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

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.

Manipulation and analysis of a single dopant atom in GaAs

NARCIS (Netherlands)

Wijnheijmer, A.P.

2011-01-01

This thesis focuses on the manipulation and analysis of single dopant atoms in GaAs by scanning tunneling microscopy (STM) and spectroscopy (STS) at low temperatures. The observation of ionization rings is one of the key results, showing that we can control the charge state of a single dopant atom

On-chip manipulation of single microparticles, cells, and organisms using surface acoustic waves.

Science.gov (United States)

Ding, Xiaoyun; Lin, Sz-Chin Steven; Kiraly, Brian; Yue, Hongjun; Li, Sixing; Chiang, I-Kao; Shi, Jinjie; Benkovic, Stephen J; Huang, Tony Jun

2012-07-10

Techniques that can dexterously manipulate single particles, cells, and organisms are invaluable for many applications in biology, chemistry, engineering, and physics. Here, we demonstrate standing surface acoustic wave based "acoustic tweezers" that can trap and manipulate single microparticles, cells, and entire organisms (i.e., Caenorhabditis elegans) in a single-layer microfluidic chip. Our acoustic tweezers utilize the wide resonance band of chirped interdigital transducers to achieve real-time control of a standing surface acoustic wave field, which enables flexible manipulation of most known microparticles. The power density required by our acoustic device is significantly lower than its optical counterparts (10,000,000 times less than optical tweezers and 100 times less than optoelectronic tweezers), which renders the technique more biocompatible and amenable to miniaturization. Cell-viability tests were conducted to verify the tweezers' compatibility with biological objects. With its advantages in biocompatibility, miniaturization, and versatility, the acoustic tweezers presented here will become a powerful tool for many disciplines of science and engineering.

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...... 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...

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

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.

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.

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...... 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...

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)

Manipulation Robustness of Collaborative Filtering Systems

OpenAIRE

Benjamin Van Roy; Xiang Yan

2009-01-01

A collaborative filtering system recommends to users products that similar users like. Collaborative filtering systems influence purchase decisions, and hence have become targets of manipulation by unscrupulous vendors. We provide theoretical and empirical results demonstrating that while common nearest neighbor algorithms, which are widely used in commercial systems, can be highly susceptible to manipulation, two classes of collaborative filtering algorithms which we refer to as linear and a...

A study on AFM manipulation of single-wall carbon nanotube

Energy Technology Data Exchange (ETDEWEB)

Tian Xiaojun; Dong Zaili; Yu Peng; Liu Zhu [State Key Lab. of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016 (China)], E-mail: xjtian@sia.cn

2009-09-01

As single-wall carbon nanotube (SWCNT) has special electrical and physical property, it can be used as excellent material to construct various nano electronic device. However, in the fabrication process, the modification of size, shape and even the electronic property, especially to the metallic SWCNT, is a key problem to be overcome. Here a modified nanomanipulation technology based on atomic force microscope (AFM) is utilized to perform various kinds of SWCNT manipulation, such as SWCNT separation, catalyst remove, continual nano buckles fabrication and even stretch to break, thus to modify the size, shape and eventually the electrical property of the SWCNT. In addition, the manipulation results are analyzed based on the mechanical mechanism.

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

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.

System Integration for Real-time Mobile Manipulation

OpenAIRE

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

2014-01-01

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

Mouse manipulation through single-switch scanning.

Science.gov (United States)

Blackstien-Adler, Susie; Shein, Fraser; Quintal, Janet; Birch, Shae; Weiss, Patrice L Tamar

2004-01-01

Given the current extensive reliance on the graphical user interface, independent access to computer software requires that users be able to manipulate a pointing device of some type (e.g., mouse, trackball) or be able to emulate a mouse by some other means (e.g., scanning). The purpose of the present study was to identify one or more optimal single-switch scanning mouse emulation strategies. Four alternative scanning strategies (continuous Cartesian, discrete Cartesian, rotational, and hybrid quadrant/continuous Cartesian) were selected for testing based on current market availability as well as on theoretical considerations of their potential speed and accuracy. Each strategy was evaluated using a repeated measures study design by means of a test program that permitted mouse emulation via any one of four scanning strategies in a motivating environment; response speed and accuracy could be automatically recorded and considered in view of the motor, cognitive, and perceptual demands of each scanning strategy. Ten individuals whose disabilities required them to operate a computer via single-switch scanning participated in the study. Results indicated that Cartesian scanning was the preferred and most effective scanning strategy. There were no significant differences between results from the Continuous Cartesian and Discrete Cartesian scanning strategies. Rotational scanning was quite slow with respect to the other strategies, although it was equally accurate. Hybrid Quadrant scanning improved access time but at the cost of fewer correct selections. These results demonstrated the importance of testing and comparing alternate single-switch scanning strategies.

System Integration for Real-Time Mobile Manipulation

Directory of Open Access Journals (Sweden)

Reza Oftadeh

2014-03-01

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

Nonlinear Dynamics of Controlled Synchronizations of Manipulator System

Directory of Open Access Journals (Sweden)

Qingkai Han

2014-01-01

Full Text Available The nonlinear dynamics of the manipulator system which is controlled to achieve the synchronization motions is investigated in the paper. Firstly, the control strategies and modeling approaches of the manipulator system are given, in which the synchronization goal is defined by both synchronization errors and its derivatives. The synchronization controllers applied on the manipulator system include neuron synchronization controller, improved OPCL synchronization controller, and MRAC-PD synchronization controller. Then, an improved adaptive synchronized control strategy is proposed in order to estimate online the unknown structure parameters and state variables of the manipulator system and to realize the needed synchronous compensation. Furthermore, a robust adaptive synchronization controller is also researched to guarantee the dynamic stability of the system. Finally, the stability of motion synchronizations of the manipulator system possessing nonlinear component is discussed, together with the effect of control parameters and joint friction and others. Some typical motions such as motion bifurcations and the loss of synchronization of it are obtained and illustrated as periodic, multiperiodic, and/or chaotic motion patterns.

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...

Manipulation and control of a single molecular rotor on Au (111) surface

International Nuclear Information System (INIS)

Hai-Gang, Zhang; Jin-Hai, Mao; Qi, Liu; Nan, Jiang; Hai-Tao, Zhou; Hai-Ming, Guo; Dong-Xia, Shi; Hong-Jun, Gao

2010-01-01

Three different methods are used to manipulate and control phthalocyanine based single molecular rotors on Au (111) surface: (1) changing the molecular structure to alter the rotation potential; (2) using the tunnelling current of the scanning tunnelling microscope (STM) to change the thermal equilibrium of the molecular rotor; (3) artificial manipulation of the molecular rotor to switch the rotation on or off by an STM tip. Furthermore, a molecular 'gear wheel' is successfully achieved with two neighbouring molecules. (cross-disciplinary physics and related areas of science and technology)

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...

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.

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2003-01-01

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

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)

Collision Detection for Underwater ROV Manipulator Systems

Directory of Open Access Journals (Sweden)

Satja Sivčev

2018-04-01

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

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)

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.

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

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)

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.

Project W-340 tank 241-C-106 manipulator system closeout summary

International Nuclear Information System (INIS)

McDaniel, L.B.

1995-02-01

This document summarizes the work that was ongoing when Project W-340 was put on hold. Project W-340: Tank 241-C-106 Manipulator Retrieval System, was a candidate FY98 Major System Acquisition. The project was to develop, procure and deploy a Long Reach Manipulator (LRM) waste retrieval system to provide an alternate method to completing the in-tank demonstration of Single Shell Tank waste retrieval technology. The need for enhanced capabilities derives from (1) the inability of the baseline technology to retrieve certain hard waste forms; (2) uncertainty in the quantity of leakage which will be allowed. Numerous studies over the years have identified an arm architecture as a promising retrieval technology to overcome these concerns. The W340 project was intended to further develop and demonstrate this alternative, as part of selecting the best approach for all tanks. Prior to completing the effort, it was determined that an LRM system was too architecture specific and was envisioned to be too expensive for a one time demonstration of retrieval technology. At the time the work was stopped, an effort was underway to broaden the project scope to allow alternatives to an arm-based system

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

Science.gov (United States)

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

2016-03-01

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 = 270pC/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 50MHz, 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.

Development of a Control System for PRIDE Remote Servo-manipulator

International Nuclear Information System (INIS)

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

2009-12-01

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

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.

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

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

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.)

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

Directory of Open Access Journals (Sweden)

Benpeng Zhu

2016-03-01

Full Text Available 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 (d33 = 270pC/N and kt = 0.51 was employed for SBAT applications and a press-focusing technology was introduced. The obtained SBAT, acting at an operational frequency of 50MHz, 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.

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

Energy Technology Data Exchange (ETDEWEB)

Zhu, Benpeng, E-mail: benpengzhu@hust.edu.cn [School of Optical and Electronic Information, Huazhong University of Science and Technology, Wuhan 430074 (China); State Key Laboratory of Transducer Technology, Chinese Academy of Sciences, Shanghai 200050 (China); Xu, Jiong; Yang, Xiaofei [School of Optical and Electronic Information, Huazhong University of Science and Technology, Wuhan 430074 (China); Li, Ying; Lee, Changyang; Zhou, Qifa; Shung, K. Kirk [Department of Biomedical Engineering and NIH Transducer Resource Center, University of Southern California, Los Angeles, California 90089-1111 (United States); Wang, Tian; Xiong, Ke [Department of Physics and Key Laboratory of Acoustic and Photonic Materials and Devices of Ministry of Education, Wuhan University, Wuhan 430072 (China); Shiiba, Michihisa; Takeuchi, Shinichi [Medical Engineering Course, Graduate School of Engineering, Toin University of Yokohama, Yokohama 225-8501 (Japan)

2016-03-15

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{sub 33} = 270 pC/N and k{sub 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.

Core-state manipulation of single Fe impurities in GaAs with a scanning tunneling microscope

NARCIS (Netherlands)

Bocquel, J.; Kortan, V.R.; Sahin, C.; Campion, R.P.; Gallagher, B.L.; Flatte, M.E.; Koenraad, P.M.

2013-01-01

We demonstrate that a scanning tunneling microscope tip can be used to manipulate the tightly bound core (d-electron) state of single Fe ions embedded in GaAs. Increasing tip-sample voltage removes one d electron from the core of a single Fe, changing the dopant from the (Fe2+)(-) ionized acceptor

Voltage controlled nano-injection system for single-cell surgery

Science.gov (United States)

Seger, R. Adam; Actis, Paolo; Penfold, Catherine; Maalouf, Michelle; Vilozny, Boaz; Pourmand, Nader

2015-01-01

Manipulation and analysis of single cells is the next frontier in understanding processes that control the function and fate of cells. Herein we describe a single-cell injection platform based on nanopipettes. The system uses scanning microscopy techniques to detect cell surfaces, and voltage pulses to deliver molecules into individual cells. As a proof of concept, we injected adherent mammalian cells with fluorescent dyes. PMID:22899383

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

Directory of Open Access Journals (Sweden)

Ahmed A. Ali

2017-08-01

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

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)

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

International Nuclear Information System (INIS)

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

2016-01-01

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

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

Directory of Open Access Journals (Sweden)

Abdul Kadir Muhammad

2015-10-01

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

Three-dimensional manipulation of single cells using surface acoustic waves.

Science.gov (United States)

Guo, Feng; Mao, Zhangming; Chen, Yuchao; Xie, Zhiwei; Lata, James P; Li, Peng; Ren, Liqiang; Liu, Jiayang; Yang, Jian; Dao, Ming; Suresh, Subra; Huang, Tony Jun

2016-02-09

The ability of surface acoustic waves to trap and manipulate micrometer-scale particles and biological cells has led to many applications involving "acoustic tweezers" in biology, chemistry, engineering, and medicine. Here, we present 3D acoustic tweezers, which use surface acoustic waves to create 3D trapping nodes for the capture and manipulation of microparticles and cells along three mutually orthogonal axes. In this method, we use standing-wave phase shifts to move particles or cells in-plane, whereas the amplitude of acoustic vibrations is used to control particle motion along an orthogonal plane. We demonstrate, through controlled experiments guided by simulations, how acoustic vibrations result in micromanipulations in a microfluidic chamber by invoking physical principles that underlie the formation and regulation of complex, volumetric trapping nodes of particles and biological cells. We further show how 3D acoustic tweezers can be used to pick up, translate, and print single cells and cell assemblies to create 2D and 3D structures in a precise, noninvasive, label-free, and contact-free manner.

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

Science.gov (United States)

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

1974-01-01

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

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

Directory of Open Access Journals (Sweden)

Markus Wilde

2018-04-01

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

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 * robotic s Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/2015/AS/belda-0448098.pdf

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.

A shuttle and space station manipulator system for assembly, docking, maintenance cargo handling and spacecraft retrieval (preliminary design). Volume 1: Management summary

Science.gov (United States)

1972-01-01

A preliminary design is established for a general purpose manipulator system which can be used interchangeably on the shuttle and station and can be transferred back and forth between them. Control of the manipulator is accomplished by hard wiring from internal control stations in the shuttle or station. A variety of shuttle and station manipulator operations are considered including servicing the Large Space Telescope; however, emphasis is placed on unloading modules from the shuttle and assembling the space station. Simulation studies on foveal stereoscopic viewing and manipulator supervisory computer control have been accomplished to investigate the feasibility of their use in the manipulator system. The basic manipulator system consists of a single 18.3 m long, 7 degree of freedom (DOF), electrically acutated main boom with an auxiliary 3 DOF electrically actuated, extendible 18.3 m maximum length, lighting, and viewing boom. A 3 DOF orientor assembly is located at the tip of the viewing boom to provide camera pan, tilt, and roll.

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.

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.

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

Control system for the Fermilab Master-Slave servo manipulator

International Nuclear Information System (INIS)

Ducar, R.J.

1977-01-01

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

Combined long reach and dexterous manipulation for waste storage tank applications

International Nuclear Information System (INIS)

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

1991-01-01

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

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.)

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

International Nuclear Information System (INIS)

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

1986-01-01

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

Active cooling system for Tokamak in-vessel operation manipulator

Energy Technology Data Exchange (ETDEWEB)

Yuan, Jianjun, E-mail: yuanjj@sjtu.edu.cn; Chen, Tan; Li, Fashe; Zhang, Weijun; Du, Liang

2015-10-15

Highlights: • We summarized most of the challenges of fusion devices to robot systems. • Propose an active cooling system to protect all of the necessary components. • Trial design test and theoretical analysis were conducted. • Overall implementation of the active cooling system was demonstrated. - Abstract: In-vessel operation/inspection is an indispensable task for Tokamak experimental reactor, for a robot/manipulator is more capable in doing this than human being with more precise motion and less risk of damaging the ambient equipment. Considering the demanding conditions of Tokamak, the manipulator should be adaptable to rapid response in the extreme conditions such as high temperature, vacuum and so on. In this paper, we propose an active cooling system embedded into such manipulator. Cameras, motors, gearboxes, sensors, and other mechanical/electrical components could then be designed under ordinary conditions. The cooling system cannot only be a thermal shield since the components are also heat sources in dynamics. We carry out a trial test to verify our proposal, and analyze the active cooling system theoretically, which gives a direction on the optimization by varying design parameters, components and distribution. And based on thermal sensors monitoring and water flow adjusting a closed-loop feedback control of temperature is added to the system. With the preliminary results, we believe that the proposal gives a way to robust and inexpensive design in extreme environment. Further work will concentrate on overall implementation and evaluation of this cooling system with the whole inspection manipulator.

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.

Control of an automated mobile manipulator using artificial immune system

Science.gov (United States)

Deepak, B. B. V. L.; Parhi, Dayal R.

2016-03-01

This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

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.

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

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

Science.gov (United States)

Kwon, Dong-Soo

1991-01-01

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

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.

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...

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) ...

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

Science.gov (United States)

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

1978-01-01

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

Advanced photonic methodologies for the 'in vitro' manipulation of cellular systems

OpenAIRE

McDougall, Craig

2011-01-01

This thesis investigates the application of a variety of optical techniques for the manipulation of single cells and their local micro-environment. The methodologies developed provide enhanced control over a single cell under study affording exquisite spatial and temporal control over biological processes of interest. The work presented within the thesis can be split into three distinct categories. The first of these provides an investigation in light activated “caged” molecula...

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

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

Application of identification techniques to remote manipulator system flight data

Science.gov (United States)

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

1983-01-01

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

CHAMP: A bespoke integrated system for mobile manipulation

CSIR Research Space (South Africa)

Van Eden, B

2014-11-01

Full Text Available for Mobile Manipulation Beatrice van Eden, Benjamin Rosman, Daniel Withey, Terence Ratshidaho, Mogomotsi Keaikitse, Ditebogo Masha, Ashley Kleinhans, and Ahmed Shaik Mobile Intelligent Autonomous Systems Modelling and Digital Science Council for Scientific... as a rear caster. Each arm has 7 DoF, with an attached Barrett hand. UMAN [19], the UMass Mobile MANipulator also uses a 7 DoF Barrett WAM, with a three-fingered Barrett hand. The arm is mounted on modified Nomadic XR4000 mobile base having four caster...

Subwavelength image manipulation through oblique and herringbone layered acoustic systems

International Nuclear Information System (INIS)

Li, Chunhui; Jia, Han; Ke, Manzhu; Li, Yixiang; Liu, Zhengyou

2014-01-01

In this paper, an oblique and a herringbone layered acoustic structure are experimentally and theoretically demonstrated to manipulate acoustic subwavelength images. An imaging resolution of less than one tenth of a wavelength is achieved with both optimized systems, and lateral image shift has been realized by an oblique layered system. The thicknesses of both the oblique and the herringbone layered acoustic systems are largely reduced through utilizing the oblique or herringbone wave propagation path instead of the vertical wave propagation path in the rectangular layered planar acoustic system. With smaller size and subwavelength image manipulation, the acoustic systems are more favourable for practical application. (paper)

A Medical Manipulator System with Lasers in Photodynamic Therapy of Port Wine Stains

Directory of Open Access Journals (Sweden)

Xingtao Wang

2014-01-01

Full Text Available Port wine stains (PWS are a congenital malformation and dilation of the superficial dermal capillary. Photodynamic therapy (PDT with lasers is an effective treatment of PWS with good results. However, because the laser density is uneven and nonuniform, the treatment is carried out manually by a doctor thus providing little accuracy. Additionally, since the treatment of a single lesion can take between 30 and 60 minutes, the doctor can become fatigued after only a few applications. To assist the medical staff with this treatment method, a medical manipulator system (MMS was built to operate the lasers. The manipulator holds the laser fiber and, using a combination of active and passive joints, the fiber can be operated automatically. In addition to the control input from the doctor over a human-computer interface, information from a binocular vision system is used to guide and supervise the operation. Clinical results are compared in nonparametric values between treatments with and without the use of the MMS. The MMS, which can significantly reduce the workload of doctors and improve the uniformity of laser irradiation, was safely and helpfully applied in PDT treatment of PWS with good therapeutic results.

Biological effects of direct and indirect manipulation of the fascial system. Narrative review.

