Gender differences in emotion experience perception under different facial muscle manipulations.

Science.gov (United States)

Wang, Yufeng; Zhang, Dongjun; Zou, Feng; Li, Hao; Luo, Yanyan; Zhang, Meng; Liu, Yijun

2016-04-01

According to embodied emotion theory, facial manipulations should modulate and initiate particular emotions. However, whether there are gender differences in emotion experience perception under different facial muscle manipulations is not clear. Therefore, we conducted two behavioral experiments to examine gender differences in emotional perception in response to facial expressions (sad, neutral, and happy) under three conditions: (1) holding a pen using only the teeth (HPT), which facilitates the muscles typically associated with smiling; (2) holding a pen using only the lips (HPL), which inhibits the muscles typically associated with smiling; and (3) a control condition--hold no pen (HNP). We found that HPT made the emotional feelings more positive, and that the change degree of female's ratings of sad facial expressions between conditions (HPL to HPT) was larger than males'. These results suggested cognition can be affected by the interaction of the stimuli and the body, especially the female. Copyright © 2016 Elsevier Inc. All rights reserved.

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)

Threat-level-dependent manipulation of signaled body size: dog growls' indexical cues depend on the different levels of potential danger.

Science.gov (United States)

Bálint, Anna; Faragó, Tamás; Miklósi, Ádám; Pongrácz, Péter

2016-11-01

Body size is an important feature that affects fighting ability; however, size-related parameters of agonistic vocalizations are difficult to manipulate because of anatomical constraints within the vocal production system. Rare examples of acoustic size modulation are due to specific features that enable the sender to steadily communicate exaggerated body size. However, one could argue that it would be more adaptive if senders could adjust their signaling behavior to the fighting potential of their actual opponent. So far there has been no experimental evidence for this possibility. We tested this hypothesis by exposing family dogs (Canis familiaris) to humans with potentially different fighting ability. In a within-subject experiment, 64 dogs of various breeds consecutively faced two threateningly approaching humans, either two men or two women of different stature, or a man and a woman of similar or different stature. We found that the dogs' vocal responses were affected by the gender of the threatening stranger and the dog owner's gender. Dogs with a female owner, or those dogs which came from a household where both genders were present, reacted with growls of lower values of the Pitch-Formant component (including deeper fundamental frequency and lower formant dispersion) to threatening men. Our results are the first to show that non-human animals react with dynamic alteration of acoustic parameters related to their individual indexical features (body size), depending on the level of threat in an agonistic encounter.

A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation

Directory of Open Access Journals (Sweden)

Wu Ren

2014-01-01

Full Text Available Stress signal is difficult to obtain in the health monitoring of multibody manipulator. In order to solve this problem, a soft sensor method is presented. In the method, stress signal is considered as dominant variable and angle signal is regarded as auxiliary variable. By establishing the mathematical relationship between them, a soft sensor model is proposed. In the model, the stress information can be deduced by angle information which can be easily measured for such structures by experiments. Finally, test of ground and wall working conditions is done on a multibody manipulator test rig. The results show that the stress calculated by the proposed method is closed to the test one. Thus, the stress signal is easier to get than the traditional method. All of these prove that the model is correct and the method is feasible.

A two-degrees-of-freedom miniature manipulator actuated by antagonistic shape memory alloys

International Nuclear Information System (INIS)

Lai, Chih-Ming; Chu, Cheng-Yu; Lan, Chao-Chieh

2013-01-01

This paper presents a miniature manipulator that can provide rotations around two perpendicularly intersecting axes. Each axis is actuated by a pair of shape memory alloy (SMA) wires. SMA wire actuators are known for their large energy density and ease of actuation. These advantages make them ideal for applications that have stringent size and weight constraints. SMA actuators can be temperature-controlled to contract and relax like muscles. When correctly designed, antagonistic SMA actuators have a faster response and larger range of motion than bias-type SMA actuators. This paper proposes an antagonistic actuation model to determine the manipulator parameters that are required to generate sufficient workspace. Effects of SMA prestrain and spring stiffness on the manipulator are investigated. Taking advantage of proper prestrain, the actuator size can be made much smaller while maintaining the same motion. The use of springs in series with SMA can effectively reduce actuator stress. A controller and an anti-slack algorithm are developed to ensure fast and accurate motion. Speed, stress, and loading experiments are conducted to demonstrate the performance of the manipulator. (paper)

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

Quantitative optical trapping and optical manipulation of micro-sized objects

Directory of Open Access Journals (Sweden)

Rania Sayed

2017-10-01

Full Text Available An optical tweezers technique is used for ultraprecise micromanipulation to measure positions of micrometer scale objects with a precision down to the nanometer scale. It consists of a high performance research microscope with motorized scanning stage and sensitive position detection system. Up to 10 traps can be used quasi-simultaneously. Non photodamage optical trapping of Escherichia coli (E. coli bacteria cells of 2 µm in length, as an example of motile bacteria, has been shown in this paper. Also, efficient optical trapping and rotation of polystyrene latex particles of 3 µm in diameter have been studied, as an optical handle for the pick and place of other tiny objects. A fast galvoscanner is used to produce multiple optical traps for manipulation of micro-sized objects and optical forces of these trapped objects quantified and measured according to explanation of ray optics regime. The diameter of trapped particle is bigger than the wavelength of the trapping laser light. The force constant (k has been determined in real time from the positional time series recorded from the trapped object that is monitored by a CCD camera through a personal computer.

Seed-mediated growth and manipulation of Au nanorods via size-controlled synthesis of Au seeds

International Nuclear Information System (INIS)

Liu Juncheng; Duggan, Jennifer N.; Morgan, Joshua; Roberts, Christopher B.

2012-01-01

Seed-mediated growth of gold (Au) nanorods with highly controllable length, width, and aspect ratio was accomplished via carefully size-controlled synthesis of the original Au seeds. A slow dynamic growth of Au nanoparticle seeds was observed after reduction of the Au salt (i.e., hydrogen tetrachloroaurate (III) hydrate) by sodium borohydride (NaBH 4 ) in the presence of cetyltrimethyl ammonium bromide (CTAB). As such, the size of the Au nanoparticle seeds can therefore be manipulated through control over the duration of the reaction period (i.e., aging times of 2, 8, 48, 72, and 144 h were used in this study). These differently sized Au nanoparticles were subsequently used as seeds for the growth of Au nanorods, where the additions of Au salt, CTAB, AgNO 3 , and ascorbic acid were employed. Smaller Au nanoparticle seeds obtained via short growth/aging time resulted in Au nanorods with higher aspect ratio and thus longer longitudinal surface plasmon wavelength (LSPW). The larger Au nanoparticle seeds obtained via longer growth/aging time resulted in Au nanorods with lower aspect ratio and shorter LSPW.

Microstructural Control via Copious Nucleation Manipulated by In Situ Formed Nucleants: Large-Sized and Ductile Metallic Glass Composites.

Science.gov (United States)

Song, Wenli; Wu, Yuan; Wang, Hui; Liu, Xiongjun; Chen, Houwen; Guo, Zhenxi; Lu, Zhaoping

2016-10-01

A novel strategy to control the precipitation behavior of the austenitic phase, and to obtain large-sized, transformation-induced, plasticity-reinforced bulk metallic glass matrix composites, with good tensile properties, is proposed. By inducing heterogeneous nucleation of the transformable reinforcement via potent nucleants formed in situ, the characteristics of the austenitic phase are well manipulated. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Nano-manipulation of single DNA molecules

International Nuclear Information System (INIS)

Hu Jun; Shanghai Jiaotong Univ., Shanghai; Lv Junhong; Wang Guohua; Wang Ying; Li Minqian; Zhang Yi; Li Bin; Li Haikuo; An Hongjie

2004-01-01

Nano-manipulation of single atoms and molecules is a critical technique in nanoscience and nanotechnology. This review paper will focus on the recent development of the manipulation of single DNA molecules based on atomic force microscopy (AFM). Precise manipulation has been realized including varied manipulating modes such as 'cutting', 'pushing', 'folding', 'kneading', 'picking up', 'dipping', etc. The cutting accuracy is dominated by the size of the AFM tip, which is usually 10 nm or less. Single DNA fragments can be cut and picked up and then amplified by single molecule PCR. Thus positioning isolation and sequencing can be performed. (authors)

Danish heathland manipulation experiment data in Model-Data-Fusion

Science.gov (United States)

Thum, Tea; Peylin, Philippe; Ibrom, Andreas; Van Der Linden, Leon; Beier, Claus; Bacour, Cédric; Santaren, Diego; Ciais, Philippe

2013-04-01

In ecosystem manipulation experiments (EMEs) the ecosystem is artificially exposed to different environmental conditions that aim to simulate circumstances in future climate. At Danish EME site Brandbjerg the responses of a heathland to drought, warming and increased atmospheric CO2 concentration are studied. The warming manipulation is realized by passive nighttime warming. The measurements include control plots as well as replicates for each three treatment separately and in combination. The Brandbjerg heathland ecosystem is dominated by heather and wavy hairgrass. These experiments provide excellent data for validation and development of ecosystem models. In this work we used a generic vegetation model ORCHIDEE with Model-Data-Fusion (MDF) approach. ORCHIDEE model is a process-based model that describes the exchanges of carbon, water and energy between the atmosphere and the vegetation. It can be run at different spatial scales from global to site level. Different vegetation types are described in ORCHIDEE as plant functional types. In MDF we are using observations from the site to optimize the model parameters. This enables us to assess the modelling errors and the performance of the model for different manipulation treatments. This insight will inform us whether the different processes are adequately modelled or if the model is missing some important processes. We used a genetic algorithm in the MDF. The data available from the site included measurements of aboveground biomass, heterotrophic soil respiration and total ecosystem respiration from years 2006-2008. The biomass was measured six times doing this period. The respiration measurements were done with manual chamber measurements. For the soil respiration we used results from an empirical model that has been developed for the site. This enabled us to have more data for the MDF. Before the MDF we performed a sensitivity analysis of the model parameters to different data streams. Fifteen most influential

What have we learned from global change manipulative experiments in China? A meta-analysis

OpenAIRE

Zheng Fu; Shuli Niu; Jeffrey S. Dukes

2015-01-01

Although China has the largest population in the world, a faster rate of warming than the global average, and an active global change research program, results from many of the global change experiments in Chinese terrestrial ecosystems have not been included in global syntheses. Here, we specifically analyze the observed responses of carbon (C) and nitrogen (N) cycling in global change manipulative experiments in China, and compare these responses to those from other regions of the world. Mo...

Near real time/low latency data collection for climate warming manipulations and an elevated CO2 SPRUCE experiment

Science.gov (United States)

Krassovski, M.; Hanson, P. J.; Riggs, J. S.; Nettles, W. R., IV

2017-12-01

Climate change studies are one of the most important aspects of modern science and related experiments are getting bigger and more complex. One such experiment is the Spruce and Peatland Responses Under Climatic and Environmental Change experiment (SPRUCE, http://mnspruce.ornl.gov) conducted in in northern Minnesota, 40 km north of Grand Rapids, in the USDA Forest Service Marcell Experimental Forest (MEF). The SPRUCE experimental mission is to assess ecosystem-level biological responses of vulnerable, high carbon terrestrial ecosystems to a range of climate warming manipulations and an elevated CO2 atmosphere. This manipulation experiment generates a lot of observational data and requires a reliable onsite data collection system, dependable methods to transfer data to a robust scientific facility, and real-time monitoring capabilities. This presentation shares our experience of establishing near real time/low latency data collection and monitoring system using satellite communication.

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...

Inertial particle manipulation in microscale oscillatory flows

Science.gov (United States)

Agarwal, Siddhansh; Rallabandi, Bhargav; Raju, David; Hilgenfeldt, Sascha

2017-11-01

Recent work has shown that inertial effects in oscillating flows can be exploited for simultaneous transport and differential displacement of microparticles, enabling size sorting of such particles on extraordinarily short time scales. Generalizing previous theory efforts, we here derive a two-dimensional time-averaged version of the Maxey-Riley equation that includes the effect of an oscillating interface to model particle dynamics in such flows. Separating the steady transport time scale from the oscillatory time scale results in a simple and computationally efficient reduced model that preserves all slow-time features of the full unsteady Maxey-Riley simulations, including inertial particle displacement. Comparison is made not only to full simulations, but also to experiments using oscillating bubbles as the driving interfaces. In this case, the theory predicts either an attraction to or a repulsion from the bubble interface due to inertial effects, so that versatile particle manipulation is possible using differences in particle size, particle/fluid density contrast and streaming strength. We also demonstrate that these predictions are in agreement with experiments.

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.

Manipulation of heat-diffusion channel in laser thermal lithography.

Science.gov (United States)

Wei, Jingsong; Wang, Yang; Wu, Yiqun

2014-12-29

Laser thermal lithography is a good alternative method for forming small pattern feature size by taking advantage of the structural-change threshold effect of thermal lithography materials. In this work, the heat-diffusion channels of laser thermal lithography are first analyzed, and then we propose to manipulate the heat-diffusion channels by inserting thermal conduction layers in between channels. Heat-flow direction can be changed from the in-plane to the out-of-plane of the thermal lithography layer, which causes the size of the structural-change threshold region to become much smaller than the focused laser spot itself; thus, nanoscale marks can be obtained. Samples designated as "glass substrate/thermal conduction layer/thermal lithography layer (100 nm)/thermal conduction layer" are designed and prepared. Chalcogenide phase-change materials are used as thermal lithography layer, and Si is used as thermal conduction layer to manipulate heat-diffusion channels. Laser thermal lithography experiments are conducted on a home-made high-speed rotation direct laser writing setup with 488 nm laser wavelength and 0.90 numerical aperture of converging lens. The writing marks with 50-60 nm size are successfully obtained. The mark size is only about 1/13 of the focused laser spot, which is far smaller than that of the light diffraction limit spot of the direct laser writing setup. This work is useful for nanoscale fabrication and lithography by exploiting the far-field focusing light system.

Safe and sensible preprocessing and baseline correction of pupil-size data.

Science.gov (United States)

Mathôt, Sebastiaan; Fabius, Jasper; Van Heusden, Elle; Van der Stigchel, Stefan

2018-02-01

Measurement of pupil size (pupillometry) has recently gained renewed interest from psychologists, but there is little agreement on how pupil-size data is best analyzed. Here we focus on one aspect of pupillometric analyses: baseline correction, i.e., analyzing changes in pupil size relative to a baseline period. Baseline correction is useful in experiments that investigate the effect of some experimental manipulation on pupil size. In such experiments, baseline correction improves statistical power by taking into account random fluctuations in pupil size over time. However, we show that baseline correction can also distort data if unrealistically small pupil sizes are recorded during the baseline period, which can easily occur due to eye blinks, data loss, or other distortions. Divisive baseline correction (corrected pupil size = pupil size/baseline) is affected more strongly by such distortions than subtractive baseline correction (corrected pupil size = pupil size - baseline). We discuss the role of baseline correction as a part of preprocessing of pupillometric data, and make five recommendations: (1) before baseline correction, perform data preprocessing to mark missing and invalid data, but assume that some distortions will remain in the data; (2) use subtractive baseline correction; (3) visually compare your corrected and uncorrected data; (4) be wary of pupil-size effects that emerge faster than the latency of the pupillary response allows (within ±220 ms after the manipulation that induces the effect); and (5) remove trials on which baseline pupil size is unrealistically small (indicative of blinks and other distortions).

Why high-capacity manipulators and lead glass windows

International Nuclear Information System (INIS)

Grisham, D.L.; Lambert, J.E.

1981-01-01

The Monitor remote-handling system was developed to maintain the main experimental beam line at the Clinton P. Anderson Meson Physics Facility (LAMPF) of the Los Alamos National Laboratory. The technology and operating experience developed at LAMPF can be applied to other areas where handling of radioactive, hazardous, or toxic materials is required. These could include radiological incidents similar to Three Mile Island and toxic material spills, such as chlorine tank car derailments, where no provision for remote-handling exists. The technology can also be applied to routine radioactive remote-handling operations now conducted in conventional hot cells. These operations are normally done using mechanical master-slave manipulators with viewing through lead glass windows. The conventional facility can be replaced by a plain shielded box with an equivalent of the front end of Monitor inside. Master-slave manipulators of the future should be of 10-kg capacity with a force-reflection threshold of 0.2, minimum size, and provision for total sealing

A control method for manipulators with redundancy

International Nuclear Information System (INIS)

Furusho, Junji; Usui, Hiroyuki

1989-01-01

Redundant manipulators have more ability than nonredundant ones in many aspects such as avoiding obstacles, avoiding singular states, etc. In this paper, a control algorithm for redundant manipulators working under the circumstance in the presence of obstacles is presented. First, the measure of manipulability for robot manipulators under obstacle circumstances is defined. Then, the control algorithm for the obstacle avoidance is derived by using this measure of manipulability. The obstacle avoidance and the maintenance of good posture are simultaneously achieved by this algorithm. Lastly, an experiment and simulation results using an eight degree of freedom manipulator are shown. (author)

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)

Manipulating Strings in Python

Directory of Open Access Journals (Sweden)

William J. Turkel

2012-07-01

Full Text Available This lesson is a brief introduction to string manipulation techniques in Python. Knowing how to manipulate strings plays a crucial role in most text processing tasks. If you’d like to experiment with the following lessons, you can write and execute short programs as we’ve been doing, or you can open up a Python shell / Terminal to try them out on the command line.

Particle manipulation techniques in AEgIS

Energy Technology Data Exchange (ETDEWEB)

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

2011-07-15

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

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

SENSITIVITY OF BODY SWAY PARAMETERS DURING QUIET STANDING TO MANIPULATION OF SUPPORT SURFACE SIZE

Directory of Open Access Journals (Sweden)

Sarabon Nejc

2010-09-01

Full Text Available The centre of pressure (COP movement during stance maintenance on a stable surface is commonly used to describe and evaluate static balance. The aim of our study was to test sensitivity of individual COP parameters to different stance positions which were used to address size specific changes in the support surface. Twenty-nine subjects participated in the study. They carried out three 60-second repetitions of each of the five balance tasks (parallel stance, semi-tandem stance, tandem stance, contra-tandem stance, single leg stance. Using the force plate, the monitored parameters included the total COP distance, the distance covered in antero-posterior and medio-lateral directions, the maximum oscillation amplitude in antero-posterior and medio-lateral directions, the total frequency of oscillation, as well as the frequency of oscillation in antero-posterior and medio-lateral directions. The parameters which describe the total COP distance were the most sensitive to changes in the balance task, whereas the frequency of oscillation proved to be sensitive to a slightly lesser extent. Reductions in the support surface size in each of the directions resulted in proportional changes of antero-posterior and medio- lateral directions. The frequency of oscillation did not increase evenly with the increase in the level of difficulty of the balance task, but reached a certain value, above which it did not increase. Our study revealed the monitored parameters of the COP to be sensitive to the support surface size manipulations. The results of the study provide an important source for clinical and research use of the body sway measurements.

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.

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

Science.gov (United States)

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

2015-06-01

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

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.

Dielectrophoretic manipulation of human chromosomes in microfluidic channels: extracting chromosome dielectric properties

DEFF Research Database (Denmark)

Clausen, Casper Hyttel; Dimaki, Maria; Buckley, Sonia

2011-01-01

An investigation of the dielectric properties of polyamine buffer prepared human chromosomes is presented in this paper. Chromosomes prepared in this buffer are only a few micrometers in size and shaped roughly like spherical discs. Dielectrophoresis was therefore chosen as the method...... of manipulation combined with a custom designed microfluidic system containing the required electrodes for dielectrophoresis experiments. Our results show that although this system is presently not able to distinguish between the different chromosomes, it can provide average data for the dielectric properties...... of human chromosomes in polyamine buffer. These can then be used to optimize system designs for further characterization and even sorting. The experimental data from the dielectrophoretic manipulation were combined with theoretical calculations to extract a range of values for the permittivity...

An integrated open-cavity system for magnetic bead manipulation.

Science.gov (United States)

Abu-Nimeh, F T; Salem, F M

2013-02-01

Superparamagnetic beads are increasingly used in biomedical assays to manipulate, transport, and maneuver biomaterials. We present a low-cost integrated system designed in bulk CMOS to manipulate and separate biomedical magnetic beads. The system consists of 8 × 8 coil-arrays suitable for single bead manipulation, or collaborative multi-bead manipulation, using pseudo-parallel executions. We demonstrate the flexibility of the design in terms of different coil sizes, DC current levels, and layout techniques. In one array module example, the size of a single coil is 30 μm × 30 μm and the full array occupies an area of 248 μm × 248 μm in 0.5 μm CMOS technology. The programmable DC current source supports 8 discrete levels up to 1.5 mA. The total power consumption of the entire module is 9 mW when running at full power.

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.

Comparative analysis of hydraulic crane-manipulating installations transport and technological machines and industrial robots hydraulic manipulators

Directory of Open Access Journals (Sweden)

Lagerev I.A.

2016-09-01

Full Text Available The article presents results of comparative analysis of hydraulic crane-manipulator installations of mobile transport and technological machines and hydraulic manipulators of industrial robots. The comparative analysis is based on consid-eration of a wide range of types and sizes indicated technical devices of both domestic and foreign production: 1580 structures of cranes and more than 450 structures of industrial robots. It was performed in the following areas: func-tional purpose and basic technical characteristics; a design; the loading conditions of the model and failures in operation process; approaches to the design, calculation methods and mathematical modeling. The conclusions about the degree of similarity and the degree of difference hydraulic crane-manipulator installations of transport and technological ma-chines and hydraulic industrial robot manipulators from the standpoint of their design and modeling occurring in them during operation of dynamic and structural processes.

Integration of Mobile Manipulators in an Industrial Production

DEFF Research Database (Denmark)

Madsen, Ole; Bøgh, Simon; Schou, Casper

2015-01-01

Purpose – The purpose of this study has been to evaluate the technology of autonomous mobile manipulation in a real world industrial manufacturing environment. The objective has been to obtain experience in the integration with existing equipment and determine key challenges in maturing...... reports from such a real-world industrial experiment with two mobile manipulators. Design/methodology/approach – In the experiment, autonomous industrial mobile manipulators are integrated into the actual manufacturing environment of the pump manufacturer Grundfos. The two robots together solve the task...... of producing rotors; a task constituted by several sub-tasks ranging from logistics to complex assembly. With a total duration of 10 days, the experiment includes workspace adaptation, safety regulations, rapid robot instruction and running production. Findings – With a setup time of less than one day...

Scaling the drop size in coflow experiments

International Nuclear Information System (INIS)

Castro-Hernandez, E; Gordillo, J M; Gundabala, V; Fernandez-Nieves, A

2009-01-01

We perform extensive experiments with coflowing liquids in microfluidic devices and provide a closed expression for the drop size as a function of measurable parameters in the jetting regime that accounts for the experimental observations; this expression works irrespective of how the jets are produced, providing a powerful design tool for this type of experiments.

Scaling the drop size in coflow experiments

Energy Technology Data Exchange (ETDEWEB)

Castro-Hernandez, E; Gordillo, J M [Area de Mecanica de Fluidos, Universidad de Sevilla, Avenida de los Descubrimientos s/n, 41092 Sevilla (Spain); Gundabala, V; Fernandez-Nieves, A [School of Physics, Georgia Institute of Technology, Atlanta, GA 30332 (United States)], E-mail: jgordill@us.es

2009-07-15

We perform extensive experiments with coflowing liquids in microfluidic devices and provide a closed expression for the drop size as a function of measurable parameters in the jetting regime that accounts for the experimental observations; this expression works irrespective of how the jets are produced, providing a powerful design tool for this type of experiments.

Satyam’s Manipulative Accounting Methodology Unveiled: An Experience of an Asian Economy

OpenAIRE

MADAN LAL BHASIN

2017-01-01

Manipulative accounting practices are perennial and such practices have occurred in all eras, in all countries and affected millions of corporations. Unfortunately, there are few loopholes in accounting and auditing standards, which provide leeway and thus motivate accounting professionals to use aggressively manipulation practices. In fact, manipulative accounting (MA) involves the intentional cooking-up of financial records towards a pre-determined target. Every company indeed maneuvers the...

FAMILY INFLUENCE ON FORMATION OF CHILDREN'S MANIPULATIVE ATTITUDES

Directory of Open Access Journals (Sweden)

Liubov Ivanovna Ryumshina

2013-06-01

Full Text Available The article raises the issue of children's manipulation, and examines the conditions contributing to the formation of the manipulative attitudes. As such are analyzed: importance of these attitudes for the child, existence of manipulative attitudes in parents, family microclimate and position to the manipulations in society.According to the results of an empirical study, the characteristics of the family, provoking the development of manipulative behavior in children, are described. The members of this family hardly cooperate with each other and others, are focused on self-interests, and try to satisfy them without much effort, and by using the people around them. It is accompanied by the insincerity and lack of attention to the child, and most of all to his needs, feelings and emotional stress. Normal 0 false false false RU X-NONE X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Обычная таблица"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Calibri","sans-serif"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin; mso-fareast-language:EN-US;}

Directional Acoustic Wave Manipulation by a Porpoise via Multiphase Forehead Structure

Science.gov (United States)

Zhang, Yu; Song, Zhongchang; Wang, Xianyan; Cao, Wenwu; Au, Whitlow W. L.

2017-12-01

Porpoises are small-toothed whales, and they can produce directional acoustic waves to detect and track prey with high resolution and a wide field of view. Their sound-source sizes are rather small in comparison with the wavelength so that beam control should be difficult according to textbook sonar theories. Here, we demonstrate that the multiphase material structure in a porpoise's forehead is the key to manipulating the directional acoustic field. Computed tomography (CT) derives the multiphase (bone-air-tissue) complex, tissue experiments obtain the density and sound-velocity multiphase gradient distributions, and acoustic fields and beam formation are numerically simulated. The results suggest the control of wave propagations and sound-beam formations is realized by cooperation of the whole forehead's tissues and structures. The melon size significantly impacts the side lobes of the beam and slightly influences the main beams, while the orientation of the vestibular sac mainly adjusts the main beams. By compressing the forehead complex, the sound beam can be expanded for near view. The porpoise's biosonar allows effective wave manipulations for its omnidirectional sound source, which can help the future development of miniaturized biomimetic projectors in underwater sonar, medical ultrasonography, and other ultrasonic imaging applications.

Design of a High Power Robotic Manipulator for Emergency Response to the Nuclear Accidents

International Nuclear Information System (INIS)

Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo

2016-01-01

An accident in a nuclear facility causes a great social cost. To prevent an unexpected nuclear accident from spreading to the catastrophic disaster, emergency response action in early stage is required. However, high radiation environment has been proved as a challenging obstacle for human workers to access to the accident site and take an action in previous accident cases. Therefore, emergency response robotic technology to be used in a nuclear accident site instead of human workers are actively conducted in domestically and internationally. Robots in an accident situation are required to carry out a variety of tasks depend on the types and patterns of accidents. An emergency response usually includes removing of debris, make an access road to a certain place and handling valves. These tasks normally involve high payload handling. A small sized high power robotic manipulator can be an appropriate candidate to deal with a wide spectrum of tasks in an emergency situation. In this paper, we discuss about the design of a high power robotic manipulator, which is capable of handling high payloads for an initial response action to the nuclear facility accident. In this paper, we presented a small sized high power robotic manipulator design. Actuator types of manipulator was selected and mechanical structure was discussed. In the future, the servo valve and hydraulic pump systems will be determined. Furthermore, control algorithms and test bed experiments will be also conducted

Design of a High Power Robotic Manipulator for Emergency Response to the Nuclear Accidents

Energy Technology Data Exchange (ETDEWEB)

Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

An accident in a nuclear facility causes a great social cost. To prevent an unexpected nuclear accident from spreading to the catastrophic disaster, emergency response action in early stage is required. However, high radiation environment has been proved as a challenging obstacle for human workers to access to the accident site and take an action in previous accident cases. Therefore, emergency response robotic technology to be used in a nuclear accident site instead of human workers are actively conducted in domestically and internationally. Robots in an accident situation are required to carry out a variety of tasks depend on the types and patterns of accidents. An emergency response usually includes removing of debris, make an access road to a certain place and handling valves. These tasks normally involve high payload handling. A small sized high power robotic manipulator can be an appropriate candidate to deal with a wide spectrum of tasks in an emergency situation. In this paper, we discuss about the design of a high power robotic manipulator, which is capable of handling high payloads for an initial response action to the nuclear facility accident. In this paper, we presented a small sized high power robotic manipulator design. Actuator types of manipulator was selected and mechanical structure was discussed. In the future, the servo valve and hydraulic pump systems will be determined. Furthermore, control algorithms and test bed experiments will be also conducted.

