturn's foreshock upstream of Titan's quasi-perpendicular bow shock result in ion acceleration through a combination of shock drift and Fermi processes. We also discuss the implications of a single deformed bow shock for Saturn's magnetopause and magnetosphere.

  15. Design and Implementation of an Enterprise Information System Utilizing a Component Based Three-Tier Client/Server Database System

    National Research Council Canada - National Science Library

    Akbay, Murat

    1999-01-01

    The Naval Security Group currently requires a modem architecture to merge existing command databases into a single Enterprise Information System through which each command may manipulate administrative data...

  16. Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system. M.S. Thesis - George Washington Univ., Dec. 1994

    Science.gov (United States)

    Garrahan, Steven L.; Tolson, Robert H.; Williams, Robert L., II

    1995-01-01

    Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

  17. An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

    Directory of Open Access Journals (Sweden)

    Tian Tixian

    2015-04-01

    Full Text Available A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.

  18. Performance characterization of pneumatic single pellet injection system

    International Nuclear Information System (INIS)

    Schuresko, D.D.; Milora, S.L.; Hogan, J.T.; Foster, C.A.; Combs, S.K.

    1982-01-01

    The Oak Ridge National Laboratory single-shot pellet injector, which has been used in plasma fueling experiments on ISX and PDX, has been upgraded and extensively instrumented in order to study the gas dynamics of pneumatic pellet injection. An improved pellet transport line was developed which utilizes a 0.3-cm-diam by 100-cm-long guide tube. Pellet gun performance was characterized by measurements of breech and muzzle dynamic pressures and by pellet velocity and mass determinations. Velocities up to 1.4 km/s were achieved for intact hydrogen pellets using hydrogen propellant at 5-MPa breech pressure. These data have been compared with new pellet acceleration calculations which include the effects of propellant friction, heat transfer, time-dependent boundary conditions, and finite gun geometry. These results provide a basis for the extrapolation of present-day pneumatic injection system performance to velocities in excess of 2 km/s

  19. An improved system of detecting single event effect in SRAM

    International Nuclear Information System (INIS)

    Tong Teng; Wang Xiaohui; Zhang Zhangang; Liu Tianqi; Gu Song; Yang Zhenlei; Su Hong; Liu Jie

    2014-01-01

    The material research center in Institute of Modern Physics, Chinese Academy of Sciences (IMP, CAS) have made a fruitful achievements in the research of single event effects (SEEs) occurring in static random access memory (SRAM). However, there are some drawbacks exist in the two systems of detecting SEE owning by the material research center. Therefore, an improved method of detecting SEE is proposed, and the method functionality is implemented in a circuit. Further, a sequence of experiments are carried out in the beam radiation terminal of the Heavy Ion Facility in Lanzhou (HIRFL), and a bunch of experimental data are collected. The irradiation tests were carried out using 129 Xe for the SEE research of 65 nm SRAMs; Using 12 C for the SEE research of the 65, 130 and 150 nm SRAMs with ECC module; Using 129 Xe for the SEL research of the common commercial SRAMs and so on. These experiments provide a statistical evidence of the effectiveness and robustness of the improved system. It is believed that the proposed system will be beneficial for detecting SEE in diverse settings, and it could be taken advantage of as a platform for future research on SEE tests in more intricate devices. (authors)

  20. Memory under stress: from single systems to network changes.

    Science.gov (United States)

    Schwabe, Lars

    2017-02-01

    Stressful events have profound effects on learning and memory. These effects are mainly mediated by catecholamines and glucocorticoid hormones released from the adrenals during stressful encounters. It has been known for long that both catecholamines and glucocorticoids influence the functioning of the hippocampus, a critical hub for episodic memory. However, areas implicated in other forms of memory, such as the insula or the dorsal striatum, can be affected by stress as well. Beyond changes in single memory systems, acute stress triggers the reconfiguration of large scale neural networks which sets the stage for a shift from thoughtful, 'cognitive' control of learning and memory toward more reflexive, 'habitual' processes. Stress-related alterations in amygdala connectivity with the hippocampus, dorsal striatum, and prefrontal cortex seem to play a key role in this shift. The bias toward systems proficient in threat processing and the implementation of well-established routines may facilitate coping with an acute stressor. Overreliance on these reflexive systems or the inability to shift flexibly between them, however, may represent a risk factor for psychopathology in the long-run. © 2016 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

  1. Assembling and disassembling Ag clusters on Si(111)-(7×7) by vertical atomic manipulation.

    Science.gov (United States)

    Ming, Fangfei; Wang, Kedong; Pan, Shuan; Liu, Jiepeng; Zhang, Xieqiu; Yang, Jinlong; Xiao, Xudong

    2011-09-27

    Atomic manipulation has been rarely used in the studies of complex structures and a low temperature requirement usually limits its application. Herein we have demonstrated a vertical manipulation technique to reproducibly and reversibly manipulating Ag atoms on an Si(111)-(7×7) surface by a scanning tunneling microscope tip at room temperature. Simple and complex Ag nanoclusters were assembled and disassembled with a precise control of single Ag atoms, which provided critical information on the size of these nanoclusters. The manipulation showed the growth processes of these Ag clusters and even partly unveiled their atomic structures. This technique can form a fundamental basis for further studies of the Ag/Si(111)-(7×7) system and for fabricating functional nanodevices in various metal-semiconductor systems. © 2011 American Chemical Society

  2. Coherent manipulation of Andreev states in superconducting atomic contacts

    Science.gov (United States)

    Janvier, C.; Tosi, L.; Bretheau, L.; Girit, Ç. Ö.; Stern, M.; Bertet, P.; Joyez, P.; Vion, D.; Esteve, D.; Goffman, M. F.; Pothier, H.; Urbina, C.

    2015-09-01

    Coherent control of quantum states has been demonstrated in a variety of superconducting devices. In all of these devices, the variables that are manipulated are collective electromagnetic degrees of freedom: charge, superconducting phase, or flux. Here we demonstrate the coherent manipulation of a quantum system based on Andreev bound states, which are microscopic quasi-particle states inherent to superconducting weak links. Using a circuit quantum electrodynamics setup, we performed single-shot readout of this Andreev qubit. We determined its excited-state lifetime and coherence time to be in the microsecond range. Quantum jumps and parity switchings were observed in continuous measurements. In addition to having possible quantum information applications, such Andreev qubits are a test-bed for the physics of single elementary excitations in superconductors.

  3. Flagellates as model system for gravity detection of single cells

    Science.gov (United States)

    Lebert, Michael; Richter, Peter; Daiker, Viktor; Schuster, Martin; Tebart, Jenny; Strauch, Sebastian M.; Donat-Peter, H.

    Euglena gracilis is a unicellular, photosynthetic organism which uses light and gravity as en-vironmental hints to reach and stay in horizons of the water column which are optimal for growth and reproduction. The orientation in respect to light (so called positive and nega-tive phototaxis, i.e. movement toward or away of a light source) was well known and fairly good understood. In contrast, knowledge about the movement away from the centre of gravity (negative gravitaxis) was rather scarce. Over a century it was unclear whether orientation in respect to the gravity vector is based on a physical or a physiological mechanism. Recent results clearly favour the latter. Knock-down mutants (RNAi) were characterized which define certain key components of the gravitactic signal transduction chain. These key components include a TRP-like channel, a gravitaxis-specific calmodulin and a protein kinase A. The molecular characterization of these components is currently performed and will be presented. Euglena is not only a model system for the close understanding of gravity detection in single cells, but can also be used as photosynthetic component, i.e. oxygen source and carbon dioxide as well as nitrogenic components sink in Closed Environmental Systems (CES). Due CES are systems of choice in times of scarce flight opportunities. They allow a massive sample sharing and combine possibilities to do microgravity research for biologists but also for engineers, physicists and material scientists. Recent attempts include Aquacells and Omegahab. In the near future miniaturized systems (Chinese ShenZhou) as well as advanced CES will be flown or tested, respectively. Current attempts and plans will be presented.

  4. Manipulating counter-rotating interactions in the quantum Rabi model via modulation of the transition frequency of the two-level system

    Science.gov (United States)

    Huang, Jin-Feng; Liao, Jie-Qiao; Tian, Lin; Kuang, Le-Man

    2017-10-01

    We propose a theoretical approach to manipulate the counter-rotating (CR) interactions in the quantum Rabi model by introducing a sinusoidal modulation to the transition frequency of the quantum two-level system. By choosing appropriate modulation frequency and amplitude, enhancement and suppression of the CR interactions can be achieved in the Jaynes-Cummings regime (including both weak- and strong-coupling cases) as well as the ultrastrong-coupling regime. In particular, we calculate the output excitation emission of the bosonic vacuum state under enhanced CR terms. Our results show that continuous and steady bosonic excitation emission from the bosonic vacuum can be observed in the Jaynes-Cummings regime as a consequence of the enhancement. Our approach is general and system independent, and hence it works for various physical systems described by the quantum Rabi model. As an example, we discuss the implementation of this scheme with superconducting quantum circuits.

  5. Getting Manipulative about Math.

    Science.gov (United States)

    Scheer, Janet K.; And Others

    1984-01-01

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

  6. 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

  7. Dynamics of single photon transport in a one-dimensional waveguide two-point coupled with a Jaynes-Cummings system

    KAUST Repository

    Wang, Yuwen

    2016-09-22

    We study the dynamics of an ultrafast single photon pulse in a one-dimensional waveguide two-point coupled with a Jaynes-Cummings system. We find that for any single photon input the transmissivity depends periodically on the separation between the two coupling points. For a pulse containing many plane wave components it is almost impossible to suppress transmission, especially when the width of the pulse is less than 20 times the period. In contrast to plane wave input, the waveform of the pulse can be modified by controlling the coupling between the waveguide and Jaynes-Cummings system. Tailoring of the waveform is important for single photon manipulation in quantum informatics. © The Author(s) 2016.

  8. Motion planning for mobile manipulators using the FSP (full space parameterization) approach

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Morgansen, K.A.; Tulloch, F.A.; Hacker, C.J.