Science.gov (United States)

Parravicini, Giovanni; Bergna, Andrea

2017-04-01

Osteopathic Manipulative Treatment (OMT) is effective in improving function, movement and restoring pain conditions. Despite clinical results, the mechanisms of how OMT achieves its' effects remain unclear. The fascial system is described as a tensional network that envelops the human body. Direct or indirect manipulations of the fascial system are a distinctive part of OMT. This review describes the biological effects of direct and indirect manipulation of the fascial system. Literature search was performed in February 2016 in the electronic databases: Cochrane, Medline, Scopus, Ostmed, Pedro and authors' publications relative to Fascia Research Congress Website. Manipulation of the fascial system seems to interfere with some cellular processes providing various pro-inflammatory and anti-inflammatory cells and molecules. Despite growing research in the osteopathic field, biological effects of direct or indirect manipulation of the fascial system are not conclusive. To elevate manual medicine as a primary intervention in clinical settings, it's necessary to clarify how OMT modalities work in order to underpin their clinical efficacies. Copyright © 2017 Elsevier Ltd. All rights reserved.

Force, current and field effects in single atom manipulation

NARCIS (Netherlands)

Braun, K.-F.; Hla, S.; Pertaya, N.; Soe, W.H.; Flipse, C.F.J.; Rieder, K.

2003-01-01

We present a detailed investigation of the manipulation of Ag and Au atoms with a STM tip on the Ag(111) surface at 5K. The interpretation of the feed-back loop signal gives a precise picture of the movement of the atom during manipulation. The threshold tunnelling resistance and tip-height to move

In silico single-molecule manipulation of DNA with rigid body dynamics.

Directory of Open Access Journals (Sweden)

Pascal Carrivain

2014-02-01

Full Text Available We develop a new powerful method to reproduce in silico single-molecule manipulation experiments. We demonstrate that flexible polymers such as DNA can be simulated using rigid body dynamics thanks to an original implementation of Langevin dynamics in an open source library called Open Dynamics Engine. We moreover implement a global thermostat which accelerates the simulation sampling by two orders of magnitude. We reproduce force-extension as well as rotation-extension curves of reference experimental studies. Finally, we extend the model to simulations where the control parameter is no longer the torsional strain but instead the torque, and predict the expected behavior for this case which is particularly challenging theoretically and experimentally.

Advance of the new MA 23 force reflecting manipulator system

International Nuclear Information System (INIS)

Vertut, Jean; Coiffet, Philippe; Petit, Michel

1976-01-01

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

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.

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1989-01-01

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space 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 astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

Manipulating molecular quantum states with classical metal atom inputs: demonstration of a single molecule NOR logic gate.

Science.gov (United States)

Soe, We-Hyo; Manzano, Carlos; Renaud, Nicolas; de Mendoza, Paula; De Sarkar, Abir; Ample, Francisco; Hliwa, Mohamed; Echavarren, Antonio M; Chandrasekhar, Natarajan; Joachim, Christian

2011-02-22

Quantum states of a trinaphthylene molecule were manipulated by putting its naphthyl branches in contact with single Au atoms. One Au atom carries 1-bit of classical information input that is converted into quantum information throughout the molecule. The Au-trinaphthylene electronic interactions give rise to measurable energy shifts of the molecular electronic states demonstrating a NOR logic gate functionality. The NOR truth table of the single molecule logic gate was characterized by means of scanning tunnelling spectroscopy.

Dissimilar kinetic behavior of electrically manipulated single- and double-stranded DNA tethered to a gold surface.

Science.gov (United States)

Rant, Ulrich; Arinaga, Kenji; Tornow, Marc; Kim, Yong Woon; Netz, Roland R; Fujita, Shozo; Yokoyama, Naoki; Abstreiter, Gerhard

2006-05-15

We report on the electrical manipulation of single- and double-stranded oligodeoxynucleotides that are end tethered to gold surfaces in electrolyte solution. The response to alternating repulsive and attractive electric surface fields is studied by time-resolved fluorescence measurements, revealing markedly distinct dynamics for the flexible single-stranded and stiff double-stranded DNA, respectively. Hydrodynamic simulations rationalize this finding and disclose two different kinetic mechanisms: stiff polymers undergo rotation around the anchoring pivot point; flexible polymers, on the other hand, are pulled onto the attracting surface segment by segment.

Screw-System-Based Mobility Analysis of a Family of Fully Translational Parallel Manipulators

Directory of Open Access Journals (Sweden)

Ernesto Rodriguez-Leal

2013-01-01

Full Text Available This paper investigates the mobility of a family of fully translational parallel manipulators based on screw system analysis by identifying the common constraint and redundant constraints, providing a case study of this approach. The paper presents the branch motion-screws for the 3-RP̲C-Y parallel manipulator, the 3-RCC-Y (or 3-RP̲RC-Y parallel manipulator, and a newly proposed 3-RP̲C-T parallel manipulator. Then the paper determines the sets of platform constraint-screws for each of these three manipulators. The constraints exerted on the platforms of the 3-RP̲C architectures and the 3-RCC-Y manipulators are analyzed using the screw system approach and have been identified as couples. A similarity has been identified with the axes of couples: they are perpendicular to the R joint axes, but in the former the axes are coplanar with the base and in the latter the axes are perpendicular to the limb. The remaining couples act about the axis that is normal to the base. The motion-screw system and constraint-screw system analysis leads to the insightful understanding of the mobility of the platform that is then obtained by determining the reciprocal screws to the platform constraint screw sets, resulting in three independent instantaneous translational degrees-of-freedom. To validate the mobility analysis of the three parallel manipulators, the paper includes motion simulations which use a commercially available kinematics software.

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

Dexterous Manipulation: Making Remote Manipulators Easy to Use

International Nuclear Information System (INIS)

HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

2001-01-01

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

A kinematic analysis of the modified flight telerobotic servicer manipulator system

Science.gov (United States)

Crane, Carl; Carnahan, Tim; Duffy, Joseph

1992-01-01

A reverse kinematic analysis is presented of a six-DOF subchain of a modified seven-DOF flight telerobotic servicer manipulator system. The six-DOF subchain is designated as a TR-RT chain, which describes the sequence of manipulator joints beginning with the first grounded hook joint (universal joint) T, where the sequence R-R designates a pair of revolute joints with parallel axes. At the outset, it had been thought that the reverse kinematic analysis would be similar to a TTT manipulator previously analyzed, in which the third and fourth joints intersected at a finite point. However, this is shown not the case, and a 16th-degree tan-half-angle polynomial is derived for the TR-RT manipulator.

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

Weather and Climate Manipulation as an Optimal Control for Adaptive Dynamical Systems

Directory of Open Access Journals (Sweden)

Sergei A. Soldatenko

2017-01-01

Full Text Available The weather and climate manipulation is examined as an optimal control problem for the earth climate system, which is considered as a complex adaptive dynamical system. Weather and climate manipulations are actually amorphous operations. Since their objectives are usually formulated vaguely, the expected results are fairly unpredictable and uncertain. However, weather and climate modification is a purposeful process and, therefore, we can formulate operations to manipulate weather and climate as the optimization problem within the framework of the optimal control theory. The complexity of the earth’s climate system is discussed and illustrated using the simplified low-order coupled chaotic dynamical system. The necessary conditions of optimality are derived for the large-scale atmospheric dynamics. This confirms that even a relatively simplified control problem for the atmospheric dynamics requires significant efforts to obtain the solution.

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

Science.gov (United States)

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

2011-12-01

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

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.

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.

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)

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

Energy Technology Data Exchange (ETDEWEB)

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

2011-07-01

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

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.

In-vessel maintenance remote manipulator system

International Nuclear Information System (INIS)

Jimenez, E.

1978-01-01

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

Manipulation of magnetic Skyrmions with a Scanning Tunneling Microscope

OpenAIRE

Wieser, R.

2016-01-01

The dynamics of a single magnetic Skyrmion in an atomic spin system under the influence of Scanning Tunneling Microscope is investigated by computer simulations solving the Landau-Lifshitz-Gilbert equation. Two possible scenarios are described: manipulation with aid of a spin-polarized tunneling current and by an electric field created by the scanning tunneling microscope. The dynamics during the creation and annihilation process is studied and the possibility to move single Skyrmions is showed.

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

Energy Technology Data Exchange (ETDEWEB)

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

2007-07-01

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

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)

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).

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

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

A single-cell and feeder-free culture system for monkey embryonic stem cells.

Science.gov (United States)

Ono, Takashi; Suzuki, Yutaka; Kato, Yosuke; Fujita, Risako; Araki, Toshihiro; Yamashita, Tomoko; Kato, Hidemasa; Torii, Ryuzo; Sato, Naoya

2014-01-01

Primate pluripotent stem cells (PSCs), including embryonic stem cells (ESCs) and induced pluripotent stem cells (iPSCs), hold great potential for research and application in regenerative medicine and drug discovery. To maximize primate PSC potential, a practical system is required for generating desired functional cells and reproducible differentiation techniques. Much progress regarding their culture systems has been reported to date; however, better methods would still be required for their practical use, particularly in industrial and clinical fields. Here we report a new single-cell and feeder-free culture system for primate PSCs, the key feature of which is an originally formulated serum-free medium containing FGF and activin. In this culture system, cynomolgus monkey ESCs can be passaged many times by single-cell dissociation with traditional trypsin treatment and can be propagated with a high proliferation rate as a monolayer without any feeder cells; further, typical PSC properties and genomic stability can be retained. In addition, it has been demonstrated that monkey ESCs maintained in the culture system can be used for various experiments such as in vitro differentiation and gene manipulation. Thus, compared with the conventional culture system, monkey ESCs grown in the aforementioned culture system can serve as a cell source with the following practical advantages: simple, stable, and easy cell maintenance; gene manipulation; cryopreservation; and desired differentiation. We propose that this culture system can serve as a reliable platform to prepare primate PSCs useful for future research and application.

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.

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

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.

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.

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).

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

Science.gov (United States)

1975-01-01

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

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.

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

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...

Modelling atomic scale manipulation with the non-contact atomic force microscope

International Nuclear Information System (INIS)

Trevethan, T; Watkins, M; Kantorovich, L N; Shluger, A L; Polesel-Maris, J; Gauthier, S

2006-01-01

We present the results of calculations performed to model the process of lateral manipulation of an oxygen vacancy in the MgO(001) surface using the non-contact atomic force microscope (NC-AFM). The potential energy surfaces for the manipulation as a function of tip position are determined from atomistic modelling of the MgO(001) surface interacting with a Mg terminated MgO tip. These energies are then used to model the dynamical evolution of the system as the tip oscillates and at a finite temperature using a kinetic Monte Carlo method. The manipulation process is strongly dependent on the lateral position of the tip and the system temperature. It is also found that the expectation value of the point at which the vacancy jumps depends on the trajectory of the oscillating cantilever as the surface is approached. The effect of the manipulation on the operation of the NC-AFM is modelled with a virtual dynamic AFM, which explicitly simulates the entire experimental instrumentation and control loops. We show how measurable experimental signals can result from a single controlled atomic scale event and suggest the most favourable conditions for achieving successful atomic scale manipulation experimentally

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

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...

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

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

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

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

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

1997-01-01

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

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

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

1997-03-01

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

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

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

2016-01-01

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

Manipulating Ion Migration for Highly Stable Light-Emitting Diodes with Single-Crystalline Organometal Halide Perovskite Microplatelets.

Science.gov (United States)

Chen, Mingming; Shan, Xin; Geske, Thomas; Li, Junqiang; Yu, Zhibin

2017-06-27

Ion migration has been commonly observed as a detrimental phenomenon in organometal halide perovskite semiconductors, causing the measurement hysteresis in solar cells and ultrashort operation lifetimes in light-emitting diodes. In this work, ion migration is utilized for the formation of a p-i-n junction at ambient temperature in single-crystalline organometal halide perovskites. The junction is subsequently stabilized by quenching the ionic movement at a low temperature. Such a strategy of manipulating the ion migration has led to efficient single-crystalline light-emitting diodes that emit 2.3 eV photons starting at 1.8 V and sustain a continuous operation for 54 h at ∼5000 cd m -2 without degradation of brightness. In addition, a whispering-gallery-mode cavity and exciton-exciton interaction in the perovskite microplatelets have both been observed that can be potentially useful for achieving electrically driven laser diodes based on single-crystalline organometal halide perovskite semiconductors.

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

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

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)

Simulation of robot manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

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...

Gravity-Based Precise Cell Manipulation System Enhanced by In-Phase Mechanism

Directory of Open Access Journals (Sweden)

Koji Mizoue

2016-07-01

Full Text Available This paper proposes a gravity-based system capable of generating high-resolution pressure for precise cell manipulation or evaluation in a microfluidic channel. While the pressure resolution of conventional pumps for microfluidic applications is usually about hundreds of pascals as the resolution of their feedback sensors, precise cell manipulation at the pascal level cannot be done. The proposed system successfully achieves a resolution of 100 millipascals using water head pressure with an in-phase noise cancelation mechanism. The in-phase mechanism aims to suppress the noises from ambient vibrations to the system. The proposed pressure system is tested with a microfluidic platform for pressure validation. The experimental results show that the in-phase mechanism effectively reduces the pressure turbulence, and the pressure-driven cell movement matches the theoretical simulations. Preliminary experiments on deformability evaluation with red blood cells under incremental pressures of one pascal are successfully performed. Different deformation patterns are observed from cell to cell under precise pressure control.

A Gas-Spring-Loaded X-Y-Z Stage System for X-ray Microdiffraction Sample Manipulation

International Nuclear Information System (INIS)

Shu Deming; Cai Zhonghou; Lai, Barry

2007-01-01

We have designed and constructed a gas-spring-loaded x-y-z stage system for x-ray microdiffraction sample manipulation at the Advanced Photon Source XOR 2-ID-D station. The stage system includes three DC-motor-driven linear stages and a gas-spring-based heavy preloading structure, which provides antigravity forces to ensure that the stage system keeps high-positioning performance under variable goniometer orientation. Microdiffraction experiments with this new stage system showed significant sample manipulation performance improvement

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

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

OpenAIRE

Congqing, Wang; Pengfei, Wu; Xin, Zhou; Xiwu, Pei

2013-01-01

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 distur...

Electrostatic Transport and Manipulation of Lunar Soil and Dust

International Nuclear Information System (INIS)

Kawamoto, Hiroyuki

2008-01-01

Transport and manipulation technologies of lunar soil and dust are under development utilizing the electrostatic force. Transport of particles is realized by an electrostatic conveyer consisting of parallel electrodes. Four-phase traveling electrostatic wave was applied to the electrodes to transport particles upon the conveyer and it was demonstrated that particles were efficiently transported under conditions of low frequency, high voltage, and the application of rectangular wave. Not only linear but also curved and closed transport was demonstrated. Numerical investigation was carried out with a three-dimensional hard-sphere model of the Distinct Element Method to clarify the mechanism of the transport and to predict performances in the lunar environment. This technology is expected to be utilized not only for the transport of bulk soil but also for the cleaning of a solar panel and an optical lens. Another technology is an electrostatic manipulation system to manipulate single particle. A manipulator consisted of two parallel pin electrodes. When voltage was applied between the electrodes, electrophoresis force generated in non-uniform electrostatic field was applied to the particle near the tip of the electrode. The particle was captured by the application of the voltage and released from the manipulator by turning off the voltage. It was possible to manipulate not only insulative but also conductive particles. Three-dimensional electrostatic field calculation was conducted to calculate the electrophoresis force and the Coulomb force

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 includin...... molecular scale metal and semiconductor nanoparticles (NPs) and other nanostructures, e.g. nanotubes, “nanoflowers” etc.. The new structures offer both new electronic properties and highly confined novel charge transfer environments....

Realization of a four-step molecular switch in scanning tunneling microscope manipulation of single chlorophyll-a molecules

Science.gov (United States)

Iancu, Violeta; Hla, Saw-Wai

2006-01-01

Single chlorophyll-a molecules, a vital resource for the sustenance of life on Earth, have been investigated by using scanning tunneling microscope manipulation and spectroscopy on a gold substrate at 4.6 K. Chlorophyll-a binds on Au(111) via its porphyrin unit while the phytyl-chain is elevated from the surface by the support of four CH3 groups. By injecting tunneling electrons from the scanning tunneling microscope tip, we are able to bend the phytyl-chain, which enables the switching of four molecular conformations in a controlled manner. Statistical analyses and structural calculations reveal that all reversible switching mechanisms are initiated by a single tunneling-electron energy-transfer process, which induces bond rotation within the phytyl-chain. PMID:16954201

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

International Nuclear Information System (INIS)

Whyley, S.R.

1985-01-01

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

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)

Stainless steel decontamination manipulators

International Nuclear Information System (INIS)

Sullivan, R.J.

1986-01-01

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

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)

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

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.

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

Development of intelligent control system for X-ray streak camera in diagnostic instrument manipulator

International Nuclear Information System (INIS)

Pei, Chengquan; Wu, Shengli; Tian, Jinshou; Liu, Zhen; Fang, Yuman; Gao, Guilong; Liang, Lingliang; Wen, Wenlong

2015-01-01

An intelligent control system for an X ray streak camera in a diagnostic instrument manipulator (DIM) is proposed and implemented, which can control time delay, electric focusing, image gain adjustment, switch of sweep voltage, acquiring environment parameters etc. The system consists of 16 A/D converters and 16 D/A converters, a 32-channel general purpose input/output (GPIO) and two sensors. An isolated DC/DC converter with multi-outputs and a single mode fiber were adopted to reduce the interference generated by the common ground among the A/D, D/A and I/O. The software was designed using graphical programming language and can remotely access the corresponding instrument from a website. The entire intelligent control system can acquire the desirable data at a speed of 30 Mb/s and store it for later analysis. The intelligent system was implemented on a streak camera in a DIM and it shows a temporal resolution of 11.25 ps, spatial distortion of less than 10% and dynamic range of 279:1. The intelligent control system has been successfully used in a streak camera to verify the synchronization of multi-channel laser on the Inertial Confinement Fusion Facility

Development of intelligent control system for X-ray streak camera in diagnostic instrument manipulator

Energy Technology Data Exchange (ETDEWEB)

Pei, Chengquan [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Wu, Shengli, E-mail: slwu@mail.xjtu.edu.cn [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Tian, Jinshou [Xi' an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi' an 710119 (China); Liu, Zhen [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Fang, Yuman [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); University of the Chinese Academy of Sciences, Beijing 100039 (China); Gao, Guilong; Liang, Lingliang [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Xi' an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi' an 710119 (China); University of the Chinese Academy of Sciences, Beijing 100039 (China); Wen, Wenlong [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China)

2015-11-01

An intelligent control system for an X ray streak camera in a diagnostic instrument manipulator (DIM) is proposed and implemented, which can control time delay, electric focusing, image gain adjustment, switch of sweep voltage, acquiring environment parameters etc. The system consists of 16 A/D converters and 16 D/A converters, a 32-channel general purpose input/output (GPIO) and two sensors. An isolated DC/DC converter with multi-outputs and a single mode fiber were adopted to reduce the interference generated by the common ground among the A/D, D/A and I/O. The software was designed using graphical programming language and can remotely access the corresponding instrument from a website. The entire intelligent control system can acquire the desirable data at a speed of 30 Mb/s and store it for later analysis. The intelligent system was implemented on a streak camera in a DIM and it shows a temporal resolution of 11.25 ps, spatial distortion of less than 10% and dynamic range of 279:1. The intelligent control system has been successfully used in a streak camera to verify the synchronization of multi-channel laser on the Inertial Confinement Fusion Facility.