Floral Sonication is an Innate Behaviour in Bumblebees that can be Fine-Tuned with Experience in Manipulating Flowers.

Science.gov (United States)

Morgan, Tan; Whitehorn, Penelope; Lye, Gillian C; Vallejo-Marín, Mario

Bumblebees demonstrate an extensive capacity for learning complex motor skills to maximise exploitation of floral rewards. This ability is well studied in nectar collection but its role in pollen foraging is less well understood. Floral sonication is used by bees to extract pollen from some plant species with anthers which must be vibrated (buzzed) to release pollen. Pollen removal is determined by sonication characteristics including frequency and amplitude, and thus the ability to optimise sonication should allow bees to maximise the pollen collection. We investigated the ability of the buff-tailed bumblebee ( Bombus terrestris ) to modify the frequency and amplitude of their buzzes with increasing experience manipulating flowers of the buzz-pollinated plant Solanum rostratum . We analysed flight and feeding vibrations generated by naïve workers across feeding bouts. Feeding buzzes were of a higher frequency and a lower amplitude than flight buzzes. Both flight and feeding buzzes had reduced amplitudes with increasing number of foraging trips. However, the frequency of their feeding buzzes was reduced significantly more than their flight buzzes as bumblebee workers gained experience manipulating flowers. These results suggest that bumblebees are able to modify the characteristics of their buzzes with experience manipulating buzz-pollinated flowers. We discuss our findings in the context of bumblebee learning, and the current understanding of the optimal sonication characteristics for releasing pollen in buzz-pollinated species. Our results present a tantalising insight into the potential role of learning in floral sonication, paving the way for future research in this area.

Asymmetric responses of primary productivity to precipitation extremes: A synthesis of grassland precipitation manipulation experiments.

Science.gov (United States)

Wilcox, Kevin R; Shi, Zheng; Gherardi, Laureano A; Lemoine, Nathan P; Koerner, Sally E; Hoover, David L; Bork, Edward; Byrne, Kerry M; Cahill, James; Collins, Scott L; Evans, Sarah; Gilgen, Anna K; Holub, Petr; Jiang, Lifen; Knapp, Alan K; LeCain, Daniel; Liang, Junyi; Garcia-Palacios, Pablo; Peñuelas, Josep; Pockman, William T; Smith, Melinda D; Sun, Shanghua; White, Shannon R; Yahdjian, Laura; Zhu, Kai; Luo, Yiqi

2017-10-01

Climatic changes are altering Earth's hydrological cycle, resulting in altered precipitation amounts, increased interannual variability of precipitation, and more frequent extreme precipitation events. These trends will likely continue into the future, having substantial impacts on net primary productivity (NPP) and associated ecosystem services such as food production and carbon sequestration. Frequently, experimental manipulations of precipitation have linked altered precipitation regimes to changes in NPP. Yet, findings have been diverse and substantial uncertainty still surrounds generalities describing patterns of ecosystem sensitivity to altered precipitation. Additionally, we do not know whether previously observed correlations between NPP and precipitation remain accurate when precipitation changes become extreme. We synthesized results from 83 case studies of experimental precipitation manipulations in grasslands worldwide. We used meta-analytical techniques to search for generalities and asymmetries of aboveground NPP (ANPP) and belowground NPP (BNPP) responses to both the direction and magnitude of precipitation change. Sensitivity (i.e., productivity response standardized by the amount of precipitation change) of BNPP was similar under precipitation additions and reductions, but ANPP was more sensitive to precipitation additions than reductions; this was especially evident in drier ecosystems. Additionally, overall relationships between the magnitude of productivity responses and the magnitude of precipitation change were saturating in form. The saturating form of this relationship was likely driven by ANPP responses to very extreme precipitation increases, although there were limited studies imposing extreme precipitation change, and there was considerable variation among experiments. This highlights the importance of incorporating gradients of manipulations, ranging from extreme drought to extreme precipitation increases into future climate change

Direct current dielectrophoretic manipulation of the ionic liquid droplets in water.

Science.gov (United States)

Zhao, Kai; Li, Dongqing

2018-07-13

The ionic liquids (ILs) as the environmentally benign solvents show great potentials in microemulsion carrier systems and have been widely used in the biochemical and pharmaceutical fields. In the work, the ionic liquid-in-water microemulsions were fabricated by using two kinds of hydrophobic ionic liquid, 1-Butyl-3-methylimidazolium hexafluorophosphate [Bmim][PF 6 ] and 1-Hexyl-3-methylimidazolium hexafluorophosphate [Hmim][PF 6 ] with Tween 20. The ionic liquid droplets in water experience the dielectrophoretic (DEP) forces induced by applying electrical field via a nano-orifice and a micron orifice on the opposite channel walls of a microchannel. The dielectrophoretic behaviors of the ionic liquid-in-water emulsion droplets were investigated under direct current (DC) electric field. The positive and negative DEP behaviors of the ionic liquid-in-water droplets varying with the electrical conductivity of the suspending medium were investigated and two kinds of the ionic liquid droplets of similar sizes were separated by their different DEP behaviors. In addition, the separation of the ionic liquid-in-water droplets by size was conducted. This paper, for the first time to our knowledge, presents the DC-DEP manipulation of the ionic liquid-in-water emulsion droplets by size and by type. This method provides a platform to manipulate the ionic liquid droplets individually. Copyright © 2018 Elsevier B.V. All rights reserved.

Welcome to wonderland: the influence of the size and shape of a virtual hand on the perceived size and shape of virtual objects.

Science.gov (United States)

Linkenauger, Sally A; Leyrer, Markus; Bülthoff, Heinrich H; Mohler, Betty J

2013-01-01

The notion of body-based scaling suggests that our body and its action capabilities are used to scale the spatial layout of the environment. Here we present four studies supporting this perspective by showing that the hand acts as a metric which individuals use to scale the apparent sizes of objects in the environment. However to test this, one must be able to manipulate the size and/or dimensions of the perceiver's hand which is difficult in the real world due to impliability of hand dimensions. To overcome this limitation, we used virtual reality to manipulate dimensions of participants' fully-tracked, virtual hands to investigate its influence on the perceived size and shape of virtual objects. In a series of experiments, using several measures, we show that individuals' estimations of the sizes of virtual objects differ depending on the size of their virtual hand in the direction consistent with the body-based scaling hypothesis. Additionally, we found that these effects were specific to participants' virtual hands rather than another avatar's hands or a salient familiar-sized object. While these studies provide support for a body-based approach to the scaling of the spatial layout, they also demonstrate the influence of virtual bodies on perception of virtual environments.

Welcome to wonderland: the influence of the size and shape of a virtual hand on the perceived size and shape of virtual objects.

Directory of Open Access Journals (Sweden)

Sally A Linkenauger

Full Text Available The notion of body-based scaling suggests that our body and its action capabilities are used to scale the spatial layout of the environment. Here we present four studies supporting this perspective by showing that the hand acts as a metric which individuals use to scale the apparent sizes of objects in the environment. However to test this, one must be able to manipulate the size and/or dimensions of the perceiver's hand which is difficult in the real world due to impliability of hand dimensions. To overcome this limitation, we used virtual reality to manipulate dimensions of participants' fully-tracked, virtual hands to investigate its influence on the perceived size and shape of virtual objects. In a series of experiments, using several measures, we show that individuals' estimations of the sizes of virtual objects differ depending on the size of their virtual hand in the direction consistent with the body-based scaling hypothesis. Additionally, we found that these effects were specific to participants' virtual hands rather than another avatar's hands or a salient familiar-sized object. While these studies provide support for a body-based approach to the scaling of the spatial layout, they also demonstrate the influence of virtual bodies on perception of virtual environments.

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....

Can current moisture responses predict soil CO2 efflux under altered precipitation regimes? A synthesis of manipulation experiments

Science.gov (United States)

As a key component of the carbon cycle, soil respiration (Rsoil) is being excessively studied with the aim of improving our understanding as well as our ability to predict Rsoil when climate changes. Many manipulation experiments have been performed to test how Rsoil and other carbon fluxes and ecos...

The role of haptic versus visual volume cues in the size-weight illusion.

Science.gov (United States)

Ellis, R R; Lederman, S J

1993-03-01

Three experiments establish the size-weight illusion as a primarily haptic phenomenon, despite its having been more traditionally considered an example of vision influencing haptic processing. Experiment 1 documents, across a broad range of stimulus weights and volumes, the existence of a purely haptic size-weight illusion, equal in strength to the traditional illusion. Experiment 2 demonstrates that haptic volume cues are both sufficient and necessary for a full-strength illusion. In contrast, visual volume cues are merely sufficient, and produce a relatively weaker effect. Experiment 3 establishes that congenitally blind subjects experience an effect as powerful as that of blindfolded sighted observers, thus demonstrating that visual imagery is also unnecessary for a robust size-weight illusion. The results are discussed in terms of their implications for both sensory and cognitive theories of the size-weight illusion. Applications of this work to a human factors design and to sensor-based systems for robotic manipulation are also briefly considered.

Manipulations to regenerate aspen ecosystems

Science.gov (United States)

Wayne D. Shepperd

2001-01-01

Vegetative regeneration of aspen can be initiated through manipulations that provide hormonal stimulation, proper growth environment, and sucker protection - the three elements of the aspen regeneration triangle. The correct course of action depends upon a careful evaluation of the size, vigor, age, and successional status of the existing clone. Soils and site...

Distinguishing manipulated stocks via trading network analysis

Science.gov (United States)

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

2011-10-01

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

Contest experience and body size affect different types of contest decisions.

Science.gov (United States)

Chen, Yu-Ju; Hsu, Yuying

2016-11-01

This study examined the relative importance of contest experience and size differences to behavioral decisions over the course of contests. Using a mangrove rivulus fish, Kryptolebias marmoratus, we showed that although contest experience and size differences jointly determined contest outcomes, they affected contestants' interactions at different stages of contests. Contest experience affected behavioral decisions at earlier stages of contests, including the tendency and latency to launch attacks, the tendency to escalate contests into mutual attacks and the outcome of non-escalated contests. Once contests were escalated into mutual attacks, the degree of size difference affected the fish's persistence in escalation and chance of winning, but contest experience did not. These results support the hypothesis that contest experience modifies individuals' estimation of their fighting ability rather than their actual strength. Furthermore, (1) in contests between two naïve contestants, more than 60 % of fish that were 2-3 mm smaller than their opponent escalated the contest to physical fights, even though their larger opponents eventually won 92 % of escalated fights and (2) fish with a losing experience were very likely to retreat in the face of an opponent 2-3 mm smaller than them without escalating. The result that a 2-3 mm size advantage could not offset the influence of a losing experience on the tendency to escalate suggests that, as well as depending on body size, the fish's physical strength is influenced by other factors which require further investigation.

Manipulating the Gradient

Science.gov (United States)

Gaze, Eric C.

2005-01-01

We introduce a cooperative learning, group lab for a Calculus III course to facilitate comprehension of the gradient vector and directional derivative concepts. The lab is a hands-on experience allowing students to manipulate a tangent plane and empirically measure the effect of partial derivatives on the direction of optimal ascent. (Contains 7…

Controlling the size and morphology of Au@Pd core-shell nanocrystals by manipulating the kinetics of seeded growth.

Science.gov (United States)

Li, Jing; Zheng, Yiqun; Zeng, Jie; Xia, Younan

2012-06-25

This article reports a systematic study of the seed-mediated growth of Au@Pd core-shell nanocrystals with a variety of controlled sizes and morphologies. The key to the success of this synthesis is to manipulate the reaction kinetics by tuning a set of reaction parameters, including the type and concentration of capping agent, the amount of ascorbic acid used as the reducing agent, and the injection rate used for the precursor solution. Starting from Au nanospheres of 11 nm in diameter as the seeds, Au@Pd core-shell nanocrystals with a number of morphologies, including octahedra, concave octahedra, rectangular bars, cubes, concave cubes, and dendrites, could all be obtained by simply altering the reaction rate. For the first time, it was possible to generate Au@Pd nanocrystals with concave structures on the surfaces while their sizes were kept below 20 nm. In addition, the as-prepared Au@Pd nanocubes can be used as seeds to generate Au@Pd@Au and Au@Pd@Au@Pd nanocrystals with multishelled structures. Copyright © 2012 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

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

Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments

Directory of Open Access Journals (Sweden)

Moussab eBennehar

2015-12-01

Full Text Available This paper deals with a new control scheme for Parallel Kinematic Manipulators (PKMs based on the L1 adaptive control theory. The original L1 adaptive controller is extended by including an adaptive loop based on the dynamics of the PKM. The additional model-based term is in charge of the compensation of the modeled nonlinear dynamics in the aim of improving the tracking performance. Moreover, the proposed controller is enhanced to reduce the internal forces, which may appear in the case of Redundantly Actuated PKMs (RA-PKMs. The generated control inputs are first regulated through a projection mechanism that reduces the antagonistic internal forces, before being applied to the manipulator. To validate the proposed controller and to show its effectiveness, real-time experiments are conducted on a new four degrees-of-freedom (4-DOFs RA-PKM developed in our laboratory.

Advanced manipulator system for large hot cells

International Nuclear Information System (INIS)

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

1981-01-01

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

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...

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.

How emotions affect logical reasoning: evidence from experiments with mood-manipulated participants, spider phobics, and people with exam anxiety

OpenAIRE

Jung, Nadine; Wranke, Christina; Hamburger, Kai; Knauff, Markus

2014-01-01

Recent experimental studies show that emotions can have a significant effect on the way we think, decide, and solve problems. This paper presents a series of four experiments on how emotions affect logical reasoning. In two experiments different groups of participants first had to pass a manipulated intelligence test. Their emotional state was altered by giving them feedback, that they performed excellent, poor or on average. Then they completed a set of logical inference problems (with if p,...

Remote manipulator experience in target train maintenance at Fermilab

International Nuclear Information System (INIS)

Butala, S.W.

1984-01-01

When Fermilab was designed in the late 1960's and early 1970's, it was anticipated that Neutrino target train servicing could be costly in terms of personnel radiation exposure. This was based in part on the expectation that target intensities of at least 1E13 protons/pulse would be required to produce several neutrino interactions in a large bubble chamber detector. This was indeed later proven to be the case and historically the Neutrino beamline has been targeted with about one half of the protons available from the Main Ring. It was believed that much of the occupational radiation dose from the Neutrino Area could be spared by utilization of a remote manipulator system, which was eventually installed. It is the purpose of this report to examine the use of the Fermilab remote manipulator system and evaluate its cost effectiveness and success as an ALARA (As Low As Reasonably Achievable) tool. 16 references, 11 figures

Does length or neighborhood size cause the word length effect?

Science.gov (United States)

Jalbert, Annie; Neath, Ian; Surprenant, Aimée M

2011-10-01

Jalbert, Neath, Bireta, and Surprenant (2011) suggested that past demonstrations of the word length effect, the finding that words with fewer syllables are recalled better than words with more syllables, included a confound: The short words had more orthographic neighbors than the long words. The experiments reported here test two predictions that would follow if neighborhood size is a more important factor than word length. In Experiment 1, we found that concurrent articulation removed the effect of neighborhood size, just as it removes the effect of word length. Experiment 2 demonstrated that this pattern is also found with nonwords. For Experiment 3, we factorially manipulated length and neighborhood size, and found only effects of the latter. These results are problematic for any theory of memory that includes decay offset by rehearsal, but they are consistent with accounts that include a redintegrative stage that is susceptible to disruption by noise. The results also confirm the importance of lexical and linguistic factors on memory tasks thought to tap short-term memory.

Effects of brood size manipulation and common origin on phenotype and telomere length in nestling collared flycatchers

Directory of Open Access Journals (Sweden)

Voillemot Marie

2012-08-01

Full Text Available Abstract Background Evidence is accumulating that telomere length is a good predictor of life expectancy, especially early in life, thus calling for determining the factors that affect telomere length at this stage. Here, we investigated the relative influence of early growth conditions and origin (genetics and early maternal effects on telomere length of collared flycatchers (Ficedula albicollis at fledging. We experimentally transferred hatchlings among brood triplets to create reduced, control (i.e. unchanged final nestling number and enlarged broods. Results Although our treatment significantly affected body mass at fledging, we found no evidence that increased sibling competition affected nestling tarsus length and telomere length. However, mixed models showed that brood triplets explained a significant part of the variance in body mass (18% and telomere length (19%, but not tarsus length (13%, emphasizing that unmanipulated early environmental factors influenced telomere length. These models also revealed low, but significant, heritability of telomere length (h2 = 0.09. For comparison, the heritability of nestling body mass and tarsus length was 0.36 and 0.39, respectively, which was in the range of previously published estimates for those two traits in this species. Conclusion Those findings in a wild bird population demonstrate that telomere length at the end of the growth period is weakly, but significantly, determined by genetic and/or maternal factors taking place before hatching. However, we found no evidence that the brood size manipulation experiment, and by extension the early growth conditions, influenced nestling telomere length. The weak heritability of telomere length suggests a close association with fitness in natural populations.

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

Large and Small Scale Nitrogen and Phosporous Manipulation Experiment in a Tree-Grass Ecosystem: first year of results

Science.gov (United States)

Migliavacca, Mirco; Perez Priego, Oscar; El-Madany, Tarek; Guan, JinHong; Carrara, Arnaud; Fava, Francesco; Moreno, Gerardo; Kolle, Olaf; Rossini, Micol; Schrumpf, Marion; Julitta, Tommaso; Reichstein, Markus

2015-04-01

Recent studies have shown how human induced N/P imbalances affect essential ecosystem processes (e.g. photosynthesis, plant growth rate, respiration), and might be particularly important in water-limited ecosystems. In this contribution we will present the experimental design and the results of the first year of two nutrient manipulation experiments conducted at different spatial scale. In the first experiment a cluster of 2 eddy covariance (EC) flux towers has been set up beside a long-term EC site (Las Majadas del Tietar, Spain). Sites are selected in a way to have similar nutrient conditions, canopy structure, and stoichiometry of the different vegetation and soil pools. Two of the three footprints will be manipulated with addition of N and NP fertilizer at the beginning of 2015. The comparison of the three EC flux towers installed during the first year of the experiment (without fertilization) will be shown. We characterized the differences of the responses of carbon and water fluxes measured by the EC systems to environmental drivers, and structural and biophysical properties of the canopy. The second experiment was conducted over a Mediterranean grassland, where 16 plots of 10x10 meters that were manipulated by adding nutrient (N, P, and NP). The overall objective was to investigate the response of the gross primary productivity (GPP), assessed by using transparent transient-state canopy chambers, to different nutrient availability. The second objective was to evaluate the capability of hyperspectral data and Solar induced fluorescence to track short- and long-term GPP and light use efficiency variation under different N and P fertilization treatments. Spectral vegetation indices (VIs) were acquired manually using high resolution spectrometers (HR4000, OceanOptics, USA) along a phenological cycle. The VIs used included photochemical reflectance index (PRI), MERIS terrestrial-chlorophyll index (MTCI) and normalized difference vegetation index (NDVI). Solar

Size estimates of nobel gas clusters by Rayleigh scattering experiments

Institute of Scientific and Technical Information of China (English)

Pinpin Zhu (朱频频); Guoquan Ni (倪国权); Zhizhan Xu (徐至展)

2003-01-01

Noble gases (argon, krypton, and xenon) are puffed into vacuum through a nozzle to produce clusters for studying laser-cluster interactions. Good estimates of the average size of the argon, krypton and xenon clusters are made by carrying out a series of Rayleigh scattering experiments. In the experiments, we have found that the scattered signal intensity varied greatly with the opening area of the pulsed valve. A new method is put forward to choose the appropriate scattered signal and measure the size of Kr cluster.

On-Chip Magnetic Platform for Single-Particle Manipulation with Integrated Electrical Feedback.

Science.gov (United States)

Monticelli, Marco; Torti, Andrea; Cantoni, Matteo; Petti, Daniela; Albisetti, Edoardo; Manzin, Alessandra; Guerriero, Erica; Sordan, Roman; Gervasoni, Giacomo; Carminati, Marco; Ferrari, Giorgio; Sampietro, Marco; Bertacco, Riccardo

2016-02-17

Methods for the manipulation of single magnetic particles have become very interesting, in particular for in vitro biological studies. Most of these studies require an external microscope to provide the operator with feedback for controlling the particle motion, thus preventing the use of magnetic particles in high-throughput experiments. In this paper, a simple and compact system with integrated electrical feedback is presented, implementing in the very same device both the manipulation and detection of the transit of single particles. The proposed platform is based on zig-zag shaped magnetic nanostructures, where transverse magnetic domain walls are pinned at the corners and attract magnetic particles in suspension. By applying suitable external magnetic fields, the domain walls move to the nearest corner, thus causing the step by step displacement of the particles along the nanostructure. The very same structure is also employed for detecting the bead transit. Indeed, the presence of the magnetic particle in suspension over the domain wall affects the depinning field required for its displacement. This characteristic field can be monitored through anisotropic magnetoresistance measurements, thus implementing an integrated electrical feedback of the bead transit. In particular, the individual manipulation and detection of single 1-μm sized beads is demonstrated. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Critical element study on autonomous position control of articulated-arm type manipulator

International Nuclear Information System (INIS)

Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

1994-10-01

An articulated-arm type manipulator can be operated effectively in a restricted space due to its flexibility and it can be attractive for a wide range of in-vessel maintenance such as viewing, inspection and limiter handling in fusion experimental reactors. In case of the in-vessel maintenance using a flexible manipulator, it is quite essential to develop an autonomous control method for compensating a deflection of manipulator so as to minimize the maintenance time with high precision. For this purpose, a new position control method using a combination of neural network predictor with a rigid inverse kinematics is being developed. The key features of this method are to simplify a kinematics modeling of flexible manipulator, to enable quick position compensation in stead of ordinary large matrix compensation, and to be applicable to a wide variety of manipulator characteristics. A sub-scaled model of flexible manipulator with 4 joints has been fabricated for a benchmark experiments of the autonomous position control. Comparing analytical simulation with experiments using the flexible manipulator, it has been demonstrated that the new position control method gives significant improvement in control performance with high precision in order of a figure. In addition, further optimization can be possible by adding other non-linear predictors such as radial basis function and fuzzy modeling. This paper describes the details of a sub-scaled flexible manipulator and a neural network position control system as well as results of analytical simulation and benchmark experiments. (author)

Can current moisture responses predict soil CO2 efflux under altered precipitation regimes? A synthesis of manipulation experiments

DEFF Research Database (Denmark)

Vicca, S.; Bahn, M.; Estiarte, M.

2014-01-01

to fluctuations in soil temperature and soil water content can be used to predict SCE under altered rainfall patterns. Of the 58 experiments for which we gathered SCE data, 20 were discarded because either too few data were available or inconsistencies precluded their incorporation in the analyses. The 38...... remaining experiments were used to test the hypothesis that a model parameterized with data from the control plots (using soil temperature and water content as predictor variables) could adequately predict SCE measured in the manipulated treatment. Only for 7 of these 38 experiments was this hypothesis...... strongly on establishing response functions across a broader range of precipitation regimes and soil moisture conditions. Such experiments should make accurate measurements of water availability, should conduct high-frequency SCE measurements, and should consider both instantaneous responses...

Influence of soil erosion on CO2 exchange within the CarboZALF manipulation experiment

Science.gov (United States)

Hoffmann, Mathias; Augustin, Jürgen; Sommer, Michael

2014-05-01

Agriculture in the hummocky ground moraine landscape of NE-Germany is characterized by an increase in energy crop cultivation, like maize or sorghum. Both enhance lateral C fluxes by erosion and induce feedbacks on C dynamics of agroecosystems as a result of the time limited land cover and the vigorous crop growth. However, the actual impact of these phenomena on the CO2-sink/-source function of agricultural landscapes, is still not clear. Therefore we established the interdisciplinary project 'CarboZALF' in 2009. In our field experiment CarboZALF-D we are monitoring CO2 fluxes for soil-plant systems, which cover all landscape relevant soil states in respect to erosion and deposition, like Albic Cutanic Luvisol, Calcic Cutanic Luvisol, Calcaric Regosol and Endogleyic Colluvic Regosol. Furthermore, we induced erosion / deposition in a manipulation experiment. Automated chamber systems (2.5 m, basal area 1 m2, transparent) are placed at the manipulated sites as well as at one site neither influenced by erosion, nor by deposition. CO2 flux modelling of high temporal resolution includes ecosystem respiration (Reco), gross primary productivity (GPP) and net ecosystem exchange (NEE) based on parallel and continuous measurements of the CO2 exchange, soil and air temperatures as well as photosynthetic active radiation (PAR). Modelling includes gap filling which is needed in case of chamber malfunctions and abrupt disturbances by farming practice. In our presentation we would like to show results of the CO2 exchange measurements for one year. Differences are most pronounced between the non-eroded and the colluvial soil: The Endogleyic Colluvic Regosol showed higher flux rates for Reco and NEE compared to the Albic Cutanic Luvisol. The eroded soil (Calcic Cutanic Luvisol) demonstrated CO2fluxes intermediate between the non-affected and depositional site. Site-specific consequences for the soil C stocks will be also discussed in the presentation.

The TFTR maintenance manipulator

International Nuclear Information System (INIS)

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

1989-01-01

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

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.

Non-classic multiscale modeling of manipulation based on AFM, in aqueous and humid ambient

Science.gov (United States)

Korayem, M. H.; Homayooni, A.; Hefzabad, R. N.

2018-05-01

To achieve a precise manipulation, it is important that an accurate model consisting the size effect and environmental conditions be employed. In this paper, the non-classical multiscale modeling is developed to investigate the manipulation in a vacuum, aqueous and humid ambient. The manipulation structure is considered into two parts as a macro-field (MF) and a nano-field (NF). The governing equations of the AFM components (consist of the cantilever and tip) in the MF are derived based on the modified couple stress theory. The material length scale parameter is used to study the size effect. The fluid flow in the MF is assumed as the Couette and Creeping flows. Moreover, the NF is modeled using the molecular dynamics. The Electro-Based (ELBA) model is considered to model the ambient condition in the NF. The nanoparticle in the different conditions is taken into account to study the manipulation. The results of the manipulation indicate that the predicted deflection of the non-classical model is less than the classical one. Comparison of the nanoparticle travelled distance on substrate shows that the manipulation in the submerged condition is close to the ideal manipulation. The results of humid condition illustrate that by increasing the relative humidity (RH) the manipulation force decreases. Furthermore, Root Mean Square (RMS) as a criterion of damage demonstrates that the submerged nanoparticle has the minimum damage, however, the minimum manipulation force occurs in superlative humid ambient.

Manipulating affective state influences conditioned appetitive responses.

Science.gov (United States)

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

2017-10-06

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

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.

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

Directory of Open Access Journals (Sweden)

Jessie-Raye Bauer

2017-08-01

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

Does apparent size capture attention in visual search? Evidence from the Muller-Lyer illusion.

Science.gov (United States)

Proulx, Michael J; Green, Monique

2011-11-23

Is perceived size a crucial factor for the bottom-up guidance of attention? Here, a visual search experiment was used to examine whether an irrelevantly longer object can capture attention when participants were to detect a vertical target item. The longer object was created by an apparent size manipulation, the Müller-Lyer illusion; however, all objects contained the same number of pixels. The vertical target was detected more efficiently when it was also perceived as the longer item that was defined by apparent size. Further analysis revealed that the longer Müller-Lyer object received a greater degree of attentional priority than published results for other features such as retinal size, luminance contrast, and the abrupt onset of a new object. The present experiment has demonstrated for the first time that apparent size can capture attention and, thus, provide bottom-up guidance on the basis of perceived salience.