    1996-05-01

    The efficient utilization of the motion capabilities of mobile manipulators, i.e., manipulators mounted on mobile platforms, requires the resolution of the kinematically redundant system formed by the addition of the degrees of freedom (d.o.f.) of the platform to those of the manipulator. At the velocity level, the linearized Jacobian equation for such a redundant system represents an underspecified system of algebraic equations. In addition, constraints such as obstacle avoidance or joint limits may appear at any time during the trajectory of the system. A method, which we named the FSP (Full Space Parameterization), has recently been developed to resolve such underspecified systems with constraints that may vary in time and in number during a single trajectory. In this paper, we review the principles of the FSP and give analytical solutions for the constrained motion case, with a general optimization criterion for resolving the redundancy. We then focus on a solution to the problem introduced by the combined use of prismatic and revolute joints (a common occurrence in practical mobile manipulators) which makes the dimensions of the joint displacement vector components non-homogeneous. Successful applications to the motion planning of several large-payload mobile manipulators with up to 11 d.o.f. are discussed. Sample trajectories involving combined motions of the platform and manipulator under the time-varying occurrence of obstacle and joint limit constraints are presented to illustrate the use and efficiency of the FSP approach in complex motion planning problems.

  9. Modeling and control for micro and nano manipulation

    Science.gov (United States)

    Wejinya, Uchechukwu C.

    Manipulation of micro and nano entities implies the movement of micro and nano entities from an initial position (location) to the desire position (location). This operation is not only necessary, but a required task with great precision. The tools needed for the manipulation needs to be chosen properly because the capabilities of the human hand are very restricted. Smart micro and nano manipulation are becoming of great interest in many applications including medicine and industry. In industry, high precision manipulation systems are especially needed for mass production of both micro and nano systems which consist of different component in respective scales. The transition from assembling and manipulating micro and nano entities manually to mass products with high quality is only attainable by automated assembly and manipulation systems. An example is the testing of integrated circuits which can be carried out by exchanging the manipulation tool by an electric probe. Furthermore, in medical research it is customary to pick up a single cell (human, plant, or animal), and carry it to another device which is used to further analyze the cell. Consequently, the cell of interest has to be separated from the other cells and picked up using the appropriate micro/nano tool. Hence it becomes absolutely necessary that the appropriate tool be used for specific micro or nano entity manipulation and assembly. In this research, we focus on developing micro tool for manipulating micro and nano entities in liquid environment using a micro fluidic end effector system with in-situ Polyvinylidene Fluoride (PVDF) sensing. The microfluidic end effector system consists of a DC micro-diaphragm pump and compressor, one region of flexible latex tube, a Polyvinylidene Fluoride (PVDF) sensor for in-situ measurement of micro drag force, and a micro pipette. The micro pipette of the novel microfluidic end effector system has an internal diameter (ID) smaller than 20mum used for microfluidic

  10. Coherent generation and dynamic manipulation of double stationary light pulses in a five-level double-tripod system of cold atoms

    International Nuclear Information System (INIS)

    Bao Qianqian; Zhang Xiaohang; Gao Junyan; Zhang Yan; Cui Cuili; Wu Jinhui

    2011-01-01

    We study a five-level double-tripod system of cold atoms for efficiently manipulating the dynamic propagation and evolution of a quantum probe field by modulating four classical control fields. Our numerical results show that it is viable to transform the quantum probe field into a pair of two-color stationary light pulses mutually coupled through two wave packets of atomic spin coherence. The pair of stationary light pulses can be released either from the sample entrance and exit synchronously or just from the sample exit with a controlled time delay. In addition, the two-color stationary light pulses are immune to the fast decay originating from the higher-order Fourier components of atomic spin and optical coherence, and may exhibit the quantum limited beating signals with their characteristic frequency determined by detunings of the four classical control fields. These results could be explored to design novel photonic devices, such as optical routing, beam splitter, and beat generator, for manipulating a quantum light field.

  11. Electrical conduction and photoresponses of gamma-ray-irradiated single-stranded DNA/single-walled carbon nanotube composite systems

    Energy Technology Data Exchange (ETDEWEB)

    Hong, W.; Lee, E.M.; Kim, D.W.; Lee, Cheol Eui, E-mail: rscel@korea.ac.kr

    2015-04-15

    Highlights: •Effects of gamma-ray irradiation on single-stranded DNA (ssDNA)/single-walled carbon nanotube (SWNT) composite films. •Barrier for thermally activated conduction in the composite systems modified by the gamma-ray irradiation. •Photoresponses reveal photoexcitation and oxygen photodesorption modified by gamma-ray irradiation. -- Abstract: Effects of gamma-ray irradiation on the electrical conductivity and photoresponse have been studied for single-stranded DNA (ssDNA)/single-walled carbon nanotube (SWNT) composite films. The temperature-dependent electrical conductivity of the ssDNA/SWNT composite films, well described by a fluctuation-induced tunneling model, indicated modification of the barrier for thermally activated conduction by the gamma-ray irradiation. Besides, the photoresponse measurements indicated modified photoexcited charge carrier generation and oxygen photodesorption in the composite systems due to the gamma-ray irradiation.

  12. Delayed Consensus Problem for Single and Double Integrator Systems

    Directory of Open Access Journals (Sweden)

    Martín Velasco-Villa

    2015-01-01

    Full Text Available This work deals with the analysis of the consensus problem for networks of agents constituted by single and double integrator systems. It is assumed that the communication among agents is affected by a constant time-delay. Previous and numerous analysis of the problem shows that the maximum communication time-delay that can be introduced to the network without affecting the consensus of the group of the agents depends on the considered topology. In this work, a control scheme that is based on the estimation of future states of the agents and that allows increasing the magnitude of a possible time-delay affecting the communication channels is proposed. How the proposed delay compensation strategy is independent of the network topology in the sense that the maximum allowable time-delay that could be supported by the network depends on a design parameter and not on the maximum eigenvalue of the corresponding Laplacian matrix is shown. It is formally proven that, under the proposed prediction scheme, the consensus of the group can be achieved by improving the maximum time-delay bounds previously reported in the literature. Numerical simulations show the effectiveness of the proposed solution.

  13. Single vs. dual color fire detection systems: operational tradeoffs

    Science.gov (United States)

    Danino, Meir; Danan, Yossef; Sinvani, Moshe

    2017-10-01

    In attempt to supply a reasonable fire plume detection, multinational cooperation with significant capital is invested in the development of two major Infra-Red (IR) based fire detection alternatives, single-color IR (SCIR) and dual-color IR (DCIR). False alarm rate was expected to be high not only as a result of real heat sources but mainly due to the IR natural clutter especially solar reflections clutter. SCIR uses state-of-the-art technology and sophisticated algorithms to filter out threats from clutter. On the other hand, DCIR are aiming at using additional spectral band measurements (acting as a guard), to allow the implementation of a simpler and more robust approach for performing the same task. In this paper we present the basics of SCIR & DCIR architecture and the main differences between them. In addition, we will present the results from a thorough study conducted for the purpose of learning about the added value of the additional data available from the second spectral band. Here we consider the two CO2 bands of 4-5 micron and of 2.5-3 micron band as well as off peak band (guard). The findings of this study refer also to Missile warning systems (MWS) efficacy, in terms of operational value. We also present a new approach for tunable filter to such sensor.

  14. Revisiting Mathematics Manipulative Materials

    Science.gov (United States)

    Swan, Paul; Marshall, Linda

    2010-01-01

    It is over 12 years since "APMC" published Bob Perry and Peter Howard's research on the use of mathematics manipulative materials in primary mathematics classrooms. Since then the availability of virtual manipulatives and associated access to computers and interactive whiteboards have caused educators to rethink the use of mathematics…

  15. Mascot servo-manipulator

    CERN Multimedia

    1972-01-01

    The Mascot servo-manipulator on its test rails. In the foreground is the slave unit, which, in normal use, operates in the "hot" area with television observation. In the background the operator is manipulating arms which the slave arms follow, and which also convey back to him the "feel" of what is being handled.

  16. 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.)

  17. Implementation of a single sign-on system between practice, research and learning systems.

    Science.gov (United States)

    Purkayastha, Saptarshi; Gichoya, Judy W; Addepally, Siva Abhishek

    2017-03-29

    Multiple specialized electronic medical systems are utilized in the health enterprise. Each of these systems has their own user management, authentication and authorization process, which makes it a complex web for navigation and use without a coherent process workflow. Users often have to remember multiple passwords, login/logout between systems that disrupt their clinical workflow. Challenges exist in managing permissions for various cadres of health care providers. This case report describes our experience of implementing a single sign-on system, used between an electronic medical records system and a learning management system at a large academic institution with an informatics department responsible for student education and a medical school affiliated with a hospital system caring for patients and conducting research. At our institution, we use OpenMRS for research registry tracking of interventional radiology patients as well as to provide access to medical records to students studying health informatics. To provide authentication across different users of the system with different permissions, we developed a Central Authentication Service (CAS) module for OpenMRS, released under the Mozilla Public License and deployed it for single sign-on across the academic enterprise. The module has been in implementation since August 2015 to present, and we assessed usability of the registry and education system before and after implementation of the CAS module. 54 students and 3 researchers were interviewed. The module authenticates users with appropriate privileges in the medical records system, providing secure access with minimal disruption to their workflow. No passwords requests were sent and users reported ease of use, with streamlined workflow. The project demonstrates that enterprise-wide single sign-on systems should be used in healthcare to reduce complexity like "password hell", improve usability and user navigation. We plan to extend this to work with other

  18. Manipulations of Totalitarian Nazi Architecture

    Science.gov (United States)

    Antoszczyszyn, Marek

    2017-10-01

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

  19. Development of 6-axis portable manipulator which traces over 3-dimensional curved surface for ultrasonic inspection

    International Nuclear Information System (INIS)

    Hayashi, Tetsuji; Tsuzuki, Satoshi; Tsunewaki, Hiroshi.