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.

Teleoperation and computer control of a backhoe/manipulator system

International Nuclear Information System (INIS)

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

1987-01-01

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

Control of a high precision macro-micro robotic manipulator system

International Nuclear Information System (INIS)

Cho, Whang

1997-01-01

A controller for macro-micro robotic manipulator system in which kinematically independent two robotic sub-systems work together to improve the accuracy of the motion is proposed. A nonlinear feedback linearization scheme is employed as basic architecture for the controller and additional formulations about the controller structure are made to assure the robustness of the overall control action and to restrict the motion of micro sub-system close to its nominal position without causing saturation of joint associated with micro-robot. (author)

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

Manipulating Liquids With Acoustic Radiation Pressure Phased Arrays

Science.gov (United States)

Oeftering, Richard C.

1999-01-01

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

Manipulation Robustness of Collaborative Filtering

OpenAIRE

Benjamin Van Roy; Xiang Yan

2010-01-01

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

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).

Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties.

Science.gov (United States)

Li, Zhijun; Su, Chun-Yi

2013-09-01

In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.

Control of master-slave manipulator using virtual force

International Nuclear Information System (INIS)

Kosuge, Kazuhiro; Fukuda, Toshio; Itoh, Tomotaka; Sakamoto, Keizoh; Noma, Yasuo.

1994-01-01

We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system. (author)

Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

Science.gov (United States)

Yang, Z. X.; Yang, W. L.; Du, Z. J.

2018-03-01

Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and actual results proved the rationality of the models.

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.

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...

Robust high-performance control for robotic manipulators

Science.gov (United States)

Seraji, Homayoun (Inventor)

1991-01-01

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

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

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

2016-05-01

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.

Tracking control of the hydraulically actuated flexible manipulator

International Nuclear Information System (INIS)

Kwon, D.S.; Babcock, S.M.; Burks, B.L.; Kress, R.L.

1995-01-01

The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because 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 a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

Manipulating Single Microdroplets of NaCl Solutions

DEFF Research Database (Denmark)

Utoft, Anders; Kinoshita, Koji; Bitterfield, Deborah

2018-01-01

fraction of S = 1.9, the saturation concentration of NaCl in aqueous solution as measured with nanograms of material (5.5 ± 0.1 M), the diffusion coefficient for water in octanol, D = (1.96 ± 0.10) × 10−6 cm2/s, and the effect of the solvent’s activity on dissolution kinetics. It is further shown...... growth are affected by changing the bathing medium from octanol to decane. A much slower loss of water-solvent and concomitant slower up-concentration of the NaCl solute resulted in a lower tendency to nucleate and slower crystal growth because much less excess material was available at the onset...... of nucleation in the decane system as compared to the octanol system. Thus, the crystal structure is reported to be dendritic for NaCl solution microdroplets dissolving rapidly and nucleating violently in octanol, while they are formed as single cubic crystals in a gentler way for solution-dissolution in decane...

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

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

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

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.

Optical Manipulation of a Magnon-Photon Hybrid System.

Science.gov (United States)

Braggio, C; Carugno, G; Guarise, M; Ortolan, A; Ruoso, G

2017-03-10

We demonstrate an all-optical method for manipulating the magnetization in a 1-mm yttrium-iron-garnet (YIG) sphere placed in a ∼0.17  T uniform magnetic field. A harmonic of the frequency comb delivered by a multi-GHz infrared laser source is tuned to the Larmor frequency of the YIG sphere to drive magnetization oscillations, which in turn give rise to a radiation field used to thoroughly investigate the phenomenon. The radiation damping issue that occurs at high frequency and in the presence of highly magnetizated materials has been overcome by exploiting the magnon-photon strong coupling regime in microwave cavities. Our findings demonstrate an effective technique for ultrafast control of the magnetization vector in optomagnetic materials via polarization rotation and intensity modulation of an incident laser beam. We eventually get a second-order susceptibility value of ∼10^{-7}  cm^{2}/MW for single crystal YIG.

Holographic acoustic elements for manipulation of levitated objects

Science.gov (United States)

Marzo, Asier; Seah, Sue Ann; Drinkwater, Bruce W.; Sahoo, Deepak Ranjan; Long, Benjamin; Subramanian, Sriram

2015-10-01

Sound can levitate objects of different sizes and materials through air, water and tissue. This allows us to manipulate cells, liquids, compounds or living things without touching or contaminating them. However, acoustic levitation has required the targets to be enclosed with acoustic elements or had limited manoeuvrability. Here we optimize the phases used to drive an ultrasonic phased array and show that acoustic levitation can be employed to translate, rotate and manipulate particles using even a single-sided emitter. Furthermore, we introduce the holographic acoustic elements framework that permits the rapid generation of traps and provides a bridge between optical and acoustical trapping. Acoustic structures shaped as tweezers, twisters or bottles emerge as the optimum mechanisms for tractor beams or containerless transportation. Single-beam levitation could manipulate particles inside our body for applications in targeted drug delivery or acoustically controlled micro-machines that do not interfere with magnetic resonance imaging.

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

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-07-01

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

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-04-01

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

Effect of the manipulation of exercise order in the tri-set training system

Directory of Open Access Journals (Sweden)

Alex Silva Ribeiro

2013-07-01

Full Text Available The aim of this study was to analyze the effect of the manipulation of two different exercise orders using the tn-set system on the motor performance in exercises for the chest. Ten male (25.6 ± 5.7 years, 77.0 ± 5.8 kg, 172.9 ± 5.0 cm, 25.7 ± 1.4 kg/m2 with experience in resistance training underwent two experimental sessions, in which the subjects performed two sequences of exercises for the chest: SEQA (bench press, incline bench press, and peck deck and SEQB (peck deck, incline bench press, and bench press. The load used allowed 8 to 12 repetitions (80% of 1RM in each exercise. A higher number of repetitions (29 ± 2 reps vs. 26 ± 3 reps, P < 0.001 and a greater total overload (resistance used x repetitions performed = 1,942 ± 172 kg vs. 1,728 ± 234 kg, P < 0.001 were observed in SEQB. The results suggest that in the tn-set system the higher number of repetitions and a greater training volume occur when the single-joint exercise is included before multiple-joint exercises.

SAMSIN: the next-generation servo-manipulator

International Nuclear Information System (INIS)

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

1985-01-01

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

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

Mob/oriT, a mobilizable site-specific recombination system for unmarked genetic manipulation in Bacillus thuringiensis and Bacillus cereus.

Science.gov (United States)

Wang, Pengxia; Zhu, Yiguang; Zhang, Yuyang; Zhang, Chunyi; Xu, Jianyi; Deng, Yun; Peng, Donghai; Ruan, Lifang; Sun, Ming

2016-06-10

Bacillus thuringiensis and Bacillus cereus are two important species in B. cereus group. The intensive study of these strains at the molecular level and construction of genetically modified bacteria requires the development of efficient genetic tools. To insert genes into or delete genes from bacterial chromosomes, marker-less manipulation methods were employed. We present a novel genetic manipulation method for B. thuringiensis and B. cereus strains that does not leave selection markers. Our approach takes advantage of the relaxase Mob02281 encoded by plasmid pBMB0228 from Bacillus thuringiensis. In addition to its mobilization function, this Mob protein can mediate recombination between oriT sites. The Mob02281 mobilization module was associated with a spectinomycin-resistance gene to form a Mob-Spc cassette, which was flanked by the core 24-bp oriT sequences from pBMB0228. A strain in which the wild-type chromosome was replaced with the modified copy containing the Mob-Spc cassette at the target locus was obtained via homologous recombination. Thus, the spectinomycin-resistance gene can be used to screen for Mob-Spc cassette integration mutants. Recombination between the two oriT sequences mediated by Mob02281, encoded by the Mob-Spc cassette, resulted in the excision of the Mob-Spc cassette, producing the desired chromosomal alteration without introducing unwanted selection markers. We used this system to generate an in-frame deletion of a target gene in B. thuringiensis as well as a gene located in an operon of B. cereus. Moreover, we demonstrated that this system can be used to introduce a single gene or an expression cassette of interest in B. thuringiensis. The Mob/oriT recombination system provides an efficient method for unmarked genetic manipulation and for constructing genetically modified bacteria of B. thuringiensis and B. cereus. Our method extends the available genetic tools for B. thuringiensis and B. cereus strains.

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

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

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

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

2018-04-04

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

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

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.

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.

Optical Pushing: A Tool for Parallelized Biomolecule Manipulation

NARCIS (Netherlands)

Sitters, G.; Laurens, N.; de Rijk, E.J.; Kress, H.; Peterman, E.J.G.; Wuite, G.J.L.

2016-01-01

The ability to measure and manipulate single molecules has greatly advanced the field of biophysics. Yet, the addition of more single-molecule tools that enable one to measure in a parallel fashion is important to diversify the questions that can be addressed. Here we present optical pushing (OP), a

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

Science.gov (United States)

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

2015-05-01

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

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.

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

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.

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

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

1993-01-01

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

From Single Microparticles to Microfluidic Emulsification

DEFF Research Database (Denmark)

Kinoshita, K.; Ortiz, Elisa Parra; Hussein, Abdirazak

2016-01-01

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 l...... a very useful tool for understanding microsphere-processes and hence can help to establish process conditions without resorting to expensive and material-consuming bulk particle runs....

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

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

Cooling and manipulation of a levitated nanoparticle with an optical fiber trap

International Nuclear Information System (INIS)

Mestres, Pau; Berthelot, Johann; Spasenović, Marko; Gieseler, Jan; Novotny, Lukas; Quidant, Romain

2015-01-01

Accurate delivery of small targets in high vacuum is a pivotal task in many branches of science and technology. Beyond the different strategies developed for atoms, proteins, macroscopic clusters, and pellets, the manipulation of neutral particles over macroscopic distances still poses a formidable challenge. Here, we report an approach based on a mobile optical trap operated under feedback control that enables cooling and long range 3D manipulation of a silica nanoparticle in high vacuum. We apply this technique to load a single nanoparticle into a high-finesse optical cavity through a load-lock vacuum system. We foresee our scheme to benefit the field of optomechanics with levitating nano-objects as well as ultrasensitive detection and monitoring

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)

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

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

Research approach and first results on agglomerate compaction in protoplanetary dust simulation in the Cloud Manipulation System

Science.gov (United States)

Vedernikov, Andrei; Blum, Jurgen; Ingo Von Borstel, Olaf; Schraepler, Rainer; Balapanov, Daniyar; Cecere, Anselmo

2016-07-01

of growing single agglomerate out of the whole cloud. The cloud manipulation system additionally provides temperature stabilization or, on the contrary, high temperature variation in the observation volume; formation of controlled temperature gradients, intensive three-dimensional periodic shear flow or three-dimensional gas density pulsations of the contraction-expansion type; application of electrostatic gradients including electro dynamic balancing; imposing of photophoretic force, etc. Their choice and/or combination depend upon particular experimental task. Experiments on forced agglomeration in short duration microgravity conditions of the Bremen drop tower succeeded in rapid growth of extended agglomerates, formation of complex three-dimensional cloud patterns, allowed observing controlled cloud displacement, cloud trapping, particle separation with respect to their electrical charge. The breadboard (CMS BB) and the laboratory version of the Cloud Manipulation System (CMS LV) are new types of scientific instrument with high scientific potential. ESA PRODEX program, the Belgian Federal Science Policy Office, DLR project 50WM1223, ZARM Drop Tower Operation and Service Company Ltd. are greatly acknowledged.

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)

Optoelectronic Tweezers for Microparticle and Cell Manipulation

Science.gov (United States)

Wu, Ming Chiang (Inventor); Chiou, Pei-Yu (Inventor); Ohta, Aaron T. (Inventor)

2014-01-01

An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 micromillimeters or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or group of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

BioWord: A sequence manipulation suite for Microsoft Word

Directory of Open Access Journals (Sweden)

Anzaldi Laura J

2012-06-01

Full Text Available Abstract Background The ability to manipulate, edit and process DNA and protein sequences has rapidly become a necessary skill for practicing biologists across a wide swath of disciplines. In spite of this, most everyday sequence manipulation tools are distributed across several programs and web servers, sometimes requiring installation and typically involving frequent switching between applications. To address this problem, here we have developed BioWord, a macro-enabled self-installing template for Microsoft Word documents that integrates an extensive suite of DNA and protein sequence manipulation tools. Results BioWord is distributed as a single macro-enabled template that self-installs with a single click. After installation, BioWord will open as a tab in the Office ribbon. Biologists can then easily manipulate DNA and protein sequences using a familiar interface and minimize the need to switch between applications. Beyond simple sequence manipulation, BioWord integrates functionality ranging from dyad search and consensus logos to motif discovery and pair-wise alignment. Written in Visual Basic for Applications (VBA as an open source, object-oriented project, BioWord allows users with varying programming experience to expand and customize the program to better meet their own needs. Conclusions BioWord integrates a powerful set of tools for biological sequence manipulation within a handy, user-friendly tab in a widely used word processing software package. The use of a simple scripting language and an object-oriented scheme facilitates customization by users and provides a very accessible educational platform for introducing students to basic bioinformatics algorithms.

BioWord: A sequence manipulation suite for Microsoft Word

Science.gov (United States)

2012-01-01

Background The ability to manipulate, edit and process DNA and protein sequences has rapidly become a necessary skill for practicing biologists across a wide swath of disciplines. In spite of this, most everyday sequence manipulation tools are distributed across several programs and web servers, sometimes requiring installation and typically involving frequent switching between applications. To address this problem, here we have developed BioWord, a macro-enabled self-installing template for Microsoft Word documents that integrates an extensive suite of DNA and protein sequence manipulation tools. Results BioWord is distributed as a single macro-enabled template that self-installs with a single click. After installation, BioWord will open as a tab in the Office ribbon. Biologists can then easily manipulate DNA and protein sequences using a familiar interface and minimize the need to switch between applications. Beyond simple sequence manipulation, BioWord integrates functionality ranging from dyad search and consensus logos to motif discovery and pair-wise alignment. Written in Visual Basic for Applications (VBA) as an open source, object-oriented project, BioWord allows users with varying programming experience to expand and customize the program to better meet their own needs. Conclusions BioWord integrates a powerful set of tools for biological sequence manipulation within a handy, user-friendly tab in a widely used word processing software package. The use of a simple scripting language and an object-oriented scheme facilitates customization by users and provides a very accessible educational platform for introducing students to basic bioinformatics algorithms. PMID:22676326

BioWord: a sequence manipulation suite for Microsoft Word.

Science.gov (United States)

Anzaldi, Laura J; Muñoz-Fernández, Daniel; Erill, Ivan

2012-06-07

The ability to manipulate, edit and process DNA and protein sequences has rapidly become a necessary skill for practicing biologists across a wide swath of disciplines. In spite of this, most everyday sequence manipulation tools are distributed across several programs and web servers, sometimes requiring installation and typically involving frequent switching between applications. To address this problem, here we have developed BioWord, a macro-enabled self-installing template for Microsoft Word documents that integrates an extensive suite of DNA and protein sequence manipulation tools. BioWord is distributed as a single macro-enabled template that self-installs with a single click. After installation, BioWord will open as a tab in the Office ribbon. Biologists can then easily manipulate DNA and protein sequences using a familiar interface and minimize the need to switch between applications. Beyond simple sequence manipulation, BioWord integrates functionality ranging from dyad search and consensus logos to motif discovery and pair-wise alignment. Written in Visual Basic for Applications (VBA) as an open source, object-oriented project, BioWord allows users with varying programming experience to expand and customize the program to better meet their own needs. BioWord integrates a powerful set of tools for biological sequence manipulation within a handy, user-friendly tab in a widely used word processing software package. The use of a simple scripting language and an object-oriented scheme facilitates customization by users and provides a very accessible educational platform for introducing students to basic bioinformatics algorithms.

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)

Development of design system of manipulator for fusion reactor maintenance

International Nuclear Information System (INIS)

Ida, Toshio; Niikura, Setsuo; Ishiguro, Akiko; Yamada, Masao; Matsuoka, Fushiki

1989-01-01

A program which supports designers of a manipulator for in-vessel maintenance of a fusion reactor has been developed. The main purpose of this program is to provide the designer with a promising manipulator specification by furnishing useful information. It combines a technique of knowledge engineering with numerical solutions. This program consists of three parts: The first part is to generate candidates for the manipulator using a knowledge base; the second is to evaluate both static and dynamic properties of each candidate through numerical simulation of the maintenance task; and the third is to select the candidates having better performance and feasibility on the basis of the simulation data and knowledge base. The feasibility of the method used in this program is confirmed by the preliminary application. This application also emphasizes the importance of the knowledge base for the candidate generation and selection. Although the degree of freedom of the manipulator is restricted to less than 7 degrees in this study, further development of the capability of manipulator simulation (seven or more degrees of freedom) will enhance the effectiveness of this program. (orig.)

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...

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.

Development of a maintenance manipulator for TFTR

International Nuclear Information System (INIS)

Holloway, C.

1986-01-01

The maintenance manipulator is a device permanently connected to the Tokamak Fusion Test Reactor (TFTR) vacuum vessel and is located in close proximity to the tokamak. It is used for the inspection and maintenance of in-vessel components whilst the machine remains under vacuum. The total system comprises a vacuum vessel ante-chamber that houses the manipulator, an articulated boom and carriage that transports and positions a dexterous end-effector, and end-effector that supports maintenance tooling, and an inspection system. Because of the maintenance manipulator's operating environment, there are many challenging engineering features, i.e., temperatures up to 150 0 C, changing magnetic fields in space and time that act on the manipulator whilst it is at rest, neutron neutron fluxes of up to 10/sup 11/cm/sup -2/s/sup -1/, and, last but not least, UHV conditions. This paper describes the development of the vacuum system, the maintenance manipulator, and inspective devices. It includes the methods employed to overcome the engineering difficulties and the application of information gained from other advanced technology programs, such as space and nuclear fission

Robotic design analysis based on teleoperated manipulator data collection

International Nuclear Information System (INIS)

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

1985-01-01

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

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.

On Enzyme-Based Anticancer Molecular Dietary Manipulations

Directory of Open Access Journals (Sweden)

Andrea Sapone

2012-01-01

Full Text Available Evidence from both epidemiological and experimental observations has fuelled the belief that the high consumption of fruits and vegetables rich in nutrients and phytochemicals may help prevent cancer and heart disease in humans. This concept has been drastically simplified from the dietary approaches to the use of single bioactive components both as a single supplement or in functional foods to manipulate xenobiotic metabolism. These procedures, which aim to induce mutagen/carcinogen detoxification or inhibit their bioactivation, fail to take into account the multiple and paradoxical biological outcomes of enzyme modulators that make their effects unpredictable. Here, we show that the idea that the physiological roles of specific catalysts may be easily manipulated by regular long-term administration of isolated nutrients and other chemicals derived from food plants is not viable. In contrast, we claim that the consumption of healthy diets is most likely to reduce mutagenesis and cancer risk, and that both research endeavours and dietary recommendations should be redirected away from single molecules to dietary patterns as a main strategy for public health policy.