Satyam’s Manipulative Accounting Methodology Unveiled: An Experience of an Asian Economy

Directory of Open Access Journals (Sweden)

MADAN LAL BHASIN

2017-01-01

Full Text Available Manipulative accounting practices are perennial and such practices have occurred in all eras, in all countries and affected millions of corporations. Unfortunately, there are few loopholes in accounting and auditing standards, which provide leeway and thus motivate accounting professionals to use aggressively manipulation practices. In fact, manipulative accounting (MA involves the intentional cooking-up of financial records towards a pre-determined target. Every company indeed maneuvers the numbers, to a certain extent, as formally reported in its financial statements (FS to achieve budgetary targets and generously reward senior managers. From Enron, WorldCom to Satyam, it appeared that window-dressing leading to MA is a serious problem that is increasing both in its frequency and severity, which undermines the integrity of financial reports and eroded investors’ confidence. The responsibility of preventing, detecting and investigating financial frauds rests squarely on Board of Directors and they should adopt preventive steps. Despite the raft of CG, and financial disclosure reforms, corporate accounting still remains murky and companies continue to find ways to play ‘hide-and-seek’ game with the system. Satyam computers were once the crown jewel of Indian IT-industry but were brought to the ground by its founders in 2009 as a result of financial manipulations in FS. The present study provides a snapshot of how Mr. Raju (CEO and Chairman mastermind this maze of AM practices? Undoubtedly, Satyam scam is illegal and unethical in which computers were cleverly used to manipulate account books by creating fake invoices, inflating revenues, falsifying the cash and bank balances, showing non-existent interest on fixed deposits, showing ghost employees, and so on. Satyam fraud has shattered the dreams of investors, shocked the government and regulators and led to questioning of the accounting practices of auditors and CG norms in India. Finally

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.

Towards atomically precise manipulation of 2D nanostructures in the electron microscope

Science.gov (United States)

Susi, Toma; Kepaptsoglou, Demie; Lin, Yung-Chang; Ramasse, Quentin M.; Meyer, Jannik C.; Suenaga, Kazu; Kotakoski, Jani

2017-12-01

Despite decades of research, the ultimate goal of nanotechnology—top-down manipulation of individual atoms—has been directly achieved with only one technique: scanning probe microscopy. In this review, we demonstrate that scanning transmission electron microscopy (STEM) is emerging as an alternative method for the direct assembly of nanostructures, with possible applications in plasmonics, quantum technologies, and materials science. Atomically precise manipulation with STEM relies on recent advances in instrumentation that have enabled non-destructive atomic-resolution imaging at lower electron energies. While momentum transfer from highly energetic electrons often leads to atom ejection, interesting dynamics can be induced when the transferable kinetic energies are comparable to bond strengths in the material. Operating in this regime, very recent experiments have revealed the potential for single-atom manipulation using the Ångström-sized electron beam. To truly enable control, however, it is vital to understand the relevant atomic-scale phenomena through accurate dynamical simulations. Although excellent agreement between experiment and theory for the specific case of atomic displacements from graphene has been recently achieved using density functional theory molecular dynamics, in many other cases quantitative accuracy remains a challenge. We provide a comprehensive reanalysis of available experimental data on beam-driven dynamics in light of the state-of-the-art in simulations, and identify important targets for improvement. Overall, the modern electron microscope has great potential to become an atom-scale fabrication platform, especially for covalently bonded 2D nanostructures. We review the developments that have made this possible, argue that graphene is an ideal starting material, and assess the main challenges moving forward.

CLIMAITE - a three factor climate change ecosystem manipulation experiment.

Science.gov (United States)

Mikkelsen, T. N.; Beier, C.; Albert, K.; Ro-Poulsen, H.

2007-12-01

The Danish multi factorial climate change effects on vegetation experiment (Climaite) have now been conducted for two years on semi-natural grassland. The day time [CO2], night time temperature and precipitation (drought) have been altered, according to a regional climate change model for the year 2075, in a full factorial split plot design. The manipulated area for each treatment is 7 m2 and it is replicated 6 times. The CO2 and temperature treatments have been conducted continuously except for periods with snow cover. The CO2 is enhanced to 510 ppm via a FACE system based on concentrated CO2 released upwind under pressure. The control of the [CO2] varies with wind speed and irradiation, but during 50 percent of the fumigation period the target concentration was kept within +/-5 percent. The temperature treatment is conducted via infrared reflective curtains covering the plots during night time, and the warming of plants and soil depends of the day irradiation, night time wind speed and factors related to seasonality. In general, the air temperature is increased during night time with 1-2 C° and negligible during the day. The soil temperature in 5 cm depth is enhanced to 0.3 - 0.6 C° during night and day. The artificial summer droughts lasted about one month and differences in soil water content were developed over time. By the end of the treatment the èv content in the soil was as low as 0.06 m3 m-3 compared to 0.20 m3 m-3 in the control. Numerous physical and biological parameters in the grassland ecosystem have been measured and several are responding to the changed environment. After 9 months of exposure enhanced [CO2] stimulated the net photosynthesis (based on dry weight) in both of the domination plant species Calluna Vulgaris and Deschampsia flexuosa. When the plants were exposed to short term saturated [CO2] during gasexchange measurements the long term CO2 treated plants also had the highest photosynthesis rate, meaning that the plants were not

Using task effort and pupil size to track covert shifts of visual attention independently of a pupillary light reflex.

Science.gov (United States)

Brocher, Andreas; Harbecke, Raphael; Graf, Tim; Memmert, Daniel; Hüttermann, Stefanie

2018-03-07

We tested the link between pupil size and the task effort involved in covert shifts of visual attention. The goal of this study was to establish pupil size as a marker of attentional shifting in the absence of luminance manipulations. In three experiments, participants evaluated two stimuli that were presented peripherally, appearing equidistant from and on opposite sides of eye fixation. The angle between eye fixation and the peripherally presented target stimuli varied from 12.5° to 42.5°. The evaluation of more distant stimuli led to poorer performance than did the evaluation of more proximal stimuli throughout our study, confirming that the former required more effort than the latter. In addition, in Experiment 1 we found that pupil size increased with increasing angle and that this effect could not be reduced to the operation of low-level visual processes in the task. In Experiment 2 the pupil dilated more strongly overall when participants evaluated the target stimuli, which required shifts of attention, than when they merely reported on the target's presence versus absence. Both conditions yielded larger pupils for more distant than for more proximal stimuli, however. In Experiment 3, we manipulated task difficulty more directly, by changing the contrast at which the target stimuli were presented. We replicated the results from Experiment 1 only with the high-contrast stimuli. With stimuli of low contrast, ceiling effects in pupil size were observed. Our data show that the link between task effort and pupil size can be used to track the degree to which an observer covertly shifts attention to or detects stimuli in peripheral vision.

High-Throughput Particle Manipulation Based on Hydrodynamic Effects in Microchannels

Directory of Open Access Journals (Sweden)

Chao Liu

2017-03-01

Full Text Available Microfluidic techniques are effective tools for precise manipulation of particles and cells, whose enrichment and separation is crucial for a wide range of applications in biology, medicine, and chemistry. Recently, lateral particle migration induced by the intrinsic hydrodynamic effects in microchannels, such as inertia and elasticity, has shown its promise for high-throughput and label-free particle manipulation. The particle migration can be engineered to realize the controllable focusing and separation of particles based on a difference in size. The widespread use of inertial and viscoelastic microfluidics depends on the understanding of hydrodynamic effects on particle motion. This review will summarize the progress in the fundamental mechanisms and key applications of inertial and viscoelastic particle manipulation.

Encoding specificity manipulations do affect retrieval from memory.

Science.gov (United States)

Zeelenberg, René

2005-05-01

In a recent article, P.A. Higham (2002) [Strong cues are not necessarily weak: Thomson and Tulving (1970) and the encoding specificity principle revisited. Memory &Cognition, 30, 67-80] proposed a new way to analyze cued recall performance in terms of three separable aspects of memory (retrieval, monitoring, and report bias) by comparing performance under both free-report and forced-report instructions. He used this method to derive estimates of these aspects of memory in an encoding specificity experiment similar to that reported by D.M. Thomson and E. Tulving (1970) [Associative encoding and retrieval: weak and strong cues. Journal of Experimental Psychology, 86, 255-262]. Under forced-report instructions, the encoding specificity manipulation did not affect performance. Higham concluded that the manipulation affected monitoring and report bias, but not retrieval. I argue that this interpretation of the results is problematic because the Thomson and Tulving paradigm is confounded, and show in three experiments using a more appropriate design that encoding specificity manipulations do affect performance in forced-report cued recall. Because in Higham's framework forced-report performance provides a measure of retrieval that is uncontaminated by monitoring and report bias it is concluded that encoding specificity manipulations do affect retrieval from memory.

On a problematic procedure to manipulate response biases in recognition experiments: the case of "implied" base rates.

Science.gov (United States)

Bröder, Arndt; Malejka, Simone

2017-07-01

The experimental manipulation of response biases in recognition-memory tests is an important means for testing recognition models and for estimating their parameters. The textbook manipulations for binary-response formats either vary the payoff scheme or the base rate of targets in the recognition test, with the latter being the more frequently applied procedure. However, some published studies reverted to implying different base rates by instruction rather than actually changing them. Aside from unnecessarily deceiving participants, this procedure may lead to cognitive conflicts that prompt response strategies unknown to the experimenter. To test our objection, implied base rates were compared to actual base rates in a recognition experiment followed by a post-experimental interview to assess participants' response strategies. The behavioural data show that recognition-memory performance was estimated to be lower in the implied base-rate condition. The interview data demonstrate that participants used various second-order response strategies that jeopardise the interpretability of the recognition data. We thus advice researchers against substituting actual base rates with implied base rates.

Voting Experiments: Measuring Vulnerability of Voting Procedures to Manipulation

OpenAIRE

Palguta, Jan

2011-01-01

A minimal reduction in strategic voter’s knowledge about other voters’ voting patterns severely limits her ability to strategically manipulate the voting outcome. In this paper I relax the implicit assumption made in the Gibbard-Satterthwaite’s impossibility theorem about strategic voter‘s complete information about all other voters’ preference profiles. Via a series of computation-based simulations I find that vulnerability to strategic voting is decreasing in the number of voters and increa...

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.

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.

Actuator Module of Robot Manipulator for Nuclear Power Plants Inspection, Maintenance and Decommission

Energy Technology Data Exchange (ETDEWEB)

Lee, Sung Uk; Jung, Kyung Min; Seo, Young Chil; Choi, Byung Seon; Moon, Jei Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2014-10-15

For nuclear facility decommissioning, there are many different electrical manipulators to remotely dismantle a nuclear facility. Various manipulators will be necessary for inspection, maintenance and decommission. Only one manipulator cannot response to many required tasks. Therefore, several manipulators are necessary, depending on the payload capacity, their number of axes and their dexterity. Each manipulator was developed for a specific task. The actuators used at manipulator are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of the manipulator is time consuming and expensive. The essential item of the manipulators is the actuator module. If actuator module is standardized, it is easier to develop manipulator. In this paper, we developed two electrical actuator modules to standardize the actuator module and easily develop a manipulator using the proposed actuator modules. The electrical actuator module has a motor, gear and rotary sensor, and is also waterproof. The electrically driven manipulator being used in the proposed actuator modules will be shown. Two modularized electrical actuator modules were developed for inspection, maintenance and decommission. Using the two developed actuator modules, the manipulator inspecting the welding area of reactor vessel is easily developed. Various modularized electrical actuator modules will be developed in terms of size and power.

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

DEFF Research Database (Denmark)

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

2018-01-01

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

Three-dimensional mid-air acoustic manipulation by ultrasonic phased arrays.

Science.gov (United States)

Ochiai, Yoichi; Hoshi, Takayuki; Rekimoto, Jun

2014-01-01

The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in conventional studies was parallel to the gravitational force, and the levitated objects were manipulated along the fixed axis (i.e. one-dimensionally) by controlling the phases or frequencies of bolted Langevin-type transducers. In the present study, we considered extended acoustic manipulation whereby millimetre-sized particles were levitated and moved three-dimensionally by localised ultrasonic standing waves, which were generated by ultrasonic phased arrays. Our manipulation system has two original features. One is the direction of the ultrasound beam, which is arbitrary because the force acting toward its centre is also utilised. The other is the manipulation principle by which a localised standing wave is generated at an arbitrary position and moved three-dimensionally by opposed and ultrasonic phased arrays. We experimentally confirmed that expanded-polystyrene particles of 0.6 mm, 1 mm, and 2 mm in diameter could be manipulated by our proposed method.

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.)

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

DEFF Research Database (Denmark)

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

2018-01-01

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

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

Early Childhood Math: Make It Manipulative!

Science.gov (United States)

Stone, Janet I.

1987-01-01

Maintains that early childhood teachers should provide young children with creative, stimulating, and manipulative (hands-on) experiences rather than workbook pages in early mathematics programs. Presents reasons and corresponding counterpositions for using workbooks and suggests sample activities which teachers can use to make mathematics more…

Jagiellonian University Advances in Ps Manipulations and Laser Studies in the AEgIS Experiment

CERN Document Server

Caravita, R; Amsler, C; Bonomi, G; Brusa, R S; Caccia, M; Castelli, F; Cerchiari, G; Comparat, D; Consolati, G; Demetrio, A; Di Noto, L; Doser, M; Evans, C; Ferragut, R; Fesel, J; Fontana, A; Gerber, S; Giammarchi, M; Gligorova, A; Guatieri, F; Haider, S; Hinterberger, A; Holmestad, H; Kellerbauer, A; Khalidova, O; Krasnický, D; Lagomarsino, V; Lansonneur, P; Lebrun, P; Malbrunot, C; Mariazzi, S; Marton, J; Matveev, V; Mazzotta, Z; Müller, S R; Nebbia, G; Nedelec, P; Oberthaler, M; Pacifico, N; Pagano, D; Penasa, L; Petracek, V; Prelz, F; Prevedelli, M; Ravelli, L; Rienäcker, B; Robert, J; Røhne, O M; Rotondi, A; Sandaker, H; Santoro, R; Smestad, L; Sorrentino, F; Testera, G; Tietje, I; Widmann, E; Yzombard, P; Zimmer, C; Zmeskal, J; Zurlo, N

2017-01-01

Positronium (Ps), the unstable bound state of electron and positron, is a valuable system for neutral antimatter spectroscopic studies and for antihydrogen production. Forming a pulsed beam cold antihydrogen using charge-exchange with the Rydberg Ps is the goal of the AEgIS Collaboration, which aims to measure gravity on neutral antimatter. Recent results achieved in producing, manipulating and studying Ps are summarized. Ps has been first produced with mesoporous silica targets in a reflection geometry. Spectroscopy of Ps n = 3 state has been conducted, yielding as a byproduct an independent estimate of the produced Ps temperature. Efficient laser excitation to the Rydberg levels was then achieved, validating the proof-of-concept of AEgIS. Subsequently, production of Ps from a new class of transmission targets was also achieved, opening the possibility for future experiments.

Brood size modifications affect plumage bacterial assemblages of European starlings.

Science.gov (United States)

Lucas, Françoise S; Moureau, Benoit; Jourdie, Violaine; Heeb, Philipp

2005-02-01

During reproduction, birds face trade-offs between time and energy devoted to parental effort and traits associated with self-maintenance. We manipulated brood sizes to investigate the effects of such trade-offs on feather bacterial densities and the structure of bacterial assemblages on feathers in adult European starlings, Sturnus vulgaris, and in vitro feather degradation. As predicted by a trade-off between parental effort and self-maintenance, we found that birds with enlarged broods had more free-living bacteria on their feathers than birds with reduced broods. Furthermore, we found a significant interaction between brood manipulation and original brood size on free-living bacterial densities suggesting that the trade-off is mediated by the adults' initial reproductive investment. In contrast, brood size manipulations had no significant effect on densities of attached bacteria. Using ribosomal intergenic spacer analysis (RISA), we demonstrated that brood manipulations significantly modified the structure (band pattern) of feather-degrading bacterial assemblages, but had no significant effect on their richness (number of bands) or the in vitro feather degradation. In vitro feather degradation varied in relation to the premanipulation brood size and positively with the richness of the feather degrading bacterial community. Besides brood manipulation effect, we found that ecological factors and individual traits, such as the age, the nest location or the capture date, shaped bacterial assemblages and feather degradation capacities.

Energy expenditure, nestling age, and brood size : an experimental study of parental behavior in the great tit Parus major

NARCIS (Netherlands)

Sanz, JJ; Tinbergen, JM

1999-01-01

A brood manipulation experiment on great tits Parus major was performed to study the effects of nestling age and brood size on parental care and offspring survival. Daily energy expenditure (DEE) of females feeding nestlings of 6 and 12 days of age was measured using the doubly-labeled water

Using a Virtual Manipulative Environment to Support Students' Organizational Structuring of Volume Units

Science.gov (United States)

O'Dell, Jenna R.; Barrett, Jeffrey E.; Cullen, Craig J.; Rupnow, Theodore J.; Clements, Douglas H.; Sarama, Julie; Rutherford, George; Beck, Pamela S.

2017-01-01

In this study, we investigated how Grade 3 and 4 students' organizational structure for volume units develops through repeated experiences with a virtual manipulative for building prisms. Our data consist of taped clinical interviews within a micro-genetic experiment. We report on student strategy development using a virtual manipulative for…

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.

THE BEAR BROOK WATERSHED MANIPULATION PROJECT: WATERSHED SCIENCE IN A POLICY PERSPECTIVE

Science.gov (United States)

The Bear Brook Watershed Manipulation in Maine is a paired watershed experiment. Monitoring of the paired catchments (East Bear Brook - reference; West Bear Brook - experimental) began in early 1987. Chemical manipulation of West Bear Brook catchment began in November 1989. Proce...

The scene and the unseen: manipulating photographs for experiments on change blindness and scene memory: image manipulation for change blindness.

Science.gov (United States)

Ball, Felix; Elzemann, Anne; Busch, Niko A

2014-09-01

The change blindness paradigm, in which participants often fail to notice substantial changes in a scene, is a popular tool for studying scene perception, visual memory, and the link between awareness and attention. Some of the most striking and popular examples of change blindness have been demonstrated with digital photographs of natural scenes; in most studies, however, much simpler displays, such as abstract stimuli or "free-floating" objects, are typically used. Although simple displays have undeniable advantages, natural scenes remain a very useful and attractive stimulus for change blindness research. To assist researchers interested in using natural-scene stimuli in change blindness experiments, we provide here a step-by-step tutorial on how to produce changes in natural-scene images with a freely available image-processing tool (GIMP). We explain how changes in a scene can be made by deleting objects or relocating them within the scene or by changing the color of an object, in just a few simple steps. We also explain how the physical properties of such changes can be analyzed using GIMP and MATLAB (a high-level scientific programming tool). Finally, we present an experiment confirming that scenes manipulated according to our guidelines are effective in inducing change blindness and demonstrating the relationship between change blindness and the physical properties of the change and inter-individual differences in performance measures. We expect that this tutorial will be useful for researchers interested in studying the mechanisms of change blindness, attention, or visual memory using natural scenes.

Remote telerobotic replacement for master-slave manipulator

International Nuclear Information System (INIS)

Heckendorn, F.M.; Iverson, D.C.; LaValle, D.R.

1997-01-01

A remotely replaceable telerobotic manipulator (TRM) has been developed and deployed at the Defense Waste Processing Facility (DWPF) in support of its radioactive operation. The TRM replaces a Master-Slave Manipulator (MSM). The TRM is in use for both routine and recovery operations for the radioactive waste vitrification melter, the primary production device within the DWPF. The arm was designed for deployment and operation using an existing MSM penetration. This replacement of an existing MSM with a high power robotic device demonstrates the capability to perform similar replacement in other operating facilities. The MSM's were originally deployed in the DWPF to perform routine light capacity tasks. During the testing phase of the DWPF, prior to its radioactive startup in 5/96, the need to remove glass deposits that can form at the melter discharge during filling of glass containment canisters was identified. The combination of high radiation and contamination in the DWPF melter cell during radioactive operation eliminated personnel entry as a recovery option. Therefore remote cleaning methods had to be devised. The MSM's had neither the reach nor the strength required for this task. It became apparent that a robust manipulator arm would be required for recovery from these potential melter discharge pluggage events. The existing wall penetrations, used for the MSM's, could not be altered for seismic and radiological reasons. The new manipulator was required to be of considerable reach, due to existing physical layout, and strength, due to the glass removal requirement. Additionally, the device would have to compatible with high radiation and remote crane installation. The physical size of the manipulator and the weight of components must be consistent with the existing facilities. It was recognized early-on that a manipulator of sufficient strength to recover from a pluggage event would require robotic functions to constrain undesirable motions

Perception and manipulation of game control

NARCIS (Netherlands)

Plass - Oude Bos, D.; van de Laar, B.L.A.; Reuderink, B.; Poel, Mannes; Nijholt, Antinus; Reidsma, Dennis; Choi, Insook; Bargar, Robin

Brain-computer interfaces do not provide perfect recognition of user input, for similar reasons as natural input modalities. How well can users assess the amount of control they have, and how much control do they need? We describe an experiment where we manipulated the control users had in a

Integrality and separability of multitouch interaction techniques in 3D manipulation tasks.

Science.gov (United States)

Martinet, Anthony; Casiez, Géry; Grisoni, Laurent

2012-03-01

Multitouch displays represent a promising technology for the display and manipulation of data. While the manipulation of 2D data has been widely explored, 3D manipulation with multitouch displays remains largely unexplored. Based on an analysis of the integration and separation of degrees of freedom, we propose a taxonomy for 3D manipulation techniques with multitouch displays. Using that taxonomy, we introduce Depth-Separated Screen-Space (DS3), a new 3D manipulation technique based on the separation of translation and rotation. In a controlled experiment, we compared DS3 with Sticky Tools and Screen-Space. Results show that separating the control of translation and rotation significantly affects performance for 3D manipulation, with DS3 performing faster than the two other techniques.

Experimentally reducing clutch size reveals a fixed upper limit to egg size in snakes, evidence from the king ratsnake, Elaphe carinata.

Science.gov (United States)

Ji, Xiang; Du, Wei-Guo; Li, Hong; Lin, Long-Hui

2006-08-01

Snakes are free of the pelvic girdle's constraint on maximum offspring size, and therefore present an opportunity to investigate the upper limit to offspring size without the limit imposed by the pelvic girdle dimension. We used the king ratsnake (Elaphe carinata) as a model animal to examine whether follicle ablation may result in enlargement of egg size in snakes and, if so, whether there is a fixed upper limit to egg size. Females with small sized yolking follicles were assigned to three manipulated, one sham-manipulated and one control treatments in mid-May, and two, four or six yolking follicles in the manipulated females were then ablated. Females undergoing follicle ablation produced fewer, but larger as well as more elongated, eggs than control females primarily by increasing egg length. This finding suggests that follicle ablation may result in enlargement of egg size in E. carinata. Mean values for egg width remained almost unchanged across the five treatments, suggesting that egg width is more likely to be shaped by the morphological feature of the oviduct. Clutch mass dropped dramatically in four- and six-follicle ablated females. The function describing the relationship between size and number of eggs reveals that egg size increases with decreasing clutch size at an ever-decreasing rate, with the tangent slope of the function for the six-follicle ablation treatment being -0.04. According to the function describing instantaneous variation in tangent slope, the maximum value of tangent slope should converge towards zero. This result provides evidence that there is a fixed upper limit to egg size in E. carinata.

Adaptive hidden Markov model with anomaly States for price manipulation detection.

Science.gov (United States)

Cao, Yi; Li, Yuhua; Coleman, Sonya; Belatreche, Ammar; McGinnity, Thomas Martin

2015-02-01

Price manipulation refers to the activities of those traders who use carefully designed trading behaviors to manually push up or down the underlying equity prices for making profits. With increasing volumes and frequency of trading, price manipulation can be extremely damaging to the proper functioning and integrity of capital markets. The existing literature focuses on either empirical studies of market abuse cases or analysis of particular manipulation types based on certain assumptions. Effective approaches for analyzing and detecting price manipulation in real time are yet to be developed. This paper proposes a novel approach, called adaptive hidden Markov model with anomaly states (AHMMAS) for modeling and detecting price manipulation activities. Together with wavelet transformations and gradients as the feature extraction methods, the AHMMAS model caters to price manipulation detection and basic manipulation type recognition. The evaluation experiments conducted on seven stock tick data from NASDAQ and the London Stock Exchange and 10 simulated stock prices by stochastic differential equation show that the proposed AHMMAS model can effectively detect price manipulation patterns and outperforms the selected benchmark models.

Investigation of geometrical effects in the carbon allotropes manipulation based on AFM: multiscale approach

Energy Technology Data Exchange (ETDEWEB)

Korayem, M. H., E-mail: hkorayem@iust.ac.ir; Hefzabad, R. N.; Homayooni, A.; Aslani, H. [Iran University of Science and Technology, Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering (Iran, Islamic Republic of)

2017-01-15

Carbon allotropes are used as nanocarriers for drug and cell delivery. To obtain an accurate result in the nanoscale, it is important to use a precise model. In this paper, a multiscale approach is presented to investigate the manipulation process of carbon allotropes based on atomic force microscopy (AFM). For this purpose, the AFM setup is separated into two parts with different sizes as macro field (MF) and nano field (NF). Using Kirchhoff’s plate model, the cantilever (the main part of MF) is modeled. The molecular dynamics method is applied to model the NF part, and then the MF and NF are coupled with the multiscale algorithm. With this model, by considering the effect of size and shape, the manipulation of carbon allotropes is carried out. The manipulations of armchair CNTs and fullerenes are performed to study the diameter changing effects. The result shows that the manipulation and friction force increases by increasing the diameter. The result of the indentation depth for the armchair CNTs indicates that decreasing the diameter causes the indentation depth to reduce. Moreover, the manipulations of four kinds of carbon allotropes with the same number of atoms have been studied to investigate the geometrical effects. The shapes of these nanoparticles change from sphere to cylinder. The results illustrate that the manipulation and the friction force decrease as the nanoparticle shape varies from sphere to cylinder. The Von-Mises results demonstrate that by changing the nanoparticle shape from the spherical to the cylindrical form, the stress increases, although the manipulation force reduces.

Investigation of geometrical effects in the carbon allotropes manipulation based on AFM: multiscale approach

International Nuclear Information System (INIS)

Korayem, M. H.; Hefzabad, R. N.; Homayooni, A.; Aslani, H.

2017-01-01

Carbon allotropes are used as nanocarriers for drug and cell delivery. To obtain an accurate result in the nanoscale, it is important to use a precise model. In this paper, a multiscale approach is presented to investigate the manipulation process of carbon allotropes based on atomic force microscopy (AFM). For this purpose, the AFM setup is separated into two parts with different sizes as macro field (MF) and nano field (NF). Using Kirchhoff’s plate model, the cantilever (the main part of MF) is modeled. The molecular dynamics method is applied to model the NF part, and then the MF and NF are coupled with the multiscale algorithm. With this model, by considering the effect of size and shape, the manipulation of carbon allotropes is carried out. The manipulations of armchair CNTs and fullerenes are performed to study the diameter changing effects. The result shows that the manipulation and friction force increases by increasing the diameter. The result of the indentation depth for the armchair CNTs indicates that decreasing the diameter causes the indentation depth to reduce. Moreover, the manipulations of four kinds of carbon allotropes with the same number of atoms have been studied to investigate the geometrical effects. The shapes of these nanoparticles change from sphere to cylinder. The results illustrate that the manipulation and the friction force decrease as the nanoparticle shape varies from sphere to cylinder. The Von-Mises results demonstrate that by changing the nanoparticle shape from the spherical to the cylindrical form, the stress increases, although the manipulation force reduces.

Three-dimensional mid-air acoustic manipulation by ultrasonic phased arrays.

Directory of Open Access Journals (Sweden)

Yoichi Ochiai

Full Text Available The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in conventional studies was parallel to the gravitational force, and the levitated objects were manipulated along the fixed axis (i.e. one-dimensionally by controlling the phases or frequencies of bolted Langevin-type transducers. In the present study, we considered extended acoustic manipulation whereby millimetre-sized particles were levitated and moved three-dimensionally by localised ultrasonic standing waves, which were generated by ultrasonic phased arrays. Our manipulation system has two original features. One is the direction of the ultrasound beam, which is arbitrary because the force acting toward its centre is also utilised. The other is the manipulation principle by which a localised standing wave is generated at an arbitrary position and moved three-dimensionally by opposed and ultrasonic phased arrays. We experimentally confirmed that expanded-polystyrene particles of 0.6 mm, 1 mm, and 2 mm in diameter could be manipulated by our proposed method.

Surgeon-Manipulated Live Surgery Video Recording Apparatuses: Personal Experience and Review of Literature.