    1993-01-01

    A 6-axis portable manipulator, weighing 120 N (12.3 kg) which traces over a 3-dimensional curved surface for ultrasonic testing has been developed. The manipulator body is made of carbon-fiber-reinforced plastic and magnesium alloy. A feature of the system is that deviation of the manipulator from its nominal path caused by arm bending due to its own weight can be corrected. The deviation is calculated by premeasuring spring coefficients and hysteresis characteristics of the arm structure. In a mock-up calibration performance test the accuracy was shown to be as high as that of a human inspector. The manipulator can be installed within 3 minutes by a single person. Joint angles are calculated with a direct memory access (DMA) handler using a poling method. Signals are transmitted to servo-controllers through an optical fiber of 2.5 Mbps. (author)

  20. MEMS-based platforms for mechanical manipulation and characterization of cells

    Science.gov (United States)

    Pan, Peng; Wang, Wenhui; Ru, Changhai; Sun, Yu; Liu, Xinyu

    2017-12-01

    Mechanical manipulation and characterization of single cells are important experimental techniques in biological and medical research. Because of the microscale sizes and highly fragile structures of cells, conventional cell manipulation and characterization techniques are not accurate and/or efficient enough or even cannot meet the more and more demanding needs in different types of cell-based studies. To this end, novel microelectromechanical systems (MEMS)-based technologies have been developed to improve the accuracy, efficiency, and consistency of various cell manipulation and characterization tasks, and enable new types of cell research. This article summarizes existing MEMS-based platforms developed for cell mechanical manipulation and characterization, highlights their specific design considerations making them suitable for their designated tasks, and discuss their advantages and limitations. In closing, an outlook into future trends is also provided.

  1. 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.

  2. A Virtual Environment for Studying Flexible Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Hasan Shaheed

    2009-11-01

    Full Text Available The paper presents a virtual environment for simulation and modeling a single-link flexible robotic manipulator. Simulation algorithm is based on the finite difference method where the systems governing dynamic equation is discretized and implemented. Intelligent modeling techniques are developed using neural network and genetic algorithm based techniques. All these have been developed and realized within a virtual environment using the Matlab, Simulink, and associated toolboxes. An interactive user friendly graphical user interface has also been presented. This environment has proven to be a valuable educational tool for understanding the behavior of flexible manipulator systems and can also be used as a computer aided teaching facility and a testbed for controller designs.

  3. Mental Models and Deliberate Manipulation of Data

    DEFF Research Database (Denmark)

    Koester, Thomas; Jakobsen, Jeanette; Brøsted, Jesper Ejdorf

    2015-01-01

    compromise patient safety and/or the integrity of the system. The pilot study in this paper set out to explore mental models and deliberate manipulation of data in a Danish telemedicine setting of home monitoring among pregnant women. Results show, that patients construct mental models of the telemedicine...... system, and that the patient can utilize such mental models in attempts to manipulate their data input to get a desired output from the telemedicine system....

  4. 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.

  5. 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)

  6. OPE3 : A model system for single-molecule transport

    NARCIS (Netherlands)

    Frisenda, R.

    2016-01-01

    In this dissertation, charge-transport through individual organic molecules is investigated. The single molecules are contacted with two-terminal mechanically controllable break junction gold electrodes and their electrical and mechanical behavior studied at room and low temperature.

  7. Opioid system manipulation during testicular development: results on sperm production and sertoli cells population - doi: 10.4025/actascibiolsci.v33i2.5940 Opioid system manipulation during testicular development: results on sperm production and sertoli cells population - doi: 10.4025/actascibiolsci.v33i2.5940

    Directory of Open Access Journals (Sweden)

    Valdemiro Amaro Silva Júnior

    2011-05-01

    Full Text Available The Sertoli cell has fundamental importance to the development and maintenance of spermatogenesis, as well as it has a directly proportional numerical relationship to sperm production. The proliferative period of this cell in rats occurs between 13 days pre-natal and 21 days pos-natal, when is established the final population in adult animals. The Leydig cell can modulate the Sertoli cell proliferation during fetal and neonatal period through β-endorphin. The manipulation of opioidergic system can promote changes in parameters related to development of nervous, endocrine and reproductive systems. By the way, the main purpose of this present work was to compare the effects of the blockade of opioid receptor blocking in Sertoli cells using naltrexone (50 mg kg-1 during fetal and neonatal period in Wistar rats. According to the results, the manipulation of opioidergic system during pre-natal period reduced the total length of seminiferous tubule and Sertoli cell population in adult rats, but sperm production was normal because this cell has had a compensatory response for spermatozoids support capacity.The Sertoli cell has fundamental importance to the development and maintenance of spermatogenesis, as well as it has a directly proportional numerical relationship to sperm production. The proliferative period of this cell in rats occurs between 13 days pre-natal and 21 days pos-natal, when is established the final population in adult animals. The Leydig cell can modulate the Sertoli cell proliferation during fetal and neonatal period through β-endorphin. The manipulation of opioidergic system can promote changes in parameters related to development of nervous, endocrine and reproductive systems. By the way, the main purpose of this present work was to compare the effects of the blockade of opioid receptor blocking in Sertoli cells using naltrexone (50 mg kg-1 during fetal and neonatal period in Wistar rats. According to the results

  8. Up-regulation of milk secretion with modified microclimate through manipulating plasminogen-plasmin system in Murrah buffaloes during hot dry season

    Science.gov (United States)

    Haque, N.; Singh, M.; Hossain, S. A.

    2016-12-01

    The present study was aimed at determining changes in milk yield and composition along with the plasminogen-plasmin system of milk, plasma hormones, and metabolites of buffaloes during hot dry season (air temperature range 39.7 to 44.8 °C) under two different management systems. Buffaloes were divided in two groups of six animals each: control and treatment, where treatment group animals accessed benefit of mist and fan cooling from 9:30 a.m. to 5:00 p.m., while control group animals were devoid of it. Duration of experiment was 6 weeks. Under mist and fan cooling system, buffaloes experienced better comfort by alleviating environmental stress as their physiological responses such as rectal temperature, respiration rate, pulse rate, and forehead and middorsal temperatures were significantly ( P milk yield by 4.44 % ( P milk samples revealed higher concentration of plasminogen (7.99 vs 6.27 μg/ml; P milk, GH, and epinephrine level in plasma. Hence, it may be concluded that provision of cooling system during summer was effective to minimize environmental stress and improve milk production by manipulation of the PG-PL system in buffaloes.

  9. Vibration isolation systems, considered as systems with single degree of freedom

    Directory of Open Access Journals (Sweden)

    Zebilila Mohammed

    2017-01-01

    Full Text Available The research considers and analyzes vibration isolation systems, whose design schemes are single degree of freedom systems, including nonlinear elements - displacement limiter and viscous damper. Presented are calculation formulas in closed form for linear systems in operational modes (for harmonic and impulse loads, algorithms and examples of calculation of linear and nonlinear systems in operational and transient modes. The calculation method and the above dependences are written using the transfer (TF and impulse response functions (IRF of linear dynamical systems and dependencies that determine the relationship between these functions. The effectiveness of 2 options of vibration isolation systems in transient modes is analyzed. There is significant reduction of load from the equipment to the supporting structures in the starting-stopping modes by the use of displacement limiter.

  10. Real-time interactive 3D manipulation of particles viewed in two orthogonal observation planes

    DEFF Research Database (Denmark)

    Perch-Nielsen, I.; Rodrigo, P.J.; Glückstad, J.

    2005-01-01

    The generalized phase contrast (GPC) method has been applied to transform a single TEM00 beam into a manifold of counterpropagating-beam traps capable of real-time interactive manipulation of multiple microparticles in three dimensions (3D). This paper reports on the use of low numerical aperture...... (NA), non-immersion, objective lenses in an implementation of the GPC-based 3D trapping system. Contrary to high-NA based optical tweezers, the GPC trapping system demonstrated here operates with long working distance (>10 mm), and offers a wider manipulation region and a larger field of view...

  11. Raman spectroscopy of single nanoparticles in a double-nanohole optical tweezer system

    International Nuclear Information System (INIS)

    Jones, Steven; Al Balushi, Ahmed A; Gordon, Reuven

    2015-01-01

    A double nanohole in a metal film was used to trap nanoparticles (20 nm diameter) and simultaneously record their Raman spectrum using the trapping laser as the excitation source. This allowed for the identification of characteristic Stokes lines for titania and polystyrene nanoparticles, showing the capability for material identification of nanoparticles once trapped. Increased Raman signal was observed for the trapping of multiple nanoparticles. This system combines the benefits of nanoparticle isolation and manipulation with unique identification. (fast track communication)

  12. Kinematics and Control of Robot Manipulators

    Science.gov (United States)

    Paden, Bradley Evan

    This dissertation focuses on the kinematics and control of robot manipulators. The contribution to kinematics is a fundamental theorem on the design of manipulators with six revolute joints. The theorem states, roughly speaking, that manipulators which have six revolute joints and are modeled after the human arm are optimal and essentially unique. In developing the mathematical framework to prove this theorem, we define precisely the notions of length of a manipulator, well-connected-workspace, and work-volume. We contribute to control a set of analysis techniques for the design of variable structure (sliding mode) controllers for manipulators. The organization of the dissertation is the following. After introductory remarks in chapter one, the group of proper rigid motions, G, is introduced in chapter two. The tangent bundle of G is introduced and it is shown that the velocity of a rigid body can be represented by an element in the Lie algebra of G (commonly called a twist). Further, rigid motions which are exponentials of twists are used to describe four commonly occurring subproblems in robot kinematics. In chapter three, the exponentials of twists are used to write the forward kinematic map of robot manipulators and the subproblems of chapter two are used to solve the Stanford manipulator and an elbow manipulator. Chapter four focuses on manipulator singularities. Twist coordinates are used to find critical points of the forward kinematic map. The contribution to kinematics is contained in chapter five where a mathematical framework for studying the relationship between the design of 6R manipulators and their performance is developed. Chapter seven contains the contribution to control. The work of A. F. Filippov on differential equations with discontinuous right-hand-side and the work of F. H. Clarke on generalized gradients are combined to obtain a calculus for analyzing nonsmooth gradient systems. The techniques developed are applied to design a simple

  13. Supramolecular Systems and Chemical Reactions in Single-Molecule Break Junctions.

    Science.gov (United States)

    Li, Xiaohui; Hu, Duan; Tan, Zhibing; Bai, Jie; Xiao, Zongyuan; Yang, Yang; Shi, Jia; Hong, Wenjing

    2017-04-01

    The major challenges of molecular electronics are the understanding and manipulation of the electron transport through the single-molecule junction. With the single-molecule break junction techniques, including scanning tunneling microscope break junction technique and mechanically controllable break junction technique, the charge transport through various single-molecule and supramolecular junctions has been studied during the dynamic fabrication and continuous characterization of molecular junctions. This review starts from the charge transport characterization of supramolecular junctions through a variety of noncovalent interactions, such as hydrogen bond, π-π interaction, and electrostatic force. We further review the recent progress in constructing highly conductive molecular junctions via chemical reactions, the response of molecular junctions to external stimuli, as well as the application of break junction techniques in controlling and monitoring chemical reactions in situ. We suggest that beyond the measurement of single molecular conductance, the single-molecule break junction techniques provide a promising access to study molecular assembly and chemical reactions at the single-molecule scale.