Dual-mode optical fiber-based tweezers for robust trapping and manipulation of absorbing particles in air

Science.gov (United States)

Sil, Souvik; Kanti Saha, Tushar; Kumar, Avinash; Bera, Sudipta K.; Banerjee, Ayan

2017-12-01

We develop an optical tweezers system using a single dual-mode optical fiber where mesoscopic absorbing particles can be trapped in three dimensions and manipulated employing photophoretic forces. We generate a superposition of fundamental and first order Hermite-Gaussian beam modes by the simple innovation of coupling a laser into a commercial optical fiber designed to be single mode for a wavelength higher than that of the laser. We achieve robust trapping of the absorbing particles for hours using both the pure fundamental and superposition mode beams and attain large manipulation velocities of ˜5 mm s-1 in the axial direction and ˜0.75 mm s-1 in the radial direction. We then demonstrate that the superposition mode is more effective in trapping and manipulation compared to the fundamental mode by around 80%, which may be increased several times by the use of a pure first order Hermite-Gaussian mode. The work has promising implications for trapping and spectroscopy of aerosols in air using simple optical fiber-based traps.

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

Directory of Open Access Journals (Sweden)

Jun Zhong

2014-05-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2015-05-04

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

Manual and Instrument Applied Cervical Manipulation for Mechanical Neck Pain: A Randomized Controlled Trial.

Science.gov (United States)

Gorrell, Lindsay M; Beath, Kenneth; Engel, Roger M

2016-06-01

The purpose of this study was to compare the effects of 2 different cervical manipulation techniques for mechanical neck pain (MNP). Participants with MNP of at least 1 month's duration (n = 65) were randomly allocated to 3 groups: (1) stretching (control), (2) stretching plus manually applied manipulation (MAM), and (3) stretching plus instrument-applied manipulation (IAM). MAM consisted of a single high-velocity, low-amplitude cervical chiropractic manipulation, whereas IAM involved the application of a single cervical manipulation using an (Activator IV) adjusting instrument. Preintervention and postintervention measurements were taken of all outcomes measures. Pain was the primary outcome and was measured using visual analogue scale and pressure pain thresholds. Secondary outcomes included cervical range of motion, hand grip-strength, and wrist blood pressure. Follow-up subjective pain scores were obtained via telephone text message 7 days postintervention. Subjective pain scores decreased at 7-day follow-up in the MAM group compared with control (P = .015). Cervical rotation bilaterally (ipsilateral: P = .002; contralateral: P = .015) and lateral flexion on the contralateral side to manipulation (P = .001) increased following MAM. Hand grip-strength on the contralateral side to manipulation (P = .013) increased following IAM. No moderate or severe adverse events were reported. Mild adverse events were reported on 6 occasions (control, 4; MAM, 1; IAM, 1). This study demonstrates that a single cervical manipulation is capable of producing immediate and short-term benefits for MNP. The study also demonstrates that not all manipulative techniques have the same effect and that the differences may be mediated by neurological or biomechanical factors inherent to each technique. Copyright © 2016. Published by Elsevier Inc.

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

Science.gov (United States)

Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

2009-03-01

Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

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.

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

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

On the Dynamics and Control of Free-floating Space Manipulator Systems in the Presence of Angular Momentum

Directory of Open Access Journals (Sweden)

Kostas Nanos

2017-06-01

Full Text Available In this paper, the control of free-floating space manipulator systems with non-zero angular momentum (NZAM, for both motions in the joint and Cartesian space, is studied. Considering NZAM, dynamic models in the joint and Cartesian space are derived. It is shown that the NZAM has a similar result to the effect of gravity in terrestrial fixed base manipulators. Based on these similarities, the application of controllers similar to the ones used for the compensation of gravity in terrestrial fixed base manipulators is proposed here to compensate the effect of angular momentum. To confirm the asymptotic stability of the closed-loop systems, some structural properties of the dynamic models must be satisfied. It is shown that despite the presence of angular momentum, these structural properties still apply. Thus, the proposed controllers can drive the system in the desired position despite the presence of angular momentum. However, the NZAM imposes constraints on the system workspace, where the end-effector can be driven in the Cartesian space. Limitations are discussed and the application of the proposed controllers is illustrated by examples.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

Energy Technology Data Exchange (ETDEWEB)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

International Nuclear Information System (INIS)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon

2016-01-01

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control

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)

Input shaping filter methods for the control of structurally flexible, long-reach manipulators

International Nuclear Information System (INIS)

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

1993-01-01

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. Concepts that utilize long-reach manipulators are being seriously considered for this task. Due to high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operation, various types of shaping filter methods have been investigated. A robust notch filtering method and an impulse shaping method were used as simulation benchmarks. In addition to that, two very different approaches have been developed and compared. One new approach, referred to as a ''feedforward simulation filter,'' uses imbedded simulation with complete knowledge of the system dynamics. The other approach, ''fuzzy shaping method,'' employs a fuzzy logic method to modify the joint trajectory from the desired end-position trajectory without precise knowledge of the system dynamics

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

Manipulation of entanglement and its realisation using trapped ions

International Nuclear Information System (INIS)

Jonathan, Daniel

2001-01-01

Entanglement is a fundamental physical resource at the heart of quantum information theory. This Thesis contributes to its study by approaching it from two separate directions: the laws governing its manipulation, and its creation within a concrete physical setting. I begin by studying the manipulation of entangled pure states of two quantum systems when (i) only a single copy of each system is available and (ii) only a restricted class of physical operations are allowed to be performed on them. One physically reasonable class, denoted LQCC, is the set of all possible quantum operations realised on each system by local agents, who are allowed to communicate with each other only by classical means. Given these conditions, I find a minimal set of entropic-like state functions that completely determine which manipulations can be realised. Applications to useful protocols such as entanglement concentration are discussed. Further elaboration allows also the determination of the most faithful approximation to a given target state that can be attained under LQCC, and the most faithful teleportation protocol achievable when only partial entanglement is available. The study of a more general class of transformations demonstrates that entanglement can also be a re-usable resource. Specifically, I show that the mere presence of further entanglement allows the realisation of transformations which are impossible under LQCC alone. The extra entanglement is not consumed in any way, acting as a 'catalyst'. Applications of this counter-intuitive effect are discussed. In the second part of the Thesis, I turn to the concrete creation and manipulation of entanglement within the system of laser-cooled, trapped ions. After a brief survey of known schemes, I propose a new method for realising two-qubit quantum logic gates within this system. The scheme is based on the AC Stark shift (lightshift) induced by laser light resonant with the ionic transition frequency. At specific laser

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

Full Text Available This paper addresses the energy-inefficiency problem of four-degrees-of-freedom (4-DOF hydraulic manipulators through redundancy resolution in robotic closed-loop controlled applications. Because conventional methods typically are local and have poor performance for resolving redundancy with respect to minimum hydraulic energy consumption, global energy-optimal redundancy resolution is proposed at the valve-controlled actuator and hydraulic power system interaction level. The energy consumption of the widely popular valve-controlled load-sensing (LS and constant-pressure (CP systems is effectively minimised through cost functions formulated in a discrete-time dynamic programming (DP approach with minimum state representation. A prescribed end-effector path and important actuator constraints at the position, velocity and acceleration levels are also satisfied in the solution. Extensive field experiments performed on a forestry hydraulic manipulator demonstrate the performance of the proposed solution. Approximately 15–30% greater hydraulic energy consumption was observed with the conventional methods in the LS and CP systems. These results encourage energy-optimal redundancy resolution in future robotic applications of hydraulic manipulators.

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)

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.

The evolution of teleoperated manipulators at ORNL

International Nuclear Information System (INIS)

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

1996-01-01

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

Positional control of space robot manipulator

Science.gov (United States)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

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

Modeling manipulation in medical education.

Science.gov (United States)

Dailey, Jason I

2010-05-01

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

Contrasting single and multi-component working-memory systems in dual tasking.

Science.gov (United States)

Nijboer, Menno; Borst, Jelmer; van Rijn, Hedderik; Taatgen, Niels

2016-05-01

Working memory can be a major source of interference in dual tasking. However, there is no consensus on whether this interference is the result of a single working memory bottleneck, or of interactions between different working memory components that together form a complete working-memory system. We report a behavioral and an fMRI dataset in which working memory requirements are manipulated during multitasking. We show that a computational cognitive model that assumes a distributed version of working memory accounts for both behavioral and neuroimaging data better than a model that takes a more centralized approach. The model's working memory consists of an attentional focus, declarative memory, and a subvocalized rehearsal mechanism. Thus, the data and model favor an account where working memory interference in dual tasking is the result of interactions between different resources that together form a working-memory system. Copyright © 2016 Elsevier Inc. All rights reserved.

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.

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.

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.

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.

Surgical manipulation of mammalian embryos in vitro.

Science.gov (United States)

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

Whole-embryo culture systems are useful in the fields of not only embryology but also teratology, toxicology, pharmacology, and physiology. Of the many advantages of whole-embryo culture, we focus here on the surgical manipulation of mammalian embryos. Whole-embryo culture allows us to manipulate mammalian embryos, similarly to fish, amphibian and avian embryos. Many surgical experiments have been performed in mammalian embryos in vitro. Such surgical manipulation alters the destiny of morphogenesis of the embryos and can answer many questions concerning developmental issues. As an example of surgical manipulation using whole-embryo culture systems, one of our experiments is described. Microsurgical electrocauterization of the deep preaxial mesodermal programmed cell death zone (fpp) in the footplate prevented the manifestation of polydactyly in genetic polydactyly mouse embryos (Pdn/Pdn), in which fpp was abolished.

Single-Molecule Tribology: Force Microscopy Manipulation of a Porphyrin Derivative on a Copper Surface.

Science.gov (United States)

Pawlak, Rémy; Ouyang, Wengen; Filippov, Alexander E; Kalikhman-Razvozov, Lena; Kawai, Shigeki; Glatzel, Thilo; Gnecco, Enrico; Baratoff, Alexis; Zheng, Quanshui; Hod, Oded; Urbakh, Michael; Meyer, Ernst

2016-01-26

The low-temperature mechanical response of a single porphyrin molecule attached to the apex of an atomic force microscope (AFM) tip during vertical and lateral manipulations is studied. We find that approach-retraction cycles as well as surface scanning with the terminated tip result in atomic-scale friction patterns induced by the internal reorientations of the molecule. With a joint experimental and computational effort, we identify the dicyanophenyl side groups of the molecule interacting with the surface as the dominant factor determining the observed frictional behavior. To this end, we developed a generalized Prandtl-Tomlinson model parametrized using density functional theory calculations that includes the internal degrees of freedom of the side group with respect to the core and its interactions with the underlying surface. We demonstrate that the friction pattern results from the variations of the bond length and bond angles between the dicyanophenyl side group and the porphyrin backbone as well as those of the CN group facing the surface during the lateral and vertical motion of the AFM tip.

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.

Manipulators inspired by the tongue of the chameleon.

Science.gov (United States)

Debray, Alexis

2011-06-01

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

Manipulators inspired by the tongue of the chameleon

International Nuclear Information System (INIS)

Debray, Alexis

2011-01-01

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

Manipulators inspired by the tongue of the chameleon

Energy Technology Data Exchange (ETDEWEB)

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

2011-06-15

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

Nanochannel Device with Embedded Nanopore: a New Approach for Single-Molecule DNA Analysis and Manipulation

Science.gov (United States)

Zhang, Yuning; Reisner, Walter

2013-03-01

Nanopore and nanochannel based devices are robust methods for biomolecular sensing and single DNA manipulation. Nanopore-based DNA sensing has attractive features that make it a leading candidate as a single-molecule DNA sequencing technology. Nanochannel based extension of DNA, combined with enzymatic or denaturation-based barcoding schemes, is already a powerful approach for genome analysis. We believe that there is revolutionary potential in devices that combine nanochannels with embedded pore detectors. In particular, due to the fast translocation of a DNA molecule through a standard nanopore configuration, there is an unfavorable trade-off between signal and sequence resolution. With a combined nanochannel-nanopore device, based on embedding a pore inside a nanochannel, we can in principle gain independent control over both DNA translocation speed and sensing signal, solving the key draw-back of the standard nanopore configuration. We demonstrate that we can optically detect successful translocation of DNA from the nanochannel out through the nanopore, a possible method to 'select' a given barcode for further analysis. In particular, we show that in equilibrium DNA will not escape through an embedded sub-persistence length nanopore, suggesting that the pore could be used as a nanoscale window through which to interrogate a nanochannel extended DNA molecule. Furthermore, electrical measurements through the nanopore are performed, indicating that DNA sensing is feasible using the nanochannel-nanopore device.

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)

The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

Directory of Open Access Journals (Sweden)

Bin Zi

2012-08-01

Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

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.

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

Science.gov (United States)

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

2009-01-01

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

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 ...

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

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)

Interpersonal relationship manipulation at a personal level

Directory of Open Access Journals (Sweden)

Andreja Hribernik

2010-12-01

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

A digital joint controller for manipulators

International Nuclear Information System (INIS)

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

1993-01-01

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

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.

Effect of ambient humidity on the strength of the adhesion force of single yeast cell inside environmental-SEM

International Nuclear Information System (INIS)

Shen, Yajing; Nakajima, Masahiro; Ridzuan Ahmad, Mohd; Kojima, Seiji; Homma, Michio; Fukuda, Toshio

2011-01-01

A novel method for measuring an adhesion force of single yeast cell is proposed based on a nanorobotic manipulation system inside an environmental scanning electron microscope (ESEM). The effect of ambient humidity on a single yeast cell adhesion force was studied. Ambient humidity was controlled by adjusting the chamber pressure and temperature inside the ESEM. It has been demonstrated that a thicker water film was formed at a higher humidity condition. The adhesion force between an atomic force microscopy (AFM) cantilever and a tungsten probe which later on known as a substrate was evaluated at various humidity conditions. A micro-puller was fabricated from an AFM cantilever by use of focused ion beam (FIB) etching. The adhesion force of a single yeast cell (W303) to the substrate was measured using the micro-puller at the three humidity conditions: 100%, 70%, and 40%. The results showed that the adhesion force between the single yeast cell and the substrate is much smaller at higher humidity condition. The yeast cells were still alive after being observed and manipulated inside ESEM based on the result obtained from the re-culturing of the single yeast cell. The results from this work would help us to understand the ESEM system better and its potential benefit to the single cell analysis research. -- Research highlights: → A nanorobotic manipulation system was developed inside an ESEM. → A micro-puller was designed for single yeast cell adhesion force measurement. → Yeast cells were still alive after being observed and manipulated inside ESEM. → Yeast cell adhesion force to substrate is smaller at high humidity condition than at low humidity condition.

Effect of ambient humidity on the strength of the adhesion force of single yeast cell inside environmental-SEM

Energy Technology Data Exchange (ETDEWEB)

Shen, Yajing, E-mail: shen@robo.mein.nagoya-u.ac.jp [Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603 (Japan); Nakajima, Masahiro [Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603 (Japan); Ridzuan Ahmad, Mohd [Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai 81310 (Malaysia); Kojima, Seiji; Homma, Michio [Department of Biological Science, Graduate School of Science, Nagoya University, Nagoya 464-8602 (Japan); Fukuda, Toshio [Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603 (Japan)

2011-07-15

A novel method for measuring an adhesion force of single yeast cell is proposed based on a nanorobotic manipulation system inside an environmental scanning electron microscope (ESEM). The effect of ambient humidity on a single yeast cell adhesion force was studied. Ambient humidity was controlled by adjusting the chamber pressure and temperature inside the ESEM. It has been demonstrated that a thicker water film was formed at a higher humidity condition. The adhesion force between an atomic force microscopy (AFM) cantilever and a tungsten probe which later on known as a substrate was evaluated at various humidity conditions. A micro-puller was fabricated from an AFM cantilever by use of focused ion beam (FIB) etching. The adhesion force of a single yeast cell (W303) to the substrate was measured using the micro-puller at the three humidity conditions: 100%, 70%, and 40%. The results showed that the adhesion force between the single yeast cell and the substrate is much smaller at higher humidity condition. The yeast cells were still alive after being observed and manipulated inside ESEM based on the result obtained from the re-culturing of the single yeast cell. The results from this work would help us to understand the ESEM system better and its potential benefit to the single cell analysis research. -- Research highlights: {yields} A nanorobotic manipulation system was developed inside an ESEM. {yields} A micro-puller was designed for single yeast cell adhesion force measurement. {yields} Yeast cells were still alive after being observed and manipulated inside ESEM. {yields} Yeast cell adhesion force to substrate is smaller at high humidity condition than at low humidity condition.

Rotor-Flying Manipulator: Modeling, Analysis, and Control

Directory of Open Access Journals (Sweden)

Bin Yang

2014-01-01

Full Text Available Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM, are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance.

Probabilistic approach to manipulator kinematics and dynamics

International Nuclear Information System (INIS)

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

2001-01-01

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

Can we manipulate root system architecture to control soil erosion?

Science.gov (United States)

Ola, A.; Dodd, I. C.; Quinton, J. N.

2015-09-01

Soil erosion is a major threat to soil functioning. The use of vegetation to control erosion has long been a topic for research. Much of this research has focused on the above-ground properties of plants, demonstrating the important role that canopy structure and cover plays in the reduction of water erosion processes. Less attention has been paid to plant roots. Plant roots are a crucial yet under-researched factor for reducing water erosion through their ability to alter soil properties, such as aggregate stability, hydraulic function and shear strength. However, there have been few attempts to specifically manipulate plant root system properties to reduce soil erosion. Therefore, this review aims to explore the effects that plant roots have on soil erosion and hydrological processes, and how plant root architecture might be manipulated to enhance its erosion control properties. We demonstrate the importance of root system architecture for the control of soil erosion. We also show that some plant species respond to nutrient-enriched patches by increasing lateral root proliferation. The erosional response to root proliferation will depend upon its location: at the soil surface dense mats of roots may reduce soil erodibility but block soil pores thereby limiting infiltration, enhancing runoff. Additionally, in nutrient-deprived regions, root hair development may be stimulated and larger amounts of root exudates released, thereby improving aggregate stability and decreasing erodibility. Utilizing nutrient placement at specific depths may represent a potentially new, easily implemented, management strategy on nutrient-poor agricultural land or constructed slopes to control erosion, and further research in this area is needed.

Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

Energy Technology Data Exchange (ETDEWEB)

Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.; Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States); Basher, A.M.H. [South Carolina State Univ., Orangeburg, SC (United States)

1996-09-01

To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (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 hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

International Nuclear Information System (INIS)

Kress, R.L.; Jansen, J.F.; Basher, A.M.H.

1996-09-01

To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (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 hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

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.

Interaction control of a redundant mobile manipulator

International Nuclear Information System (INIS)

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

1998-01-01

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

Probing the Evaporation Dynamics of Ethanol/Gasoline Biofuel Blends Using Single Droplet Manipulation Techniques.

Science.gov (United States)

Corsetti, Stella; Miles, Rachael E H; McDonald, Craig; Belotti, Yuri; Reid, Jonathan P; Kiefer, Johannes; McGloin, David

2015-12-24

Using blends of bioethanol and gasoline as automotive fuel leads to a net decrease in the production of harmful emission compared to the use of pure fossil fuel. However, fuel droplet evaporation dynamics change depending on the mixing ratio. Here we use single particle manipulation techniques to study the evaporation dynamics of ethanol/gasoline blend microdroplets. The use of an electrodynamic balance enables measurements of the evaporation of individual droplets in a controlled environment, while optical tweezers facilitate studies of the behavior of droplets inside a spray. Hence, the combination of both methods is perfectly suited to obtain a complete picture of the evaporation process. The influence of adding varied amounts of ethanol to gasoline is investigated, and we observe that droplets with a greater fraction of ethanol take longer to evaporate. Furthermore, we find that our methods are sensitive enough to observe the presence of trace amounts of water in the droplets. A theoretical model, predicting the evaporation of ethanol and gasoline droplets in dry nitrogen gas, is used to explain the experimental results. Also a theoretical estimation of the saturation of the environment, with other aerosols, in the tweezers is carried out.