Science.gov (United States)

Kapi, Emin

2017-06-01

Visual recording of surgical procedures is a method that is used quite frequently in practices of plastic surgery. While presentations containing photographs are quite common in education seminars and congresses, video-containing presentations find more favour. For this reason, the presentation of surgical procedures in the form of real-time video display has increased especially recently. Appropriate technical equipment for video recording is not available in most hospitals, so there is a need to set up external apparatus in the operating room. Among these apparatuses can be listed such options as head-mounted video cameras, chest-mounted cameras, and tripod-mountable cameras. The head-mounted video camera is an apparatus that is capable of capturing high-resolution and detailed close-up footage. The tripod-mountable camera enables video capturing from a fixed point. Certain user-specific modifications can be made to overcome some of these restrictions. Among these modifications, custom-made applications are one of the most effective solutions. The article makes an attempt to present the features and experiences concerning the use of a combination of a head- or chest-mounted action camera, a custom-made portable tripod apparatus of versatile features, and an underwater camera. The descriptions we used are quite easy-to-assembly, quickly installed, and inexpensive apparatuses that do not require specific technical knowledge and can be manipulated by the surgeon personally in all procedures. The author believes that video recording apparatuses will be integrated more to the operating room, become a standard practice, and become more enabling for self-manipulation by the surgeon in the near future. This journal requires that authors assign a level of evidence to each article. For a full description of these Evidence-Based Medicine ratings, please refer to the Table of Contents or the online Instructions to Authors www.springer.com/00266 .

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...

Analyzing Array Manipulating Programs by Program Transformation

Science.gov (United States)

Cornish, J. Robert M.; Gange, Graeme; Navas, Jorge A.; Schachte, Peter; Sondergaard, Harald; Stuckey, Peter J.

2014-01-01

We explore a transformational approach to the problem of verifying simple array-manipulating programs. Traditionally, verification of such programs requires intricate analysis machinery to reason with universally quantified statements about symbolic array segments, such as "every data item stored in the segment A[i] to A[j] is equal to the corresponding item stored in the segment B[i] to B[j]." We define a simple abstract machine which allows for set-valued variables and we show how to translate programs with array operations to array-free code for this machine. For the purpose of program analysis, the translated program remains faithful to the semantics of array manipulation. Based on our implementation in LLVM, we evaluate the approach with respect to its ability to extract useful invariants and the cost in terms of code size.

Development of a ROV titanium manipulator for light work class ROV vehicles

OpenAIRE

Garay, Gaizka X.; Sosa, Dario

2016-01-01

This paper shows the development of a high technical equipment to be used as tooling of submersible ROV (Remote Operated Vehicles) for offshore operations, particularly the design and fabrication by Additive Manufacturing (AM) of a Titanium Manipulator for ROVs. From the initial concept and design until a new formed company “TITANROB”, this document shortly describes the fabrication of hydraulic titanium manipulators for mid size ROV vehicles, the TitanRob series M501, G500 ...

The effects of residency and body size on contest initiation and outcome in the territorial dragon, Ctenophorus decresii.

Directory of Open Access Journals (Sweden)

Kate D L Umbers

Full Text Available Empirical studies of the determinants of contests have been attempting to unravel the complexity of animal contest behaviour for decades. This complexity requires that experiments incorporate multiple determinants into studies to tease apart their relative effects. In this study we examined the complex contest behaviour of the tawny dragon (Ctenophorus decresii, a territorial agamid lizard, with the specific aim of defining the factors that determine contest outcome. We manipulated the relative size and residency status of lizards in contests to weight their importance in determining contest outcome. We found that size, residency and initiating a fight were all important in determining outcomes of fights. We also tested whether residency or size was important in predicting the status of lizard that initiated a fight. We found that residency was the most important factor in predicting fight initiation. We discuss the effects of size and residency status in context of previous studies on contests in tawny dragons and other animals. Our study provides manipulative behavioural data in support of the overriding effects of residency on initiation fights and winning them.

The Effects of Residency and Body Size on Contest Initiation and Outcome in the Territorial Dragon, Ctenophorus decresii

Science.gov (United States)

Umbers, Kate D. L.; Osborne, Louise; Keogh, J. Scott

2012-01-01

Empirical studies of the determinants of contests have been attempting to unravel the complexity of animal contest behaviour for decades. This complexity requires that experiments incorporate multiple determinants into studies to tease apart their relative effects. In this study we examined the complex contest behaviour of the tawny dragon (Ctenophorus decresii), a territorial agamid lizard, with the specific aim of defining the factors that determine contest outcome. We manipulated the relative size and residency status of lizards in contests to weight their importance in determining contest outcome. We found that size, residency and initiating a fight were all important in determining outcomes of fights. We also tested whether residency or size was important in predicting the status of lizard that initiated a fight. We found that residency was the most important factor in predicting fight initiation. We discuss the effects of size and residency status in context of previous studies on contests in tawny dragons and other animals. Our study provides manipulative behavioural data in support of the overriding effects of residency on initiation fights and winning them. PMID:23077558

Body size estimation of self and others in females varying in BMI.

Directory of Open Access Journals (Sweden)

Anne Thaler

Full Text Available Previous literature suggests that a disturbed ability to accurately identify own body size may contribute to overweight. Here, we investigated the influence of personal body size, indexed by body mass index (BMI, on body size estimation in a non-clinical population of females varying in BMI. We attempted to disentangle general biases in body size estimates and attitudinal influences by manipulating whether participants believed the body stimuli (personalized avatars with realistic weight variations represented their own body or that of another person. Our results show that the accuracy of own body size estimation is predicted by personal BMI, such that participants with lower BMI underestimated their body size and participants with higher BMI overestimated their body size. Further, participants with higher BMI were less likely to notice the same percentage of weight gain than participants with lower BMI. Importantly, these results were only apparent when participants were judging a virtual body that was their own identity (Experiment 1, but not when they estimated the size of a body with another identity and the same underlying body shape (Experiment 2a. The different influences of BMI on accuracy of body size estimation and sensitivity to weight change for self and other identity suggests that effects of BMI on visual body size estimation are self-specific and not generalizable to other bodies.

Body size estimation of self and others in females varying in BMI.

Science.gov (United States)

Thaler, Anne; Geuss, Michael N; Mölbert, Simone C; Giel, Katrin E; Streuber, Stephan; Romero, Javier; Black, Michael J; Mohler, Betty J

2018-01-01

Previous literature suggests that a disturbed ability to accurately identify own body size may contribute to overweight. Here, we investigated the influence of personal body size, indexed by body mass index (BMI), on body size estimation in a non-clinical population of females varying in BMI. We attempted to disentangle general biases in body size estimates and attitudinal influences by manipulating whether participants believed the body stimuli (personalized avatars with realistic weight variations) represented their own body or that of another person. Our results show that the accuracy of own body size estimation is predicted by personal BMI, such that participants with lower BMI underestimated their body size and participants with higher BMI overestimated their body size. Further, participants with higher BMI were less likely to notice the same percentage of weight gain than participants with lower BMI. Importantly, these results were only apparent when participants were judging a virtual body that was their own identity (Experiment 1), but not when they estimated the size of a body with another identity and the same underlying body shape (Experiment 2a). The different influences of BMI on accuracy of body size estimation and sensitivity to weight change for self and other identity suggests that effects of BMI on visual body size estimation are self-specific and not generalizable to other bodies.

The invasive shrub Prosopis juliflora enhances the malaria parasite transmission capacity of Anopheles mosquitoes: a habitat manipulation experiment.

Science.gov (United States)

Muller, Gunter C; Junnila, Amy; Traore, Mohamad M; Traore, Sekou F; Doumbia, Seydou; Sissoko, Fatoumata; Dembele, Seydou M; Schlein, Yosef; Arheart, Kristopher L; Revay, Edita E; Kravchenko, Vasiliy D; Witt, Arne; Beier, John C

2017-07-05

A neglected aspect of alien invasive plant species is their influence on mosquito vector ecology and malaria transmission. Invasive plants that are highly attractive to Anopheles mosquitoes provide them with sugar that is critical to their survival. The effect on Anopheles mosquito populations was examined through a habitat manipulation experiment that removed the flowering branches of highly attractive Prosopis juliflora from selected villages in Mali, West Africa. Nine villages in the Bandiagara district of Mali were selected, six with flowering Prosopis juliflora, and three without. CDC-UV light traps were used to monitor their Anopheles spp. vector populations, and recorded their species composition, population size, age structure, and sugar feeding status. After 8 days, all of the flowering branches were removed from three villages and trap catches were analysed again. Villages where flowering branches of the invasive shrub Prosopis juliflora were removed experienced a threefold drop in the older more dangerous Anopheles females. Population density dropped by 69.4% and the species composition shifted from being a mix of three species of the Anopheles gambiae complex to one dominated by Anopheles coluzzii. The proportion of sugar fed females dropped from 73 to 15% and males from 77 to 10%. This study demonstrates how an invasive plant shrub promotes the malaria parasite transmission capacity of African malaria vector mosquitoes. Proper management of invasive plants could potentially reduce mosquito populations and malaria transmission.

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.

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 systematic review of the use of dosage form manipulation to obtain required doses to inform use of manipulation in paediatric practice.

Science.gov (United States)

Richey, Roberta H; Hughes, Clare; Craig, Jean V; Shah, Utpal U; Ford, James L; Barker, Catrin E; Peak, Matthew; Nunn, Anthony J; Turner, Mark A

2017-02-25

This study sought to determine whether there is an evidence base for drug manipulation to obtain the required dose, a common feature of paediatric clinical practice. A systematic review of the data sources, PubMed, EMBASE, CINAHL, IPA and the Cochrane database of systematic reviews, was used. Studies that considered the dose accuracy of manipulated medicines of any dosage form, evidence of safety or harm, bioavailability, patient experience, tolerability, contamination and comparison of methods of manipulation were included. Case studies and letters were excluded. Fifty studies were eligible for inclusion, 49 of which involved tablets being cut, split, crushed or dispersed. The remaining one study involved the manipulation of suppositories of one drug. No eligible studies concerning manipulation of oral capsules or liquids, rectal enemas, nebuliser solutions, injections or transdermal patches were identified. Twenty four of the tablet studies considered dose accuracy using weight and/or drug content. In studies that considered weight using adapted pharmacopoeial specifications, the percentage of halved tablets meeting these specifications ranged from 30% to 100%. Eighteen studies investigated bioavailability, pharmacokinetics or clinical outcomes following manipulations which included nine delayed or modified release formulations. In each of these nine studies the entirety of the dosage form was administered. Only one of the 18 studies was identified where drugs were manipulated to obtain a proportion of the dosage form, and that proportion administered. The five studies that considered patient perception found that having to manipulate the tablets did not have a negative impact on adherence. Of the 49 studies only two studies reported investigating children. This review yielded limited evidence to support manipulation of medicines for children. The results cannot be extrapolated between dosage forms, methods of manipulation or between different brands of the same

The marketing and economic implications of the manipulation of share prices: Nigeria stock exchange experience

Directory of Open Access Journals (Sweden)

Ajayi Ezekiel Oluwole

2012-12-01

Full Text Available This paper examined the marketing and economic effects of the manipulation of share prices in the Nigerian Stock Exchange. The survey research design was adopted. Data collected was analyzed using the regression analysis. Student t- test was used to test the two hypotheses formulated at 0.05 level of significance. The findings of the study revealed that capital market infractions such as fraudulent disposal of investor assets, illegal fund management and the wonder bank syndrome, others are insider dealings, corporate accounting fraud and share price manipulations affects the capital market and the economy .The study concluded that share prices manipulation actually influences the marketing and economic values of the shares being manipulated. It was recommended that the Nigerian government must put in place strong regulatory measures and punish the entire offender that has been found guilty. It was also recommended that for the market to rebound, stockbrokers that accessed margin facility from banks should be provided with certain percentage of their contributions to the loan as cushion to help them move on with their business.

Effect of microfluidization on casein micelle size of bovine milk

Science.gov (United States)

Sinaga, H.; Deeth, H.; Bhandari, B.

2018-02-01

The properties of milk are likely to be dependent on the casein micelle size, and various processing technologies produce particular change in the average size of casein micelles. The main objective of this study was to manipulate casein micelle size by subjecting milk to microfluidizer. The experiment was performed as a complete block randomised design with three replications. The sample was passed through the microfluidizer at the set pressure of 83, 97, 112 and 126 MPa for one, two, three, four, five and six cycles, except for the 112 MPa. The results showed that microfluidized milk has smaller size by 3% with pressure up to 126 MPa. However, at each pressure, no further reduction was observed after increasing the passed up to 6 cycles. Although the average casein micelle size was similar, elevating pressure resulted in narrower size distribution. In contrast, increasing the number of cycles had little effect on casein micelle distribution. The finding from this study can be applied for future work to characterize the fundamental and functional properties of the treated milk.

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

Repetitive motion planning and control of redundant robot manipulators

CERN Document Server

Zhang, Yunong

2013-01-01

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

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.

Bottom-up and top-down attentional contributions to the size congruity effect.

Science.gov (United States)

Sobel, Kenith V; Puri, Amrita M; Faulkenberry, Thomas J

2016-07-01

The size congruity effect refers to the interaction between the numerical and physical (i.e., font) sizes of digits in a numerical (or physical) magnitude selection task. Although various accounts of the size congruity effect have attributed this interaction to either an early representational stage or a late decision stage, only Risko, Maloney, and Fugelsang (Attention, Perception, & Psychophysics, 75, 1137-1147, 2013) have asserted a central role for attention. In the present study, we used a visual search paradigm to further study the role of attention in the size congruity effect. In Experiments 1 and 2, we showed that manipulating top-down attention (via the task instructions) had a significant impact on the size congruity effect. The interaction between numerical and physical size was larger for numerical size comparison (Exp. 1) than for physical size comparison (Exp. 2). In the remaining experiments, we boosted the feature salience by using a unique target color (Exp. 3) or by increasing the display density by using three-digit numerals (Exps. 4 and 5). As expected, a color singleton target abolished the size congruity effect. Searching for three-digit targets based on numerical size (Exp. 4) resulted in a large size congruity effect, but search based on physical size (Exp. 5) abolished the effect. Our results reveal a substantial role for top-down attention in the size congruity effect, which we interpreted as support for a shared-decision account.

Grasping and manipulation of deformable objects based on internal force requirements

Directory of Open Access Journals (Sweden)

Sohil Garg

2008-11-01

Full Text Available In this paper an analysis of grasping and manipulation of deformable objects by a three finger robot hand has been carried out. It is proved that the required fingertip grasping forces and velocities vary with change in object size due to deformation. The variation of the internal force with the change in fingertip and object contact angle has been investigated in detail. From the results it is concluded that it is very difficult to manipulate an object if the finger contact angle is not between 30 o and 70 o, as the internal forces or velocities become very large outside this range. Hence even if the object is inside the work volume of the three fingers it would still not be possible to manipulate it. A simple control model is proposed which can control the grasping and manipulation of a deformable object. Experimental results are also presented to prove the proposed method.

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

Effect of size on fracture and tensile manipulation of gold nanowires

International Nuclear Information System (INIS)

Wang, Fenying; Dai, Yanfeng; Zhao, Jianwei; Li, Qianjin; Zhang, Bin

2014-01-01

The fracture of metallic nanowires has attracted much attention owing to its reliability of application in nanoelectromechanical system. In this paper, we studied the fracture of [100] single-crystal gold nanowire subjected to uniaxial tension. The statistical breaking position distributions showed that the size effects had dominated the deformation and fracture of nanowires, and the quasi-static tensile deformations are insensitive to the styles of tensile rates. Furthermore, it was observed that the small-sized nanowire broke in the middle with disordered crystalline structure; for the middle-sized nanowire, although slippage plane had maintained the lattice degree, the fracture also happened in the middle due to symmetric tension; for the large-sized nanowire, the slippage was destroyed by symmetric tension, which induced the broken neck at one end of the nanowire. When the nanowire width is less than 5a (“a” means lattice constant, 0.408 nm for gold), the mechanical strength is relatively strong with obvious uncertainty, which can be attributed to the surface atom effect; when the width is larger than 5a, the influence of size on the mechanical property is more obvious at the constant strain rate than that at the absolute rate. Finally, the mechanical strength of the nanowire decreases with the size increasing

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.)

Precision spectral manipulation: A demonstration using a coherent optical memory

Energy Technology Data Exchange (ETDEWEB)

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

2014-12-04

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

What have we learned from global change manipulative experiments in China? A meta-analysis

Science.gov (United States)

Fu, Zheng; Niu, Shuli; Dukes, Jeffrey S.

2015-01-01

Although China has the largest population in the world, a faster rate of warming than the global average, and an active global change research program, results from many of the global change experiments in Chinese terrestrial ecosystems have not been included in global syntheses. Here, we specifically analyze the observed responses of carbon (C) and nitrogen (N) cycling in global change manipulative experiments in China, and compare these responses to those from other regions of the world. Most global change factors, vegetation types, and treatment methods that have been studied or used elsewhere in the world have also been studied and applied in China. The responses of terrestrial ecosystem C and N cycles to N addition and climate warming in China are similar in both direction and intensity to those reported in global syntheses. In Chinese ecosystems as elsewhere, N addition significantly increased aboveground (AGB) and belowground biomass (BGB), litter mass, dissolved organic C, net ecosystem productivity (NEP), and gross ecosystem productivity (GEP). Warming stimulated AGB, BGB and the root-shoot ratio. Increasing precipitation accelerated GEP, NEP, microbial respiration, soil respiration, and ecosystem respiration. Our findings complement and support previous global syntheses and provide insight into regional responses to global change. PMID:26205333

Sex-specific effects of altered competition on nestling growth and survival: an experimental manipulation of brood size and sex ratio.

Science.gov (United States)

Nicolaus, Marion; Michler, Stephanie P M; Ubels, Richard; van der Velde, Marco; Komdeur, Jan; Both, Christiaan; Tinbergen, Joost M

2009-03-01

1. An increase of competition among adults or nestlings usually negatively affects breeding output. Yet little is known about the differential effects that competition has on the offspring sexes. This could be important because it may influence parental reproductive decisions. 2. In sexual size dimorphic species, two main contradictory mechanisms are proposed regarding sex-specific effects of competition on nestling performance assuming that parents do not feed their chicks differentially: (i) the larger sex requires more resources to grow and is more sensitive to a deterioration of the rearing conditions ('costly sex hypothesis'); (ii) the larger sex has a competitive advantage in intra-brood competition and performs better under adverse conditions ('competitive advantage hypothesis'). 3. In the present study, we manipulated the level of sex-specific sibling competition in a great tit population (Parus major) by altering simultaneously the brood size and the brood sex ratio on two levels: the nest (competition for food among nestlings) and the woodlot where the parents breed (competition for food among adults). We investigated whether altered competition during the nestling phase affected nestling growth traits and survival in the nest and whether the effects differed between males, the larger sex, and females. 4. We found a strong negative and sex-specific effect of experimental brood size on all the nestling traits. In enlarged broods, sexual size dimorphism was smaller which may have resulted from biased mortality towards the less competitive individuals i.e. females of low condition. No effect of brood sex ratio on nestling growth traits was found. 5. Negative brood size effects on nestling traits were stronger in natural high-density areas but we could not confirm this experimentally. 6. Our results did not support the 'costly sex hypothesis' because males did not suffer from higher mortality under harsh conditions. The 'competitive advantage hypothesis' was

What causes IOR? Attention or perception? - manipulating cue and target luminance in either blocked or mixed condition.

Science.gov (United States)

Zhao, Yuanyuan; Heinke, Dietmar

2014-12-01

Inhibition of return (IOR) refers to the performance disadvantage when detecting a target presented at a previously cued location. The current paper contributes to the long-standing debate whether IOR is caused by attentional processing or perceptual processing. We present a series of four experiments which varied the cue luminance in mixed and blocked conditions. We hypothesised that if inhibition was initialized by an attentional process the size of IOR should not vary in the blocked condition as participants should be able to adapt to the level of cue luminance. However, if a perceptual process triggers inhibition both experimental manipulations should lead to varying levels of IOR. Indeed, we found evidence for the latter hypothesis. In addition, we also varied the target luminance in blocked and mixed condition. Both manipulations, cue luminance and target luminance, affected IOR in an additive fashion suggesting that the two stimuli affect human behaviour on different processing stages. Copyright © 2014 Elsevier Ltd. All rights reserved.

Parallel algorithms for computation of the manipulator inertia matrix

Science.gov (United States)

Amin-Javaheri, Masoud; Orin, David E.

1989-01-01

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

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

Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg

International Nuclear Information System (INIS)

Nam, Yun Joo; Park, Myeong Kwan

2006-01-01

In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator

Contrasting response to nutrient manipulation in Arctic mesocosms are reproduced by a minimum microbial food web model.

Science.gov (United States)

Larsen, Aud; Egge, Jorun K; Nejstgaard, Jens C; Di Capua, Iole; Thyrhaug, Runar; Bratbak, Gunnar; Thingstad, T Frede

2015-03-01

A minimum mathematical model of the marine pelagic microbial food web has previously shown to be able to reproduce central aspects of observed system response to different bottom-up manipulations in a mesocosm experiment Microbial Ecosystem Dynamics (MEDEA) in Danish waters. In this study, we apply this model to two mesocosm experiments (Polar Aquatic Microbial Ecology (PAME)-I and PAME-II) conducted at the Arctic location Kongsfjorden, Svalbard. The different responses of the microbial community to similar nutrient manipulation in the three mesocosm experiments may be described as diatom-dominated (MEDEA), bacteria-dominated (PAME-I), and flagellated-dominated (PAME-II). When allowing ciliates to be able to feed on small diatoms, the model describing the diatom-dominated MEDEA experiment give a bacteria-dominated response as observed in PAME I in which the diatom community comprised almost exclusively small-sized cells. Introducing a high initial mesozooplankton stock as observed in PAME-II, the model gives a flagellate-dominated response in accordance with the observed response also of this experiment. The ability of the model originally developed for temperate waters to reproduce population dynamics in a 10°C colder Arctic fjord, does not support the existence of important shifts in population balances over this temperature range. Rather, it suggests a quite resilient microbial food web when adapted to in situ temperature. The sensitivity of the model response to its mesozooplankton component suggests, however, that the seasonal vertical migration of Arctic copepods may be a strong forcing factor on Arctic microbial food webs.

Object manipulation facilitates kind-based object individuation of shape-similar objects

DEFF Research Database (Denmark)

Kingo, Osman Skjold; Krøjgaard, Peter

2011-01-01

Five experiments investigated the importance of shape and object manipulation when 12-month-olds were given the task of individuating objects representing exemplars of kinds in an event-mapping design. In Experiments 1 and 2, results of the study from Xu, Carey, and Quint (2004, Experiment 4) wer...

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)

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.

Number and density discrimination rely on a common metric: Similar psychophysical effects of size, contrast, and divided attention.

Science.gov (United States)

Tibber, Marc S; Greenwood, John A; Dakin, Steven C

2012-06-04

While observers are adept at judging the density of elements (e.g., in a random-dot image), it has recently been proposed that they also have an independent visual sense of number. To test the independence of number and density discrimination, we examined the effects of manipulating stimulus structure (patch size, element size, contrast, and contrast-polarity) and available attentional resources on both judgments. Five observers made a series of two-alternative, forced-choice discriminations based on the relative numerosity/density of two simultaneously presented patches containing 16-1,024 Gaussian blobs. Mismatches of patch size and element size (across reference and test) led to bias and reduced sensitivity in both tasks, whereas manipulations of contrast and contrast-polarity had varied effects on observers, implying differing strategies. Nonetheless, the effects reported were consistent across density and number judgments, the only exception being when luminance cues were made available. Finally, density and number judgment were similarly impaired by attentional load in a dual-task experiment. These results are consistent with a common underlying metric to density and number judgments, with the caveat that additional cues may be exploited when they are available.

Precision Spectral Manipulation: A Demonstration Using a Coherent Optical Memory

Directory of Open Access Journals (Sweden)

B. M. Sparkes

2012-06-01

Full Text Available The ability to coherently spectrally manipulate quantum information has the potential to improve qubit rates across quantum channels and find applications in optical quantum computing. In this paper, we present experiments that use a multielement solenoid combined with the three-level gradient echo memory scheme to perform precision spectral manipulation of optical pulses. These operations include separate bandwidth and frequency manipulation with precision down to tens of kHz, spectral filtering of up to three separate frequency components, as well as time-delayed interference between pulses with both the same, and different, frequencies. If applied in a quantum information network, these operations would enable frequency-based multiplexing of qubits.

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)

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.

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

International Nuclear Information System (INIS)

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

1995-09-01

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

Acoustic manipulation of bacteria cells suspensions

Science.gov (United States)

GutiéRrez-Ramos, Salomé; Hoyos, Mauricio; Aider, Jean Luc; Ruiz, Carlos; Acoustofluidics Team Team; Soft; Bio Group Collaboration

An acoustic contacless manipulation gives advantages in the exploration of the complex dynamics enviroment that active matter exhibits. Our works reports the control confinement and dispersion of Escherichia coliRP437-pZA3R-YFP suspensions (M9Glu-Ca) via acoustic levitation.The manipulation of the bacteria bath in a parallel plate resonator is achieved using the acoustic radiation force and the secondary radiation force. The primary radiation force generates levitation of the bacteria cells at the nodal plane of the ultrasonic standing wave generated inside the resonator. On the other side, secondary forces leads to the consolidation of stable aggregates. All the experiments were performed in the acoustic trap described, where we excite the emission plate with a continuous sinusoidal signal at a frequency in the order of MHz and a quartz slide as the reflector plate. In a typical experiment we observed that, before the input of the signal, the bacteria cells exhibit their typical run and tumble behavior and after the sound is turned on all of them displace towards the nodal plane, and instantaneously the aggregation begins in this region. CNRS French National Space Studies, CONACYT Mexico.

Integration and Assessment of Multiple Mobile Manipulators in a Real-World Industrial Production Facility

DEFF Research Database (Denmark)

Bøgh, Simon; Schou, Casper; Rühr, Thomas

2014-01-01

This paper presents a large-scale research experiment carried out within the TAPAS project, where multiple mobile manipulators were integrated and assessed in an industrial context. We consider an industrial scenario in which mobile manipulators naturally extend automation of logistic tasks towar...

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

Beliefs in the population about cracking sounds produced during spinal manipulation.

Science.gov (United States)

Demoulin, Christophe; Baeri, Damien; Toussaint, Geoffrey; Cagnie, Barbara; Beernaert, Axel; Kaux, Jean-François; Vanderthommen, Marc

2018-03-01

To examine beliefs about cracking sounds heard during high-velocity low-amplitude (HVLA) thrust spinal manipulation in individuals with and without personal experience of this technique. We included 100 individuals. Among them, 60 had no history of spinal manipulation, including 40 who were asymptomatic with or without a past history of spinal pain and 20 who had nonspecific spinal pain. The remaining 40 patients had a history of spinal manipulation; among them, 20 were asymptomatic and 20 had spinal pain. Participants attended a one-on-one interview during which they completed a questionnaire about their history of spinal manipulation and their beliefs regarding sounds heard during spinal manipulation. Mean age was 43.5±15.4years. The sounds were ascribed to vertebral repositioning by 49% of participants and to friction between two vertebras by 23% of participants; only 9% of participants correctly ascribed the sound to the formation of a gas bubble in the joint. The sound was mistakenly considered to indicate successful spinal manipulation by 40% of participants. No differences in beliefs were found between the groups with and without a history of spinal manipulation. Certain beliefs have documented adverse effects. This study showed a high prevalence of unfounded beliefs regarding spinal manipulation. These beliefs deserve greater attention from healthcare providers, particularly those who practice spinal manipulation. Copyright © 2017 Société française de rhumatologie. Published by Elsevier SAS. All rights reserved.

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

Science.gov (United States)

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

2015-01-01

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

Design and control considerations for industrial and space manipulators

Science.gov (United States)

Whitney, D. E.; Book, W. J.; Lynch, P. M.

1974-01-01

This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

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).

Enhancing Irreversible Electroporation by Manipulating Cellular Biophysics with a Molecular Adjuvant.