  14. Optical measuring system with an interrogator and a polymer-based single-mode fibre optic sensor system

    DEFF Research Database (Denmark)

    2017-01-01

    The present invention relates to an optical measuring system comprising a polymer-based single-mode fibre-optic sensor system (102), an optical interrogator (101), and an optical arrangement (103) interconnecting the optical interrogator (101) and the polymer-based single-mode fibre-optic sensor...... system (102). The invention further relates to an optical interrogator adapted to be connected to a polymer-based single-mode fibre-optic sensor system via an optical arrangement. The interrogator comprises a broadband light source arrangement (104) and a spectrum analysing arrangement which receives...... and analyses light reflected from the polymer-based single- mode fibre-optic sensor system....

  15. Manipulating Strings in Python

    Directory of Open Access Journals (Sweden)

    William J. Turkel

    2012-07-01

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

  16. Manipulation of choice behavior

    OpenAIRE

    Manzini, Paola; Mariotti, Marco; Tyson, Christopher J.

    2011-01-01

    We introduce and study the problem of manipulation of choice behavior. In a class of two-stage models of decision making, with the agent's choices determined by three "psychological variables," we imagine that a subset of these variables can be selected by a "manipulator." To what extent does this confer control of the agent's behavior? Within the specified framework, which overlaps with two existing models of choice under cognitive constraints, we provide a complete answer to this question.

  17. Benefits of a single payment system: case study of Abu Dhabi health system reforms.

    Science.gov (United States)

    Vetter, Philipp; Boecker, Klaus

    2012-12-01

    In 2005 leaders in the wealthy Emirate of Abu Dhabi inherited an health system from their predecessors that was well-intentioned in its historic design, but that did not live up to aspirations in any dimension. First, the Emirate defined a vision to deliver "world-class" quality care in response to citizen's needs. It has since introduced tiered mandatory health insurance for all inhabitants linked to a single standard payment system, which generates accurate data as an invaluable by-product. A newly created independent health system regulator monitors these data and licenses, audits, and inspects all health service professionals, facilities, and insurers accordingly. We analyse these health system reforms using the "Getting Health Reform Right" framework. Our analysis suggests that an integrated set of reforms addressing all reform levers is critical to achieving the outcomes observed. The reform programme has improved access, by giving all residents health cards. The approximate doubling of demand has been matched by flexible supply, with the private sector adding 5 new hospitals and 93 clinics to the health system infrastructure since 2006. The focus on reliable raw-data flows through the single standard payment system functions as a motor for improvement services, innovation, and investment, for instance by allowing payers to 'pay for quality', which may well be applicable in other contexts. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

  18. ASSESSMENT of POTENTIAL CARBON DIOXIDE-BASED DEMAND CONTROL VENTILATION SYSTEM PERFORMANCE in SINGLE ZONE SYSTEMS

    Science.gov (United States)

    2013-03-21

    requirements of a 400 m3 space in a multiuse facility in South Korea using two types of DCV systems—one CO2-based and the other uses a radio frequency...identification (RFID) device to detect zone occupancy 25 (Jeong et al., 2010). A dedicated outdoor air system supplies ventilation air to the zone...use a known control scheme (ASHRAE, 2010b). Carbon Dioxide Sensor Modeling Case Study 2 While the first case study examines a single multiuse

  19. Integrating Ground System Tools From Multiple Technologies Into a Single System Environment

    Science.gov (United States)

    Ritter, George H.

    2004-01-01

    With rapid technology changes and new and improved development techniques, it becomes extremely difficult to try to add capabilities to existing ground systems without wanting to replace the entire system. Replacing entire systems is not usually cost effective so there is a need to be able to slowly improve systems without long development times that introduce risk due to large amounts of change. The Marshall Space Flight Center s (MSFC) Payload Operations Integration Center (POIC) ground system provides command, telemetry, and payload planning systems in support of the International Space Station. Our systems have continuously evolved with technology changes due to hardware end of life issues, and also due to user requirement changes. As changes have been implemented, we have tried to take advantage of some of the latest technologies while at the same time maintaining certain legacy capabilities that are not cost affective to replace. One of our biggest challenges is to integrate all of these implementations into a single system that is usable, maintainable, and scalable. Another challenge is to provide access to our tools in such a way that users are not aware of all the various implementation methods and tools being used. This approach not only makes our system much more usable, it allows us to continue to migrate capabilities and to add capabilities without impacting system usability. This paper will give an overview of the tools used for MSFC ISS payload operations and show an approach for integrating various technologies into a single environment that is maintainable, flexible, usable, cost effective, and that meets user needs.

  20. Using a depth-sensing infrared camera system to access and manipulate medical imaging from within the sterile operating field.

    Science.gov (United States)

    Strickland, Matt; Tremaine, Jamie; Brigley, Greg; Law, Calvin

    2013-06-01

    As surgical procedures become increasingly dependent on equipment and imaging, the need for sterile members of the surgical team to have unimpeded access to the nonsterile technology in their operating room (OR) is of growing importance. To our knowledge, our team is the first to use an inexpensive infrared depthsensing camera (a component of the Microsoft Kinect) and software developed inhouse to give surgeons a touchless, gestural interface with which to navigate their picture archiving and communication systems intraoperatively. The system was designed and developed with feedback from surgeons and OR personnel and with consideration of the principles of aseptic technique and gestural controls in mind. Simulation was used for basic validation before trialing in a pilot series of 6 hepatobiliary-pancreatic surgeries. The interface was used extensively in 2 laparoscopic and 4 open procedures. Surgeons primarily used the system for anatomic correlation, real-time comparison of intraoperative ultrasound with preoperative computed tomography and magnetic resonance imaging scans and for teaching residents and fellows. The system worked well in a wide range of lighting conditions and procedures. It led to a perceived increase in the use of intraoperative image consultation. Further research should be focused on investigating the usefulness of touchless gestural interfaces in different types of surgical procedures and its effects on operative time.

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

    Directory of Open Access Journals (Sweden)

    Zhiyong Yang

    2008-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Zhiyong Yang

    2008-11-01

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

  3. Design and experimental evaluation of flexible manipulator control algorithms

    International Nuclear Information System (INIS)

    Kwon, D.S.; Hwang, D.H.; Babcock, S.M.; Kress, R.L.

    1995-01-01

    Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this task. Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using an inner pressure feedback loop. Shaping filter techniques have been applied as feedforward controllers to avoid structural vibrations during operation. Various types of shaping filter methods have been investigated. Among them, a new approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

  4. Load compensation for single phase system using series active filter

    African Journals Online (AJOL)

    user

    Abstract. The exponentially rising application of power electronics based appliances in Domestic Consumer Voltage Distribution. System (DCVDS) has enhanced power quality problems even at the lowest voltage level in distribution system. Starting from transmission system to low voltage distribution system, quite a good ...

  5. Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints

    Directory of Open Access Journals (Sweden)

    Yufei Liu

    2015-01-01

    Full Text Available This paper investigates the dynamic of a flexible robotic manipulator (FRM which consists of rigid driving base, flexible links, and flexible joints. With considering the motion fluctuations caused by the coupling effect, such as the motor parameters and mechanism inertias, as harmonic disturbances, the system investigated in this paper remains a parametrically excited system. An elastic restraint model of the FRM with elastic joints (FRMEJ is proposed, which considers the elastic properties of the connecting joints between the flexible arm and the driving base, as well as the harmonic disturbances aroused by the electromechanical coupling effect. As a consequence, the FRMEJ accordingly remains a flexible multibody system which conveys the effects of rigid-flexible couple and electromechanical couple. The Lagrangian function and Hamilton’s principle are used to establish the dynamic model of the FRMEJ. Based on the dynamic model proposed, the vibration power flow is introduced to show the vibration energy distribution. Numerical simulations are conducted to investigate the effect of the joint elasticities and the disturbance excitations, and the influences of the structure parameters and motion parameters on the vibration power flow are studied. The results obtained in this paper contribute to the structure design, motion optimization, and vibration control of FRMs.

  6. Intelligent robot / manipulator systems for NDT of primary components in nuclear power plants; Intelligente Roboter / Handhabungssysteme fuer die Pruefung von Primaerkreiskomponenten in Kernkraftwerken

    Energy Technology Data Exchange (ETDEWEB)

    Dirauf, F.; Gottfried, R.; Bauer, R. [Siemens AG, KWU, Erlangen (Germany)

    1999-08-01

    The inspection robot developed by Siemens KWU for BWR reactor pressure vessel inspection has a mounting plate with exchangeable parts so as to fit into the various profiles of the vertical guiding tracks at the different pressure vessels. The robot is a versatile device also due to its variable cinematic equipment and thus can be used for any task hitherto performed by the available manipulators. For BWR pressure vessel testing, a novel, compact probe system equipped with five radiation assemblies has been combined with the ultrasonic SAPHIR probe. Until now, NDE of the RPV nozzles in BWRs has been carried out from the outside of the component. The newly developed manipulator of Siemens for inspection of the RPV nozzles can be moved to the nozzles either by manipulating arms or by a floating device, and is fixed to the nozzles by means of pneumatic suckers. Due to the modular design, probe arrays can be exchanged according to nozzle size or structural profiles to be tested. The mobile testing robot SISTAR for PWR pressure vessels consists of a floating cylinder platform that is moved under water to the target position by popellers or by ropes. It is self-adjusting for taking horizontal position and is held in position in the center of the RPV by means of a radial arrangement of legs automatically and synchronously extending from the robot. The platform can be equipped with one or two manipulator arms, depending on the testing task. (orig./CB) [Deutsch] Der von Siemens KWU neuentwickelte Pruefroboter fuer SWR-Reaktordruckbehaelter besitzt einen auswechselbaren Grundwagen, so dass er an die unterschiedlichen Profile der vertikalen Fuehrungsschienen in den einzelnen Kraftwerken angepasst werden kann. Er ist damit auch aufgrund seiner variablen Kinematik universell einsetzbar und kann saemtliche herkoemmliche Manipulatoren ersetzen. In Verbindung mit dem US-Pruefgeraet SAPHIR wurde fuer die SWR-Reaktordruckbehaelter ein neuartiges kompaktes Pruefkopfsystem mit fuenf