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

International Nuclear Information System (INIS)

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

1975-11-01

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

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...

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)

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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.)

Universal and Deterministic Manipulation of the Quantum State of Harmonic Oscillators: A Route to Unitary Gates for Fock State Qubits

International Nuclear Information System (INIS)

Santos, Marcelo Franca

2005-01-01

We present a simple quantum circuit that allows for the universal and deterministic manipulation of the quantum state of confined harmonic oscillators. The scheme is based on the selective interactions of the referred oscillator with an auxiliary three-level system and a classical external driving source, and enables any unitary operations on Fock states, two by two. One circuit is equivalent to a single qubit unitary logical gate on Fock states qubits. Sequences of similar protocols allow for complete, deterministic, and state-independent manipulation of the harmonic oscillator quantum state

Two different strategies of host manipulation allow parasites to persist in intermediate-definitive host systems

NARCIS (Netherlands)

Vries, de L.J.; Langevelde, van F.

2018-01-01

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:

Single particle detecting telescope system

International Nuclear Information System (INIS)

Yamamoto, I.; Tomiyama, T.; Iga, Y.; Komatsubara, T.; Kanada, M.; Yamashita, Y.; Wada, T.; Furukawa, S.

1981-01-01

We constructed the single particle detecting telescope system for detecting a fractionally charged particle. The telescope consists of position detecting counters, wall-less multi-cell chambers, single detecting circuits and microcomputer system as data I/0 processor. Especially, a frequency of double particle is compared the case of the single particle detecting with the case of an ordinary measurement

Three-dimensional holographic optical manipulation through a high-numerical-aperture soft-glass multimode fibre

Science.gov (United States)

Leite, Ivo T.; Turtaev, Sergey; Jiang, Xin; Šiler, Martin; Cuschieri, Alfred; Russell, Philip St. J.; Čižmár, Tomáš

2018-01-01

Holographic optical tweezers (HOT) hold great promise for many applications in biophotonics, allowing the creation and measurement of minuscule forces on biomolecules, molecular motors and cells. Geometries used in HOT currently rely on bulk optics, and their exploitation in vivo is compromised by the optically turbid nature of tissues. We present an alternative HOT approach in which multiple three-dimensional (3D) traps are introduced through a high-numerical-aperture multimode optical fibre, thus enabling an equally versatile means of manipulation through channels having cross-section comparable to the size of a single cell. Our work demonstrates real-time manipulation of 3D arrangements of micro-objects, as well as manipulation inside otherwise inaccessible cavities. We show that the traps can be formed over fibre lengths exceeding 100 mm and positioned with nanometric resolution. The results provide the basis for holographic manipulation and other high-numerical-aperture techniques, including advanced microscopy, through single-core-fibre endoscopes deep inside living tissues and other complex environments.

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.

Computational and empirical simulations of selective memory impairments: Converging evidence for a single-system account of memory dissociations.

Science.gov (United States)

Curtis, Evan T; Jamieson, Randall K

2018-04-01

Current theory has divided memory into multiple systems, resulting in a fractionated account of human behaviour. By an alternative perspective, memory is a single system. However, debate over the details of different single-system theories has overshadowed the converging agreement among them, slowing the reunification of memory. Evidence in favour of dividing memory often takes the form of dissociations observed in amnesia, where amnesic patients are impaired on some memory tasks but not others. The dissociations are taken as evidence for separate explicit and implicit memory systems. We argue against this perspective. We simulate two key dissociations between classification and recognition in a computational model of memory, A Theory of Nonanalytic Association. We assume that amnesia reflects a quantitative difference in the quality of encoding. We also present empirical evidence that replicates the dissociations in healthy participants, simulating amnesic behaviour by reducing study time. In both analyses, we successfully reproduce the dissociations. We integrate our computational and empirical successes with the success of alternative models and manipulations and argue that our demonstrations, taken in concert with similar demonstrations with similar models, provide converging evidence for a more general set of single-system analyses that support the conclusion that a wide variety of memory phenomena can be explained by a unified and coherent set of principles.

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

Heralded wave packet manipulation and storage of a frequency-converted pair photon at telecom wavelength

Science.gov (United States)

Kroh, Tim; Ahlrichs, Andreas; Sprenger, Benjamin; Benson, Oliver

2017-09-01

Future quantum networks require a hybrid platform of dissimilar quantum systems. Within the platform, joint quantum states have to be mediated either by single photons, photon pairs or entangled photon pairs. The photon wavelength has to lie within the telecommunication band to enable long-distance fibre transmission. In addition, the temporal shape of the photons needs to be tailored to efficiently match the involved quantum systems. Altogether, this requires the efficient coherent wavelength-conversion of arbitrarily shaped single-photon wave packets. Here, we demonstrate the heralded temporal filtering of single photons as well as the synchronisation of state manipulation and detection as key elements in a typical experiment, besides of delaying a photon in a long fibre. All three are realised by utilising commercial telecommunication fibre-optical components which will permit the transition of quantum networks from the lab to real-world applications. The combination of these renders a temporally filtering single-photon storage in a fast switchable fibre loop possible.

Radical Chemistry and Charge Manipulation with an Atomic Force Microscope

Science.gov (United States)

Gross, Leo

The fuctionalization of tips by atomic manipulation dramatically increased the resolution of atomic force microscopy (AFM). The combination of high-resolution AFM with atomic manipulation now offers the unprecedented possibility to custom-design individual molecules by making and breaking bonds with the tip of the microscope and directly characterizing the products on the atomic scale. We recently applied this technique to generate and study reaction intermediates and to investigate chemical reactions trigged by atomic manipulation. We formed diradicals by dissociating halogen atoms and then reversibly triggered ring-opening and -closing reactions via atomic manipulation, allowing us to switch and control the molecule's reactivity, magnetic and optical properties. Additional information about charge states and charge distributions can be obtained by Kelvin probe force spectroscopy. On multilayer insulating films we investigated single-electron attachment, detachment and transfer between individual molecules. EU ERC AMSEL (682144), EU project PAMS (610446).

SSSFD manipulator engineering using statistical experiment design techniques

Science.gov (United States)

Barnes, John

1991-01-01

The Satellite Servicer System Flight Demonstration (SSSFD) program is a series of Shuttle flights designed to verify major on-orbit satellite servicing capabilities, such as rendezvous and docking of free flyers, Orbital Replacement Unit (ORU) exchange, and fluid transfer. A major part of this system is the manipulator system that will perform the ORU exchange. The manipulator must possess adequate toolplate dexterity to maneuver a variety of EVA-type tools into position to interface with ORU fasteners, connectors, latches, and handles on the satellite, and to move workpieces and ORUs through 6 degree of freedom (dof) space from the Target Vehicle (TV) to the Support Module (SM) and back. Two cost efficient tools were combined to perform a study of robot manipulator design parameters. These tools are graphical computer simulations and Taguchi Design of Experiment methods. Using a graphics platform, an off-the-shelf robot simulation software package, and an experiment designed with Taguchi's approach, the sensitivities of various manipulator kinematic design parameters to performance characteristics are determined with minimal cost.

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

International Nuclear Information System (INIS)

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

1998-03-01

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

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

Manipulation of microfluidic droplets by electrorheological fluid

KAUST Repository

Zhang, Menying

2009-09-01

Microfluidics, especially droplet microfluidics, attracts more and more researchers from diverse fields, because it requires fewer materials and less time, produces less waste and has the potential of highly integrated and computer-controlled reaction processes for chemistry and biology. Electrorheological fluid, especially giant electrorheological fluid (GERF), which is considered as a kind of smart material, has been applied to the microfluidic systems to achieve active and precise control of fluid by electrical signal. In this review article, we will introduce recent results of microfluidic droplet manipulation, GERF and some pertinent achievements by introducing GERF into microfluidic system: digital generation, manipulation of "smart droplets" and droplet manipulation by GERF. Once it is combined with real-time detection, integrated chip with multiple functions can be realized. © 2009 Wiley-VCH Verlag GmbH & Co. KGaA.

Two-Dimensional Programmable Manipulation of Magnetic Nanoparticles on-Chip

DEFF Research Database (Denmark)

Sarella, Anandakumar; Torti, Andrea; Donolato, Marco

2014-01-01

A novel device is designed for on-chip selective trap and two-dimensional remote manipulation of single and multiple fluid-borne magnetic particles using field controlled magnetic domain walls in circular nanostructures. The combination of different ring-shaped nanostructures and field sequences ...

Electrical manipulation of the light emission of single CdSe/CdS nanorods

International Nuclear Information System (INIS)

Mueller, J.

2005-01-01

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 and lead to a time

Advances in single chain technology.

Science.gov (United States)

Gonzalez-Burgos, Marina; Latorre-Sanchez, Alejandro; Pomposo, José A

2015-10-07

The recent ability to manipulate and visualize single atoms at atomic level has given rise to modern bottom-up nanotechnology. Similar exquisite degree of control at the individual polymeric chain level for producing functional soft nanoentities is expected to become a reality in the next few years through the full development of so-called "single chain technology". Ultra-small unimolecular soft nano-objects endowed with useful, autonomous and smart functions are the expected, long-term valuable output of single chain technology. This review covers the recent advances in single chain technology for the construction of soft nano-objects via chain compaction, with an emphasis in dynamic, letter-shaped and compositionally unsymmetrical single rings, complex multi-ring systems, single chain nanoparticles, tadpoles, dumbbells and hairpins, as well as the potential end-use applications of individual soft nano-objects endowed with useful functions in catalysis, sensing, drug delivery and other uses.

[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.

Machine Learnig for Robotic Manipulation in cluttered environments

OpenAIRE

Alet Puig, Ferran

2016-01-01

In this thesis we focus on designing the planner for MIT s entry in the Amazon Picking Challenge, a robotic competition aiming at pushing the frontiers of manipulation until robots can substitute human pickers in warehouses. Given a set of manipulation primitives (such as grasping, suction, scooping, placing or pushing) we designed a system capable of learning a planner from a set of manipulation experiments. After learning, given any configuration of objects, the planner can come up with the...

Currency Manipulation versus Current Account Manipulation

OpenAIRE

Junning Cai

2005-01-01

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

Acoustic Devices for Particle and Cell Manipulation and Sensing

Directory of Open Access Journals (Sweden)

Yongqiang Qiu

2014-08-01

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

Novel Techniques for Quantum State Manipulation in Mesoscopic Systems

National Research Council Canada - National Science Library

Lukin, Mikhail

2005-01-01

...-out. We showed how realistic charge manipulation and measurement techniques, combined with the exchange interaction, allowed for the robust generation and purification of four particle spin entangled...

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.

Development of an optimum end-effector with a nano-scale uneven surface for non-adhesion cell manipulation using a micro-manipulator

International Nuclear Information System (INIS)

Horade, M; Kojima, M; Kamiyama, K; Kurata, T; Mae, Y; Arai, T

2015-01-01

In order to realize effective micro-manipulation using a micro-manipulator system, an optimum end-effector is proposed. Cell-manipulation experiments using mouse fibroblast cells are conducted, and the usability of the proposed end-effector is confirmed. A key advantage of the micro-manipulator is high-accuracy, high-speed 3D micro- and nano-scale positioning. Micro-manipulation has often been used in research involving biological cells. However, there are two important concerns with the micro-manipulator system: gripping efficiency and the release of gripped objects. When it is not possible to grip a micro-object, such as a cell, near its center, the object may be dropped during manipulation. Since the acquisition of exact position information for a micro-object in the vertical direction is difficult using a microscope, the gripping efficiency of the end-effector should be improved. Therefore, technical skill or operational support is required. Since, on the micro-scale, surface forces such as the adsorption force are greater than body forces, such as the gravitational force, the adhesion force between the end-effector and the object is strong. Therefore, manipulation techniques without adhesion are required for placed an object at an arbitrary position. In the present study, we consider direct physical contact between the end-effector and objects. First, the design and materials of the end-effector for micro-scale manipulation were optimized, and an end-effector with an optimum shape to increase the grip force was fabricated. Second, the surface of the end-effector tip was made uneven, and the adhesion force from increasing on the micro-scale was prevented. When an end-effector with an uneven surface was used, release without adhesion was successful 85.0% of the time. On the other hand, when an end-effector without an uneven surface was used, release without adhesion was successful 6.25% of the time. Therefore, the superiority of a structure with an uneven

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

International Nuclear Information System (INIS)

Burden, C.

1996-01-01

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

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

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

A Model Vision of Sorting System Application Using Robotic Manipulator

Directory of Open Access Journals (Sweden)

Maralo Sinaga

2010-08-01

Full Text Available Image processing in today’s world grabs massive attentions as it leads to possibilities of broaden application in many fields of high technology. The real challenge is how to improve existing sorting system in the Moduler Processing System (MPS laboratory which consists of four integrated stations of distribution, testing, processing and handling with a new image processing feature. Existing sorting method uses a set of inductive, capacitive and optical sensors do differentiate object color. This paper presents a mechatronics color sorting system solution with the application of image processing. Supported by OpenCV, image processing procedure senses the circular objects in an image captured in realtime by a webcam and then extracts color and position information out of it. This information is passed as a sequence of sorting commands to the manipulator (Mitsubishi Movemaster RV-M1 that does pick-and-place mechanism. Extensive testing proves that this color based object sorting system works 100% accurate under ideal condition in term of adequate illumination, circular objects’ shape and color. The circular objects tested for sorting are silver, red and black. For non-ideal condition, such as unspecified color the accuracy reduces to 80%.

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.)

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

Characterization of the cellular response triggered by gold nanoparticle-mediated laser manipulation.

Science.gov (United States)

Kalies, Stefan; Keil, Sebastian; Sender, Sina; Hammer, Susanne C; Antonopoulos, Georgios C; Schomaker, Markus; Ripken, Tammo; Murua Escobar, Hugo; Meyer, Heiko; Heinemann, Dag

2015-11-01

Laser-based transfection techniques have proven high applicability in several cell biologic applications. The delivery of different molecules using these techniques has been extensively investigated. In particular, new high-throughput approaches such as gold nanoparticle–mediated laser transfection allow efficient delivery of antisense molecules or proteins into cells preserving high cell viabilities. However, the cellular response to the perforation procedure is not well understood. We herein analyzed the perforation kinetics of single cells during resonant gold nanoparticle–mediated laser manipulation with an 850-ps laser system at a wavelength of 532 nm. Inflow velocity of propidium iodide into manipulated cells reached a maximum within a few seconds. Experiments based on the inflow of FM4-64 indicated that the membrane remains permeable for a few minutes for small molecules. To further characterize the cellular response postmanipulation, we analyzed levels of oxidative heat or general stress. Although we observed an increased formation of reactive oxygen species by an increase of dichlorofluorescein fluorescence, heat shock protein 70 was not upregulated in laser-treated cells. Additionally, no evidence of stress granule formation was visible by immunofluorescence staining. The data provided in this study help to identify the cellular reactions to gold nanoparticle–mediated laser manipulation.

Task-oriented structural design of manipulators based on operability evaluation

International Nuclear Information System (INIS)

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

1995-01-01

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

Dielectrophoretic Manipulation and Separation of Microparticles Using Microarray Dot Electrodes

Directory of Open Access Journals (Sweden)

Bashar Yafouz

2014-04-01

Full Text Available This paper introduces a dielectrophoretic system for the manipulation and separation of microparticles. The system is composed of five layers and utilizes microarray dot electrodes. We validated our system by conducting size-dependent manipulation and separation experiments on 1, 5 and 15 μm polystyrene particles. Our findings confirm the capability of the proposed device to rapidly and efficiently manipulate and separate microparticles of various dimensions, utilizing positive and negative dielectrophoresis (DEP effects. Larger size particles were repelled and concentrated in the center of the dot by negative DEP, while the smaller sizes were attracted and collected by the edge of the dot by positive DEP.

Manipulation of biological samples using micro and nano techniques.

Science.gov (United States)

Castillo, Jaime; Dimaki, Maria; Svendsen, Winnie Edith

2009-01-01

The constant interest in handling, integrating and understanding biological systems of interest for the biomedical field, the pharmaceutical industry and the biomaterial researchers demand the use of techniques that allow the manipulation of biological samples causing minimal or no damage to their natural structure. Thanks to the advances in micro- and nanofabrication during the last decades several manipulation techniques offer us the possibility to image, characterize and manipulate biological material in a controlled way. Using these techniques the integration of biomaterials with remarkable properties with physical transducers has been possible, giving rise to new and highly sensitive biosensing devices. This article reviews the different techniques available to manipulate and integrate biological materials in a controlled manner either by sliding them along a surface (2-D manipulation), by grapping them and moving them to a new position (3-D manipulation), or by manipulating and relocating them applying external forces. The advantages and drawbacks are mentioned together with examples that reflect the state of the art of manipulation techniques for biological samples (171 references).

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

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

2002-01-01

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

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.

Microfluidics for single cell analysis

DEFF Research Database (Denmark)

Jensen, Marie Pødenphant

Isolation and manipulation of single cells have gained an increasing interest from researchers because of the heterogeneity of cells from the same cell culture. Single cell analysis can ensure a better understanding of differences between individual cells and potentially solve a variety of clinical...... problems. In this thesis lab on a chip systems for rare single cell analysis are investigated. The focus was to develop a commercial, disposable device for circulating tumour cell (CTC) analysis. Such a device must be able to separate rare cells from blood samples and subsequently capture the specific...... cells, and simultaneously be fabricated and operated at low costs and be user-friendly. These challenges were addressed through development of two microfluidic devices, one for rare cell isolation based on pinched flow fractionation (PFF) and one for single cell capture based on hydrodynamic trapping...

Controlled Manipulation of Individual Vortices in a Superconductor

Energy Technology Data Exchange (ETDEWEB)

Straver, E.W.J.

2010-04-05

We report controlled local manipulation of single vortices by low temperature magnetic force microscope (MFM) in a thin film of superconducting Nb. We are able to position the vortices in arbitrary configurations and to measure the distribution of local depinning forces. This technique opens up new possibilities for the characterization and use of vortices in superconductors.

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 over 16 hours. Moreover, we demonstrate the controlled transport and release of individual yeast cells via displacement and annihilation of individual domain walls in micro- and nano-sized magnetic structures. These results pave the way to the implementation of magnetic devices based on domain...... walls technology in lab-on-chip systems devoted to accurate individual cell trapping and manipulation....

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)

Dynamic whole-body robotic manipulation

Science.gov (United States)

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

2013-05-01

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

A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 3: Concept analysis. Part 1: Technical

Science.gov (United States)

1972-01-01

Information backing up the key features of the manipulator system concept and detailed technical information on the subsystems are presented. Space station assembly and shuttle cargo handling tasks are emphasized in the concept analysis because they involve shuttle berthing, transferring the manipulator boom between shuttle and station, station assembly, and cargo handling. Emphasis is also placed on maximizing commonality in the system areas of manipulator booms, general purpose end effectors, control and display, data processing, telemetry, dedicated computers, and control station design.