Science.gov (United States)

Ivey, Jill W; Latouche, Eduardo L; Richards, Megan L; Lesser, Glenn J; Debinski, Waldemar; Davalos, Rafael V; Verbridge, Scott S

2017-07-25

Pulsed electric fields applied to cells have been used as an invaluable research tool to enhance delivery of genes or other intracellular cargo, as well as for tumor treatment via electrochemotherapy or tissue ablation. These processes involve the buildup of charge across the cell membrane, with subsequent alteration of transmembrane potential that is a function of cell biophysics and geometry. For traditional electroporation parameters, larger cells experience a greater degree of membrane potential alteration. However, we have recently demonstrated that the nuclear/cytoplasm ratio (NCR), rather than cell size, is a key predictor of response for cells treated with high-frequency irreversible electroporation (IRE). In this study, we leverage a targeted molecular therapy, ephrinA1, known to markedly collapse the cytoplasm of cells expressing the EphA2 receptor, to investigate how biophysical cellular changes resulting from NCR manipulation affect the response to IRE at varying frequencies. We present evidence that the increase in the NCR mitigates the cell death response to conventional electroporation pulsed-electric fields (∼100 μs), consistent with the previously noted size dependence. However, this same molecular treatment enhanced the cell death response to high-frequency electric fields (∼1 μs). This finding demonstrates the importance of considering cellular biophysics and frequency-dependent effects in developing electroporation protocols, and our approach provides, to our knowledge, a novel and direct experimental methodology to quantify the relationship between cell morphology, pulse frequency, and electroporation response. Finally, this novel, to our knowledge, combinatorial approach may provide a paradigm to enhance in vivo tumor ablation through a molecular manipulation of cellular morphology before IRE application. Copyright © 2017 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Single-photon manipulation in Nanophotonic Circuits

DEFF Research Database (Denmark)

Hansen, Sofie Lindskov

Quantum dots in photonic nanostructures has long been known to be a very powerful and versatile solid-state platform for conducting quantum optics experiments. The present PhD thesis describes experimental demonstrations of single-photon generation and subsequent manipulation all realized...... on a gallium arsenide platform. This platform offers near-unity coupling between embedded single-photon emitters and a photonic mode, as well as the ability to suppress decoherence mechanisms, making it highly suited for quantum information applications. In this thesis we show how a single-photon router can...... be realized on a chip with embedded quantum dots. This allows for on-chip generation and manipulation of single photons. The router consists of an on-chip interferometer where the phase difference between the arms of the interferometer is controlled electrically. The response time of the device...

Interviewer Effects on a Network-Size Filter Question

Directory of Open Access Journals (Sweden)

Josten Michael

2016-06-01

Full Text Available There is evidence that survey interviewers may be tempted to manipulate answers to filter questions in a way that minimizes the number of follow-up questions. This becomes relevant when ego-centered network data are collected. The reported network size has a huge impact on interview duration if multiple questions on each alter are triggered. We analyze interviewer effects on a network-size question in the mixed-mode survey “Panel Study ‘Labour Market and Social Security’” (PASS, where interviewers could skip up to 15 follow-up questions by generating small networks. Applying multilevel models, we find almost no interviewer effects in CATI mode, where interviewers are paid by the hour and frequently supervised. In CAPI, however, where interviewers are paid by case and no close supervision is possible, we find strong interviewer effects on network size. As the area-specific network size is known from telephone mode, where allocation to interviewers is random, interviewer and area effects can be separated. Furthermore, a difference-in-difference analysis reveals the negative effect of introducing the follow-up questions in Wave 3 on CAPI network size. Attempting to explain interviewer effects we neither find significant main effects of experience within a wave, nor significantly different slopes between interviewers.

Paying attention to attention: evidence for an attentional contribution to the size congruity effect.

Science.gov (United States)

Risko, Evan F; Maloney, Erin A; Fugelsang, Jonathan A

2013-08-01

Understanding the mechanisms supporting our comprehension of magnitude information represents a key goal in cognitive psychology. A major phenomenon employed in the pursuit of this goal has been the physical size congruity effect-namely, the observation that comparing the relative numerical sizes of two numbers is influenced by their relative physical sizes. The standard account of the physical size congruity effect attributes it to the automatic influence of the comparison of irrelevant physical magnitudes on numerical judgments. Here we develop an alternative account of this effect on the basis of the operation of attention in the typical size congruity display and the temporal dynamics of number comparison. We also provide a test of a number of predictions derived from this alternative account by combining a physical size congruity manipulation with a manipulation designed to alter the operation of attention within the typical size congruity display (i.e., a manipulation of the relative onsets of the digits). This test provides evidence consistent with an attentional contribution to the size congruity effect. Implications for our understanding of magnitude and the interactions between attention and magnitude are discussed.

Optical tweezers in concentrated colloidal dispersions : Manipulating and imaging individual particles

NARCIS (Netherlands)

Vossen, Dirk Leo Joep

2004-01-01

Using a laser beam that is focused down to a diffraction-limited spot, particles with a size ranging from several nanometers up to tens of micrometers can be trapped and manipulated. This technique, known as "optical tweezers" or "optical trapping", has been used in a wide variety of

Picture perfect: The direct effect of manipulated Instagram photos on body image in adolescent girls

OpenAIRE

Kleemans, M.; Daalmans, S.; Carbaat, I.; Anschutz, D.J.

2018-01-01

This study investigates the effect of manipulated Instagram photos on adolescent girls' body image, and whether social comparison tendency moderates this relation. A between-subject experiment was conducted in which 144 girls (14-18 years old) were randomly exposed to either original or manipulated (retouched and reshaped) Instagram selfies. Results showed that exposure to manipulated Instagram photos directly led to lower body image. Especially, girls with higher social comparison tendencies...

Effects of sensory immersion on behavioural indicators of player experience : movement synchrony and controller pressure

NARCIS (Netherlands)

Hoogen, van den W.M.; IJsselsteijn, W.A.; Kort, de Y.A.W.; Atkins, B.; Kennedy, H.

2009-01-01

In this paper we investigate the relation between immersion in a game and the player’s intensity of physical behaviours, in order to explore whether these behaviours can be reliably used as indicators of player experience. Immersion in the game was manipulated by means of screen size (20" vs 42"

Practical cell labeling with magnetite cationic liposomes for cell manipulation.

Science.gov (United States)

Ito, Hiroshi; Nonogaki, Yurika; Kato, Ryuji; Honda, Hiroyuki

2010-07-01

Personalization of the cell culture process for cell therapy is an ideal strategy to obtain maximum treatment effects. In a previous report, we proposed a strategy using a magnetic manipulation device that combined a palm-top size device and a cell-labeling method using magnetite cationic liposomes (MCLs) to enable feasible personalized cell processing. In the present study, we focused on optimizing the MCL-labeling technique with respect to cell manipulation in small devices. From detailed analysis with different cell types, 4 pg/cell of MCL-label was found to be obtained immediately after mixing with MCLs, which was sufficient for magnetic cell manipulation. The amount of label increased within 24 h depending on cell type, although in all cases it decreased along with cell doubling, indicating that the labeling potential of MCLs was limited. The role of free MCLs not involved in labeling was also investigated; MCLs' role was found to be a supportive one that maximized the manipulation performance up to 100%. We also determined optimum conditions to manipulate adherent cells by MCL labeling using the MCL dispersed in trypsin solution. Considering labeling feasibility and practical performance with 10(3)-10(5) cells for personalized cell processing, we determined that 10 microg/ml of label without incubation time (0 h incubation) was the universal MCL-labeling condition. We propose the optimum specifications for a device to be combined with this method. 2010. Published by Elsevier B.V.

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.

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.

The effect of font size on reading comprehension on second and fifth grade children: bigger is not always better.

Directory of Open Access Journals (Sweden)

Tami Katzir

Full Text Available Research on reading development has focused on the linguistic, cognitive, and recently, metacognitive skills children must master in order to learn to read. Less focus has been devoted to how the text itself, namely the perceptual features of the words, affects children's learning and comprehension. In this study, we manipulated perceptual properties of text by presenting reading passages in different font sizes, line lengths, and line spacing to 100 children in the second and fifth grades. For second graders (Experiment 1, decreasing font size, as well as increasing line length, yielded significantly lower comprehension scores. Line spacing had no effect on performance. For fifth graders (Experiment 2, decreasing font size yielded higher comprehension scores, yet there were no effects for line length and line spacing. Results are discussed within a "desirable difficulty" approach to reading development.

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.

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

Scale and diversity following manipulation of productivity and disturbance in Californian coastal grasslands

DEFF Research Database (Denmark)

Sandel, Brody Steven; Corbin, Jeff

2012-01-01

the responses of species–area relationships to experimental manipulations are more consistent than richness at any single scale. Location Northern Californian coastal grasslands. Methods We applied disturbance and productivity reduction treatments over 4 yr at two sites. We assessed changes in species richness...... known. We ask whether the response of species richness to experimental manipulation of productivity and disturbance varies across small spatial scales (0.016–4 m2). We show that species–area relationships are well suited to summarize cross-scale responses of species richness, and ask whether...... over five grain sizes, encompassing a 256-fold range of plot size. This allowed us to construct a species–area relationship for each experimental plot in each sampling year. We used the slope of the species–area relationship to summarize changes in species richness across multiple spatial scales...

Picture perfect: The direct effect of manipulated Instagram photos on body image in adolescent girls

NARCIS (Netherlands)

Kleemans, M.; Daalmans, S.; Carbaat, I.; Anschutz, D.J.

2018-01-01

This study investigates the effect of manipulated Instagram photos on adolescent girls' body image, and whether social comparison tendency moderates this relation. A between-subject experiment was conducted in which 144 girls (14-18 years old) were randomly exposed to either original or manipulated

HoloHands: games console interface for controlling holographic optical manipulation

Science.gov (United States)

McDonald, C.; McPherson, M.; McDougall, C.; McGloin, D.

2013-03-01

The increasing number of applications for holographic manipulation techniques has sparked the development of more accessible control interfaces. Here, we describe a holographic optical tweezers experiment which is controlled by gestures that are detected by a Microsoft Kinect. We demonstrate that this technique can be used to calibrate the tweezers using the Stokes drag method and compare this to automated calibrations. We also show that multiple particle manipulation can be handled. This is a promising new line of research for gesture-based control which could find applications in a wide variety of experimental situations.

HoloHands: games console interface for controlling holographic optical manipulation

International Nuclear Information System (INIS)

McDonald, C; McPherson, M; McDougall, C; McGloin, D

2013-01-01

The increasing number of applications for holographic manipulation techniques has sparked the development of more accessible control interfaces. Here, we describe a holographic optical tweezers experiment which is controlled by gestures that are detected by a Microsoft Kinect. We demonstrate that this technique can be used to calibrate the tweezers using the Stokes drag method and compare this to automated calibrations. We also show that multiple particle manipulation can be handled. This is a promising new line of research for gesture-based control which could find applications in a wide variety of experimental situations. (paper)

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.

A Comparison of Concrete and Virtual Manipulative Use in Third- and Fourth-Grade Mathematics

Science.gov (United States)

Burns, Barbara A.; Hamm, Ellen M.

2011-01-01

The primary purpose of this classroom experiment was to examine the effectiveness of concrete (hands-on) manipulatives as compared with virtual (computer-based) manipulatives on student review of fraction concepts in third grade and introduction of symmetry concepts in fourth grade. A pretest-posttest design was employed with a sample of 91…

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

Science.gov (United States)

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

2015-05-06

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

Vibration control of an artificial muscle manipulator with a magnetorheological fluid brake

Science.gov (United States)

Tomori, H.; Midorikawa, Y.; Nakamura, T.

2013-02-01

Recently, proposed applications of robots require them to contact human safely. Therefore, we focus on pneumatic rubber artificial muscle. This actuator is flexible, light, and has high-power density. However, because the artificial muscle is flexible, it vibrates when there is a high load. Therefore, we paid attention to the magnetorheological (MR) fluid. We propose a control method of the MR brake considering energy of the manipulator system. By this control method, MR brake dissipates energy leading to vibration of the manipulator. In this paper, we calculated the energy and controlled the MR brake. And, we deliberated the proposal method by simulation using the dynamic model of the manipulator, and experiment.

Understanding pharmaceutical research manipulation in the context of accounting manipulation.

Science.gov (United States)

Brown, Abigail

2013-01-01

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

An evolutionary resolution of manipulation conflict.

Science.gov (United States)

González-Forero, Mauricio

2014-07-01

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

Manipulation and simulations of thermal field profiles in laser heat-mode lithography

Science.gov (United States)

Wei, Tao; Wei, Jingsong; Wang, Yang; Zhang, Long

2017-12-01

Laser heat-mode lithography is a very useful method for high-speed fabrication of large-area micro/nanostructures. To obtain nanoscale pattern structures, one needs to manipulate the thermal diffusion channels. This work reports the manipulation of the thermal diffusion in laser heat-mode lithography and provides methods to restrain the in-plane thermal diffusion and improve the out-of-plane thermal diffusion. The thermal field profiles in heat-mode resist thin films have been given. It is found that the size of the heat-spot can be decreased by decreasing the thickness of the heat-mode resist thin films, inserting the thermal conduction layers, and shortening the laser irradiation time. The optimized laser writing strategy is also given, where the in-plane thermal diffusion is completely restrained and the out-of-plane thermal diffusion is improved. The heat-spot size is almost equal to that of the laser spot, accordingly. This work provides a very important guide to laser heat-mode lithography.

Experiments of Nanometer Spot Size Monitor at FETB Using Laser Interferometry

CERN Document Server

Walz, D

2003-01-01

The nanometer spot size monitor based on the laser interferometry has been developed and installed in the final focus test beam (FFTB) line at SLAC. The beam experiments started in September 1993, the first fringe pattern from the monitor was observed in the beginning of April 1994, then the small vertical spot around 70 nm was observed in May 1994. The spot size monitor has been routinely used for tuning the beam optics in FFTB. Basic principle of this monitor has been well proved, and its high performance as a precise beam monitor in nanometer range has been demonstrated.

The diversity effect of inductive reasoning under segment manipulation of complex cognition.

Science.gov (United States)

Chen, Antao; Li, Hong; Feng, Tingyong; Gao, Xuemei; Zhang, Zhongming; Li, Fuhong; Yang, Dong

2005-12-01

The present study proposed the idea of segment manipulation of complex cognition (SMCC), and technically made it possible the quantitative treatment and systematical manipulation on the premise diversity. The segment manipulation of complex cognition divides the previous inductive strengths judgment task into three distinct steps, attempting to particularly distinguish the psychological processes and their rules. The results in Experiment 1 showed that compared with the traditional method, the quantitative treatment and systematical manipulation of SMCC on the diversity did not change the task's nature, and remain rational and a good measurement of inductive strength judgment. The results in Experiment 2 showed that the participants' response rules in the triple-step task were expected from our proposal, and that in Step 2 the "feeling of surprise" (FOS), which seems implausible but predicted from the diversity premises, was measured, and its component might be the critical part that produced the diversity effect. The "feeling of surprise" may reflect the impact of emotion on cognition, representing a strong revision to premise probability principle of pure rational hypothesis proposed by Lo et al., and its roles in the diversity effect are worthy of further research. In this regards were discussed the mistakes that the premise probability principle makes when it takes posterity probability as prior probability.

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

[Sheng's acupuncture manipulation at bone-nearby acupoints and the academic thoughts].

Science.gov (United States)

Sheng, Ji-li; Jin, Xiao-qing

2014-11-01

Sheng's acupuncture manipulation at bone-nearby acupoints is a set of needling manipulation of the chief physician of TCM, SHENG Xie-sun, summarized through his over 50 years clinical experiences and on the basis of Internal Classic. Regarding this manipulation, on the premise of acupoint selection based on syndrome differentiation, the acupoints close to bone are possibly selected and punctured, with the needle tip toward bone edge, and followed by the technique to achieve reducing purpose. Clinically, the significant immediate analgesia can be achieved in pain disorders such as headache and toothache. Professor Sheng thought, corresponding to the location of needle insertion and needling depth, the tissue layers of needle tip passing through should be considered specially. The site of needle insertion should be changeable so as to ensure the needle tip reaching the bone. This manipulation for analgesia provides a certain guide for acupuncture study, especially for the mechanism study on acupuncture analgesia.

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.

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.

Development, design, construction and testing of pumps, intermediate heat exchangers and manipulator systems for in-service inspection of SNR 300

International Nuclear Information System (INIS)

Vroom, J.P.; Heslenfeld, M.W.; Westerweele, W.J.; Willigen, A. van

1978-01-01

The first part of this paper reviews the development, design, construction and testing of sodium pumps and intermediate heat exchangers as carried out by NERATOOM in the Netherlands. Testing of full-size components under operational conditions yielded important information for the design of the components for SNR 300. Information is also given in brief on the manufacture of the components. The second part reviews the work done on manipulator systems for in-service inspection as carried out by INTERATOM in Germany. In this field again experience gained from tests had important consequences for the design of the apparatus for SNR 300. (author)

Making Sense with Manipulatives: Developing Mathematical Experiences for Early Childhood Teachers

OpenAIRE

Furman, Cara E.

2017-01-01

This paper is premised on the fact that math can be an important tool in helping people make sense of the world. Math offers a unique and particular lens, helping people to focus on a range of characteristics from shape and amount to the relationship between the general and the particular. To promote math as a tool for making sense, early childhood math instruction ought to teach it in a manner that helps children make sense of mathematical concepts. Specifically, I argue here that manipul...

Bringing Stories to Life: Integrating Literature and Math Manipulatives

Science.gov (United States)

Larson, Lotta C.; Rumsey, Chepina

2018-01-01

This Teaching Tip describes the use of children's literature to help second-grade students meet Common Core State Standards for English Language Arts and for Mathematics. During a shared reading experience, students used manipulatives to represent plot and characters while demonstrating mathematical reasoning. The article offers instructional…

Hot tests of the small portable arc saw using an electromechanical manipulator

International Nuclear Information System (INIS)

Deichelbohrer, P.R.

1985-01-01

A hand-held portable arc saw was demonstrated in 1982. Known as the Small Portable Arc Saw (SPARCS), it weighed less than 15-lb and could cut metal sheet up to 1/2-in thick. From the hand-held SPARCS, a manipulator-handled model was developed for use in decommissioning operations by Pacific Northwest Laboratory (PNL). During cold tests, the SPARCS, which was maneuvered with a mechanical, master-slave manipulator, cut 1-in thick stainless steel plate. The decommissioning method of PNL depended principally on a plasma cutting torch for size reduction. The SPARCS unit was installed in the cell to assist the plasma torch. At present, use of the SPARCS in this project has not been necessary, and it has not been operated in the cell. The plasma cutting torch is a widely used tool for size reduction; the torch can cut stainless steel and heavy material, is lightweight, and is easy to handle with manipulators. Some shortcomings, however, have been reported; for example, cutting pipe, laminates, or forms with hollow cross sections (e.g., unistrut) is sometimes cumbersome. The stand-off spacing required is another constraint. The torch tip must be spaced approximately 1/2-in from the work to achieve proper cutting action. During cutting, this spacing requires accurate control of the torch. The manipulator operator must have significant skill to achieve this control. Test results to date show that the arc saw's ability to cut heavy, hard, and inert metal compares favorably with the performance of the plasma torch. The arc saw offers the further advantages of cutting hollow cross-section forms without special procedures, and of cutting without stand-off spacing

See food diet? Cultural differences in estimating fullness and intake as a function of plate size.

Science.gov (United States)

Peng, Mei; Adam, Sarah; Hautus, Michael J; Shin, Myoungju; Duizer, Lisa M; Yan, Huiquan

2017-10-01

Previous research has suggested that manipulations of plate size can have a direct impact on perception of food intake, measured by estimated fullness and intake. The present study, involving 570 individuals across Canada, China, Korea, and New Zealand, is the first empirical study to investigate cultural influences on perception of food portion as a function of plate size. The respondents viewed photographs of ten culturally diverse dishes presented on large (27 cm) and small (23 cm) plates, and then rated their estimated usual intake and expected fullness after consuming the dish, using 100-point visual analog scales. The data were analysed with a mixed-model ANCOVA controlling for individual BMI, liking and familiarity of the presented food. The results showed clear cultural differences: (1) manipulations of the plate size had no effect on the expected fullness or the estimated intake of the Chinese and Korean respondents, as opposed to significant effects in Canadians and New Zealanders (p Asian respondents. Overall, these findings, from a cultural perspective, support the notion that estimation of fullness and intake are learned through dining experiences, and highlight the importance of considering eating environments and contexts when assessing individual behaviours relating to food intake. Copyright © 2017 Elsevier Ltd. All rights reserved.

Cell manipulation in microfluidics

International Nuclear Information System (INIS)

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

2013-01-01

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

Manipulator comparative testing program

International Nuclear Information System (INIS)

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

1986-01-01

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

Extracorporeal shock wave lithotripsy (ESWL) vs. ureterorenoscopic (URS) manipulation in proximal ureteric stone.

Science.gov (United States)

Manzoor, Salman; Hashmi, Altaf Hussain; Sohail, Muhammad Ali; Mahar, Feroz; Bhatti, Shahid; Khuhro, Abdul Qayoom

2013-10-01

To compare the stone free rate at one week after extracorporeal shock wave lithotripsy (ESWL) and ureterorenoscopic (URS) manipulation for proximal ureteric stone (10 - 15 mm size). Randomized controlled trial. Sindh Institute of Urology and Transplantation (SIUT), Karachi, from August 2010 to February 2011. One hundred and ninety patients with 10 - 15 mm proximal urteric stone, in each group were treated with ESWL and ureterorenoscopic manipulation by using an 8.0 or 8.5 Fr semi rigid ureteroscope. Intracorporeal lithotripsy was performed by using pneumatic lithoclast. The stone free rate were compared between groups by considering size of stone at one week after procedure. The success rate, retreatment rate, auxiliary procedure and complication rate were compared in each group. Success rate was 49.2% for ESWL and 57.8% for URS (p = 0.008). The re-treatment rate was significantly higher in ESWL group than in URS group (40% vs. 11 and 18% in URS group). Although ESWL is regarded as the preferred choice of treatment for proximal ureteric stone, the present results suggest that ureterorenoscopic manipulation with intracorporeal lithotripsy is a safe alternative, with an advantage of obtaining an earlier or immediate stone-free status. Laparoscopic approaches are reasonable alternatives in cases, where ESWL and URS have failed.

A novel magnetorheological damper based parallel planar manipulator design

International Nuclear Information System (INIS)

Hoyle, A; Arzanpour, S; Shen, Y

2010-01-01

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

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.

Implications of access hole size on tank waste retrieval system design and cost

International Nuclear Information System (INIS)

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

1994-05-01

The DOE Environmental Restoration and Waste Management Robotics Technology Development Program has been investigating the application of robotics technology to the retrieval of waste from single-shell storage tanks for several years. The use of a large, ''long-reach'' manipulator to position and orient a variety of tools and other equipment has been recommended. The objective of this study is to determine the appropriate access hole size for the tank waste retrieval system installation. Previous reports on the impact of access hole size on manipulator performance are summarized. In addition, the practical limitation for access hole size based on structural limitations of the waste storage tanks, the state-of-the-art size limitations for the installation of new risers, the radiation safety implications of various access hole sizes, and overall system cost implications are considered. Basic conclusions include: (1) overall cost of remediation will; be dominated by the costs of the balance of plant and time required to perform the task rather than the cost of manipulator hardware or the cost of installing a riser, (2) the most desirable solution from a manipulator controls point of view is to make the manipulator as stiff as possible and have as high as possible a natural frequency, which implies a large access hole diameter, (3) beyond some diameter; simple, uniform cross-section elements become less advantageous from a weight standpoint and alternative structures should be considered, and (4) additional shielding and contamination control measures would be required for larger holes. Parametric studies summarized in this report considered 3,790,000 1 (1,000,000 gal) tanks, while initial applications are likely to be for 2,840,000 1 (750,000 gal) tanks. Therefore, the calculations should be somewhat conservative, recognizing the limitations of the specific conditions considered

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.

Reactions to psychological contract breaches and organizational citizenship behaviours: An experimental manipulation of severity.

Science.gov (United States)

Atkinson, Theresa P; Matthews, Russell A; Henderson, Alexandra A; Spitzmueller, Christiane

2018-01-30

Grounded in affective events theory, we investigated the effects of experimentally manipulated psychological contract breaches on participants' feelings of violation, subsequent perceptions of psychological contract strength, and organizational citizenship behaviours in a sample of working adults. Results support previous findings that pre-existing relational psychological contract strength interacts with severity of unmet promises or expectations. Specifically, individuals with high relational contracts who experience low severity of unmet promises/expectations have the lowest breach perceptions, whereas individuals with high relational contracts who experience more severe levels unmet promises/expectations experience the highest level of breach perceptions. Results also support the concept of a breach spiral in that prior perceptions of breach led to an increased likelihood of subsequent perceptions of breach following the experimental manipulation. Furthermore, consistent with affective events theory, results support the argument that a psychological contract breach's effect on specific organizational citizenship behaviours is mediated by feelings of violation and the reassessment of relational contracts. These effects were present even after controlling for the direct effects of the manipulated severity of unmet promises/expectations. Copyright © 2018 John Wiley & Sons, Ltd.

Visual search for conjunctions of physical and numerical size shows that they are processed independently.

Science.gov (United States)

Sobel, Kenith V; Puri, Amrita M; Faulkenberry, Thomas J; Dague, Taylor D

2017-03-01

The size congruity effect refers to the interaction between numerical magnitude and physical digit size in a symbolic comparison task. Though this effect is well established in the typical 2-item scenario, the mechanisms at the root of the interference remain unclear. Two competing explanations have emerged in the literature: an early interaction model and a late interaction model. In the present study, we used visual conjunction search to test competing predictions from these 2 models. Participants searched for targets that were defined by a conjunction of physical and numerical size. Some distractors shared the target's physical size, and the remaining distractors shared the target's numerical size. We held the total number of search items fixed and manipulated the ratio of the 2 distractor set sizes. The results from 3 experiments converge on the conclusion that numerical magnitude is not a guiding feature for visual search, and that physical and numerical magnitude are processed independently, which supports a late interaction model of the size congruity effect. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

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.)

Manipulation of positron orbits in a dipole magnetic field with fluctuating electric fields

Science.gov (United States)

Saitoh, H.; Horn-Stanja, J.; Nißl, S.; Stenson, E. V.; Hergenhahn, U.; Pedersen, T. Sunn; Singer, M.; Dickmann, M.; Hugenschmidt, C.; Stoneking, M. R.; Danielson, J. R.; Surko, C. M.

2018-01-01

We report the manipulation of positron orbits in a toroidal dipole magnetic field configuration realized with electric fields generated by segmented electrodes. When the toroidal circulation motion of positrons in the dipole field is coupled with time-varying electric fields generated by azimuthally segmented outer electrodes, positrons undergo oscillations of their radial positions. This enables quick manipulation of the spatial profiles of positrons in a dipole field trap by choosing appropriate frequency, amplitude, phase, and gating time of the electric fields. According to numerical orbit analysis, we applied these electric fields to positrons injected from the NEPOMUC slow positron facility into a prototype dipole field trap experiment with a permanent magnet. Measurements with annihilation γ-rays clearly demonstrated the efficient compression effects of positrons into the strong magnetic field region of the dipole field configuration. This positron manipulation technique can be used as one of essential tools for future experiments on the formation of electron-positron plasmas.

Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

Directory of Open Access Journals (Sweden)

Ryan M. Robinson

2014-04-01

Full Text Available Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired motions of a manipulator actuated by pneumatic artificial muscles. The manipulator is intended for lifting humans in nursing assistance or casualty extraction scenarios; hence, the control strategy must be capable of responding to large variations in payload over a large range of motion. The present work first investigates the feasibility of two output feedback controllers (proportional-integral-derivative and fuzzy logic, but due to the limitations of pure output feedback control, a model-based feedforward controller is developed and combined with output feedback to achieve improved closed-loop performance. The model upon which the controller is based incorporates the internal airflow dynamics, the physical parameters of the pneumatic muscles and the manipulator dynamics. Simulations were performed in order to validate the control algorithms, guide controller design and predict optimal gains. Using real-time interface software and hardware, the controllers were implemented and experimentally tested on the manipulator, demonstrating the improved capability.