  7. Systems Level Approaches to Understanding and Manipulating Heterocyst Differentiation in Nostoc Punctiforme: Sites of Hydrogenase and Nitrogenase Synthesis and Activity

    Energy Technology Data Exchange (ETDEWEB)

    Meeks, John C. [University of California, Davis, CA (United States)

    2015-04-02

    Heterocysts are specialized cells that establish a physiologically low oxygen concentration; they function as the sites of oxygen-sensitive nitrogen fixation and hydrogen metabolism in certain filamentous cyanobacteria. They are present at a frequency of less than 10% of the cells and singly in a nonrandom spacing pattern in the filaments. The extent of differential gene expression during heterocyst differentiation was defined by DNA microarray analysis in wild type and mutant cultures of Nostoc punctiforme. The results in wild-type cultures identified two groups of genes; approximately 440 that are unique to heterocyst formation and function, and 500 that respond positively and negatively to the transient stress of nitrogen starvation. Nitrogen fixation is initiated within 24 h after induction, but the cultures require another 24 h before growth is reinitiated. Microarray analyses were conducted on strains with altered expression of three genes that regulate the presence and spacing of heterocysts in the filaments; loss of function or over expression of these genes increases the heterocyst frequency 2 to 3 fold compared to the wild-type. Mutations in the genes hetR and hetF result in the inability to differentiate heterocysts, whereas over expression of each gene individually yields multiple contiguous heterocysts at sites in the filaments; they are positive regulatory elements. Mutation of the gene patN results in an increase in heterocysts frequency, but, in this case, the heterocysts are singly spaced in the filaments with a decrease in the number of vegetative cells in the interval between heterocysts; this is a negative regulatory element. However, over expression of patN resulted in the wild-type heterocyst frequency and spacing pattern. Microarray results indicated HetR and HetF influence the transcription of a common set of about 395 genes, as well as about 350 genes unique to each protein. HetR is known to be a transcriptional regulator and HetF is

  8. Overview of Single-Phase Grid-Connected Photovoltaic Systems

    DEFF Research Database (Denmark)

    Yang, Yongheng; Blaabjerg, Frede

    2015-01-01

    A still booming installation of solar photovoltaic (PV) systems has been witnessed worldwide. It is mainly driven by the demand of “clean” power generation. Grid-connected PV systems will become an even active player in the future mixed power systems, which are linked by a vast of power electronics...

  9. Overview of Single-Phase Grid-Connected Photovoltaic Systems

    DEFF Research Database (Denmark)

    Yang, Yongheng; Blaabjerg, Frede

    2017-01-01

    A continuous booming installation of solar photovoltaic (PV) systems has been witnessed worldwide. It is mainly driven by the imperative demand of “clean” power generation from renewables. Grid-connected PV systems will thus become an even more active player in the future mixed power systems, which...

  10. Customized Pull Systems for Single-Product Flow Lines

    NARCIS (Netherlands)

    Gaury, E.G.A.; Kleijnen, J.P.C.; Pierreval, H.

    1998-01-01

    Traditionally pull production systems are managed through classic control systems such as Kanban, Conwip, or Base stock, but this paper proposes ‘customized’ pull control. Customization means that a given production line is managed through a pull control system that in principle connects each stage

  11. Superconducting magnetic control system for manipulation of particulate matter and magnetic probes in medical and industrial applications

    Energy Technology Data Exchange (ETDEWEB)

    Cha, Yung Sheng; Hull, John R.; Askew, Thomas R.

    2006-07-11

    A system and method of controlling movement of magnetic material with at least first and second high temperature superconductors at spaced locations. A plurality of solenoids are associated with the superconductors to induce a persistent currents in preselected high temperature superconductors establishing a plurality of magnetic fields in response to pulsed currents introduced to one or more of the solenoids. Control mechanism in communication with said solenoids and/or said high temperature superconductors are used to demagnetize selected ones of the high temperature superconductors to reduce the magnetic fields substantially to zero. Magnetic material is moved between magnetic fields by establishing the presence thereof and thereafter reducing magnetic fields substantially to zero and establishing magnetic fields in other superconductors arranged in a predetermined configuration.

  12. Genome editing approaches: manipulating of lovastatin and taxol synthesis of filamentous fungi by CRISPR/Cas9 system.

    Science.gov (United States)

    El-Sayed, Ashraf S A; Abdel-Ghany, Salah E; Ali, Gul Shad

    2017-05-01

    Filamentous fungi are prolific repertoire of structurally diverse secondary metabolites of remarkable biological activities such as lovastatin and paclitaxel that have been approved by FDA as drugs for hypercholesterolemia and cancer treatment. The clusters of genes encoding lovastatin and paclitaxel are cryptic at standard laboratory cultural conditions (Kennedy et al. Science 284:1368-1372, 1999; Bergmann et al. Nature Chem Biol 3:213-217, 2007). The expression of these genes might be triggered in response to nutritional and physical conditions; nevertheless, the overall yield of these metabolites does not match the global need. Consequently, overexpression of the downstream limiting enzymes and/or blocking the competing metabolic pathways of these metabolites could be the most successful technologies to enhance their yield. This is the first review summarizing the different strategies implemented for fungal genome editing, molecular regulatory mechanisms, and prospective of clustered regulatory interspaced short palindromic repeat/Cas9 system in metabolic engineering of fungi to improve their yield of lovastatin and taxol to industrial scale. Thus, elucidating the putative metabolic pathways in fungi for overproduction of lovastatin and taxol was the ultimate objective of this review.

  13. 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)

  14. Design of tracking photovoltaic systems with a single vertical axis

    Energy Technology Data Exchange (ETDEWEB)

    Lorenzo, E. [Ciudad Universitaria, Madrid (Spain). Instituto de Energeia Solar; Perez, M. [Pol Industrial La Nava, Naavarrsa (Spain). Alternativas Energeticas Solares; Ezpeleta, A. [Energia Hidroelectrica Navarra, Pamplona (Spain); Acedo, J. [Ingeteam SA, Pamplona (Spain)

    2002-07-01

    Solar tracking is used in large grid-connected photovoltaic plants to maximise solar radiation collection and, hence, to reduce the cost of delivered electricity. In particular, single vertical axis tracking, also called azimuth tracking, allows for energy gains up to 40%, compared with optimally tilted fully static arrays. This paper examines the theoretical aspects associated with the design of azimuth tracking, taking into account shadowing between different trackers and back-tracking features. Then, the practical design of the trackers installed at the 1.4 MW Tudela PV plant is presented and discussed. Finally, this tracking alternative is compared with the more conventional fully stationary approach. (author)

  15. 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.

  16. Reconfigurable mobile manipulation for accident response

    International Nuclear Information System (INIS)

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

    2000-01-01

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

  17. Reconfigurable mobile manipulation for accident response

    Energy Technology Data Exchange (ETDEWEB)

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

    2000-06-06

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

  18. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2014-01-01

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

  19. ELECTRONIC MASTER SLAVE MANIPULATOR

    Science.gov (United States)

    Goertz, R.C.; Thompson, Wm.M.; Olsen, R.A.

    1958-08-01

    A remote control manipulator is described in which the master and slave arms are electrically connected to produce the desired motions. A response signal is provided in the master unit in order that the operator may sense a feel of the object and may not thereby exert such pressures that would ordinarily damage delicate objects. This apparatus will permit the manipulation of objects at a great distance, that may be viewed over a closed TV circuit, thereby permitting a remote operator to carry out operations in an extremely dangerous area with complete safety.

  20. A Single-Molecule Barcoding System using Nanoslits for DNA Analysis

    Science.gov (United States)

    Jo, Kyubong; Schramm, Timothy M.; Schwartz, David C.

    Single DNA molecule approaches are playing an increasingly central role in the analytical genomic sciences because single molecule techniques intrinsically provide individualized measurements of selected molecules, free from the constraints of bulk techniques, which blindly average noise and mask the presence of minor analyte components. Accordingly, a principal challenge that must be addressed by all single molecule approaches aimed at genome analysis is how to immobilize and manipulate DNA molecules for measurements that foster construction of large, biologically relevant data sets. For meeting this challenge, this chapter discusses an integrated approach for microfabricated and nanofabricated devices for the manipulation of elongated DNA molecules within nanoscale geometries. Ideally, large DNA coils stretch via nanoconfinement when channel dimensions are within tens of nanometers. Importantly, stretched, often immobilized, DNA molecules spanning hundreds of kilobase pairs are required by all analytical platforms working with large genomic substrates because imaging techniques acquire sequence information from molecules that normally exist in free solution as unrevealing random coils resembling floppy balls of yarn. However, nanoscale devices fabricated with sufficiently small dimensions fostering molecular stretching make these devices impractical because of the requirement of exotic fabrication technologies, costly materials, and poor operational efficiencies. In this chapter, such problems are addressed by discussion of a new approach to DNA presentation and analysis that establishes scaleable nanoconfinement conditions through reduction of ionic strength; stiffening DNA molecules thus enabling their arraying for analysis using easily fabricated devices that can also be mass produced. This new approach to DNA nanoconfinement is complemented by the development of a novel labeling scheme for reliable marking of individual molecules with fluorochrome labels

  1. Profilographic detection system for single-track scanning device

    International Nuclear Information System (INIS)

    Silar, J.; Kula, J.