Adaptive Control Of Remote Manipulator

Science.gov (United States)

Seraji, Homayoun

1989-01-01

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

A manipulator

International Nuclear Information System (INIS)

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

1984-01-01

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

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

OpenAIRE

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

2009-01-01

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

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

Manipulation of Microobjects Based on Dynamic Adhesion Control

Directory of Open Access Journals (Sweden)

Tao Chen

2012-09-01

Full Text Available Due to scale effects, microoperation, especially the releasing of microobjects, has been a long-standing challenge in micromanipulation applications. In this paper a micromanipulation method is presented based on dynamic adhesion control with compound vibration. This adhesion control technique employs inertia force to overcome adhesion force achieving 100% repeatability with releasing accuracy of 4± 0.5μm, which was experimentally quantified through the manipulation of 20–100μm polystyrene spheres under an optical microscope. The micromanipulation system consists of a microgripper and a piezoelectric ceramics module. The compound vibration comes from the electrostatic actuator and the piezoelectrically driven actuator. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Experimental results confirmed that this adhesion control technique is independent of substrate. Theoretical analyses were conducted to understand the picking up and releasing mechanism. Based on this preliminary study, the micromanipulation system proved to be an effective solution for active picking up and releasing of micromanipulation.

Mental Models and Deliberate Manipulation of Data

DEFF Research Database (Denmark)

Koester, Thomas; Jakobsen, Jeanette; Brøsted, Jesper Ejdorf

2015-01-01

Human factors risk analysis and usability tests in telemedicine contexts primarily seek to investigate how to reduce the likelihood of slips, lapses and mistakes. However, to ensure trustworthiness in e-health data, one must also be aware of more intentional patient actions which could potentially...... 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....

Advanced Bimanual Manipulation Results from the DEXMART Project

CERN Document Server

2012-01-01

Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Perspectives on object manipulation and action grammar for percussive actions in primates.

Science.gov (United States)

Hayashi, Misato

2015-11-19

The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of object manipulation in naive chimpanzees after nut-cracking demonstrations revealed the cause of difficulties in learning nut-cracking behaviour. Various types of behaviours exhibited within a nut-cracking context can be examined in terms of the application of problem-solving strategies, focusing on their basis in causal understanding or insightful intentionality. Captive chimpanzees also exhibit complex forms of combinatory manipulation, which is the precursor of tool use. A new notation system of object manipulation was invented to assess grammatical rules in manipulative actions. The notation system of action grammar enabled direct comparisons to be made between primates including humans in a variety of object-manipulation tasks, including percussive-tool use. © 2015 The Author(s).

Multi-purpose mid-plane manipulator for plasma surface interaction research in KSTAR

Energy Technology Data Exchange (ETDEWEB)

Son, S.H., E-mail: ssh0609@nfri.re.kr [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Hong, S.-H. [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Department of Electrical Engineering, HanYang University, Seoul 133-791 (Korea, Republic of); Department of Accelerator and Nuclear Fusion Physics and Engineering, Korea University of Science and Technology, Daejeon 305-333 (Korea, Republic of); Kim, Junghee [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Kim, Jun Young [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Department of Accelerator and Nuclear Fusion Physics and Engineering, Korea University of Science and Technology, Daejeon 305-333 (Korea, Republic of); Kim, H.S. [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Ding, F.; Luo, G.-N. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 1126 (China); Németh, J.; Zoletnik, S. [Institute for Particle and Nuclear Physics (RMI), Wigner RCP, Hungarian Academy of Sciences, Budapest (Hungary); Fenyvesi, A. [Institute for Nuclear Physis (MTA Atomki), Hungarian Academy of Sciences, Devrecent (Hungary); Pitts, R. [ITER Organization, Route de Vinon-surVerdon, 13115 Saint Paul-lez-Durance (France)

2016-11-01

Highlights: • A multi-purpose mid-plane manipulator system has been developed and installed at the mid-plane of the KSTAR vacuum vessel. • It presents mechanial structure and function for multi-purpose manipulator system. • The changeable head part allows change the samples and probe during inter-shot/day without breaking vacuum system in KSTAR which gives flexibility for various PSI studies in a campaign. - Abstract: A multi-purpose mid-plane manipulator system has been developed and installed at the mid-plane of the KSTAR vacuum vessel. The system serves as user facility which allows to cover various topics of researches in plasma-surface interaction (PSI) including material sample test and PSI diagnostic. The multi-purpose mid-plane manipulator system has a 4 m long cantilever structure with a 3 m long moving shaft. The system is equipped with a differential pumping system for the independent installation and removal of samples and diagnostic without vacuum break of KSTAR. The sample mounting head at the end of the shaft can reach the position of the outer boundary of ∼10 cm away from the last closed flux surface (LCFS). In this paper, selected PSI related experiments by using the manipulator are introduced.

Multi-purpose mid-plane manipulator for plasma surface interaction research in KSTAR

International Nuclear Information System (INIS)

Son, S.H.; Hong, S.-H.; Kim, Junghee; Kim, Jun Young; Kim, H.S.; Ding, F.; Luo, G.-N.; Németh, J.; Zoletnik, S.; Fenyvesi, A.; Pitts, R.

2016-01-01

Highlights: • A multi-purpose mid-plane manipulator system has been developed and installed at the mid-plane of the KSTAR vacuum vessel. • It presents mechanial structure and function for multi-purpose manipulator system. • The changeable head part allows change the samples and probe during inter-shot/day without breaking vacuum system in KSTAR which gives flexibility for various PSI studies in a campaign. - Abstract: A multi-purpose mid-plane manipulator system has been developed and installed at the mid-plane of the KSTAR vacuum vessel. The system serves as user facility which allows to cover various topics of researches in plasma-surface interaction (PSI) including material sample test and PSI diagnostic. The multi-purpose mid-plane manipulator system has a 4 m long cantilever structure with a 3 m long moving shaft. The system is equipped with a differential pumping system for the independent installation and removal of samples and diagnostic without vacuum break of KSTAR. The sample mounting head at the end of the shaft can reach the position of the outer boundary of ∼10 cm away from the last closed flux surface (LCFS). In this paper, selected PSI related experiments by using the manipulator are introduced.

How verbal and spatial manipulation networks contribute to calculation: An fMRI study

International Nuclear Information System (INIS)

Zago, L.; Petit, L.; Turbelin, M.R.; Anderson, F.; Vigneau, M.; Tzourio-Mazoyer, N.

2008-01-01

The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intra-parietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and non-symbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with non-symbolic material. (authors)

How verbal and spatial manipulation networks contribute to calculation: An fMRI study

Energy Technology Data Exchange (ETDEWEB)

Zago, L.; Petit, L.; Turbelin, M.R.; Anderson, F.; Vigneau, M.; Tzourio-Mazoyer, N. [Univ Paris 05, Univ Caen Basse Normandie, CEA, DSV, CNRS, CI NAPSUMR 6232, Paris (France)

2008-07-01

The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intra-parietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and non-symbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with non-symbolic material. (authors)

Evidence of eligibility manipulation for conditional cash transfer programs

Directory of Open Access Journals (Sweden)

Sergio Firpo

2014-09-01

Full Text Available This paper assesses whether eligibility for conditional cash transfer programs has been manipulated, as well as the impact of this phenomenon on time allocation within households. To perform this analysis, we use data from the 2006 PNAD (Brazilian national household survey and investigate the eligibility manipulation for the Bolsa Família (Family Stipend program during this time period. The program assists families with a monthly per capita income of around R$120.00 (US$60.00. By applying the tests developed by McCrary (2008, we find suggestive evidence that individuals manipulate their income by voluntarily reducing their labor supply in order to become eligible to the program. Moreover, the reduction in labor supply is greater among women, especially single or divorced mothers. This evidence raises some concern about the unintended consequences related to the eligibility criteria utilized by Bolsa Família, as well as the program's impact on individuals living in extreme poverty.

Cold Atmospheric Plasma Manipulation of Proteins in Food Systems

DEFF Research Database (Denmark)

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

2017-01-01

Plasma processing has been getting a lot of attention in recent applications as a novel, eco-friendly, and highly efficient approach. Cold plasma has mostly been used to reduce microbial counts in foodstuff and biological materials, as well as in different levels of packaging, particularly in cases...... 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...... where there is thermal sensitivity. As it is a very recent application, the impact of cold plasma treatment has been studied on the protein structures of food and pharmaceutical systems, as well as in the packaging industry. Proteins, as a food constituent, play a remarkable role in the techno...

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.

Imaging, manipulation and flux noise of single Abrikosov vortices in YBa2Cu3O7-δ dc SQUIDs

International Nuclear Information System (INIS)

Bailer, Matthias

2013-01-01

The thesis deals with the imaging and investigation of single Abrikosov vortices in grain boundary dc SQUIDs1 from the high-temperature superconductor YBa 2 Cu 3 O 7-δ . The low temperature scanning electron microscopy (LTSEM) was used for the measurements, which makes a local, spatially resolved investigation of the electrical properties of materials at low temperatures possible. The advantage over other flux quantum imaging methods is the facility to determine the low-frequency flux noise in the SQUID in the process. Special SQUID designs were created, which allow a reproducible cooling of single flux quanta. Electrical transport and noise measurements were carried out to precharacterise the SQUIDs. Within the scope of the thesis it was the first time that antivortices were imaged with the LTSEM. The possibilities of a manipulation of flux quanta (with the electron beam) were investigated and illustrated. By the averaged measurement of the waveform of a single vortex, linescans with unprecedented resolution could be obtained. This allowed the outstanding comparison of the measured, virtual vortex displacement with various theoretically determined waveforms. The experiments to flux noise provided new insights into the noise behaviour of single flux quanta, which exhibit the typical single fluctuators random telegraph signal, and enabled the analysis of the associated hopping processes. Thus concrete values of the spectral noise power density S r ∼ 196 nm 2 /root(Hz) - 0,28 μm 2 /root(Hz) radially to the SQUID hole could be determined by different, pinned vortices. An influence of the hopping behaviour and therefore of the flux noise succeeded by varying an applied magnetic field. Through tilting the potential course of a vortex, the course of the pinning potential by different hopping processes could be reconstructed using stochastic analysis of the time trace data. With the thesis could be shown convincingly that the vortex imaging method of the LTSEM in

Pose Space Surface Manipulation

Directory of Open Access Journals (Sweden)

Yusuke Yoshiyasu

2012-01-01

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

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.

Manipulation resolves non-trivial structure of corrole monolayer on Ag(111)

International Nuclear Information System (INIS)

Tebi, Stefano; Serrano, Giulia; Koch, Reinhold; Müllegger, Stefan; Aldahhak, Hazem; Rauls, Eva; Schmidt, Wolf Gero; Schöfberger, Wolfgang

2016-01-01

Non-trivial arrangement of molecules within a molecular network complicates structure determination due to interdigitation, partial overlap, or stacking. We demonstrate that combined imaging and lateral manipulation with a scanning tunneling microscope resolves the intricate structure of a molecular network in two-dimensions in a straightforward manner. The network, formed by a monolayer of 5,10,15-tris(pentafluorophenyl)-corrole molecules on Ag(111), is manipulated for the first time with single-molecule precision. Our results reveal a shingle-like packing of partially overlapping corrole molecules. Density functional theory calculations support our findings. (paper)

Visual control of a robot manipulator using neural networks

International Nuclear Information System (INIS)

Kurazume, Ryo; Sekiguchi, Minoru; Nagata, Shigemi

1994-01-01

This paper describes a vision-motor fusion system using neural networks, consisting of multiple vision sensors and a manipulator, for grasping an object placed in a desired position and attitude in a three-dimensional workspace. The system does not need complicated vision sensor calibration and calculation of a transformation matrix, and can thus be easily constructed for grasping tasks. An experimental system with two TV cameras and a manipulator with six degrees of freedom grasped a connector suspended in a three-dimensional workspace with high accuracy. (author)

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.

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

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:

Manipulating novel quantum phenomena using synthetic gauge fields

Science.gov (United States)

Zhang, Shao-Liang; Zhou, Qi

2017-11-01

The past few years have seen fascinating progress in the creation and utilization of synthetic gauge fields for charge-neutral ultracold atoms. Whereas the synthesis of gauge fields in itself is readily interesting, it is more exciting to explore the new era that will be brought by the interplay between synthetic gauge fields and many other degrees of freedom of highly tunable ultracold atoms. This topical review surveys recent developments in using synthetic gauge fields to manipulate novel quantum phenomena that are not easy to access in other systems. We first summarize current experimental methods of creating synthetic gauge fields, including the use of Raman schemes, shaken lattices, and Raman-dressed lattices. We then discuss how synthetic gauge fields bring new physics to non-interacting systems, including degenerate single-particle ground states, quartic dispersions, topological band structures in lattices, and synthetic dimensions. As for interacting systems, we focus on novel quantum many-body states and quantum macroscopic phenomena induced by interactions in the presence of unconventional single-particle dispersions. For bosons, we discuss how a quartic dispersion leads to non-condensed bosonic states at low temperatures and at the ground state. For fermions, we discuss chiral superfluids in the presence of attractive s-wave interaction, where high partial-wave interactions are not required. Finally, we discuss the challenges in current experiments, and conclude with an outlook for what new exciting developments synthetic gauge fields may bring us in the near future.

Manga Vectorization and Manipulation with Procedural Simple Screentone.

Science.gov (United States)

Yao, Chih-Yuan; Hung, Shih-Hsuan; Li, Guo-Wei; Chen, I-Yu; Adhitya, Reza; Lai, Yu-Chi

2017-02-01

Manga are a popular artistic form around the world, and artists use simple line drawing and screentone to create all kinds of interesting productions. Vectorization is helpful to digitally reproduce these elements for proper content and intention delivery on electronic devices. Therefore, this study aims at transforming scanned Manga to a vector representation for interactive manipulation and real-time rendering with arbitrary resolution. Our system first decomposes the patch into rough Manga elements including possible borders and shading regions using adaptive binarization and screentone detector. We classify detected screentone into simple and complex patterns: our system extracts simple screentone properties for refining screentone borders, estimating lighting, compensating missing strokes inside screentone regions, and later resolution independently rendering with our procedural shaders. Our system treats the others as complex screentone areas and vectorizes them with our proposed line tracer which aims at locating boundaries of all shading regions and polishing all shading borders with the curve-based Gaussian refiner. A user can lay down simple scribbles to cluster Manga elements intuitively for the formation of semantic components, and our system vectorizes these components into shading meshes along with embedded Bézier curves as a unified foundation for consistent manipulation including pattern manipulation, deformation, and lighting addition. Our system can real-time and resolution independently render the shading regions with our procedural shaders and drawing borders with the curve-based shader. For Manga manipulation, the proposed vector representation can be not only magnified without artifacts but also deformed easily to generate interesting results.

Characteristics of manipulative in mathematics laboratory

Science.gov (United States)

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

2017-12-01

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

Two-probe atomic-force microscope manipulator and its applications

Science.gov (United States)

Zhukov, A. A.; Stolyarov, V. S.; Kononenko, O. V.

2017-06-01

We report on a manipulator based on a two-probe atomic force microscope (AFM) with an individual feedback system for each probe. This manipulator works under an upright optical microscope with 3 mm focal distance. The design of the microscope helps us tomanipulate nanowires using the microscope probes as a two-prong fork. The AFM feedback is realized based on the dynamic full-time contact mode. The applications of the manipulator and advantages of its two-probe design are presented.

Two-probe atomic-force microscope manipulator and its applications.

Science.gov (United States)

Zhukov, A A; Stolyarov, V S; Kononenko, O V

2017-06-01

We report on a manipulator based on a two-probe atomic force microscope (AFM) with an individual feedback system for each probe. This manipulator works under an upright optical microscope with 3 mm focal distance. The design of the microscope helps us tomanipulate nanowires using the microscope probes as a two-prong fork. The AFM feedback is realized based on the dynamic full-time contact mode. The applications of the manipulator and advantages of its two-probe design are presented.

Closed-loop model identification of cooperative manipulators holding deformable objects

Science.gov (United States)

Alkathiri, A. A.; Akmeliawati, R.; Azlan, N. Z.

2017-11-01

This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%.

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

Science.gov (United States)

Hofer, M; Dietz, A; Strauss, G

2011-04-01

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

EDITORIAL: Nonlinear optical manipulation, patterning and control in nano- and micro-scale systems Nonlinear optical manipulation, patterning and control in nano- and micro-scale systems

Science.gov (United States)

Denz, Cornelia; Simoni, Francesco

2009-03-01

Nonlinearities are becoming more and more important for a variety of applications in nanosciences, bio-medical sciences, information processing and photonics. For applications at the crossings of these fields, especially microscopic and nanoscopic imaging and manipulation, nonlinearities play a key role. They may range from simple nonlinear parameter changes up to applications in manipulating, controlling and structuring material by light, or the manipulation of light by light itself. It is this area between basic nonlinear optics and photonic applications that includes `hot' topics such as ultra-resolution optical microscopy, micro- and nanomanipulation and -structuring, or nanophotonics. This special issue contains contributions in this field, many of them from the International Conference on Nonlinear Microscopy and Optical Control held in conjunction with a network meeting of the ESF COST action MP0604 `Optical Micromanipulation by Nonlinear Nanophotonics', 19-22 February 2008, Münster, Germany. Throughout this special issue, basic investigations of material structuring by nonlinear light--matter interaction, light-induced control of nanoparticles, and novel nonlinear material investigation techniques, are presented, covering the basic field of optical manipulation and control. These papers are followed by impressive developments of optical tweezers. Nowadays, optical phase contrast tweezers, twin and especially multiple beam traps, develop particle control in a new dimension: particles can be arranged, sorted and identified with high throughput. One of the most prominent forthcoming applications of optical tweezers is in the field of microfluidics. The action of light on fluids will open new horizons in microfluidic manipulation and control. The field of optical manipulation and control is a very broad field that has developed in an impressive way, in a short time, in Europe with the installation of the MP0604 network. Top researchers from 19 countries are

An Adaptable Robot Vision System Performing Manipulation Actions With Flexible Objects

DEFF Research Database (Denmark)

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

2014-01-01

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

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)

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

Manipulator Performance Evaluation Using Fitts' Taping Task

Energy Technology Data Exchange (ETDEWEB)

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

1999-04-25

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

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

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

A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

Science.gov (United States)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

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

NARCIS (Netherlands)

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

2005-01-01

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

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

OpenAIRE

Silva, Pedro; Vilar, Lu?s; Davids, Keith; Ara?jo, Duarte; Garganta, J?lio

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 ...