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

Nanometre and micrometre-sized solid particles are ubiquitous in space and on Earth - from galaxies, interstellar space, protoplanetary and debris disks to planetary rings and atmospheres, planetary surfaces, comets, interplanetary space, Earth's atmosphere. Apparently, the most intriguing problem in the picture of the formation of planets is the transition from individual microscopic dust grains to kilometre-sized planetesimals. Revealing the mechanisms of this transition is one of the main tasks of the European Space Agency's project Interaction in Cosmic and Atmospheric Particle Systems (ICAPS). It was found that Brownian motion driven agglomeration could not provide the transition within reasonable time scale. As a result, at this stage top scientific goals shifted towards forced agglomeration and concentration of particles, targeting revealing the onset of compaction, experimental study of the evolution of fractal dimensions, size and mass distribution, occurrence of bouncing. The main tasks comprise 1) development of the rapid agglomeration model 2) development of the experimental facilities creating big fractal-type agglomerates from 10 to 1000 μm from a cloud of micrometre-size grains; 3) experimental realization of the rapid agglomeration in microgravity and ground conditions; and 4) in situ investigation of the morphology, mobility, mechanical and optical properties of the free-floating agglomerates, including investigation of thermophoresis, photophoresis of the agglomerates and of the two-phase flow phenomena. To solve the experimental part of the tasks we developed a Cloud Manipulation System, realized as a breadboard (CMS BB) for long duration microgravity platforms and a simplified laboratory version (CMS LV) mostly oriented on short duration microgravity and ground tests. The new system is based on the use of thermophoresis, most favourable for cloud manipulation without creating additional particle-particle forces in the cloud with a possibility

Size-sensitive particle trajectories in three-dimensional micro-bubble acoustic streaming flows

Science.gov (United States)

Volk, Andreas; Rossi, Massimiliano; Hilgenfeldt, Sascha; Rallabandi, Bhargav; Kähler, Christian; Marin, Alvaro

2015-11-01

Oscillating microbubbles generate steady streaming flows with interesting features and promising applications for microparticle manipulation. The flow around oscillating semi-cylindrical bubbles has been typically assumed to be independent of the axial coordinate. However, it has been recently revealed that particle motion is strongly three-dimensional: Small tracer particles follow vortical trajectories with pronounced axial displacements near the bubble, weaving a toroidal stream-surface. A well-known consequence of bubble streaming flows is size-dependent particle migration, which can be exploited for sorting and trapping of microparticles in microfluidic devices. In this talk, we will show how the three-dimensional toroidal topology found for small tracer particles is modified as the particle size increases up to 1/3 of the bubble radius. Our results show size-sensitive particle positioning along the axis of the semi-cylindrical bubble. In order to analyze the three-dimensional sorting and trapping capabilities of the system, experiments with an imposed flow and polydisperse particle solutions are also shown.

Evolution of avian clutch size along latitudinal gradients: do seasonality, nest predation or breeding season length matter?

Science.gov (United States)

Griebeler, E M; Caprano, T; Böhning-Gaese, K

2010-05-01

Birds display a latitudinal gradient in clutch size with smaller clutches in the tropics and larger in the temperate region. Three factors have been proposed to affect this pattern: seasonality of resources (SR), nest predation and length of the breeding season (LBS). Here, we test the importance of these factors by modelling clutch size evolution within bird populations under different environmental settings. We use an individual-based ecogenetic simulation model that combines principles from population ecology and life history theory. Results suggest that increasing SR from the tropics to the poles by itself or in combination with a decreasing predation rate and LBS can generate the latitudinal gradient in clutch size. Annual fecundity increases and annual adult survival rate decreases from the tropics to the poles. We further show that the annual number of breeding attempts that (together with clutch size) determines total annual egg production is an important trait to understand latitudinal patterns in these life history characteristics. Field experiments that manipulate environmental factors have to record effects not only on clutch size, but also on annual number of breeding attempts. We use our model to predict the outcome of such experiments under different environmental settings.

Sensitive and predictable separation of microfluidic droplets by size using in-line passive filter.

Science.gov (United States)

Ding, Ruihua; Ung, W Lloyd; Heyman, John A; Weitz, David A

2017-01-01

Active manipulation of droplets is crucial in droplet microfluidics. However, droplet polydispersity decreases the accuracy of active manipulation. We develop a microfluidic "droplet filter" that accurately separates droplets by size. The droplet filter has a sharp size cutoff and is capable of distinguishing droplets differing in volume by 20%. A simple model explains the behavior of the droplets as they pass through the filter. We show application of the filter in improving dielectric sorting efficiency.

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...

Visuospatial viewpoint manipulation during full-body illusion modulates subjective first-person perspective.

Science.gov (United States)

Pfeiffer, Christian; Schmutz, Valentin; Blanke, Olaf

2014-12-01

Self-consciousness is based on multisensory signals from the body. In full-body illusion (FBI) experiments, multisensory conflict was used to induce changes in three key aspects of bodily self-consciousness (BSC): self-identification (which body 'I' identify with), self-location (where 'I' am located), and first-person perspective (from where 'I' experience the world; 1PP). Here, we adapted a previous FBI protocol in which visuotactile stroking was administered by a robotic device (tactile stroking) and simultaneously rendered on the back of a virtual body (visual stroking) that participants viewed on a head-mounted display as if filmed from a posterior viewpoint of a camera. We compared the effects of two different visuospatial viewpoints on the FBI and thereby on these key aspects of BSC. During control manipulations, participants saw a no-body object instead of a virtual body (first experiment) or received asynchronous versus synchronous visuotactile stroking (second experiment). Results showed that within-subjects visuospatial viewpoint manipulations affected the subjective 1PP ratings if a virtual body was seen but had no effect for viewing a non-body object. However, visuospatial viewpoint had no effect on self-identification, but depended on the viewed object and visuotactile synchrony. Self-location depended on visuospatial viewpoint (first experiment) and visuotactile synchrony (second experiment). Our results show that the visuospatial viewpoint from which the virtual body is seen during FBIs modulates the subjective 1PP and that such viewpoint manipulations contribute to spatial aspects of BSC. We compare the present data with recent data revealing vestibular contributions to the subjective 1PP and discuss the multisensory nature of BSC and the subjective 1PP.

Wave Manipulation by Topology Optimization

DEFF Research Database (Denmark)

Andkjær, Jacob Anders

topology optimization can be used to design structures for manipulation of the electromagnetic and acoustic waves. The wave problems considered here fall within three classes. The first class concerns the design of cloaks, which when wrapped around an object will render the object undetectable...... for the cloak is to delay the waves in regions of higher permittivity than the background and subsequently phase match them to the waves outside. Directional acoustic cloaks can also be designed using the topology optimization method. Aluminum cylinders constitutes the design and their placement and size...... concerns the design of planar Fresnel zone plate lenses for focusing electromagnetic waves. The topology optimized zone plates improve the focusing performance compared to results known from the literature....

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.

Nucleolar organizer (NO) size as a measure of instantaneous growth in Chironomus riparius larvae (Diptera: Chironomidae) : a tool for monitoring individual and population responses to stress

Energy Technology Data Exchange (ETDEWEB)

Martin, J.P.; Ciborowski, J.J.; Wytrykush, C. [Windsor Univ., Windsor, ON (Canada)

2009-07-01

This presentation reported on 2 laboratory experiments that were conducted using Chironomus riparius larvae to relate nucleolar growth (NO) size to chironomid growth. In one experiment, 5 treatments varied in diet quality only, which was manipulated by providing midge larvae with 1.0 mg of food per individual per day, but varying the ratio of Tetramin to non-nutritious methyl-cellulose. A second experiment followed a 2 x 2 factorial design. The factors were growth period and diet quality. Diet quality and growth period were found to influence the individual biomass considerably. NO size was related to the quality of the diet provided at the end of the experiment, regardless of larval biomass. Therefore, NO size appears to be related to growth rate at time of collection rather than larval size. The authors proposed using NO size of larvae in natural populations as a measure of growth on which to base estimates of secondary production and as a new way to monitor individual and population responses to environmental stress. Preliminary field measurements of larval production and NO size from oil sands-affected and reference wetlands were found to be consistent with laboratory results.

Nucleolar organizer (NO) size as a measure of instantaneous growth in Chironomus riparius larvae (Diptera: Chironomidae) : a tool for monitoring individual and population responses to stress

International Nuclear Information System (INIS)

Martin, J.P.; Ciborowski, J.J.; Wytrykush, C.

2009-01-01

This presentation reported on 2 laboratory experiments that were conducted using Chironomus riparius larvae to relate nucleolar growth (NO) size to chironomid growth. In one experiment, 5 treatments varied in diet quality only, which was manipulated by providing midge larvae with 1.0 mg of food per individual per day, but varying the ratio of Tetramin to non-nutritious methyl-cellulose. A second experiment followed a 2 x 2 factorial design. The factors were growth period and diet quality. Diet quality and growth period were found to influence the individual biomass considerably. NO size was related to the quality of the diet provided at the end of the experiment, regardless of larval biomass. Therefore, NO size appears to be related to growth rate at time of collection rather than larval size. The authors proposed using NO size of larvae in natural populations as a measure of growth on which to base estimates of secondary production and as a new way to monitor individual and population responses to environmental stress. Preliminary field measurements of larval production and NO size from oil sands-affected and reference wetlands were found to be consistent with laboratory results.

Magnus force effect in optical manipulation

International Nuclear Information System (INIS)

Cipparrone, Gabriella; Pagliusi, Pasquale; Hernandez, Raul Josue; Provenzano, Clementina

2011-01-01

The effect of the Magnus force in optical micromanipulation has been observed. An ad hoc experiment has been designed based on a one-dimensional optical trap that carries angular momentum. The observed particle dynamics reveals the occurrence of this hydrodynamic force, which is neglected in the common approach. Its measured value is larger than the one predicted by the existing theoretical models for micrometric particles and low Reynolds number, showing that the Magnus force can contribute to unconventional optohydrodynamic trapping and manipulation.

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

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

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

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...

Plasma manipulation techniques for positron storage in a multicell trap

International Nuclear Information System (INIS)

Danielson, J. R.; Weber, T. R.; Surko, C. M.

2006-01-01

New plasma manipulation techniques are described that are central to the development of a multicell Penning trap designed to increase positron storage by orders of magnitude (e.g., to particle numbers N≥10 12 ). The experiments are done using test electron plasmas. A technique is described to move plasmas across the confining magnetic field and to deposit them at specific radial and azimuthal positions. Techniques to fill and operate two in-line plasma cells simultaneously, and the use of 1 kV confinement potentials are demonstrated. These experiments establish the capabilities to create, confine, and manipulate plasmas with the parameters required for a multicell trap; namely, particle numbers >10 10 in a single cell with plasma temperature ≤0.2 eV for plasma lengths ∼10 cm and radii ≤0.2 cm. The updated design of a multicell positron trap for 10 12 particles is described

The senior pupils’ understanding of the essence of manipulative strategies in communicative sphere

Directory of Open Access Journals (Sweden)

Валентина Григорівна Кучерявець

2016-03-01

Full Text Available The article is dedicated to the problem of an adequate understanding of the manipulative strategy in educational process of the modern school by the high school aged pupils. The topicality of the problem is connected with inadequate spread of manipulative interaction in all life spheres. The deficiency of the skill of expedient use of manipulation in pedagogical process as well as fixing manipulation as the main way of relation construction are the unfavorable variants of human development. There were characterized the main influence strategies in communication. There were cited the results of techniques and creative tasks that allow to reveal the understanding of essence of manipulative strategy and to study its functioning in the senior pupils’ communicative plane. The special authors’ attention was concentrated on determination of pedagogical conditions of mastering the experience of manipulative communication by the high school aged pupils. In the process of research there were determined the certain threatening moments: the significant part of senior pupils does not understand their own manipulative actions, but see it in surrounding people and is ready to aggressive response. The ability to use the ways of flexible, adaptive countermanipulation that allow retain communicative connections between pupils and teachers is not sufficiently developed in the pupils of high school age

Brood size and its importance for nestling growth in the Biscutate Swift (Streptoprocne biscutata, Aves: Apodidae

Directory of Open Access Journals (Sweden)

M. Pichorim

Full Text Available Many Apodidae, including Streptoprocne biscutata (Sclater, 1866, drop eggs from their nests during incubation. This is interpreted as nest site competition or accident. We provide evidence that egg ejection is deliberate and that this behaviour controls the brood size. Brood sizes were manipulated and nestling growth was measured to test the hypothesis that pairs can regulate brood size during incubation based on current ability to rear nestlings. Natural (control broods with one, two and three nestlings, and manipulated (experimental broods reduced to one and increased to two and three young were monitored. Growth rates were measured based on weight, and wing, tail and tarsus lengths of natural and manipulated broods. We compared the slopes of each measure's regression lines of the nestlings of each brood size by t-test. Nestling growth of control nests was similar and relatively little associated with brood size. In broods reduced to one nestling, weight, wing and tail had greater growth rates, and in broods increased to three nestlings growth rates were lower. Weight was most, and tarsus length least influenced by brood size. In general, nestling growth of manipulated nests was inversely proportional to brood size. The results suggest that pairs with larger clutches are in better physical conditions than others. Thus, in experimental broods, pairs are over or under-loaded because feeding activities increase or decrease and these changes affect the growth rate of the nestlings. The present study suggests that egg ejection can control brood size. This behaviour is probably stimulated by physical changes in the adult birds during incubation.

Using Manipulatives in Math Instruction.

Science.gov (United States)

Marzola, Eileen S.

1987-01-01

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

Manipulating the magnetic anisotropy and magnetization dynamics by stress: Numerical calculation and experiment

Science.gov (United States)

Correa, M. A.; Bohn, F.

2018-05-01

We perform a theoretical and experimental investigation of the magnetic properties and magnetization dynamics of a ferromagnetic magnetostrictive multilayer grown onto a flexible substrate and submitted to external stress. We calculate the magnetic behavior and magnetoimpedance effect for a trilayered system from an approach that considers a magnetic permeability model for planar geometry and a magnetic free energy density which takes into account induced uniaxial and magnetoelastic anisotropy contributions. We verify remarkable modifications of the magnetic anisotropy with external stress, as well as we show that the dynamic magnetic response is strongly affected by these changes. We discuss the magnetic features that lead to modifications of the frequency limits where distinct mechanisms are responsible by the magnetoimpedance variations, enabling us to manipulate the resonance fields. To test the robustness of the approach, we directly compare theoretical results with experimental data. Thus, we provide experimental evidence to confirm the validity of the theoretical approach, as well as to manipulate the resonance fields to tune the MI response according to real applications in devices.

Innovation & evaluation of tangible direct manipulation digital drawing pens for children.

Science.gov (United States)

Lee, Tai-Hua; Wu, Fong-Gong; Chen, Huei-Tsz

2017-04-01

Focusing on the theme of direct manipulation, in this study, we proposed a new and innovative tangible user interface (TUI) design concept for a manipulative digital drawing pen. Based on interviews with focus groups brainstorming and experts and the results of a field survey, we selected the most suitable tangible user interface for children between 4 and 7 years of age. Using the new tangible user interface, children could choose between the brush tools after touching and feeling the various patterns. The thickness of the brush could be adjusted by changing the tilt angle. In a subsequent experimental process we compared the differences in performance and subjective user satisfaction. A total of sixteen children, aged 4-7 years participated in the experiment. Two operating system experiments (the new designed tangible digital drawing pen and traditional visual interface-icon-clicking digital drawing pens) were performed at random and in turns. We assessed their manipulation performance, accuracy, brush stroke richness and subjective evaluations. During the experimental process we found that operating functions using the direct manipulation method, and adding shapes and semantic models to explain the purpose of each function, enabled the children to perform stroke switches relatively smoothly. By using direct manipulation digital pens, the children could improve their stroke-switching performance for digital drawing. Additionally, by using various patterns to represent different brushes or tools, the children were able to make selections using their sense of touch, thereby reducing the time required to move along the drawing pens and select icons (The significant differences (p = 0.000, p drawing thick lines using the crayon function of the two (new and old) drawing pens (new 5.8750 drawing operations enhanced the drawing results, thereby increasing the children's enjoyment of drawing with tangible digital drawing pens. Copyright © 2016 Elsevier Ltd. All

Data-driven methods towards learning the highly nonlinear inverse kinematics of tendon-driven surgical manipulators.

Science.gov (United States)

Xu, Wenjun; Chen, Jie; Lau, Henry Y K; Ren, Hongliang

2017-09-01

Accurate motion control of flexible surgical manipulators is crucial in tissue manipulation tasks. The tendon-driven serpentine manipulator (TSM) is one of the most widely adopted flexible mechanisms in minimally invasive surgery because of its enhanced maneuverability in torturous environments. TSM, however, exhibits high nonlinearities and conventional analytical kinematics model is insufficient to achieve high accuracy. To account for the system nonlinearities, we applied a data driven approach to encode the system inverse kinematics. Three regression methods: extreme learning machine (ELM), Gaussian mixture regression (GMR) and K-nearest neighbors regression (KNNR) were implemented to learn a nonlinear mapping from the robot 3D position states to the control inputs. The performance of the three algorithms was evaluated both in simulation and physical trajectory tracking experiments. KNNR performed the best in the tracking experiments, with the lowest RMSE of 2.1275 mm. The proposed inverse kinematics learning methods provide an alternative and efficient way to accurately model the tendon driven flexible manipulator. Copyright © 2016 John Wiley & Sons, Ltd.

Laser manipulation of atomic and molecular flows

Science.gov (United States)

Lilly, Taylor C.

The continuing advance of laser technology enables a range of broadly applicable, laser-based flow manipulation techniques. The characteristics of these laser-based flow manipulations suggest that they may augment, or be superior to, such traditional electro-mechanical methods as ionic flow control, shock tubes, and small scale wind tunnels. In this study, methodology was developed for investigating laser flow manipulation techniques, and testing their feasibility for a number of aerospace, basic physics, and micro technology applications. Theories for laser-atom and laser-molecule interactions have been under development since the advent of laser technology. The theories have yet to be adequately integrated into kinetic flow solvers. Realizing this integration would greatly enhance the scaling of laser-species interactions beyond the realm of ultra-cold atomic physics. This goal was realized in the present study. A representative numerical investigation, of laser-based neutral atomic and molecular flow manipulations, was conducted using near-resonant and non-resonant laser fields. To simulate the laser interactions over a range of laser and flow conditions, the following tools were employed: a custom collisionless gas particle trajectory code and a specifically modified version of the Direct Simulation Monte Carlo statistical kinetic solver known as SMILE. In addition to the numerical investigations, a validating experiment was conducted. The experimental results showed good agreement with the numerical simulations when experimental parameters, such as finite laser line width, were taken into account. Several areas of interest were addressed: laser induced neutral flow steering, collimation, direct flow acceleration, and neutral gas heating. Near-resonant continuous wave laser, and non-resonant pulsed laser, interactions with cesium and nitrogen were simulated. These simulations showed trends and some limitations associated with these interactions, used for flow

Manipulating the optical properties of dual implanted Au and Zn nanoparticles in sapphire

Science.gov (United States)

Epie, E. N.; Scott, D.; Chu, W. K.

2017-11-01

We have synthesized and manipulated the optical properties of metallic nanoparticles (NPs) by using a combination of low-energy high-fluence dual implantation and thermal annealing. We demonstrated that by implanting Zn before Au, the resulting absorption peak is enormously blue-shifted by 120 nm with respect to that of Au-only implanted samples. This magnitude of optical shift is not characteristic of unalloyed Au and to the best of our knowledge cannot be attributed to NP size change alone. On the other hand, the absorption peak for samples implanted with Au followed by Zn is blue-shifted about 20 nm. Additionally, by carefully annealing all implanted samples, both NP size distribution and corresponding optical properties can be further modified in a controlled manner. We attribute these behaviours to nanoalloy formation. This work provides a direct method for synthesizing and manipulating both the plasmonic and structural properties of metallic alloy NP in various transparent dielectrics for diverse applications.

Balanced articulated manipulator

International Nuclear Information System (INIS)

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

1976-01-01

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

Perception of biological motion from size-invariant body representations

Directory of Open Access Journals (Sweden)

Markus eLappe

2015-03-01

Full Text Available The visual recognition of action is one of the socially most important and computationally demanding capacities of the human visual system. It combines visual shape recognition with complex non-rigid motion perception. Action presented as a point-light animation is a striking visual experience for anyone who sees it for the first time. Information about the shape and posture of the human body is sparse in point-light animations, but it is essential for action recognition. In the posturo-temporal filter model of biological motion perception posture information is picked up by visual neurons tuned to the form of the human body before body motion is calculated. We tested whether point-light stimuli are processed through posture recognition of the human body form by using a typical feature of form recognition, namely size invariance. We constructed a point-light stimulus that can only be perceived through a size-invariant mechanism. This stimulus changes rapidly in size from one image to the next. It thus disrupts continuity of early visuo-spatial properties but maintains continuity of the body posture representation. Despite this massive manipulation at the visuo-spatial level, size-changing point-light figures are spontaneously recognized by naive observers, and support discrimination of human body motion.

A giant magnetoresistance ring-sensor based microsystem for magnetic bead manipulation and detection

KAUST Repository

Gooneratne, Chinthaka P.

2011-03-28

In this paper a novel spin valvegiant magnetoresistance(GMR) ring-sensor integrated with a microstructure is proposed for concentrating, trapping, and detecting superparamagnetic beads (SPBs). Taking advantage of the fact that SPBs can be manipulated by an external magnetic field, a unique arrangement of conducting microrings is utilized to manipulate the SPBs toward the GMR sensing area in order to increase the reliability of detection. The microrings are arranged and activated in such a manner so as to enable the detection of minute concentrations of SPBs in a sample. Precise manipulation is achieved by applying current sequentially to the microrings. The fabricated ring-shaped GMR element is located underneath the innermost ring and has a magnetoresistance of approximately 5.9%. By the performed experiments it was shown that SPBs could be successfully manipulated toward the GMR sensing zone.

A giant magnetoresistance ring-sensor based microsystem for magnetic bead manipulation and detection

KAUST Repository

Gooneratne, Chinthaka P.; Giouroudi, Ioanna; Liang, Cai; Kosel, Jü rgen

2011-01-01

In this paper a novel spin valvegiant magnetoresistance(GMR) ring-sensor integrated with a microstructure is proposed for concentrating, trapping, and detecting superparamagnetic beads (SPBs). Taking advantage of the fact that SPBs can be manipulated by an external magnetic field, a unique arrangement of conducting microrings is utilized to manipulate the SPBs toward the GMR sensing area in order to increase the reliability of detection. The microrings are arranged and activated in such a manner so as to enable the detection of minute concentrations of SPBs in a sample. Precise manipulation is achieved by applying current sequentially to the microrings. The fabricated ring-shaped GMR element is located underneath the innermost ring and has a magnetoresistance of approximately 5.9%. By the performed experiments it was shown that SPBs could be successfully manipulated toward the GMR sensing zone.

Particle size control of detergents in mixed flow spray dryers

Directory of Open Access Journals (Sweden)

Mark Jonathan Crosby

2015-03-01

Full Text Available Particle size is a key quality parameter of a powder detergent as it determines its performance, the bulk density and the look and feel of the product. Consequently, it is essential that particle size is controlled to ensure the consistency of performance when comparing new formulations. The majority of study reported in the literature relating to particle size control, focuses on the spray produced by the atomisation technique. One approach advocated to achieve particle size control is the manipulation of the ratio of the mass slurry rate and mass flow rate of gas used for atomisation. Within this study, ratio control was compared with an automatic cascade loop approach using online measurements of the powder particle size on a small-scale pilot plant. It was concluded that cascade control of the mean particle size, based on manipulating the mass flow rate of gas, resulted in tighter, more responsive control. The effect of a ratio change varied with different formulations and different slurry rates. Furthermore, changes in slurry rate caused complications, as the impact on particle size growth in the dryer is non-linear and difficult to predict. The cascade loop enables further study into the effect of particle size on detergent performance.

Direct Manipulation in Virtual Reality

Science.gov (United States)

Bryson, Steve

2003-01-01

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

The left fusiform gyrus hosts trisensory representations of manipulable objects

DEFF Research Database (Denmark)

Kassuba, Tanja; Klinge, Corinna; Hölig, Cordula

2011-01-01

During object manipulation the brain integrates the visual, auditory, and haptic experience of an object into a unified percept. Previous brain imaging studies have implicated for instance the dorsal part of the lateral occipital complex in visuo-tactile and the posterior superior temporal sulcus...

"Little Helper" - An Autonomous Industrial Mobile Manipulator Concept

Directory of Open Access Journals (Sweden)

Mads Hvilshoj

2011-06-01

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

Cropping practices manipulate abundance patterns of root and soil microbiome members paving the way to smart farming.

Science.gov (United States)

Hartman, Kyle; van der Heijden, Marcel G A; Wittwer, Raphaël A; Banerjee, Samiran; Walser, Jean-Claude; Schlaeppi, Klaus

2018-01-16

Harnessing beneficial microbes presents a promising strategy to optimize plant growth and agricultural sustainability. Little is known to which extent and how specifically soil and plant microbiomes can be manipulated through different cropping practices. Here, we investigated soil and wheat root microbial communities in a cropping system experiment consisting of conventional and organic managements, both with different tillage intensities. While microbial richness was marginally affected, we found pronounced cropping effects on community composition, which were specific for the respective microbiomes. Soil bacterial communities were primarily structured by tillage, whereas soil fungal communities responded mainly to management type with additional effects by tillage. In roots, management type was also the driving factor for bacteria but not for fungi, which were generally determined by changes in tillage intensity. To quantify an "effect size" for microbiota manipulation, we found that about 10% of variation in microbial communities was explained by the tested cropping practices. Cropping sensitive microbes were taxonomically diverse, and they responded in guilds of taxa to the specific practices. These microbes also included frequent community members or members co-occurring with many other microbes in the community, suggesting that cropping practices may allow manipulation of influential community members. Understanding the abundance patterns of cropping sensitive microbes presents the basis towards developing microbiota management strategies for smart farming. For future targeted microbiota management-e.g., to foster certain microbes with specific agricultural practices-a next step will be to identify the functional traits of the cropping sensitive microbes.

Development of a modular integrated control architecture for flexible manipulators. Final report

International Nuclear Information System (INIS)

Burks, B.L.; Battiston, G.

1994-01-01

In April 1994, ORNL and SPAR completed the joint development of a manipulator controls architecture for flexible structure controls under a CRADA between the two organizations. The CRADA project entailed design and development of a new architecture based upon the Modular Integrated Control Architecture (MICA) previously developed by ORNL. The new architecture, dubbed MICA-II, uses an object-oriented coding philosophy to provide a highly modular and expandable architecture for robotic manipulator control. This architecture can be readily ported to control of many different manipulator systems. The controller also provides a user friendly graphical operator interface and display of many forms of data including system diagnostics. The capabilities of MICA-II were demonstrated during oscillation damping experiments using the Flexible Beam Experimental Test Bed at Hanford

Deception studies manipulating centrally acting performance modifiers: a review.

Science.gov (United States)

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

2014-07-01

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

Particularities of fully-parallel manipulators in 6-DOFs robots design: a review of critical aspects

Directory of Open Access Journals (Sweden)

Milica Lucian

2017-01-01

Full Text Available A whole range of industrial applications requires the presence of parallel mechanisms with six degrees of freedom (6-DOF which have been developed in the last fifteen years, and one of the reasons why they still are a current topic is that present-day computers are capable of performing real-time motion laws of great complexity associated with these types of parallel mechanisms. The present work underlines particularities of parallel manipulators and their importance in the design of 6-DOF robots. The paper reveals the progress made in the last twenty years in the development of 6-DOF parallel manipulators, which increasingly find a wide scope of applications in different industrial areas such as robotics, manufacture and assisted medicine. It also emphasizes the need to determine singular configurations and the effect of cinematic redundancy which can increase the working space of the manipulators by adding active joints in one or more branches of the manipulator. Throughout the work, there were outlined three types of singularities encountered in the modelling of different types of parallel manipulators, and three types of redundancy. Furthermore, an analysis was made of the dimension of the workspace for a series of parallel manipulators, highlighting a number of factors that influence its size.

Do female newts modify thermoregulatory behavior to manipulate egg size?

Czech Academy of Sciences Publication Activity Database

Toufarová, E.; Gvoždík, Lumír

2016-01-01

Roč. 57, April (2016), s. 72-77 ISSN 0306-4565 R&D Projects: GA ČR GAP506/10/2170; GA ČR(CZ) GA15-07140S Institutional support: RVO:68081766 Keywords : Amphibians * Egg size * Gravidity * Jelly coat * Mother-offspring conflict * Oviparity * Oviposition rate * Parental effect * Preferred temperature Subject RIV: EG - Zoology Impact factor: 2.157, year: 2016

Geometric control of manipulators

International Nuclear Information System (INIS)

Thiruarooran, C.

1996-01-01

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

Two replications of "Hierarchical encoding makes individuals in a group seem more attractive (2014; Experiment 4".

Directory of Open Access Journals (Sweden)

Yuko Ojiro

2015-06-01

Full Text Available The cheerleader effect implies that a person in a group look like more attractive than in isolation. Walker and Vul (2014 reported results supporting the existence of the cheerleader effect. We replicated Walker and Vul’s Experiment 4, which manipulated group size. Their participants were asked to rate attractiveness of each female face image in a group (one of 4, 9, or 16 members and in isolation and revealed that attractiveness ratings significantly increased in all the group conditions. We performed two direct replications of this experiment using Japanese participants. As a result, at least one experiment yielded a pattern of results similar to those of the previous study, although the effect was not significant and the effect size was small.

Extracorporeal Shock Wave Lithotripsy (ESWL) vs. Ureterorenoscopic (URS) Manipulation in Proximal Ureteric Stone

International Nuclear Information System (INIS)

Manzoor, S.; Khuhro, A.Q.; Hashmi, A.H.; Sohail, M.A.; Mahar, F.; Bhatti, S.