    1988-01-01

    A profilographic detection system is claimed for diagnosing the renal function by isotope nephrography, and the bladder filling in small children and infants. The configuration described guarantees good position resolution and sensitivity of the detection system. (E.J.). 2 figs

  2. Copenhagen's single system premise prevents a unified view of integer and fractional quantum Hall effect

    CERN Document Server

    Post, E J

    1999-01-01

    This essay presents conclusive evidence of the impermissibility of Copenhagen's single system interpretation of the Schroedinger process. The latter needs to be viewed as a tool exclusively describing phase and orientation randomized ensembles and is not be used for isolated single systems. Asymptotic closeness of single system and ensemble behavior and the rare nature of true single system manifestations have prevented a definitive identification of this Copenhagen deficiency over the past three quarter century. Quantum uncertainty so becomes a basic trade mark of phase and orientation disordered ensembles. The ensuing void of usable single system tools opens a new inquiry for tools without statistical connotations. Three, in part already known, period integrals here identified as flux, charge and action counters emerge as diffeo-4 invariant tools fully compatible with the demands of the general theory of relativity. The discovery of the quantum Hall effect has been instrumental in forcing a distinction betw...

  3. On the Dynamics of Rigid Manipulators

    International Nuclear Information System (INIS)

    Hamdan, H.; Nuseirat, A.

    2001-01-01

    In this paper , the dynamics of rigid robot manipulators are investigated using Selective Modal Analysis (SMA). The method allows the determination of quantitative measures of the degree of the participation of the state variables in the system modes.Using Singular Value Decomposition (SVD) of appropriate matrices, we get useful information about the controllability and the observability of the manipulator. Numerical examples to illustrate the developed methods are presented. (authors) . 20 refs.,3 figs., 5 tabs

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

    International Nuclear Information System (INIS)

    Rininsland, H.; Boehme, G.

    1986-01-01

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

  5. Epistemic planning for single- and multi-agent systems

    DEFF Research Database (Denmark)

    Bolander, Thomas; Andersen, Mikkel Birkegaard

    2011-01-01

    In this paper, we investigate the use of event models for automated planning. Event models are the action defining structures used to define a semantics for dynamic epistemic logic. Using event models, two issues in planning can be addressed: Partial observability of the environment and knowledge...... the specification of a more complex class of planning domains, than those simply concerned with simple facts about the world. We show how to model multi-agent planning problems using Kripke-models for representing world states, and event models for representing actions. Our mechanism makes use of slight....... In planning, partial observability gives rise to an uncertainty about the world. For single-agent domains, this uncertainty can come from incomplete knowledge of the starting situation and from the nondeterminism of actions. In multi-agent domains, an additional uncertainty arises from the fact that other...

  6. Autonomous Manoeuvring Systems for Collision Avoidance on Single Carriageway Roads

    Science.gov (United States)

    Jiménez, Felipe; Naranjo, José Eugenio; Gómez, Óscar

    2012-01-01

    The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles’ positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed. PMID:23443391

  7. Autonomous manoeuvring systems for collision avoidance on single carriageway roads.

    Science.gov (United States)

    Jiménez, Felipe; Naranjo, José Eugenio; Gómez, Oscar

    2012-11-29

    The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles' positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed.

  8. Autonomous Manoeuvring Systems for Collision Avoidance on Single Carriageway Roads

    Directory of Open Access Journals (Sweden)

    Óscar Gómez

    2012-11-01

    Full Text Available The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles’ positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed.

  9. Single axis control of ball position in magnetic levitation system using fuzzy logic control

    Science.gov (United States)

    Sahoo, Narayan; Tripathy, Ashis; Sharma, Priyaranjan

    2018-03-01

    This paper presents the design and real time implementation of Fuzzy logic control(FLC) for the control of the position of a ferromagnetic ball by manipulating the current flowing in an electromagnet that changes the magnetic field acting on the ball. This system is highly nonlinear and open loop unstable. Many un-measurable disturbances are also acting on the system, making the control of it highly complex but interesting for any researcher in control system domain. First the system is modelled using the fundamental laws, which gives a nonlinear equation. The nonlinear model is then linearized at an operating point. Fuzzy logic controller is designed after studying the system in closed loop under PID control action. The controller is then implemented in real time using Simulink real time environment. The controller is tuned manually to get a stable and robust performance. The set point tracking performance of FLC and PID controllers were compared and analyzed.

  10. Dynamic Coordination Of A Two-Arm Robotic Manipulator

    Science.gov (United States)

    Lee, Sukhan; Kim, Sungbok

    1994-01-01

    Report presents study of dynamical and kinematical considerations guiding selection of configuration of self-reconfigurable, two-arm robotic manipulator. Two multiple-link arms cooperate in manipulating single object, reconfiguring their mutual, cooperative structure according to changing task requirements.

  11. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2015-01-01

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

  12. MANIPULATING CONSUMERS THROUGH ADVERTISING

    Directory of Open Access Journals (Sweden)

    Nicoleta -Andreea Neacşu

    2012-12-01

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

  13. Microrobots to Manipulate Cells

    DEFF Research Database (Denmark)

    Glückstad, Jesper

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

  14. An efficient fluorescent single-particle position tracking system for long-term pulsed measurements of nitrogen-vacancy centers in diamond

    Science.gov (United States)

    Kim, Kiho; Yun, Jiwon; Lee, Donghyuck; Kim, Dohun

    2018-02-01

    A simple and convenient design enables real-time three-dimensional position tracking of nitrogen-vacancy (NV) centers in diamond. The system consists entirely of commercially available components (a single-photon counter, a high-speed digital-to-analog converter, a phase-sensitive detector-based feedback device, and a piezo stage), eliminating the need for custom programming or rigorous optimization processes. With a large input range of counters and trackers combined with high sensitivity of single-photon counting, high-speed position tracking (upper bound recovery time of 0.9 s upon 250 nm of step-like positional shift) not only of bright ensembles, but also of low-photon-collection-efficiency single to few NV centers (down to 103 s-1) is possible. The tracking requires position modulation of only 10 nm, which allows simultaneous position tracking and pulsed measurements in the long term. Therefore, this tracking system enables measuring a single-spin magnetic resonance and Rabi oscillations at a very high resolution even without photon collection optimization. The system is widely applicable to various fields related to NV center quantum manipulation research such as NV optical trapping, NV tracking in fluid dynamics, and biological sensing using NV centers inside a biological cell.

  15. A chaotic system with a single unstable node

    Energy Technology Data Exchange (ETDEWEB)

    Sprott, J.C. [Department of Physics, University of Wisconsin, Madison, WI 53706 (United States); Jafari, Sajad, E-mail: sajadjafari@aut.ac.ir [Biomedical Engineering Department, Amirkabir University of Technology, Tehran 15875-4413 (Iran, Islamic Republic of); Pham, Viet-Thanh [School of Electronics and Telecommunications, Hanoi University of Science and Technology, 01 Dai Co Viet, Hanoi (Viet Nam); Hosseini, Zahra Sadat [Biomedical Engineering Department, Amirkabir University of Technology, Tehran 15875-4413 (Iran, Islamic Republic of)

    2015-09-25

    This paper describes an unusual example of a three-dimensional dissipative chaotic flow with quadratic nonlinearities in which the only equilibrium is an unstable node. The region of parameter space with bounded solutions is relatively small as is the basin of attraction, which accounts for the difficulty of its discovery. Furthermore, for some values of the parameters, the system has an attracting torus, which is uncommon in three-dimensional systems, and this torus can coexist with a strange attractor or with a limit cycle. The limit cycle and strange attractor exhibit symmetry breaking and attractor merging. All the attractors appear to be hidden in that they cannot be found by starting with initial conditions in the vicinity of the equilibrium, and thus they represent a new type of hidden attractor with important and potentially problematic engineering consequences. - Highlights: • An unusual example of a three-dimensional dissipative chaotic flow is introduced. • In this system the only equilibrium is an unstable node. • For some values of the parameters, the system has an attracting torus. • This torus can coexist with a strange attractor or with a limit cycle. • These properties are uncommon in three-dimensional systems.

  16. Recurrent Neural Network for Single Machine Power System Stabilizer

    Directory of Open Access Journals (Sweden)

    Widi Aribowo

    2010-04-01

    Full Text Available In this paper, recurrent neural network (RNN is used to design power system stabilizer (PSS due to its advantage on the dependence not only on present input but also on past condition. A RNN-PSS is able to capture the dynamic response of a system without any delays caused by external feedback, primarily by the internal feedback loop in recurrent neuron. In this paper, RNNPSS consists of a RNN-identifier and a RNN-controller. The RNN-Identifier functions as the tracker of dynamics characteristics of the plant, while the RNN-controller is used to damp the system’s low frequency oscillations. Simulation results using MATLAB demonstrate that the RNNPSS can successfully damp out oscillation and improve the performance of the system.

  17. A portable modular architecture for robotic manipulator control

    International Nuclear Information System (INIS)

    Butler, P.L.

    1993-01-01

    A control architecture has been developed to provide a framework for robotic manipulator control. This architecture, called the Modular Integrated Control Architecture (MICA), has been successfully applied to two different manipulator systems. MICA is a portable system in two respects. First, it can be used for the control of different types of manipulator systems. Second, the MICA code is portable across several operating environments. This portability allows the sharing of common control code among various systems. A major portion of MICA is the precise control of multiple processors that have to be coordinated to control a manipulator system. By having NUCA control the processor synchronization, the system developer can concentrate on the specific aspects of a new manipulator system. MICA also provides standard functions for trajectory generation that can be used for most manipulators. Custom trajectory generators can be easily added to suit the needs of a particular robotic control system. Another facility that MICA provides is a simulation of the manipulator, allowing the control code to be simulated before trying it on a manipulator system. Using this technique, one can develop code for a manipulator system without risking damage to the arm during development

  18. High spectral efficient W-band optical/wireless system employing single-sideband single-carrier modulation.

    Science.gov (United States)

    Ho, Chun-Hung; Lin, Chun-Ting; Cheng, Yu-Hsuan; Huang, Hou-Tzu; Wei, Chia-Chien; Chi, Sien

    2014-02-24

    With broader available bandwidth, W-band wireless transmission has attracted a lot of interests for future Giga-bit communication. In this article, we experimentally demonstrate W-band radio-over-fiber (RoF) system employing single-sideband single-carrier (SSB-SC) modulation with lower peak-to-average-power ratio (PAPR) than orthogonal frequency division multiplex (OFDM). To overcome the inter-symbol interference (ISI) of the penalty from uneven frequency response and SSB-SC modulation, frequency domain equalizer (FDE) and decision feedback equalizer (DFE) are implemented. We discuss the maximum available bandwidth of different modulation formats between SSB-SC and OFDM signals at the BER below forward error correction (FEC) threshold (3.8 × 10(-3)). Up to 50-Gbps 32-QAM SSB-SC signals with spectral efficiency of 5 bit/s/Hz can be achieved.