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

Modeling of Flexible Beams for Robotic Manipulators

International Nuclear Information System (INIS)

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

2002-01-01

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

Optical and mechanical manipulation of plasmonic hot spots on gold nanoparticle tips; Optische und mechanische Manipulation plasmonischer Heisspunkte an Goldnanopartikelspitzen

Energy Technology Data Exchange (ETDEWEB)

Hrelescu, Calin-Alexander

2011-06-15

in the present thesis hybride systems based on alternative nanoparticle morphologies were studied in view of their optical properties in order to remove extensively the known limitations and insufficiencies of the established nanoparticle systems and shapes like rod-shaped or spherical nanoparticles. Star-shaped gold nanoparticles and their special plasmonic properties are presented. By methods of the dark-field spectroscopy, the photoelectron emission spectroscopy, and scanning electron microscopy the near- and far-field properties of single nanostars and their morphologies are correlated. So the first experimental proof of the localization of optically excited hot spots on the tips of the single nanostars could be given. By suited choice of the polarization and wavelength hot spots on several or exclusively single tips of a nanostar are selectively excited and the detected plasmon resonances assigned to single nanostar tips only due to experimental data. Furthermore field amplification factors in the range of 58-79 are for the first time quantitatively determined. The high and for molecules easily accessible hot spots on the tips of the nanostars are applied in order to demonstrate the excellent amplification of the Raman scattering on the level of single nanostars. The Raman amplification factors of 10{sup 7} for the studied nanostars without use of plasmonic coupling effects mark the nanostars as important candidates for the application in complex dynamical environments. A further possibility of the use of the hot spots localized on tips offer nanopyramides. By manipulation with a scanning force microscope a positioning of the hot spots until 1 nm above the surface and on arbitrary places on a sample substrate can be reached. Nanoresonators of two nanopyramides can be mechanically fabricated in three adsorption configurations concerning the tips of the two nanoparticles directed to each other. By the mechanical change of the configuration of the nanoresonator

A Lightweight AV System for Providing a Faithful and Spatially Manipulable Visual Hand Representation

OpenAIRE

Pusch , Andreas; Martin , Olivier; Coquillart , Sabine

2011-01-01

Session: Developing new tools and technologies - Abstracts to be published in a regular issue of the journal Cyberpsychology, Behavior and Social Networking (indexed in MedLine and PsychInfo): http://online.liebertpub.com/loi/CYBER; International audience; This paper introduces the technical foundations of a system designed to embed a lightweight, faithful and spatially manipulable representation of the user's hand into an otherwise virtual world (aka Augmented Virtuality, AV). A highly intui...

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

A motion sensing-based framework for robotic manipulation.

Science.gov (United States)

Deng, Hao; Xia, Zeyang; Weng, Shaokui; Gan, Yangzhou; Fang, Peng; Xiong, Jing

2016-01-01

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human-machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.

Intelligent Switching Control of Pneumatic Artificial Muscle Manipulator

Science.gov (United States)

Ahn, Kyoung Kwan; Thanh, Tu Diep Cong; Ahn, Young Kong

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are the factors that could potentially be exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as deterioration of the performance of transient response due to the change of the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, switching algorithm of control parameter using learning vector quantization neural network (LVQNN) is newly proposed, which estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

Predictors of Host Specificity among Behavior-Manipulating Parasites

DEFF Research Database (Denmark)

Fredensborg, B. L.

2014-01-01

specifically, hosts’ behavioral modification that involves interaction with the central nervous system presumably restricts parasites to more closely related hosts than does manipulation of the host’s behavior via debilitation of the host’s physiology. The results of the analysis suggest that phylogenetic......-specialist that has a restricted ecological niche that it masters. Parasites that manipulate hosts’ behavior are often thought to represent resource-specialists based on a few spectacular examples of manipulation of the host’s behavior. However, the determinants of which, and how many, hosts a manipulating parasite...... of parasites and hosts. Using individual and multivariate analyses, I examined the effect of the host’s and parasite’s taxonomy, location of the parasite in the host, type of behavioral change, and the effect of debilitation on host-specificity, measured as the mean taxonomic relatedness of hosts...

A charged-particle manipulator utilizing a co-axial tube electrodynamic trap with an integrated camera

International Nuclear Information System (INIS)

Jiang, L; Pau, S; Whitten, W B

2011-01-01

A charged-particle manipulator was designed and fabricated with an integrated imaging camera allowing real-time in-situ monitoring of trapped particle motion even when the trap device is under motion or rotation. The trap device was made of two co-axial electrically conductive tubes with diameters of 5.5 mm and 7 mm for the inner tube and outer tube, respectively; the imaging camera with its optical fiber bundle was integrated within the tubular trap device to realize a single instrument functioning as a manipulator. Motion of suspended microparticles of 3 μm to 50 μm in diameter can be monitored using the integrated camera regardless of the trap device orientations. This manipulator provides capability of controlled manipulation of trapped particles by tuning the operating conditions while monitoring the feedback of real-time particle motion. Imaging of suspended particles was not interrupted while the manipulator was translated and/or rotated. This integrated manipulator can be used for charged particle transport and repositioning.

Dual-MWCNT Probe Thermal Sensor Assembly and Evaluation Based on Nanorobotic Manipulation inside a Field-Emission-Scanning Electron Microscope

Directory of Open Access Journals (Sweden)

Zhan Yang

2015-03-01

Full Text Available We report a thermal sensor composed of two multiwalled carbon nano-tubes (MWCNTs inside a field-emission-scanning electron microscope. The sensor was assembled using a nanorobotic manipulation system, which was used to construct a probe tip in order to detect the local environment of a single cell. An atomic force microscopy (AFM cantilever was used as a substrate; the cantilever was composed of Si3N4 and both sides were covered with a gold layer. MWCNTs were individually assembled on both sides of the AFM cantilever by employing nanorobotic manipulation. Another AFM cantilever was subsequently used as an end effector to manipulate the MWCNTs to touch each other. Electron-beam-induced deposition (EBID was then used to bond the two MWCNTs. The MWCNT probe thermal sensor was evaluated inside a thermostated container in the temperature range from 25°C to 60°C. The experimental results show the positive characteristics of the temperature coefficient of resistance (TCR.

An Experimental Study on Operability of Master-Slave Manipulator System using Human–in–the-Loop Type Simulator

Directory of Open Access Journals (Sweden)

Tashiro Yosuke

2017-01-01

Full Text Available Double arm Master-Slave (M-S manipulator has been attracted the attention of the robotics researchers today. The micro surgery is one of the big targets which M-S manipulator is expected to effectively perform. This paper describes about the human in the loop (HIL simulator consisted of the prototype master manipulator and the virtual simulator of slave manipulator. Today, we have a challenge injecting drugs to a chick embryo’s blood vessels that are enough cultured in an artificial eggshell. The M-S manipulator is expected to apply for such a work like a micro surgery, ex. catching a blood vessel and sticking a cylinder. The embryo is extremely sensitive so that M-S manipulator should have both high operability and high accuracy movement. To evaluate the M-S manipulator quantitatively, we develop the human in the loop (HIL simulator. The simulator is consisted with the prototype master manipulator and the virtual slave manipulator.

Design Issues and Application of Cable-Based Parallel Manipulators for Rehabilitation Therapy

Directory of Open Access Journals (Sweden)

E. Ottaviano

2008-01-01

Full Text Available In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In particular, they can be used to aid motion or as monitoring/training systems in rehabilitation therapies. Modelling and simulation of both active and passive cable-based parallel manipulators are presented for an application to help older people, patients or disabled people in the sit-to-stand transfer and as a monitoring/training system. Experimental results are presented by using built prototypes.

Reconfigurable metamaterials for terahertz wave manipulation

Science.gov (United States)

Hashemi, Mohammed R.; Cakmakyapan, Semih; Jarrahi, Mona

2017-09-01

Reconfigurable metamaterials have emerged as promising platforms for manipulating the spectral and spatial properties of terahertz waves without being limited by the characteristics of naturally existing materials. Here, we present a comprehensive overview of various types of reconfigurable metamaterials that are utilized to manipulate the intensity, phase, polarization, and propagation direction of terahertz waves. We discuss various reconfiguration mechanisms based on optical, electrical, thermal, and mechanical stimuli while using semiconductors, superconductors, phase-change materials, graphene, and electromechanical structures. The advantages and disadvantages of different reconfigurable metamaterial designs in terms of modulation efficiency, modulation bandwidth, modulation speed, and system complexity are discussed in detail.

Parametric study of fluid flow manipulation with piezoelectric macrofiber composite flaps

Science.gov (United States)

Sadeghi, O.; Tarazaga, P.; Stremler, M.; Shahab, S.

2017-04-01

Active Fluid Flow Control (AFFC) has received great research attention due to its significant potential in engineering applications. It is known that drag reduction, turbulence management, flow separation delay and noise suppression through active control can result in significantly increased efficiency of future commercial transport vehicles and gas turbine engines. In microfluidics systems, AFFC has mainly been used to manipulate fluid passing through the microfluidic device. We put forward a conceptual approach for fluid flow manipulation by coupling multiple vibrating structures through flow interactions in an otherwise quiescent fluid. Previous investigations of piezoelectric flaps interacting with a fluid have focused on a single flap. In this work, arrays of closely-spaced, free-standing piezoelectric flaps are attached perpendicular to the bottom surface of a tank. The coupling of vibrating flaps due to their interacting with the surrounding fluid is investigated in air (for calibration) and under water. Actuated flaps are driven with a harmonic input voltage, which results in bending vibration of the flaps that can work with or against the flow-induced bending. The size and spatial distribution of the attached flaps, and the phase and frequency of the input actuation voltage are the key parameters to be investigated in this work. Our analysis will characterize the electrohydroelastic dynamics of active, interacting flaps and the fluid motion induced by the system.

Whole-arm obstacle avoidance system conceptual design

International Nuclear Information System (INIS)

Wintenberg, A.L.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Britton, C.L. Jr.

1993-04-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER ampersand WM Program, the potential for significant problems resulting from collisions between manipulators and the environment in which they are utilized is great. The conceptual design for a sensing system that will provide protection against such collisions is described herein. The whole-arm obstacle avoidance system consists of a set of sensor ''bracelets,'' which cover the surface area of the manipulator links to the maximum extent practical, and a host processor. The host processor accepts commands from the robot control system, controls the operation of the sensors, manipulates data received from the bracelets, and makes the data available to the manipulator control system. The bracelets consist of a subset of the sensors, associated sensor interface electronics, and a bracelet interface. Redundant communications links between the host processor and the bracelets are provided, allowing single-point failure protection. The system allows reporting of 8-bit data from up to 1000 sensors at a minimum of 50 Hz. While the initial prototype implementation of the system utilizes capacitance proximity sensor, the system concept allows multiple types of sensors. These sensors are uniquely addressable, allowing remote calibration, thresholding at the bracelet, and correlation of a sensor measurement with the associated sensor and its location on the manipulator. Variable resolution allows high-speed, single-bit sensing as well as lower-speed higher-resolution sensing, which is necessary for sensor calibration and potentially useful in control

Implementation of single qubit in QD ensembles

International Nuclear Information System (INIS)

Alegre, T.P. Mayer

2004-01-01

Full text: During the last decades the semiconductor industry has achieved the production of exponentially shrinking components. This fact points to fundamental limits of integration, making computation with single atoms or particles like an electron an ultimate goal. To get to this limit, quantum systems in solid state have to be manipulated in a controllable fashion. The assessment of quantum degrees of freedom for information processing may allow exponentially faster performance for certain classes of problems. The essential aspect to be explored in quantum information processing resides in the superposition of states that allows resources such as entangled states to be envisaged. The quest for the optimal system to host a quantum variable that is sufficiently isolated from the environment encompasses implementations spanning optical, atomic, molecular and solid state systems. In the solid state, a variety of proposals have come forth, each one having its own advantages and disadvantages. The main conclusion from these e efforts is that there is no decisive technology upon which quantum information devices will be built. Self-assembled quantum dots (SAQDs or QDs), can be grown with size uniformity that enables the observation of single electron loading events. They can in turn be used to controllably trap single electrons into discrete levels, atom-like, with their corresponding shells. Hund's rules and Pauli exclusion principle are observed in these nanostructures and are key in allowing and preserving a particular quantum state. Provided that one can trap one electron in a QD ensemble, the corresponding spin can be manipulated by an external magnetic field by either conventional Electron Spin Resonance (ESR) techniques or g-tensor modulation resonance (g-TMR). By analogy with Nuclear Magnetic Resonance, single qubit operations are proposed, which at some point in time should be scaled, provided that spin-spin interactions can be controlled. Read out can be

Research on reconfigurable and reliable manipulators: Final report, August 15, 1994-August 14, 1996

International Nuclear Information System (INIS)

Khosla, P.K.; Kanade, Takeo

1996-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

Khosla, P.K.; Kanade, Takeo

1996-12-31

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

Lightweight submersed 'Walking' NDE manipulators for PWR and BWR vessel weld inspection

International Nuclear Information System (INIS)

Saernmark, Ivan; Lenz, Herbert

2008-01-01

Three new manipulators developed by WesDyne TRC in Sweden have under the year 2007 performed three very successful inspections in the PWR reactor Ringhals 3 and the BWR reactors Ringhals 1 and Oskarshamn 1. The manipulator systems can be used to perform inspection of circumferential and vertical welds on the reactor pressure vessel, the core shroud, core shroud support in BWR reactors or vessel and core barrel welds in PWR reactors. Most other flat or curved surfaces can be inspected using the new concept through relatively simple mechanical reconfigurations of system modules. The first inspection was performed on the R3 PWR core barrel in June 2007 with a very good result. This Manipulator is designed for access in very narrow gaps and for the type of core barrels with a shield covering the whole area of the perimeter. The manipulator is attached to the inspection area by means of a new unique suction cup system. The current manipulators consist of a curved horizontal beam, with radius similar to the reactor vessel, and a straight vertical beam, forming a T-shaped structure. By alternating the application of suction cup pairs on the horizontal beam and the vertical beam and by driving the scanning motors, the manipulator performs an incremental translational movement upwards/downwards or from side to side. The principles of this system give a well defined and stable platform for global and local positioning accuracy. A combination of advanced sensor solutions provides accurate position information in the absence of other physical reference objects. The system is controlled by the new WesDyne TRC Motor Control Panel and software, the MCP is specifically designed for remote control of submersed manipulators using techniques for cable reduction

Reconfigurable optical manipulation by phase change material waveguides.

Science.gov (United States)

Zhang, Tianhang; Mei, Shengtao; Wang, Qian; Liu, Hong; Lim, Chwee Teck; Teng, Jinghua

2017-05-25

Optical manipulation by dielectric waveguides enables the transportation of particles and biomolecules beyond diffraction limits. However, traditional dielectric waveguides could only transport objects in the forward direction which does not fulfill the requirements of the next generation lab-on-chip system where the integrated manipulation system should be much more flexible and multifunctional. In this work, bidirectional transportation of objects on the nanoscale is demonstrated on a rectangular waveguide made of the phase change material Ge 2 Sb 2 Te 5 (GST) by numerical simulations. Either continuous pushing forces or pulling forces are generated on the trapped particles when the GST is in the amorphous or crystalline phase. With the technique of a femtosecond laser induced phase transition on the GST, we further proposed a reconfigurable optical trap array on the same waveguide. This work demonstrates GST waveguide's potential of achieving multifunctional manipulation of multiple objects on the nanoscale with plausible optical setups.

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

Numerical Analysis of Hydrodynamic Flow in Microfluidic Biochip for Single-Cell Trapping Application

Directory of Open Access Journals (Sweden)

Amelia Ahmad Khalili

2015-11-01

Full Text Available Single-cell analysis has become the interest of a wide range of biological and biomedical engineering research. It could provide precise information on individual cells, leading to important knowledge regarding human diseases. To perform single-cell analysis, it is crucial to isolate the individual cells before further manipulation is carried out. Recently, microfluidic biochips have been widely used for cell trapping and single cell analysis, such as mechanical and electrical detection. This work focuses on developing a finite element simulation model of single-cell trapping system for any types of cells or particles based on the hydrodynamic flow resistance (Rh manipulations in the main channel and trap channel to achieve successful trapping. Analysis is carried out using finite element ABAQUS-FEA™ software. A guideline to design and optimize single-cell trapping model is proposed and the example of a thorough optimization analysis is carried out using a yeast cell model. The results show the finite element model is able to trap a single cell inside the fluidic environment. Fluid’s velocity profile and streamline plots for successful and unsuccessful single yeast cell trapping are presented according to the hydrodynamic concept. The single-cell trapping model can be a significant important guideline in designing a new chip for biomedical applications.

MAESTRO, a hydraulic manipulator for maintenance and decommissioning applications

International Nuclear Information System (INIS)

Olivier David; Yvan Measson; Catherine Bidard; Christine Libersa

2006-01-01

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

Handbook of Single-Molecule Biophysics

CERN Document Server

Hinterdorfer, Peter

2009-01-01

The last decade has seen the development of a number of novel biophysical methods that allow the manipulation and study of individual biomolecules. The ability to monitor biological processes at this fundamental level of sensitivity has given rise to an improved understanding of the underlying molecular mechanisms. Through the removal of ensemble averaging, distributions and fluctuations of molecular properties can be characterized, transient intermediates identified, and catalytic mechanisms elucidated. By applying forces on biomolecules while monitoring their activity, important information can be obtained on how proteins couple function to structure. The Handbook of Single-Molecule Biophysics provides an introduction to these techniques and presents an extensive discussion of the new biological insights obtained from them. Coverage includes: Experimental techniques to monitor and manipulate individual biomolecules The use of single-molecule techniques in super-resolution and functional imaging Single-molec...

Nanoscale electron manipulation in metals with intense THz electric fields

Science.gov (United States)

Takeda, Jun; Yoshioka, Katsumasa; Minami, Yasuo; Katayama, Ikufumi

2018-03-01

Improved control over the electromagnetic properties of metals on a nanoscale is crucial for the development of next-generation nanoelectronics and plasmonic devices. Harnessing the terahertz (THz)-electric-field-induced nonlinearity for the motion of electrons is a promising method of manipulating the local electromagnetic properties of metals, while avoiding undesirable thermal effects and electronic transitions. In this review, we demonstrate the manipulation of electron delocalization in ultrathin gold (Au) films with nanostructures, by intense THz electric-field transients. On increasing the electric-field strength of the THz pulses, the transmittance in the THz-frequency region abruptly decreases around the percolation threshold. The observed THz-electric-field-induced nonlinearity is analysed, based on the Drude-Smith model. The results suggest that ultrafast electron delocalization occurs by electron tunnelling across the narrow insulating bridge between the Au nanostructures, without material breakdown. In order to quantitatively discuss the tunnelling process, we perform scanning tunnelling microscopy with carrier-envelope phase (CEP)-controlled single-cycle THz electric fields. By applying CEP-controlled THz electric fields to the 1 nm nanogap between a metal nanotip and graphite sample, many electrons could be coherently driven through the quantum tunnelling process, either from the nanotip to the sample or vice versa. The presented concept, namely, electron tunnelling mediated by CEP-controlled single-cycle THz electric fields, can facilitate the development of nanoscale electron manipulation, applicable to next-generation ultrafast nanoelectronics and plasmonic devices.

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.

Efficient coupling of a single diamond color center to propagating plasmonic gap modes

DEFF Research Database (Denmark)

Kumar, Shailesh; Huck, Alexander; Andersen, Ulrik L

2013-01-01

We report on coupling of a single nitrogen-vacancy (NV) center in a nanodiamond to the propagating gap mode of two parallel placed chemically grown silver nanowires. The coupled NV-center nanowire system is made by manipulating nanodiamonds and nanowires with the tip of an atomic force microscope...