2013-01-01

Objective: To compare the stone free rate at one week after extracorporeal shock wave lithotripsy (ESWL) and ureterorenoscopic (URS) manipulation for proximal ureteric stone (10 - 15 mm size). Study Design: Randomized controlled trial. Place and Duration of Study: Sindh Institute of Urology and Transplantation (SIUT), Karachi, from August 2010 to February 2011. Methodology: One hundred and ninety patients with 10 - 15 mm proximal urteric stone, in each group were treated with ESWL and ureterorenoscopic manipulation by using an 8.0 or 8.5 Fr semi rigid ureteroscope. Intracorporeal lithotripsy was performed by using pneumatic lithoclast. The stone free rate were compared between groups by considering size of stone at one week after procedure. The success rate, retreatment rate, auxiliary procedure and complication rate were compared in each group. Results: Success rate was 49.2% for ESWL and 57.8% for URS (p = 0.008). The re-treatment rate was significantly higher in ESWL group than in URS group (40% vs. 11 and 18% in URS group). Conclusion: Although ESWL is regarded as the preferred choice of treatment for proximal ureteric stone, the present results suggest that ureterorenoscopic manipulation with intracorporeal lithotripsy is a safe alternative, with an advantage of obtaining an earlier or immediate stone-free status. Laparoscopic approaches are reasonable alternatives in cases, where ESWL and URS have failed. (author)

Experiments for the Undergraduate Laboratory that Illustrate the Size-Exclusion Properties of Zeolite Molecular Sieves

Science.gov (United States)

Cooke, Jason; Henderson, Eric J.

2009-01-01

Experiments are presented that demonstrate the size-exclusion properties of zeolites and reveal the reason for naming zeolites "molecular sieves". If an IR spectrometer is available, the adsorption or exclusion of alcohols of varying sizes from dichloromethane or chloroform solutions can be readily demonstrated by monitoring changes in the…

The impact of search engine selection and sorting criteria on vaccination beliefs and attitudes: two experiments manipulating Google output.

Science.gov (United States)

Allam, Ahmed; Schulz, Peter Johannes; Nakamoto, Kent

2014-04-02

During the past 2 decades, the Internet has evolved to become a necessity in our daily lives. The selection and sorting algorithms of search engines exert tremendous influence over the global spread of information and other communication processes. This study is concerned with demonstrating the influence of selection and sorting/ranking criteria operating in search engines on users' knowledge, beliefs, and attitudes of websites about vaccination. In particular, it is to compare the effects of search engines that deliver websites emphasizing on the pro side of vaccination with those focusing on the con side and with normal Google as a control group. We conducted 2 online experiments using manipulated search engines. A pilot study was to verify the existence of dangerous health literacy in connection with searching and using health information on the Internet by exploring the effect of 2 manipulated search engines that yielded either pro or con vaccination sites only, with a group receiving normal Google as control. A pre-post test design was used; participants were American marketing students enrolled in a study-abroad program in Lugano, Switzerland. The second experiment manipulated the search engine by applying different ratios of con versus pro vaccination webpages displayed in the search results. Participants were recruited from Amazon's Mechanical Turk platform where it was published as a human intelligence task (HIT). Both experiments showed knowledge highest in the group offered only pro vaccination sites (Z=-2.088, P=.03; Kruskal-Wallis H test [H₅]=11.30, P=.04). They acknowledged the importance/benefits (Z=-2.326, P=.02; H5=11.34, P=.04) and effectiveness (Z=-2.230, P=.03) of vaccination more, whereas groups offered antivaccination sites only showed increased concern about effects (Z=-2.582, P=.01; H₅=16.88, P=.005) and harmful health outcomes (Z=-2.200, P=.02) of vaccination. Normal Google users perceived information quality to be positive despite a

When size matters: attention affects performance by contrast or response gain.

Science.gov (United States)

Herrmann, Katrin; Montaser-Kouhsari, Leila; Carrasco, Marisa; Heeger, David J

2010-12-01

Covert attention, the selective processing of visual information in the absence of eye movements, improves behavioral performance. We found that attention, both exogenous (involuntary) and endogenous (voluntary), can affect performance by contrast or response gain changes, depending on the stimulus size and the relative size of the attention field. These two variables were manipulated in a cueing task while stimulus contrast was varied. We observed a change in behavioral performance consonant with a change in contrast gain for small stimuli paired with spatial uncertainty and a change in response gain for large stimuli presented at one location (no uncertainty) and surrounded by irrelevant flanking distracters. A complementary neuroimaging experiment revealed that observers' attention fields were wider with than without spatial uncertainty. Our results support important predictions of the normalization model of attention and reconcile previous, seemingly contradictory findings on the effects of visual attention.

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

Autonomous and 3D real-time multi-beam manipulation in a microfluidic environment

DEFF Research Database (Denmark)

Perch-Nielsen, I.; Rodrigo, P.J.; Alonzo, C.A.

2006-01-01

The Generalized Phase Contrast (GPC) method of optical 3D manipulation has previously been used for controlled spatial manipulation of live biological specimen in real-time. These biological experiments were carried out over a time-span of several hours while an operator intermittently optimized...... the optical system. Here we present GPC-based optical micromanipulation in a microfluidic system where trapping experiments are computer-automated and thereby capable of running with only limited supervision. The system is able to dynamically detect living yeast cells using a computer-interfaced CCD camera......, and respond to this by instantly creating traps at positions of the spotted cells streaming at flow velocities that would be difficult for a human operator to handle. With the added ability to control flow rates, experiments were also carried out to confirm the theoretically predicted axially dependent...

Effect of Cell Sheet Manipulation Techniques on the Expression of Collagen Type II and Stress Fiber Formation in Human Chondrocyte Sheets.

Science.gov (United States)

Wongin, Sopita; Waikakul, Saranatra; Chotiyarnwong, Pojchong; Siriwatwechakul, Wanwipa; Viravaidya-Pasuwat, Kwanchanok

2018-03-01

Cell sheet technology is applied to human articular chondrocytes to construct a tissue-like structure as an alternative treatment for cartilage defect. The effect of a gelatin manipulator, as a cell sheet transfer system, on the quality of the chondrocyte sheets was investigated. The changes of important chondrogenic markers and stress fibers, resulting from the cell sheet manipulation, were also studied. The chondrocyte cell sheets were constructed with patient-derived chondrocytes using a temperature-responsive polymer and a gelatin manipulator as a transfer carrier. The properties of the cell sheets, including sizes, expression levels of collagen type II and I, and the localization of the stress fibers, were assessed and compared with those of the cell sheets harvested without the gelatin manipulator. Using the gelatin manipulator, the original size of the chondrocyte cell sheets was retained with abundant stress fibers, but with a decrease in the expression of collagen type II. Without the gelatin manipulator, although the cell shrinkage occurred, the cell sheet with suppressed stress fiber formation showed significantly higher levels of collagen type II. These results support our observations that stress fiber formation in chondrocyte cell sheets affected the production of chondrogenic markers. These densely packed tissue-like structures possessed a good chondrogenic activity, indicating their potential for use in autologous chondrocyte implantation to treat cartilage defects.

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

CSIR Research Space (South Africa)

Dube, C

2011-11-01

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

A 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.

Electrokinetic Phenomena in Chemically Manipulated Environments

Science.gov (United States)

Nery Azevedo, Rodrigo

Suspended particles are integral part of many systems and engineering technologies. They can be found in the form of colloidal suspensions, emulsions, polymer precursor solutions, and in biological materials such as blood. The miniaturization of new technologies and the advent of microfludics has made the manipulation of suspended particles in the microscale particularly important for a variety of fields. The ability to easily impart complex chemical environments to suspensions in microfluidic devices enables us to characterize these systems, modify their properties and drive their motion. Nonetheless, precise manipulation of the chemistry surrounding suspended particles has been particularly difficult up until recently. This thesis dissertation shows how microfluidic devices integrated with hydrogel membranes can be used to control the chemical environment of suspended particles for a variety of studies and practical applications. First, I demonstrate how particles move diffusiophoretically under ionic surfactant gradients. Diffusiophoresis, the motion of particles under concentration gradients, has been known for several decades but it has rarely been studied experimentally outside the context of simple electrolytes. Here, we show that diffusiophoresis in ionic surfactants below the CMC can be understood in terms of the classic theory for electrolytes. Above the CMC, however, the drive for diffsuiophoresis is significantly diminished due to a large drop in the change in chemical potential with added solute. Next, I show that gradients of dipolar molecules such a zwitterions can drive diffusiophoresis. I derive the diffusiophoretic migration of particles under gradients of dipolar molecules. This theory is backed up by experiments which reveal that, in such systems, particle velocities are directly proportional to the imposed gradient but do not scale with the inverse of the local concentration, as occurs under electrolyte gradients. Furthermore, I show that the

Sample size calculation while controlling false discovery rate for differential expression analysis with RNA-sequencing experiments.

Science.gov (United States)

Bi, Ran; Liu, Peng

2016-03-31

RNA-Sequencing (RNA-seq) experiments have been popularly applied to transcriptome studies in recent years. Such experiments are still relatively costly. As a result, RNA-seq experiments often employ a small number of replicates. Power analysis and sample size calculation are challenging in the context of differential expression analysis with RNA-seq data. One challenge is that there are no closed-form formulae to calculate power for the popularly applied tests for differential expression analysis. In addition, false discovery rate (FDR), instead of family-wise type I error rate, is controlled for the multiple testing error in RNA-seq data analysis. So far, there are very few proposals on sample size calculation for RNA-seq experiments. In this paper, we propose a procedure for sample size calculation while controlling FDR for RNA-seq experimental design. Our procedure is based on the weighted linear model analysis facilitated by the voom method which has been shown to have competitive performance in terms of power and FDR control for RNA-seq differential expression analysis. We derive a method that approximates the average power across the differentially expressed genes, and then calculate the sample size to achieve a desired average power while controlling FDR. Simulation results demonstrate that the actual power of several popularly applied tests for differential expression is achieved and is close to the desired power for RNA-seq data with sample size calculated based on our method. Our proposed method provides an efficient algorithm to calculate sample size while controlling FDR for RNA-seq experimental design. We also provide an R package ssizeRNA that implements our proposed method and can be downloaded from the Comprehensive R Archive Network ( http://cran.r-project.org ).

Casimir energy and the possibility of higher dimensional manipulation

OpenAIRE

Obousy, R. K.; Saharian, A. A.

2009-01-01

It is well known that the Casimir effect is an excellent candidate for the stabilization of the extra dimensions. It has also been suggested that the Casimir effect in higher dimensions may be the underlying phenomenon that is responsible for the dark energy which is currently driving the accelerated expansion of the universe. In this paper we suggest that, in principle, it may be possible to directly manipulate the size of an extra dimension locally using Standard Model fields in the next ge...

[The essence of Professor Wu Lian-Zhong's acupuncture manipulation].

Science.gov (United States)

Liu, Jing; Guo, Yi; Wu, Lian-Zhong

2014-05-01

The painless needle insertion technique, summarized by Professor WU Lian-zhong during his decades of acupuncture clinical practice is introduced in this article, which is characterized as soft, flexible, fast, plucking and activating antipathogenic qi. The Sancai (three layers) lifting and thrusting manipulation technique is adopted by Professor WU for getting the qi sensation. And features of 10 kinds of needling sensation such as soreness, numbness, heaviness, distension, pain, cold, hot, radiation, jumping and contracture are summarized. Finger force, amplitude, speed and time length are also taken as the basis of reinforcing and reducing manipulations. Moreover, examples are also given to explain the needling technique on some specific points which further embodies Professor WU's unique experiences and understandings on acupuncture.

On-chip particle trapping and manipulation

Science.gov (United States)

Leake, Kaelyn Danielle

The ability to control and manipulate the world around us is human nature. Humans and our ancestors have used tools for millions of years. Only in recent years have we been able to control objects at such small levels. In order to understand the world around us it is frequently necessary to interact with the biological world. Optical trapping and manipulation offer a non-invasive way to move, sort and interact with particles and cells to see how they react to the world around them. Optical tweezers are ideal in their abilities but they require large, non-portable, and expensive setups limiting how and where we can use them. A cheap portable platform is required in order to have optical manipulation reach its full potential. On-chip technology offers a great solution to this challenge. We focused on the Liquid-Core Anti-Resonant Reflecting Optical Waveguide (liquid-core ARROW) for our work. The ARROW is an ideal platform, which has anti-resonant layers which allow light to be guided in liquids, allowing for particles to easily be manipulated. It is manufactured using standard silicon manufacturing techniques making it easy to produce. The planner design makes it easy to integrate with other technologies. Initially I worked to improve the ARROW chip by reducing the intersection losses and by reducing the fluorescence and background on the ARROW chip. The ARROW chip has already been used to trap and push particles along its channel but here I introduce several new methods of particle trapping and manipulation on the ARROW chip. Traditional two beam traps use two counter propagating beams. A trapping scheme that uses two orthogonal beams which counter to first instinct allow for trapping at their intersection is introduced. This scheme is thoroughly predicted and analyzed using realistic conditions. Simulations of this method were done using a program which looks at both the fluidics and optical sources to model complex situations. These simulations were also used to

Non-radioactive detection of trinucleotide repeat size variability.

Science.gov (United States)

Tomé, Stéphanie; Nicole, Annie; Gomes-Pereira, Mario; Gourdon, Genevieve

2014-03-06

Many human diseases are associated with the abnormal expansion of unstable trinucleotide repeat sequences. The mechanisms of trinucleotide repeat size mutation have not been fully dissected, and their understanding must be grounded on the detailed analysis of repeat size distributions in human tissues and animal models. Small-pool PCR (SP-PCR) is a robust, highly sensitive and efficient PCR-based approach to assess the levels of repeat size variation, providing both quantitative and qualitative data. The method relies on the amplification of a very low number of DNA molecules, through sucessive dilution of a stock genomic DNA solution. Radioactive Southern blot hybridization is sensitive enough to detect SP-PCR products derived from single template molecules, separated by agarose gel electrophoresis and transferred onto DNA membranes. We describe a variation of the detection method that uses digoxigenin-labelled locked nucleic acid probes. This protocol keeps the sensitivity of the original method, while eliminating the health risks associated with the manipulation of radiolabelled probes, and the burden associated with their regulation, manipulation and waste disposal.

In Praise of Manipulation

NARCIS (Netherlands)

Dowding, Keith; Van Hees, Martin

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

Efficient illumination of spatial light modulators for optical trapping and manipulation

DEFF Research Database (Denmark)

Bañas, Andrew Rafael; Kopylov, Oleksii; Raaby, Peter

Energy efficiency is always desirable. This is particularly true with lasers that find many applications in research and industry. Combined with spatial light modulators (SLMs) lasers are used for optical trapping and manipulation, sorting, microscopy or biological stimulation1. Besides efficiency....... We have also shown dynamic SLM-generated patterns for materials processing and biological research. To efficiently illuminate an SLM, we used a compact pen-sized GPC-LS in place of an iris. For the same input power, hologram reconstructions are ~3x brighter or alternatively ~3x more focal spots can...... be addressed. This allows better response or increased parallel addressing for e.g. optical manipulation and sorting. Simple yet effective, a GPC-LS could save substantial power in applications that truncate lasers to a specific shape....

Powered manipulator control arm

International Nuclear Information System (INIS)

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

1975-01-01

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

The direct manipulation shell

International Nuclear Information System (INIS)

Allen, M.E.; Christiansen, M.

1992-01-01

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

Image manipulation as research misconduct.

Science.gov (United States)

Parrish, Debra; Noonan, Bridget

2009-06-01

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

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

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

1993-01-01

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

The Manipulative Discourse of Gandalf

Directory of Open Access Journals (Sweden)

Farid Mohammadi

2014-07-01

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

Four-dimensional optical manipulation of colloidal particles

DEFF Research Database (Denmark)

Rodrigo, P.J.; Daria, V.R.; Glückstad, J.

2005-01-01

We transform a TEM00 laser mode into multiple counterpropagating optical traps to achieve four-dimensional simultaneous manipulation of multiple particles. Efficient synthesis and dynamic control of the counterpropagating-beam traps is carried out via the generalized phase contrast method......, and a spatial polarization-encoding scheme. Our experiments genuinely demonstrate real-time, interactive particle-position control for forming arbitrary volumetric constellations and complex three-dimensional trajectories of multiple particles. This opens up doors for cross-disciplinary cutting-edge research...

Hydraulic manipulator

International Nuclear Information System (INIS)

Sinha, A.K.; Srikrishnamurty, G.

1990-01-01

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

Pneumatic artificial muscle actuators for compliant robotic manipulators

Science.gov (United States)

Robinson, Ryan Michael

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

CLIMAN - a mobile manipulator concept

International Nuclear Information System (INIS)

Noltingk, B.E.; Owen, C.K.V.

With increasing age the integrity of more remote parts of reactors, such as the core restraints, is questioned so there is a need for a means of access to these places to carry out inspection, minor repairs and alterations. Conventional standpipe manipulators are about 20 m long so that extending them further presents difficulties of load capacity, rigidity, dexterity and control which must increase steeply with range. The proposal outlined here is for a mobile manipulator which can climb at the end of a cable (CLImbing MANipulator - CLIMAN) into a reactor and reach well beyond the range of a fixed base machine. In addition to virtually unlimited range such a mobile manipulator has twice as many degrees of freedom as a fixed base machine. Its body or base can be manoeuvred with six degrees of freedom so as to obtain the maximum coverage and obstacle avoidance for its manipulator. It is proposed that it should be manually controlled. (author)

Autonomous path planning solution for industrial robot manipulator using backpropagation algorithm

Directory of Open Access Journals (Sweden)

PeiJiang Yuan

2015-12-01

Full Text Available Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.

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.

Presentation of accessibility equipment for primary pipings, IHX, pumps and appertaining manipulator tests

International Nuclear Information System (INIS)

Hahn, G.; Hoeft, E.

1980-01-01

Accessibility and inservice procedure of SNR-300 components are described. Due to the high radiation level in the primary system it was necessary to develop special equipment to permit access to the testing components. The pertinent examination methods for surveying welding seams are acoustic (ultrasonic) and optical procedures (TV cameras, surface crack tests). This can be done by remote-controlled manipulators and special devices, which can transport the inspection system by rails to the testing position. Presently, relatively limited experience exists for such remote-controlled handling in nuclear power plants. Thus model experiments were carried out on a model pipe section at INTERATOM. The performed test shows that the concept planned to perform inservice by using remote-controlled manipulators can be realized successfully. (author)

Increasing seed size and quality by manipulating BIG SEEDS1 in legume species.

Science.gov (United States)

Ge, Liangfa; Yu, Jianbin; Wang, Hongliang; Luth, Diane; Bai, Guihua; Wang, Kan; Chen, Rujin

2016-11-01

Plant organs, such as seeds, are primary sources of food for both humans and animals. Seed size is one of the major agronomic traits that have been selected in crop plants during their domestication. Legume seeds are a major source of dietary proteins and oils. Here, we report a conserved role for the BIG SEEDS1 (BS1) gene in the control of seed size and weight in the model legume Medicago truncatula and the grain legume soybean (Glycine max). BS1 encodes a plant-specific transcription regulator and plays a key role in the control of the size of plant organs, including seeds, seed pods, and leaves, through a regulatory module that targets primary cell proliferation. Importantly, down-regulation of BS1 orthologs in soybean by an artificial microRNA significantly increased soybean seed size, weight, and amino acid content. Our results provide a strategy for the increase in yield and seed quality in legumes.

The effects of transient attention on spatial resolution and the size of the attentional cue.

Science.gov (United States)

Yeshurun, Yaffa; Carrasco, Marisa

2008-01-01

It has been shown that transient attention enhances spatial resolution, but is the effect of transient attention on spatial resolution modulated by the size of the attentional cue? Would a gradual increase in the size of the cue lead to a gradual decrement in spatial resolution? To test these hypotheses, we used a texture segmentation task in which performance depends on spatial resolution, and systematically manipulated the size of the attentional cue: A bar of different lengths (Experiment 1) or a frame of different sizes (Experiments 2-3) indicated the target region in a texture segmentation display. Observers indicated whether a target patch region (oriented line elements in a background of an orthogonal orientation), appearing at a range of eccentricities, was present in the first or the second interval. We replicated the attentional enhancement of spatial resolution found with small cues; attention improved performance at peripheral locations but impaired performance at central locations. However, there was no evidence of gradual resolution decrement with large cues. Transient attention enhanced spatial resolution at the attended location when it was attracted to that location by a small cue but did not affect resolution when it was attracted by a large cue. These results indicate that transient attention cannot adapt its operation on spatial resolution on the basis of the size of the attentional cue.

A re-examination of the effect of contextual group size on people's attitude to risk

Directory of Open Access Journals (Sweden)

Kazumi Shimizu

2011-02-01

Full Text Available Using Kahneman and Tversky's life-death decision paradigm, Wang and colleagues (e.g., Wang and Johnston, 1995; Wang, 1996a, 1996b, 1996c, 2008; Wang et al., 2001 have shown two characteristic phenomena regarding people's attitude to risk when the contextual group size is manipulated. In both positive and negative frames, people tend to take greater risks in life-death decisions as the contextual group size becomes smaller; this risk-seeking attitude is greater when framed positively than negatively. (This second characteristic often leads to the disappearance of the framing effect in small group contexts comprising of 6 or 60 people. Their results could shed new light on the effect of contextual group size on people's risk choice. However these results are usually observed in laboratory experiments with university student samples. This study aims to examine the external validity of these results through different ways of experimentation and with a different sample base. The first characteristic was replicated in both a face-to-face interview with a randomly selected sample of the Japanese general public, and a web-based experiment with a non-student sample, but not the second.

Offspring fitness and individual optimization of clutch size

Science.gov (United States)

Both, C.; Tinbergen, J. M.; Noordwijk, A. J. van

1998-01-01

Within-year variation in clutch size has been claimed to be an adaptation to variation in the individual capacity to raise offspring. We tested this hypothesis by manipulating brood size to one common size, and predicted that if clutch size is individually optimized, then birds with originally large clutches have a higher fitness than birds with originally small clutches. No evidence was found that fitness was related to the original clutch size, and in this population clutch size is thus not related to the parental capacity to raise offspring. However, offspring from larger original clutches recruited better than their nest mates that came from smaller original clutches. This suggests that early maternal or genetic variation in viability is related to clutch size.

A six degrees of freedom mems manipulator

NARCIS (Netherlands)

de Jong, B.R.

2006-01-01

This thesis reports about a six degrees of freedom (DOF) precision manipulator in MEMS, concerning concept generation for the manipulator followed by design and fabrication (of parts) of the proposed manipulation concept in MEMS. Researching the abilities of 6 DOF precision manipulation in MEMS is

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.

Dynamic Control of Kinematically Redundant Robotic Manipulators

Directory of Open Access Journals (Sweden)

Erling Lunde

1987-07-01

Full Text Available Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.

The search engine manipulation effect (SEME) and its possible impact on the outcomes of elections.

Science.gov (United States)

Epstein, Robert; Robertson, Ronald E

2015-08-18

Internet search rankings have a significant impact on consumer choices, mainly because users trust and choose higher-ranked results more than lower-ranked results. Given the apparent power of search rankings, we asked whether they could be manipulated to alter the preferences of undecided voters in democratic elections. Here we report the results of five relevant double-blind, randomized controlled experiments, using a total of 4,556 undecided voters representing diverse demographic characteristics of the voting populations of the United States and India. The fifth experiment is especially notable in that it was conducted with eligible voters throughout India in the midst of India's 2014 Lok Sabha elections just before the final votes were cast. The results of these experiments demonstrate that (i) biased search rankings can shift the voting preferences of undecided voters by 20% or more, (ii) the shift can be much higher in some demographic groups, and (iii) search ranking bias can be masked so that people show no awareness of the manipulation. We call this type of influence, which might be applicable to a variety of attitudes and beliefs, the search engine manipulation effect. Given that many elections are won by small margins, our results suggest that a search engine company has the power to influence the results of a substantial number of elections with impunity. The impact of such manipulations would be especially large in countries dominated by a single search engine company.

Asymmetric forceps increase fighting success among males of similar size in the maritime earwig

Science.gov (United States)

Munoz, Nicole E.; Zink, Andrew G.

2012-01-01

Extreme asymmetric morphologies are hypothesized to serve an adaptive function that counteracts sexual selection for symmetry. However direct tests of function for asymmetries are lacking, particularly in the context of animal weapons. The weapon of the maritime earwig, Anisolabis maritima, exhibits sizeable variation in the extent of directional asymmetry within and across body sizes, making it an ideal candidate for investigating the function of asymmetry. In this study, we characterized the extent of weapon asymmetry, characterized the manner in which asymmetric weapons are used in contests, staged dyadic contests between males of different size classes and analyzed the correlates of fighting success. In contests between large males, larger individuals won more fights and emerged as the dominant male. In contests between small males, however, weapon asymmetry was more influential in predicting overall fighting success than body size. This result reveals an advantage of asymmetric weaponry among males that are below the mean size in the population. A forceps manipulation experiment suggests that asymmetry may be an indirect, correlate of a morphologically independent factor that affects fighting ability. PMID:22984320

Short term response of a peatland to warming and drought - climate manipulation experiment in W Poland

Science.gov (United States)

Juszczak, Radosław; Chojnicki, Bogdan; Urbaniak, Marek; Leśny, Jacek; Silvennoinen, Hanna; Lamentowicz, Mariusz; Basińska, Anna; Gąbka, Maciej; Stróżecki, Marcin; Samson, Mateusz; Łuców, Dominika; Józefczyk, Damian; Hoffmann, Mathias; Olejnik, Janusz

2016-04-01

Central European peatlands are highly vulnerable as potential sources of carbon (C) to the atmosphere under anticipated climate changes, namely warming and drought (Fenner & Freeman 2011). We carried out a field manipulation experiment at Rzecin peatland in Poland to assess how those changes impact carbon balance, vegetation and water chemistry. The field site consists of three times replicated treatments (control, CO; simulated warming, W; prolonged drought, D and warming & drought, W+D). Temperature (T) was increased year around with infrared heaters (400W × 4 per site, approx. 60 Wṡm-2 addition of LW radiation, Kimball 2005) and precipitation was reduced with automatic curtain during growth seasons at night. The manipulation was successful yielding up to 0.4 oC and 1.0 oC T increases in air (30 cm height) and soil (5 cm depth), respectively, as well as a 35 % lower precipitation (in 2015). To study the C exchange we developed an automatic mobile platform for measuring CO2/CH4/H2O fluxes (LGR) as well as for 13CO2 and 13CH4 fluxes (PICARRO CRDS G2201-i) with dynamic ecosystem chambers (for NEE and Reco) and for simultaneous measurements of surface optical properties. Gap filling of the fluxes was done according to Hoffmann et al. 2015. In the very dry 2015, Rzecin peatland was a net source of CO2to the atmosphere (80 gCṡm-2yr-1). Warming and drought considerably diminished the source strength (7 gCṡm-2yr-1at the W+D site), due to lower cumulative respiration (Reco the smallest, 610 gC m-2yr-1, at W+D site). The highest CO2 emissions were measured from the site that was only warmed (W site, Reco 680 gCṡm-2yr-1), emphasizing the importance of drought in inhibiting respiration. Temperature increase also provoked the productivity (highest GPP at W site, -620 gCṡm-2yr-1), while drought yielded the lowest productivity (lowest GPP at D site, -550 gCṡm-2yr-1). Different vegetation parameters further support the C exchange estimates. Generally, warmer

Size effect on deformation twinning in face-centred cubic single crystals: Experiments and modelling

International Nuclear Information System (INIS)

Liang, Z.Y.; De Hosson, J.T.M.; Huang, M.X.

2017-01-01

In addition to slip by dislocation glide, deformation twinning in small-sized metallic crystals also exhibits size effect, namely the twinning stress increases with decreasing sample size. In order to understand the underpinning mechanisms responsible for such effect, systematic experiments were carried out on the small-sized single-crystalline pillars of a twinning-induced plasticity steel with a face-centred cubic structure. The flow stress increases considerably with decreasing pillar diameter from 3 to 0.5 μm, demonstrating a substantial size effect with a power exponent of 0.43. Detailed microstructural characterization reveals that the plastic deformation of the present pillars is dominant by twinning, primarily via twin growth, indicating that the size effect should be related to deformation twinning instead of slip by dislocation glide. Subsequent modelling works indicate that twinning can be accomplished by the dissociation of the ion-radiation-induced vacancy Frank loops in the damaged subsurface layer of the pillars, and the size effect is attributed to the ion-radiation-induced compressive stress in the subsurface layer, which decreases with pillar diameter.