  19. Monte Carlo simulations of lattice models for single polymer systems

    International Nuclear Information System (INIS)

    Hsu, Hsiao-Ping

    2014-01-01

    Single linear polymer chains in dilute solutions under good solvent conditions are studied by Monte Carlo simulations with the pruned-enriched Rosenbluth method up to the chain length N∼O(10 4 ). Based on the standard simple cubic lattice model (SCLM) with fixed bond length and the bond fluctuation model (BFM) with bond lengths in a range between 2 and √(10), we investigate the conformations of polymer chains described by self-avoiding walks on the simple cubic lattice, and by random walks and non-reversible random walks in the absence of excluded volume interactions. In addition to flexible chains, we also extend our study to semiflexible chains for different stiffness controlled by a bending potential. The persistence lengths of chains extracted from the orientational correlations are estimated for all cases. We show that chains based on the BFM are more flexible than those based on the SCLM for a fixed bending energy. The microscopic differences between these two lattice models are discussed and the theoretical predictions of scaling laws given in the literature are checked and verified. Our simulations clarify that a different mapping ratio between the coarse-grained models and the atomistically realistic description of polymers is required in a coarse-graining approach due to the different crossovers to the asymptotic behavior

  20. Control Issues in Single-Stage Photovoltaic Systems

    DEFF Research Database (Denmark)

    A. Mastromauro, Rosa; Liserre, Marco; Dell’Aquila, Antonio

    2012-01-01

    Photovoltaic Systems (PVS) can be easily integrated in residential buildings hence they will be the main responsible of making low-voltage grid power flow bidirectional. Control issues on both the PV side and on the grid side have received much attention from manufacturers, competing for efficiency...

  1. Single-channel digital command-detection system

    Science.gov (United States)

    Carl, C. C.; Couvillon, L. A.; Goldstein, R. M.; Posner, E. C.; Green, R. R.

    1973-01-01

    System, fabricated of highly-reliable digital logic elements, operates on binary pulse-code-modulated signals and derives internal synchronization from data signal. All-digital implementation of detector develops synchronization from data signal by computer cross-correlation of command modulation signal with its expected forms in sequence and adjusts detector phases in accordance with correlation peaks.

  2. A single phase photovoltaic inverter control for grid connected system

    Indian Academy of Sciences (India)

    tracking (MPPT) controller is used which enables the maximum power extraction under varying irradiation and temperature conditions. The validity of the proposed system is verified through simulation as well as hardware implementation. Keywords. Current controller; MPPT; photovoltaic; PLL; PV inverter; voltage controller.

  3. Open Source Clinical NLP – More than Any Single System

    Science.gov (United States)

    Masanz, James; Pakhomov, Serguei V.; Xu, Hua; Wu, Stephen T.; Chute, Christopher G.; Liu, Hongfang

    2014-01-01

    The number of Natural Language Processing (NLP) tools and systems for processing clinical free-text has grown as interest and processing capability have surged. Unfortunately any two systems typically cannot simply interoperate, even when both are built upon a framework designed to facilitate the creation of pluggable components. We present two ongoing activities promoting open source clinical NLP. The Open Health Natural Language Processing (OHNLP) Consortium was originally founded to foster a collaborative community around clinical NLP, releasing UIMA-based open source software. OHNLP’s mission currently includes maintaining a catalog of clinical NLP software and providing interfaces to simplify the interaction of NLP systems. Meanwhile, Apache cTAKES aims to integrate best-of-breed annotators, providing a world-class NLP system for accessing clinical information within free-text. These two activities are complementary. OHNLP promotes open source clinical NLP activities in the research community and Apache cTAKES bridges research to the health information technology (HIT) practice. PMID:25954581

  4. Open Source Clinical NLP - More than Any Single System.

    Science.gov (United States)

    Masanz, James; Pakhomov, Serguei V; Xu, Hua; Wu, Stephen T; Chute, Christopher G; Liu, Hongfang

    2014-01-01

    The number of Natural Language Processing (NLP) tools and systems for processing clinical free-text has grown as interest and processing capability have surged. Unfortunately any two systems typically cannot simply interoperate, even when both are built upon a framework designed to facilitate the creation of pluggable components. We present two ongoing activities promoting open source clinical NLP. The Open Health Natural Language Processing (OHNLP) Consortium was originally founded to foster a collaborative community around clinical NLP, releasing UIMA-based open source software. OHNLP's mission currently includes maintaining a catalog of clinical NLP software and providing interfaces to simplify the interaction of NLP systems. Meanwhile, Apache cTAKES aims to integrate best-of-breed annotators, providing a world-class NLP system for accessing clinical information within free-text. These two activities are complementary. OHNLP promotes open source clinical NLP activities in the research community and Apache cTAKES bridges research to the health information technology (HIT) practice.

  5. Up-regulation of milk secretion with modified microclimate through manipulating plasminogen-plasmin system in Murrah buffaloes during hot dry season.

    Science.gov (United States)

    Haque, N; Singh, M; Hossain, S A

    2016-12-01

    The present study was aimed at determining changes in milk yield and composition along with the plasminogen-plasmin system of milk, plasma hormones, and metabolites of buffaloes during hot dry season (air temperature range 39.7 to 44.8 °C) under two different management systems. Buffaloes were divided in two groups of six animals each: control and treatment, where treatment group animals accessed benefit of mist and fan cooling from 9:30 a.m. to 5:00 p.m., while control group animals were devoid of it. Duration of experiment was 6 weeks. Under mist and fan cooling system, buffaloes experienced better comfort by alleviating environmental stress as their physiological responses such as rectal temperature, respiration rate, pulse rate, and forehead and middorsal temperatures were significantly (P < 0.05) reduced compared to control, which subsequently resulted higher milk yield by 4.44 % (P < 0.001). Analysis of milk samples revealed higher concentration of plasminogen (7.99 vs 6.27 μg/ml; P < 0.01) and β-casein (1.09 vs 0.92 g/dl; P < 0.001) and lower plasmin level (0.178 vs 0.194 μg/ml; P < 0.05) in buffaloes under the treatment group compared to that under the control. Plasma glucose level was higher (P < 0.001) by 21.08 %, whereas cortisol, norepinephrine, and NEFA levels were lower (P < 0.001) by 19.19, 15.38, and 11.41 %, respectively, in treatment animals. However, exposure of buffaloes to cooling system did not alter composition and calcium content of milk, GH, and epinephrine level in plasma. Hence, it may be concluded that provision of cooling system during summer was effective to minimize environmental stress and improve milk production by manipulation of the PG-PL system in buffaloes.

  6. Magmatic Processes and Systems Deduced from Single Crystals

    Science.gov (United States)

    Davidson, J.; Bezard, R. C.; Morgan, D. J.; Ginibre, C.

    2014-12-01

    When crystals grow in liquids the composition of their outermost layer will reflect that of the host with which they are in equilibrium and will therefore record the liquid composition, pressure and temperature.. Following separation from their sources, magmas differentiate. This change in liquid composition is driven largely by crystallisation in response to cooling or decompression. Other open system processes such as mixing and contamination are common. These can lead to abrupt changes in trace element and isotopic composition, accompanied by petrographic features, such as dissolution surfaces or zones of melt inclusions. Where such careful mineral-scale studies have been performed, the prevalence of open system processes is clear. In many cases these are shown by core-rim isotopic variations. Crystal-scale compositional variations in the context of whole rock compositions and petrography have allowed us to show crustal assimilation even from regions of supposedly oceanic crust such as the Lesser Antilles. In tandem with tracking magma evolution, core-rim analyses of appropriate crystals have also provided diffusion profiles which reflect timescales of magmatic processes. A key point, long recognised by Bruce Marsh, is that in situ geochemical data should be considered in a petrographic context in order to gain the most (and most credible) insights on the workings of magma systems from hand specimen to whole volcano/pluton scales: The petrographic microscope is not dead yet Identification of magmatic processes from in situ scrutiny allows us to synthesise the architectures and inner workings of magma systems. The evidence for interaction among magmas in many systems is compelling and suggests that many exist as stacked dike-sill arrangements with wall-rock focussed crystal growth and mush zones. These are consistent with many of the systematics suggested some time ago by Bruce Marsh

  7. Polarized dependence of nonlinear susceptibility in a single layer graphene system in infrared region

    Energy Technology Data Exchange (ETDEWEB)

    Solookinejad, G., E-mail: ghsolooki@gmail.com

    2016-09-15

    In this study, the linear and nonlinear susceptibility of a single-layer graphene nanostructure driven by a weak probe light and an elliptical polarized coupling field is discussed theoretically. The Landau levels of graphene can be separated in infrared or terahertz regions under the strong magnetic field. Therefore, by using the density matrix formalism in quantum optic, the linear and nonlinear susceptibility of the medium can be derived. It is demonstrated that by adjusting the elliptical parameter, one can manipulate the linear and nonlinear absorption as well as Kerr nonlinearity of the medium. It is realized that the enhanced Kerr nonlinearity can be possible with zero linear absorption and nonlinear amplification at some values of elliptical parameter. Our results may be having potential applications in quantum information science based on Nano scales devices.