Manipulator Controlled since a Smartphone by Bluetooth

International Nuclear Information System (INIS)

Sánchez-Niño, F; Pedroza, G Rodríguez; Baldivia, E G Castillo

2015-01-01

We present the design of transmitter interface of data between a microcontroller and Smartphone to control a robot. We used a Bluetooth module to send the commands to control the moving of the manipulator. The system is formed by three parts: the first part, the program made in Android. It is run on the Smartphone that controls the position of the robot. The second part is the reception board based in the PIC18F4550 that energizes the joints of the manipulator. The last part is the driver. It use an integrated circuit L293D that is configured in two full bridges H. This system is a good tool for learning of programing, sensors, actuators, robotic, electronic and design electronic

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

International Nuclear Information System (INIS)

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

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

Constraint solving for direct manipulation of features

NARCIS (Netherlands)

Lourenco, D.; Oliveira, P.; Noort, A.; Bidarra, R.

2006-01-01

In current commercial feature modeling systems, support for direct manipulation of features is not commonly available. This is partly due to the strong reliance of such systems on constraints, but also to the lack of speed of current constraint solvers. In this paper, an approach to the optimization

Application of model based control to robotic manipulators

Science.gov (United States)

Petrosky, Lyman J.; Oppenheim, Irving J.

1988-01-01

A robot that can duplicate humam motion capabilities in such activities as balancing, reaching, lifting, and moving has been built and tested. These capabilities are achieved through the use of real time Model-Based Control (MBC) techniques which have recently been demonstrated. MBC accounts for all manipulator inertial forces and provides stable manipulator motion control even at high speeds. To effectively demonstrate the unique capabilities of MBC, an experimental robotic manipulator was constructed, which stands upright, balancing on a two wheel base. The mathematical modeling of dynamics inherent in MBC permit the control system to perform functions that are impossible with conventional non-model based methods. These capabilities include: (1) Stable control at all speeds of operation; (2) Operations requiring dynamic stability such as balancing; (3) Detection and monitoring of applied forces without the use of load sensors; (4) Manipulator safing via detection of abnormal loads. The full potential of MBC has yet to be realized. The experiments performed for this research are only an indication of the potential applications. MBC has no inherent stability limitations and its range of applicability is limited only by the attainable sampling rate, modeling accuracy, and sensor resolution. Manipulators could be designed to operate at the highest speed mechanically attainable without being limited by control inadequacies. Manipulators capable of operating many times faster than current machines would certainly increase productivity for many tasks.

Parametric design studies of long-reach manipulators

International Nuclear Information System (INIS)

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

1993-01-01

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

Upper airway stabilization by osteopathic manipulation of the sphenopalatine ganglion versus sham manipulation in OSAS patients: a proof-of-concept, randomized, crossover, double-blind, controlled study.

Science.gov (United States)

Jacq, Olivier; Arnulf, Isabelle; Similowski, Thomas; Attali, Valérie

2017-12-20

Osteopathic manipulative treatment (OMT) of the sphenopalatine ganglion (SPG) is used empirically for the treatment of rhinitis and snoring and is thought to increase pharyngeal stability. This trial was designed to study the effects of this treatment on pharyngeal stability evaluated by critical closing pressure in obstructive sleep apnoea syndrome. This single-centre, randomized, crossover, double-blind study compared active manipulation and sham manipulation of the SPG. Randomization was computer-generated. Patients each received one active manipulation and one sham manipulation at an interval of 21 days and were evaluated 30 min and 48 h after each session administered by a qualified osteopath. Neither the patients, nor the investigator performing the evaluations were informed about the order of the two techniques (double-blind). The primary endpoint was the percentage of responding patients presenting increased pharyngeal stability defined by a variation of critical closing pressure (Pcrit) of at least -4 cmH 2 O at 30 min. Secondary endpoints were the variation of Pcrit in absolute values, sleepiness and snoring. Others endpoints were lacrimation (Schirmer's test), induced pain, sensations experienced during OMT. Ten patients were included and nine (57 [50; 58] years, comprising 7 men, with an apnoea-hypopnoea index of 31.0 [25.5; 33.2]/h; (values are median [quartiles])) were analysed. Seven patients were analysed for the primary endpoint and nine patients were analysed for secondary endpoints. Five patients responded after active manipulation versus no patients after sham manipulation (p = 0.0209). Active manipulation induced more intense pain (p = 0.0089), increased lacrimation (ns) and more tactile, nociceptive and gustatory sensations (13 versus 1) compared to sham manipulation. No significant difference was observed for the other endpoints. Osteopathic manipulative treatment of the SPG may improve pharyngeal stability in obstructive sleep

An evolutionary resolution of manipulation conflict.

Science.gov (United States)

González-Forero, Mauricio

2014-07-01

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

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.

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)

Understanding Women's Subjective Sexual Arousal Within the Laboratory: Definition, Measurement, and Manipulation.

Science.gov (United States)

Handy, Ariel B; Stanton, Amelia M; Meston, Cindy M

2018-04-01

Subjective sexual arousal (SSA) is positive, cognitive engagement in sexual activity. SSA is considered an important aspect of the sexual experience, as it has been found to facilitate sexual activity and, in situations of chronically low or absent arousal, potentially cause distress. Despite the clinical implications of SSA, a thorough review of how to manipulate SSA has yet to be conducted. To review the state of knowledge about SSA in women, including its definition, measurement, and the outcomes of studies attempting to manipulate SSA within a laboratory setting. A comprehensive search of the electronic databases of PubMed and PsycINFO was conducted. The generated list of articles was reviewed and duplicates were removed. Individual articles were assessed for inclusion and, when appropriate, relevant content was extracted. The potential effects of various manipulations of SSA in a laboratory setting was the main outcome. 44 studies were included in this review. Manipulations were grouped into 3 primary categories: pharmacological (n = 16), cognitive (n = 22), and those based on changes to the autonomic nervous system (n = 6). Results suggest that cognitive manipulation is the most effective method of increasing SSA. Altering the relative balance of the 2 branches of the autonomic nervous system (the sympathetic nervous system and the parasympathetic nervous system) also appears to be a promising avenue for increasing SSA. This review supports the use of cognitive manipulation for increasing women's SSA in a laboratory setting. Avenues for future research and recommendations for clinicians are discussed. Handy AB, Stanton AM, Meston CM. Understanding Women's Subjective Sexual Arousal Within the Laboratory: Definition, Measurement, and Manipulation. Sex Med Rev 2018;6:201-216. Copyright © 2017 International Society for Sexual Medicine. Published by Elsevier Inc. All rights reserved.

STRUCTURAL AND GEOMETRICAL ANALYSIS OF THE LIFTING MANIPULATORS FOR A GREEN ENVIRONMENT

Directory of Open Access Journals (Sweden)

Ioana POPESCU

2015-12-01

Full Text Available The lifting and getting off the bins, to and from the body of special waste trucks, by some planar linkage – manipulators are studied. These lifting manipulators are equipped with gripper systems in order to load and unload the bins. Several kinematical schemas of type mono– and bi-mobile manipulators are analyzed, these being driven by one or two linear actuators. The kinematical geometry of these planar manipulators by means of scale drawing of the kinematical schema is displayed. Two solutions for a better efficiency and a green environment have been proposed. Finally, a modeling and simulation case of the lifting manipulator is presented.

An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator

Directory of Open Access Journals (Sweden)

Pawel A. LASKI

2014-12-01

Full Text Available The main aim of this study was to use pneumatic muscle actuators in the construction of the delta manipulator with a closed kinematic chain. The paper presents a solid models of the manipulator and the kinematic diagram. Based on the kinematic diagram and using DH notation (Denavit-Hartenberg manipulator kinematic models was determined. On the basis of developed solid model simulation studies were conducted and the shape and size of the workspace determined. On the basis of 3D models prototype of the manipulator was constructed. Experimental studies were performed to select the regulators settings P, PI, PID for one of the pair of BMDS (Bi-Muscular Driving System muscle-type drives. Based on integral quality indicators the used types of regulators were compared and proposed final controller. Performed experimental studies confirm the possibility of muscle control in the BMDS (Bi-Muscular Driving System type system drives and tuning controller settings using the Ziegler-Nichols method.

Manipulating Single Microdroplets of NaCl Solutions: Solvent Dissolution, Microcrystallization, and Crystal Morphology

DEFF Research Database (Denmark)

Utoft, Anders; Kinoshita, Koji; Bitterfield, Deborah

2018-01-01

that the same Epstein−Plesset (EP) model, which was originally developed for diffusion-controlled dissolution and uptake of gas, and successfully applied to liquid-in-liquid dissolution, can now also be applied to describe the diffusion-controlled uptake of water from a water-saturated environment using...... of nucleation in the decane system as compared to the octanol system. Thus, the crystal structure is reported to be dendritic for NaCl solution microdroplets dissolving rapidly and nucleating violently in octanol, while they are formed as single cubic crystals in a gentler way for solution-dissolution in decane....... These new techniques and analyses can now also be used for any other system where all relevant parameters are known. An example of this is control of drug/hydrogel/emulsion particle size change due to solvent uptake....

Human-Manipulator Interface Using Particle Filter

Directory of Open Access Journals (Sweden)

Guanglong Du

2014-01-01

Full Text Available This paper utilizes a human-robot interface system which incorporates particle filter (PF and adaptive multispace transformation (AMT to track the pose of the human hand for controlling the robot manipulator. This system employs a 3D camera (Kinect to determine the orientation and the translation of the human hand. We use Camshift algorithm to track the hand. PF is used to estimate the translation of the human hand. Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion. Therefore, a methodology to correct the translation error is required. What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation. This paper proposes an adaptive multispace transformation (AMT method to assist the operator to improve the accuracy and reliability in determining the pose of the robot. The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator.

Electron spin and nuclear spin manipulation in semiconductor nanosystems

International Nuclear Information System (INIS)

Hirayama, Yoshiro; Yusa, Go; Sasaki, Satoshi

2006-01-01

Manipulations of electron spin and nuclear spin have been studied in AlGaAs/GaAs semiconductor nanosystems. Non-local manipulation of electron spins has been realized by using the correlation effect between localized and mobile electron spins in a quantum dot- quantum wire coupled system. Interaction between electron and nuclear spins was exploited to achieve a coherent control of nuclear spins in a semiconductor point contact device. Using this device, we have demonstrated a fully coherent manipulation of any two states among the four spin levels of Ga and As nuclei. (copyright 2006 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim) (orig.)

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.

Microbial manipulation of host sex determination

NARCIS (Netherlands)

Beukeboom, Leo W.

A recent study in the lepidopteran Ostrinia scapulalis shows that endosymbionts can actively manipulate the sex determination mechanism of their host. Wolbachia bacteria alter the sex-specific splicing of the doublesex master switch gene. In ZZ males of this female heterogametic system, the female

Expert system for accelerator single-freedom nonlinear components

International Nuclear Information System (INIS)

Wang Sheng; Xie Xi; Liu Chunliang

1995-01-01

An expert system by Arity Prolog is developed for accelerator single-freedom nonlinear components. It automatically yields any order approximate analytical solutions for various accelerator single-freedom nonlinear components. As an example, the eighth order approximate analytical solution is derived by this expert system for a general accelerator single-freedom nonlinear component, showing that the design of the expert system is successful

Acoustic Resonator Optimisation for Airborne Particle Manipulation

Science.gov (United States)

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

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

A 3-D Microelectrode System for Dielectrophoretic Manipulation of Microparticles

International Nuclear Information System (INIS)

Chen, D F; Du, H; Gong, H Q; Li, W H

2006-01-01

This paper presents a microfluidic system for manipulation and separation of micron-sized particles based on the combined use of negative dielectrophoresis (DEP) and hydrodynamic forces. A 3-D microelectrode structure (so called paired electrode array) are constructed face to face on the top and bottom sides of the microchannel and driven with highfrequency AC voltage to generate dielectrophoretic gates. Depending on the relative strengths of the two forces, particles such as polystyrene beads or cells carrying by a laminar flow can either penetrate the gate or settle there. This gives rise to certain applications including selectively concentrating particles from the flow, separating particles depending on their sizes or dielectric properties, and automatically positioning particles to selective locations. For this purpose, a microfluidic device consisting of the paired electrode array sitting on the channel has been fabricated using microfabrication techniques. Polystyrene beads were used to study the performance of the device. Experimental results including the concentration and separation of particles are presented

DESIGN AND STUDY OF DRIVE SWIVEL JOINTS FOR HYDRAULIC MANIPULATION SYSTEMS OF MOBILE TRANSPORT-TECHNOLOGICAL MACHINES

Directory of Open Access Journals (Sweden)

Lagerev A.V.

2018-03-01

Full Text Available The paper presents the design and principle of operation of a new type of articulated connection of adjacent links of manipulation systems of mobile transport and technological machines – the drive swivel joints to provide a rotary rela-tive movement of the links. Their design allows to combine the function of ensuring the continuity of the kinematic chain and the function of providing rotary movement adjacent units and without the use of additional external devices. The design of the device is protected by a patent of the Russian Federation. Drive swivel joints are an alternative to tra-ditional designs of articulated joints with external power hydraulic drives. Developed a mathematical optimization model. The model is based on the minimization of the mass of the drive swivel joints when you complete the necessary design, installation, operating and strength constraints. Based on this mathematical model the proposed method of com-puter-aided design of the drive swivel joints, which is implemented in a computer program. A study was conducted of the influence of the main technical characteristics and magnitude of the operational load at the optimal weight and the optimal constructive dimensions of the drive swivel joints. It is shown that at equal freight-altitude characteristics of mobile crane-manipulator the drive swivel joint allows you to exclude a number of operational shortcomings of the tra-ditional swivel: 1 development over time of the additional dynamic load of metal due to the increased clearances in connection; 2 lowering the volume of the working area of the crane due to the presence of external power of hydraulic drives; 3 the appearance of cracks due to fatigue failure of the elements of the attachment point of the hydraulic drives to the links of manipulation system. It is possible that the transfer of the hydraulic system for lower operating pressure, which increases the efficiency of the crane and the efficiency of the

Design and Implementation of a Modular Manipulator Architecture

National Research Council Canada - National Science Library

Sosa, Ognjen

2004-01-01

.... This configuration is seen in many applications including planetary exploration, hazardous materials removal, and marine research and is frequently referred to as the vehicle-manipulator system...

Soft Manipulators and Grippers: A Review

Directory of Open Access Journals (Sweden)

Josie Hughes

2016-11-01

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

Computer control of ET-RR-1 hot cell manipulators

International Nuclear Information System (INIS)

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

1990-01-01

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

The fiber-optic imaging and manipulation of neural activity during animal behavior.

Science.gov (United States)

Miyamoto, Daisuke; Murayama, Masanori

2016-02-01

Recent progress with optogenetic probes for imaging and manipulating neural activity has further increased the relevance of fiber-optic systems for neural circuitry research. Optical fibers, which bi-directionally transmit light between separate sites (even at a distance of several meters), can be used for either optical imaging or manipulating neural activity relevant to behavioral circuitry mechanisms. The method's flexibility and the specifications of the light structure are well suited for following the behavior of freely moving animals. Furthermore, thin optical fibers allow researchers to monitor neural activity from not only the cortical surface but also deep brain regions, including the hippocampus and amygdala. Such regions are difficult to target with two-photon microscopes. Optogenetic manipulation of neural activity with an optical fiber has the advantage of being selective for both cell-types and projections as compared to conventional electrophysiological brain tissue stimulation. It is difficult to extract any data regarding changes in neural activity solely from a fiber-optic manipulation device; however, the readout of data is made possible by combining manipulation with electrophysiological recording, or the simultaneous application of optical imaging and manipulation using a bundle-fiber. The present review introduces recent progress in fiber-optic imaging and manipulation methods, while also discussing fiber-optic system designs that are suitable for a given experimental protocol. Copyright © 2015 The Authors. Published by Elsevier Ireland Ltd.. All rights reserved.

Diamond-based single-photon emitters

International Nuclear Information System (INIS)

Aharonovich, I; Castelletto, S; Simpson, D A; Su, C-H; Greentree, A D; Prawer, S

2011-01-01

The exploitation of emerging quantum technologies requires efficient fabrication of key building blocks. Sources of single photons are extremely important across many applications as they can serve as vectors for quantum information-thereby allowing long-range (perhaps even global-scale) quantum states to be made and manipulated for tasks such as quantum communication or distributed quantum computation. At the single-emitter level, quantum sources also afford new possibilities in terms of nanoscopy and bio-marking. Color centers in diamond are prominent candidates to generate and manipulate quantum states of light, as they are a photostable solid-state source of single photons at room temperature. In this review, we discuss the state of the art of diamond-based single-photon emitters and highlight their fabrication methodologies. We present the experimental techniques used to characterize the quantum emitters and discuss their photophysical properties. We outline a number of applications including quantum key distribution, bio-marking and sub-diffraction imaging, where diamond-based single emitters are playing a crucial role. We conclude with a discussion of the main challenges and perspectives for employing diamond emitters in quantum information processing.

On Virtual Integrated Model of a 6DoF Manipulator Arm for Emergency Cases Interventions

Directory of Open Access Journals (Sweden)

Gigi Naidin

2011-09-01

Full Text Available This research deals with a virtual integrated model for a 6DoF manipulator arm dedicated to use for emergency situations intervention. The virtual model can simulates both the entire structural and mechanical configuration of the manipulator, and the driving system with automated command unit. The basic idea supposes to develop a complex simulator for kinematical and dynamic behavior analysis of 6DoF robot manipulator, and for facilely cross correlation and comparative evaluation between essential parameters and extremely bearing cases defining the manipulator working state. The analysis was developed in Matlab© - SimScape© software. The conclusions dignify the main functional capability of the manipulator supposing the capacity of driving system and mechanical structure.

Specification for movable manipulator system for use in radiochemical engineering cells

International Nuclear Information System (INIS)

Dixson, G.E.

1998-01-01

This specification was prepared to identify requirements for a movable manipulator for use in B-Ccl 1 and the REC Airlock at 324 Building. This manipulator could also be used in other hot cells at the 324 Building. This work involves retrieval, inspection, reduction and decontamination of material on the Airlock and Cell floors, in the pipe trench and on the walls. B and W Hanford Company (BWHC) recognizes that not all of the requirements are compatible and some may need to be changed, subject to agreement between the parties involved. BWHC also recognizes that in order to perform the tasks described two or more different machines with significantly different layout may be necessary. These requirements are the starting point for any proposal

Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

Directory of Open Access Journals (Sweden)

Farzin Piltan

2013-06-01

Full Text Available Sliding mode controller (SMC is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness.  In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.

Design of the Driving and Clamp Rotation Hydraulic Control System for the Heavy Load Forging Manipulator

Directory of Open Access Journals (Sweden)

Li Geqiang

2015-01-01

Full Text Available The manipulator was equipped with full hydraulic drive. We designed the hydraulic systems for the driving and clamping rotation. We used a fuzzy PID control strategy to design the electro-hydraulic proportional control system. We built a united simulation model based on the co-simulation of MATLAB/Simulink and AMEsim. A mathematical model of the system was also established. We did separate simulations of the system’s dynamic characteristics for fast forging and normal forging working conditions. The parameters were optimized. The field test shows that the steady-state error of the hydraulic system is small and the system response is fast. The system’s rapid response speed, high precision, and stability under heavy load were realized.

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.)

Leadership Manipulation and Ethics in Storytelling

OpenAIRE

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

2013-01-01

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

Remote maintenance system for nuclear facilities

International Nuclear Information System (INIS)