  8. Isolation and Molecular Identification of Auxotrophic Mutants to Develop a Genetic Manipulation System for the Haloarchaeon Natrinema sp. J7-2

    Directory of Open Access Journals (Sweden)

    Jie Lv

    2015-01-01

    Full Text Available Our understanding of the genus Natrinema is presently limited due to the lack of available genetic tools. Auxotrophic markers have been widely used to construct genetic systems in bacteria and eukaryotes and in some archaeal species. Here, we isolated four auxotrophic mutants of Natrinema sp. J7-2, via 1-methyl-3-nitro-1-nitroso-guanidin mutagenesis, and designated them as J7-2-1, J7-2-22, J7-2-26, and J7-2-52, respectively. The mutant phenotypes were determined to be auxotrophic for leucine (J7-2-1, arginine (J7-2-22 and J7-2-52, and lysine (J7-2-26. The complete genome and the biosynthetic pathways of amino acids in J7-2 identified that the auxotrophic phenotype of three mutants was due to gene mutations in leuB (J7-2-1, dapD (J7-2-26, and argC (J7-2-52. These auxotrophic phenotypes were employed as selectable makers to establish a transformation method. The transformation efficiencies were determined to be approximately 103 transformants per µg DNA. And strains J7-2-1 and J7-2-26 were transformed into prototrophic strains with the wild type genomic DNA, amplified fragments of the corresponding genes, or the integrative plasmids carrying the corresponding genes. Additionally, exogenous genes, bgaH or amyH gene, were expressed successfully in J7-2-1. Thus, we have developed a genetic manipulation system for the Natrinema genus based on the isolated auxotrophic mutants of Natrinema sp. J7-2.

  9. On-demand Droplet Manipulation via Triboelectrification

    Science.gov (United States)

    Wang, Wei; Vahabi, Hamed; Cackovic, Matthew; Jiang, Rui; Kota, Arun

    2017-11-01

    Controlled manipulation of liquid droplets has attracted tremendous interest across different scientific fields over the past two decades. To date, a variety of external stimuli-mediated methods such as magnetic field, electric field, and light have been developed for manipulating droplets on surfaces. However, these methods usually have drawbacks such as complex fabrication of manipulation platform, low droplet motility, expensive actuation system and lack of precise control. In this work, we demonstrate the controlled manipulation of liquid droplet with both high (e.g., water) and low (e.g., n-hexadecane) dielectric strengths on a smooth, slippery surface via triboelectric effect. Our highly simple, facile and portable methodology enables on-demand, precise manipulation of droplets using solely the electrostatic attraction or repulsion force, which is exerted on the droplet by a simple charged actuator (e.g., Teflon film). We envision that our triboelectric effect enabled droplet manipulation methodology will open a new avenue for droplet based lab-on-a-chip systems, energy harvesting devices and biomedical applications.

  10. Language constructs for image manipulation

    International Nuclear Information System (INIS)

    Cattaneo, G.; Levialdi, S.; Tortora, G.

    1984-01-01

    An image manipulation language, within the framework of an international project for the design of an image processing system, has progressed toward the definition, implementation and the testing of a number of useful constructs specially designed to give the user maximum machine independency. From the very general COMPL (compute locally) to the very specialized MASK data structure, a number of different constructs like a control structure (ITERATE ON / ITEREND), a collection of data structures (windows, masks, image sets and images) have been formally defined. In a first stage of this work a precompiler has been partially completed. Motivations for the choices made and sample programs are included in this presentation

  11. Study on irradiation effects of nucleus electromagnetic pulse on single chip computer system

    International Nuclear Information System (INIS)

    Hou Minsheng; Liu Shanghe; Wang Shuping

    2001-01-01

    Intense electromagnetic pulse, namely nucleus electromagnetic pulse (NEMP), lightning electromagnetic pulse (LEMP) and high power microwave (HPM), can disturb and destroy the single chip computer system. To study this issue, the authors made irradiation experiments by NEMPs generated by gigahertz transversal electromagnetic (GTEM) Cell. The experiments show that shutdown, restarting, communication errors of the single chip microcomputer system would occur when it was irradiated by the NEMPs. Based on the experiments, the cause on the effects on the single chip microcomputer system is discussed

  12. Method and apparatus for single-stepping coherence events in a multiprocessor system under software control

    Science.gov (United States)

    Blumrich, Matthias A.; Salapura, Valentina

    2010-11-02

    An apparatus and method are disclosed for single-stepping coherence events in a multiprocessor system under software control in order to monitor the behavior of a memory coherence mechanism. Single-stepping coherence events in a multiprocessor system is made possible by adding one or more step registers. By accessing these step registers, one or more coherence requests are processed by the multiprocessor system. The step registers determine if the snoop unit will operate by proceeding in a normal execution mode, or operate in a single-step mode.

  13. Applying Data Mining Techniques to Improve Information Security in the Cloud: A Single Cache System Approach

    OpenAIRE

    Amany AlShawi

    2016-01-01

    Presently, the popularity of cloud computing is gradually increasing day by day. The purpose of this research was to enhance the security of the cloud using techniques such as data mining with specific reference to the single cache system. From the findings of the research, it was observed that the security in the cloud could be enhanced with the single cache system. For future purposes, an Apriori algorithm can be applied to the single cache system. This can be applied by all cloud providers...

  14. Limbic systems for emotion and for memory, but no single limbic system.

    Science.gov (United States)

    Rolls, Edmund T

    2015-01-01

    The concept of a (single) limbic system is shown to be outmoded. Instead, anatomical, neurophysiological, functional neuroimaging, and neuropsychological evidence is described that anterior limbic and related structures including the orbitofrontal cortex and amygdala are involved in emotion, reward valuation, and reward-related decision-making (but not memory), with the value representations transmitted to the anterior cingulate cortex for action-outcome learning. In this 'emotion limbic system' a computational principle is that feedforward pattern association networks learn associations from visual, olfactory and auditory stimuli, to primary reinforcers such as taste, touch, and pain. In primates including humans this learning can be very rapid and rule-based, with the orbitofrontal cortex overshadowing the amygdala in this learning important for social and emotional behaviour. Complementary evidence is described showing that the hippocampus and limbic structures to which it is connected including the posterior cingulate cortex and the fornix-mammillary body-anterior thalamus-posterior cingulate circuit are involved in episodic or event memory, but not emotion. This 'hippocampal system' receives information from neocortical areas about spatial location, and objects, and can rapidly associate this information together by the different computational principle of autoassociation in the CA3 region of the hippocampus involving feedback. The system can later recall the whole of this information in the CA3 region from any component, a feedback process, and can recall the information back to neocortical areas, again a feedback (to neocortex) recall process. Emotion can enter this memory system from the orbitofrontal cortex etc., and be recalled back to the orbitofrontal cortex etc. during memory recall, but the emotional and hippocampal networks or 'limbic systems' operate by different computational principles, and operate independently of each other except insofar as an

  15. Synthesis and manipulation of carbon nanotubes

    Energy Technology Data Exchange (ETDEWEB)

    Seo, J W [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland); Couteau, E [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland); Umek, P [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland); Hernadi, K [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland); Marcoux, P [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland); Lukic, B [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland); Miko, Cs [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland); Milas, M [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland); Gaal, R [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland); Forro, L [Institute of Physics of Complex Matter IPMC, Ecole Polytechnique Federale de Lausanne, 1015 Lausanne (Switzerland)

    2003-09-01

    This paper reviews recent results in the field of carbon nanotube (CNT) research obtained at our institute at EPFL. We show in particular that CNTs can be synthesized by the catalytic vapour deposition (CVD) technique with high efficiency and purity. Furthermore, we present recent examples of advances in the large-scale production of CNTs as well as in the chemical and mechanical manipulation of CNTs. The chemical manipulation involves covalent and non-covalent sidewall functionalization of single-wall CNTs and preparation of inorganic coatings on CVD-grown nanotubes for the realization of fibres and CNT-reinforced composites. Mechanical manipulation aims at the application of CNTs as tips for scanning probe microscopy.

  16. Solid state detector for high spatial resolution coupled to a single event acquisition system for slow neutron detection

    Science.gov (United States)

    Casinini, F.; Petrillo, C.; Sacchetti, F.

    2012-05-01

    In the next years the slow neutron scattering community is waiting for a continuous improvement of the neutron detectors because of the development of the new and more intense neutron sources and to obtain a better performance of the neutron instrumentation to face the higher demands and new capabilities necessary for the novel experiments. In particular detectors having a faster response and a better shape of the time response must be produced, while new and more flexible acquisition systems must be introduced in order to collect in the proper way the information carried by the scattered neutrons. At present inside the neutron detector community the lack for detectors having a spatial resolution below 1 mm is evident. In the past it has been already demonstrated that a silicon microstrip detector coupled to a Gadolinium foil, used as neutron converter, provides a good performance neutron detector. In the present paper we present a 128 channel detector which has been designed for operation in the thermal neutron region with 0.55 mm spatial resolution, 100 ns time resolution and 25 ns time stamp accuracy. We present a new approach for the acquisition of the neutron arrival time, based on a single event storage by manipulating the detector digital output using a programmable acquisition system which takes advantage from high performance industrial standard hardware employing a FPGA and a real-time on board processor. We suggest the use of the single neutron event storing to make the time to energy transformation more efficient in the case of time of flight inelastic scattering, where the conversion from angle and time to momentum and energy is necessary.

  17. Multidiscipline simulation of elastic manipulators

    Directory of Open Access Journals (Sweden)

    T. Rølvåg

    1992-10-01

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

  18. Analyzing System on A Chip Single Event Upset Responses using Single Event Upset Data, Classical Reliability Models, and Space Environment Data

    Science.gov (United States)

    Berg, Melanie; LaBel, Kenneth; Campola, Michael; Xapsos, Michael

    2017-01-01

    We are investigating the application of classical reliability performance metrics combined with standard single event upset (SEU) analysis data. We expect to relate SEU behavior to system performance requirements. Our proposed methodology will provide better prediction of SEU responses in harsh radiation environments with confidence metrics. single event upset (SEU), single event effect (SEE), field programmable gate array devises (FPGAs)

  19. 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.

  20. Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery.

    Science.gov (United States)

    Kobayashi, Yo; Sekiguchi, Yuta; Tomono, Yu; Watanabe, Hiroki; Toyoda, Kazutaka; Konishi, Kozo; Tomikawa, Morimasa; Ieiri, Satoshi; Tanoue, Kazuo; Hashizume, Makoto; Fujie, Masaktsu G

    2010-01-01

    Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning and sheath manipulator (6 DOF) for vision field control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro. The "cut and vision field control" (using tool manipulators) is suitable for precise cutting tasks in risky areas while a "cut by vision field control" (using a vision field control manipulator) is effective for rapid macro cutting of tissues. A resection task was accomplished using a combination of both methods.