NGSUtils: a software suite for analyzing and manipulating next-generation sequencing datasets

OpenAIRE

Breese, Marcus R.; Liu, Yunlong

2013-01-01

Summary: NGSUtils is a suite of software tools for manipulating data common to next-generation sequencing experiments, such as FASTQ, BED and BAM format files. These tools provide a stable and modular platform for data management and analysis.

Environmental influences on mate preferences as assessed by a scenario manipulation experiment.

Science.gov (United States)

Marzoli, Daniele; Moretto, Francesco; Monti, Aura; Tocci, Ornella; Roberts, S Craig; Tommasi, Luca

2013-01-01

Many evolutionary psychology studies have addressed the topic of mate preferences, focusing particularly on gender and cultural differences. However, the extent to which situational and environmental variables might affect mate preferences has been comparatively neglected. We tested 288 participants in order to investigate the perceived relative importance of six traits of an ideal partner (wealth, dominance, intelligence, height, kindness, attractiveness) under four different hypothetical scenarios (status quo/nowadays, violence/post-nuclear, poverty/resource exhaustion, prosperity/global well-being). An equal number of participants (36 women, 36 men) was allotted to each scenario; each was asked to allocate 120 points across the six traits according to their perceived value. Overall, intelligence was the trait to which participants assigned most importance, followed by kindness and attractiveness, and then by wealth, dominance and height. Men appraised attractiveness as more valuable than women. Scenario strongly influenced the relative importance attributed to traits, the main finding being that wealth and dominance were more valued in the poverty and post-nuclear scenarios, respectively, compared to the other scenarios. Scenario manipulation generally had similar effects in both sexes, but women appeared particularly prone to trade off other traits for dominance in the violence scenario, and men particularly prone to trade off other traits for wealth in the poverty scenario. Our results are in line with other correlational studies of situational variables and mate preferences, and represent strong evidence of a causal relationship of environmental factors on specific mate preferences, corroborating the notion of an evolved plasticity to current ecological conditions. A control experiment seems to suggest that our scenarios can be considered as realistic descriptions of the intended ecological conditions.

Environmental influences on mate preferences as assessed by a scenario manipulation experiment.

Directory of Open Access Journals (Sweden)

Daniele Marzoli

Full Text Available Many evolutionary psychology studies have addressed the topic of mate preferences, focusing particularly on gender and cultural differences. However, the extent to which situational and environmental variables might affect mate preferences has been comparatively neglected. We tested 288 participants in order to investigate the perceived relative importance of six traits of an ideal partner (wealth, dominance, intelligence, height, kindness, attractiveness under four different hypothetical scenarios (status quo/nowadays, violence/post-nuclear, poverty/resource exhaustion, prosperity/global well-being. An equal number of participants (36 women, 36 men was allotted to each scenario; each was asked to allocate 120 points across the six traits according to their perceived value. Overall, intelligence was the trait to which participants assigned most importance, followed by kindness and attractiveness, and then by wealth, dominance and height. Men appraised attractiveness as more valuable than women. Scenario strongly influenced the relative importance attributed to traits, the main finding being that wealth and dominance were more valued in the poverty and post-nuclear scenarios, respectively, compared to the other scenarios. Scenario manipulation generally had similar effects in both sexes, but women appeared particularly prone to trade off other traits for dominance in the violence scenario, and men particularly prone to trade off other traits for wealth in the poverty scenario. Our results are in line with other correlational studies of situational variables and mate preferences, and represent strong evidence of a causal relationship of environmental factors on specific mate preferences, corroborating the notion of an evolved plasticity to current ecological conditions. A control experiment seems to suggest that our scenarios can be considered as realistic descriptions of the intended ecological conditions.

Learning Area and Perimeter with Virtual Manipulatives

Science.gov (United States)

Bouck, Emily; Flanagan, Sara; Bouck, Mary

2015-01-01

Manipulatives are considered a best practice for educating students with disabilities, but little research exists which examines virtual manipulatives as tool for supporting students in mathematics. This project investigated the use of a virtual manipulative through the National Library of Virtual Manipulatives--polynominoes (i.e., tiles)--as a…

Highly controllable near-surface swimming of magnetic Janus nanorods: application to payload capture and manipulation

International Nuclear Information System (INIS)

Mair, Lamar O; Carpenter, Jerome; Evans, Benjamin; Hall, Adam R; Shields, Adam; Superfine, Richard; Ford, Kris; Millard, Michael

2011-01-01

Directed manipulation of nanomaterials has significant implications in the field of nanorobotics, nanobiotechnology, microfluidics and directed assembly. With the goal of highly controllable nanomaterial manipulation in mind, we present a technique for the near-surface manoeuvering of magnetic nanorod swimmers and its application to controlled micromanipulation. We fabricate magnetic Janus nanorods and show that the magnetic rotation of these nanorods near a floor results in predictable translational motion. The nanorod plane of rotation is nearly parallel to the floor, the angle between rod tilt and floor being expressed by θ, where 0 0 0 . Orthogonal magnetic fields control in-plane motion arbitrarily. Our model for translation incorporates symmetry breaking through increased drag at the no-slip surface boundary. Using this method we demonstrate considerable rod steerability. Additionally, we approach, capture, and manipulate a polystyrene microbead as proof of principle. We attach Janus nanorods to the surfaces of cells and utilize these rods to manipulate individual cells, proving the ability to manoeuver payloads with a wide range of sizes.

The morality of assisted reproduction and genetic manipulation

Directory of Open Access Journals (Sweden)

Mori Maurizio

1999-01-01

Full Text Available The author analyzes the pros and cons of various forms of assisted reproduction, including the use of so-called 'genetic manipulation'. He shows how in ethics the only arguments with any chance of reaching a consensus (or at least an agreement are those of the rational type, based on universally acceptable ethical principles or corroborated by empirical facts and real life experience (as the starting point for identifying problems requiring analysis. After an analysis in which he identifies the incoherence and inconsistency of arguments against assisted reproduction, the author defends the right of human beings to decide autonomously about the most healthy forms of procreation, including those involving genetic manipulation. His starting point is the moral principle by which it is morally preferable to intervene in natural processes (as opposed to not intervening whenever this implies preventing and reducing disease and suffering

The morality of assisted reproduction and genetic manipulation

Directory of Open Access Journals (Sweden)

Maurizio Mori

Full Text Available The author analyzes the pros and cons of various forms of assisted reproduction, including the use of so-called 'genetic manipulation'. He shows how in ethics the only arguments with any chance of reaching a consensus (or at least an agreement are those of the rational type, based on universally acceptable ethical principles or corroborated by empirical facts and real life experience (as the starting point for identifying problems requiring analysis. After an analysis in which he identifies the incoherence and inconsistency of arguments against assisted reproduction, the author defends the right of human beings to decide autonomously about the most healthy forms of procreation, including those involving genetic manipulation. His starting point is the moral principle by which it is morally preferable to intervene in natural processes (as opposed to not intervening whenever this implies preventing and reducing disease and suffering

Disc size regulation in the brood cell building behavior of leaf-cutter bee, Megachile tsurugensis.

Science.gov (United States)

Kim, Jong-yoon

2007-12-01

The leaf-cutter bee, Megachile tsurugensis, builds a brood cell in a preexisting tunnel with leaf discs that she cuts in decreasing sizes and assembles them like a Russian matryoshka doll. By experimentally manipulating the brood cell, it was investigated how she regulates the size of leaf discs that fit in the brood cell's internal volume. When the internal volume was artificially increased by removing a bulk of leaf discs, she decreased the leaf disc size, although increasing it would have made the leaf disc more fitting in the increased internal volume. As a reverse manipulation, when the internal volume was decreased by inserting a group of inner layers of preassembled leaf discs to a brood cell, she decreased the leaf disc size, so that the leaf disc could fit in the decreased internal volume. These results suggest that she uses at least two different mechanisms to regulate the disc size: the use of some internal memory about the degree of building work accomplished in the first and of sensory feedback of dimensional information at the construction site in the second manipulation, respectively. It was concluded that a stigmergic mechanism, an immediate sensory feedback from the brood cell changed by the building work, alone cannot explain the details of the bee's behavior particularly with respect to her initial response to the first manipulation. For a more complete explanation of the behavior exhibited by the solitary bee, two additional behavioral elements, reinforcement of building activity and processing of dimensional information, were discussed along with stigmergy.

Holographic optical tweezers for object manipulations at an air-liquid surface.

Science.gov (United States)

Jesacher, Alexander; Fürhapter, Severin; Maurer, Christian; Bernet, Stefan; Ritsch-Marte, Monika

2006-06-26

We investigate holographic optical tweezers manipulating micro-beads at a suspended air-liquid interface. Axial confinement of the particles in the two-dimensional interface is maintained by the interplay between surface tension and gravity. Therefore, optical trapping of the micro-beads is possible even with a long distance air objective. Efficient micro-circulation of the liquid can be induced by fast rotating beads, driven by the orbital angular momentum transfer of incident Laguerre-Gaussian (doughnut) laser modes. Our setup allows various ways of creating a tailored dynamic flow of particles and liquid within the surface. We demonstrate examples of surface manipulations like efficient vortex pumps and mixers, interactive particle flow steering by arrays of vortex pumps, the feasibility of achieving a "clocked" traffic of micro beads, and size-selective guiding of beads along optical "conveyor belts".

Particle size reduction in debris flows: Laboratory experiments compared with field data from Inyo Creek, California

Science.gov (United States)

Arabnia, O.; Sklar, L. S.; Mclaughlin, M. K.

2014-12-01

Rock particles in debris flows are reduced in size through abrasion and fracture. Wear of coarse sediments results in production of finer particles, which alter the bulk material rheology and influence flow dynamics and runout distance. Particle wear also affects the size distribution of coarse particles, transforming the initial sediment size distribution produced on hillslopes into that delivered to the fluvial channel network. A better understanding of the controls on particle wear in debris flows would aid in the inferring flow conditions from debris flow deposits, in estimating the initial size of sediments entrained in the flow, and in modeling debris flow dynamics and mapping hazards. The rate of particle size reduction with distance traveled should depend on the intensity of particle interactions with other particles and the flow boundary, and on rock resistance to wear. We seek a geomorphic transport law to predict rate of particle wear with debris flow travel distance as a function of particle size distribution, flow depth, channel slope, fluid composition and rock strength. Here we use four rotating drums to create laboratory debris flows across a range of scales. Drum diameters range from 0.2 to 4.0 m, with the largest drum able to accommodate up to 2 Mg of material, including boulders. Each drum has vanes along the boundary to prevent sliding. Initial experiments use angular clasts of durable granodiorite; later experiments will use less resistant rock types. Shear rate is varied by changing drum rotational velocity. We begin experiments with well-sorted coarse particle size distributions, which are allowed to evolve through particle wear. The fluid is initially clear water, which rapidly acquires fine-grained wear products. After each travel increment all coarse particles (mass > 0.4 g) are weighed individually. We quantify particle wear rates using statistics of size and mass distributions, and by fitting various comminution functions to the data

High precision redundant robotic manipulator

International Nuclear Information System (INIS)

Young, K.K.D.

1998-01-01

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

Bioprinting Living Biofilms through Optogenetic Manipulation.

Science.gov (United States)

Huang, Yajia; Xia, Aiguo; Yang, Guang; Jin, Fan

2018-04-18

In this paper, we present a new strategy for microprinting dense bacterial communities with a prescribed organization on a substrate. Unlike conventional bioprinting techniques that require bioinks, through optogenetic manipulation, we directly manipulated the behaviors of Pseudomonas aeruginosa to allow these living bacteria to autonomically form patterned biofilms following prescribed illumination. The results showed that through optogenetic manipulation, patterned bacterial communities with high spatial resolution (approximately 10 μm) could be constructed in 6 h. Thus, optogenetic manipulation greatly increases the range of available bioprinting techniques.

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

Science.gov (United States)

Hannan, Michael W.; Walker, Ian D.

2003-01-01

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

Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force

Science.gov (United States)

Boku, Kazuhiko; Nakamura, Taro

2009-02-01

.With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.

Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force

International Nuclear Information System (INIS)

Boku, Kazuhiko; Nakamura, Taro

2009-01-01

Abstract.With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.

Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force

Energy Technology Data Exchange (ETDEWEB)

Boku, Kazuhiko; Nakamura, Taro [Chuo University, Faculty of Science and Engineering, Department of Precision Mechanics, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551 (Japan)], E-mail: k_boku@bio.mech.chuo-u.ac.jp

2009-02-01

Abstract.With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.

Finding the Correspondence of Audio-Visual Events by Object Manipulation

Science.gov (United States)

Nishibori, Kento; Takeuchi, Yoshinori; Matsumoto, Tetsuya; Kudo, Hiroaki; Ohnishi, Noboru

A human being understands the objects in the environment by integrating information obtained by the senses of sight, hearing and touch. In this integration, active manipulation of objects plays an important role. We propose a method for finding the correspondence of audio-visual events by manipulating an object. The method uses the general grouping rules in Gestalt psychology, i.e. “simultaneity” and “similarity” among motion command, sound onsets and motion of the object in images. In experiments, we used a microphone, a camera, and a robot which has a hand manipulator. The robot grasps an object like a bell and shakes it or grasps an object like a stick and beat a drum in a periodic, or non-periodic motion. Then the object emits periodical/non-periodical events. To create more realistic scenario, we put other event source (a metronome) in the environment. As a result, we had a success rate of 73.8 percent in finding the correspondence between audio-visual events (afferent signal) which are relating to robot motion (efferent signal).

Master-slave-manipulator 'EMSM I'

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

A master-slave manipulator with electric force transmission and reflection was developed for the first time in the German Federal Republic. The apparatus belongs to the class of 200 N carrying capacity. It is intended mainly for nuclear purposes and especially for use in large hot cells and also for medium and heavy manipulator vehicles. The most innovations compared with previously known foreign electric master-slave manipulators are two additional possibilities of movement and the electric dead weight compensation. (orig.) [de

Master-slave-manipulator EMSM I

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

A master-slave manipulator with electric force transmission and reflection was developed for the first time in the German Federal Republic. The aparatus belongs to the class of 200 N carrying capacity. It is intended mainly for nuclear purposes and especially for use in large hot cells and also for medium and heavy manipulator vehicles. The most obvious innovations compared with previously known foreign electric master-slave manipulators are two additional possibilities of movement and the electric dead weightcompensation. (orig.) [de

Recognition judgments and the performance of the recognition heuristic depend on the size of the reference class

Directory of Open Access Journals (Sweden)

Ulrich Hoffrage

2011-02-01

Full Text Available In a series of three experiments, participants made inferences about which one of a pair of two objects scored higher on a criterion. The first experiment was designed to contrast the prediction of Probabilistic Mental Model theory (Gigerenzer, Hoffrage, and Kleinbolting, 1991 concerning sampling procedure with the hard-easy effect. The experiment failed to support the theory's prediction that a particular pair of randomly sampled item sets would differ in percentage correct; but the observation that German participants performed practically as well on comparisons between U.S. cities (many of which they did not even recognize than on comparisons between German cities (about which they knew much more ultimately led to the formulation of the recognition heuristic. Experiment 2 was a second, this time successful, attempt to unconfound item difficulty and sampling procedure. In Experiment 3, participants' knowledge and recognition of each city was elicited, and how often this could be used to make an inference was manipulated. Choices were consistent with the recognition heuristic in about 80% of the cases when it discriminated and people had no additional knowledge about the recognized city (and in about 90% when they had such knowledge. The frequency with which the heuristic could be used affected the percentage correct, mean confidence, and overconfidence as predicted. The size of the reference class, which was also manipulated, modified these effects in meaningful and theoretically important ways.

Size effects in foams : Experiments and modeling

NARCIS (Netherlands)

Tekoglu, C.; Gibson, L. J.; Pardoen, T.; Onck, P. R.

Mechanical properties of cellular solids depend on the ratio of the sample size to the cell size at length scales where the two are of the same order of magnitude. Considering that the cell size of many cellular solids used in engineering applications is between 1 and 10 mm, it is not uncommon to

Using Manipulatives to Teach Elementary Mathematics

Science.gov (United States)

Boggan, Matthew; Harper, Sallie; Whitmire, Anna

2010-01-01

The purpose of this paper is to explain the importance and benefits of math manipulatives. For decades, the National Council of Teachers of Mathematics has encouraged school districts nationwide to use manipulatives in mathematical instruction. The value of manipulatives has been recognized for many years, but some teachers are reluctant to use…

Laser controllable generation and manipulation of micro-bubbles in water

Science.gov (United States)

Angelsky, O. V.; Bekshaev, A. Ya.; Maksimyak, P. P.; Maksimyak, A. P.; Hanson, S. G.; Kontush, S. M.

2018-01-01

Micrometer-sized vapor bubbles are formed due to local heating of the water suspension containing absorptive pigment particles of 100 nm diameter. The heating is performed by the CW near-infrared laser radiation. By changing the laser power, four regimes are realized: (1) bubble generation, (2) stable growth of the existing bubbles; (3) stationary existence of the bubbles and (4) bubbles' shrinkage and collapse. The generation and evolution of single bubbles and ensembles of bubbles with controllable sizes and numbers is demonstrated. The bubbles are grouped within the laserilluminated region. They can be easily moved and transported together with the focal spot. The results can be useful for applications associated with the precise manipulation and the species delivery in nano- and micro-engineering problems.

Model Manipulation for End-User Modelers

DEFF Research Database (Denmark)

Acretoaie, Vlad

, and transformations using their modeling notation and editor of choice. The VM* languages are implemented via a single execution engine, the VM* Runtime, built on top of the Henshin graph-based transformation engine. This approach combines the benefits of flexibility, maturity, and formality. To simplify model editor......End-user modelers are domain experts who create and use models as part of their work. They are typically not Software Engineers, and have little or no programming and meta-modeling experience. However, using model manipulation languages developed in the context of Model-Driven Engineering often...... requires such experience. These languages are therefore only used by a small subset of the modelers that could, in theory, benefit from them. The goals of this thesis are to substantiate this observation, introduce the concepts and tools required to overcome it, and provide empirical evidence in support...

Online Collaboration in Design Education: An Experiment in Real-Time Manipulation of Prototypes and Communication

Science.gov (United States)

Dreamson, Neal

2017-01-01

The features of collaboration in design education include effective and efficient communication and reflection, and feasible manipulation of design objects. For collaborative design, information and communication technology offers educators the possibility to change design pedagogy. However, there is a paucity of literature on relative advantages…

Manipulation of red blood cells with electric field

Science.gov (United States)

Saboonchi, Hossain; Esmaeeli, Asghar

2009-11-01

Manipulation of bioparticles and macromolecules is the central task in many biological and biotechnological processes. The current methods for physical manipulation takes advantage of different forces such as acoustic, centrifugal, magnetic, electromagnetic, and electric forces, as well as using optical tweezers or filtration. Among all these methods, however, the electrical forces are particularly attractive because of their favorable scale up with the system size which makes them well-suited for miniaturization. Currently the electric field is used for transportation, poration, fusion, rotation, and separation of biological cells. The aim of the current research is to gain fundamental understanding of the effect of electric field on the human red blood cells (RBCs) using direct numerical simulation. A front tracking/finite difference technique is used to solve the fluid flow and electric field equations, where the fluid in the cell and the blood (plasma) is modeled as Newtonian and incompressible, and the interface separating the two is treated as an elastic membrane. The behavior of RBCs is investigated as a function of the controlling parameters of the problem such as the strength of the electric field.

Embodied cognition, abstract concepts, and body manipulation

Directory of Open Access Journals (Sweden)

Katinka eDijkstra

2014-08-01

Full Text Available Current approaches on cognition hold that concrete concepts are grounded in concrete experiences. There is no consensus, however, as to whether this is equally true for abstract concepts. In this review we discuss how the body might be involved in understanding abstract concepts through metaphor activation. Substantial research has been conducted on the activation of common orientational metaphors with bodily manipulations, such as ‘power is up’ and ‘more is up’ representations. We will focus on the political metaphor that has a more complex association between the concept and the concrete domain. However, the outcomes of studies on this political metaphor have not always been consistent, possibly because the experimental manipulation was not implicit enough. The inclusion of new technological devices in this area of research, such as the Wii Balance Board, seems promising in order to assess the groundedness of abstract conceptual spatial metaphors in an implicit manner. This may aid further research to effectively demonstrate the interrelatedness between the body and more abstract representations.

Unregulated serving sizes on the Canadian nutrition facts table – an invitation for manufacturer manipulations

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Jessica Yin Man Chan

2017-05-01

Full Text Available Abstract Background Serving sizes on the Nutrition Facts table (NFt on Canadian packaged foods have traditionally been unregulated and non-standardized. The federal government recently passed legislation to regulate the serving sizes listed on the NFt. The objective of this study was to compare the serving sizes on food product NFts to the recommendations in the 2003 Nutrition Labelling regulation (Schedule M reference amounts, the Canadian Food Inspection Agency (CFIA ranges, and Canada’s Food Guide recommendations. An additional objective was to determine if food and beverage products that report smaller serving sizes have a higher calorie density, compared to similar products with a larger serving size. Methods Data for 10,487 products were retrieved from the 2010 Food Label Information Program (FLIP database and categorized according to Schedule M categories. Correlations between calorie density and manufacturer stated serving size were tested and the proportion of products meeting recommendations were tabulated. Results 35% of products had serving sizes on the NFt that were smaller than the Schedule M reference amount and 23% exceeded the reference amount. 86% of products fell within the CFIA’s recommended serving size ranges; however, 70% were within the lower-half of the range. Several bread and juice categories exceeded CFG’s recommendations, while several dairy product categories were smaller than the recommendations. Of the 50 Schedule M sub-categories analyzed, 31 (62% exhibited a negative correlation between serving size and calorie density. Conclusion While most products fell within the CFIA’s recommended serving size ranges, there was a tendency for products with a higher calorie density to list smaller serving sizes.

Fast inertial particle manipulation in oscillating flows

Science.gov (United States)

Thameem, Raqeeb; Rallabandi, Bhargav; Hilgenfeldt, Sascha

2017-05-01

It is demonstrated that micron-sized particles suspended in fluid near oscillating interfaces experience strong inertial displacements above and beyond the fluid streaming. Experiments with oscillating bubbles show rectified particle lift over extraordinarily short (millisecond) times. A quantitative model on both the oscillatory and the steady time scales describes the particle displacement relative to the fluid motion. The formalism yields analytical predictions confirming the observed scaling behavior with particle size and experimental control parameters. It applies to a large class of oscillatory flows with applications from particle trapping to size sorting.

Acquisition and manipulation of computed tomography images of the maxillofacial region for biomedical prototyping

International Nuclear Information System (INIS)

Meurer, Maria Ines; Silva, Jorge Vicente Lopes da; Santa Barbara, Ailton; Nobre, Luiz Felipe; Oliveira, Marilia Gerhardt de; Silva, Daniela Nascimento

2008-01-01

Biomedical prototyping has resulted from a merger of rapid prototyping and imaging diagnosis technologies. However, this process is complex, considering the necessity of interaction between biomedical sciences and engineering. Good results are highly dependent on the acquisition of computed tomography images and their subsequent manipulation by means of specific software. The present study describes the experience of a multidisciplinary group of researchers in the acquisition and manipulation of computed tomography images of the maxillofacial region aiming at biomedical prototyping for surgical purposes. (author)

The Comparative Effectiveness of Physical, Virtual, and Virtual-Physical Manipulatives on Third-Grade Students' Science Achievement and Conceptual Understanding of Evaporation and Condensation

Science.gov (United States)

Wang, Tzu-Ling; Tseng, Yi-Kuan

2018-01-01

The purpose of this study was to investigate the relative effectiveness of experimenting with physical manipulatives alone, virtual manipulatives alone, and virtual preceding physical manipulatives (combination environment) on third-grade students' science achievement and conceptual understanding in the domain of state changes of water, focusing…

Learning Is Better with the Hands Free: The Role of Posture in the Memory of Manipulable Objects.

Directory of Open Access Journals (Sweden)

Léo Dutriaux

Full Text Available Grounded cognition proposes that memory shares processing resources with sensorimotor systems. The aim of the present study was to show that motor simulation participates in the conceptual representation of manipulable objects in long-term memory. In two experiments, lists of manipulable and nonmanipulable objects were presented. Participants were instructed to memorize the items while adopting different postures. In the control condition, they had to keep their hands at rest in front of them. In the interference condition, participants had to keep their hands crossed behind their back to make their hands less free for action. After each list, participants had to perform first a distractive task, and then an oral free recall. The results showed that the interfering posture produced a specific decrease in the recall of manipulable objects, but not of nonmanipulable ones. This decrease was similar when the items were presented as pictures (Experiment 1 or as words (Experiment 2, thus excluding a purely visual effect. These results provide strong evidence that the motor simulation plays a role in the memory trace of the object.

Learning Is Better with the Hands Free: The Role of Posture in the Memory of Manipulable Objects.

Science.gov (United States)

Dutriaux, Léo; Gyselinck, Valérie

2016-01-01

Grounded cognition proposes that memory shares processing resources with sensorimotor systems. The aim of the present study was to show that motor simulation participates in the conceptual representation of manipulable objects in long-term memory. In two experiments, lists of manipulable and nonmanipulable objects were presented. Participants were instructed to memorize the items while adopting different postures. In the control condition, they had to keep their hands at rest in front of them. In the interference condition, participants had to keep their hands crossed behind their back to make their hands less free for action. After each list, participants had to perform first a distractive task, and then an oral free recall. The results showed that the interfering posture produced a specific decrease in the recall of manipulable objects, but not of nonmanipulable ones. This decrease was similar when the items were presented as pictures (Experiment 1) or as words (Experiment 2), thus excluding a purely visual effect. These results provide strong evidence that the motor simulation plays a role in the memory trace of the object.

Structuring Light to Manipulate Multipolar Resonances for Metamaterial Applications

Science.gov (United States)

Das, Tanya

Multipolar electromagnetic phenomena in sub-wavelength resonators are at the heart of metamaterial science and technology. Typically, researchers engineer multipolar light-matter interactions by modifying the size, shape, and composition of the resonators. Here, we instead engineer multipolar interactions by modifying properties of the incident radiation. In this dissertation, we propose a new framework for determining the scattering response of resonators based on properties of the local excitation field. First, we derive an analytical theory to determine the scattering response of spherical nanoparticles under any type of illumination. Using this theory, we demonstrate the ability to drastically manipulate the scattering properties of a spherical nanoparticle by varying the illumination and demonstrate excitation of a longitudinal quadrupole mode that cannot be accessed with conventional illumination. Next, we investigate the response of dielectric dimer structures illuminated by cylindrical vector beams. Using finite-difference time-domain simulations, we demonstrate significant modification of the scattering spectra of dimer antennas and reveal how the illumination condition gives rise to these spectra through manipulation of electric and magnetic mode hybridization. Finally, we present a simple and efficient numerical simulation based on local field principles for extracting the multipolar response of any resonator under illumination by structured light. This dissertation enhances the understanding of fundamental light-matter interactions in metamaterials and lays the foundation for researchers to identify, quantify, and manipulate multipolar light-matter interactions through optical beam engineering.

Does the experience of ownership over a rubber hand change body size perception in anorexia nervosa patients?

NARCIS (Netherlands)

Keizer, Anouk; Smeets, Monique A M; Postma, Albert; van Elburg, Annemarie; Dijkerman, H. Chris

Anorexia nervosa (AN) patients show disturbances in body size experience. Here, malleability of body representation was assessed by inducing the Rubber Hand Illusion (RHI). Specifically the impact of the illusion on body size estimation was investigated.Thirty AN patients and thirty healthy females

Hand-held transendoscopic robotic manipulators: A transurethral laser prostate surgery case study.

Science.gov (United States)

Hendrick, Richard J; Mitchell, Christopher R; Herrell, S Duke; Webster, Robert J

2015-11-01

Natural orifice endoscopic surgery can enable incisionless approaches, but a major challenge is the lack of small and dexterous instrumentation. Surgical robots have the potential to meet this need yet often disrupt the clinical workflow. Hand-held robots that combine thin manipulators and endoscopes have the potential to address this by integrating seamlessly into the clinical workflow and enhancing dexterity. As a case study illustrating the potential of this approach, we describe a hand-held robotic system that passes two concentric tube manipulators through a 5 mm port in a rigid endoscope for transurethral laser prostate surgery. This system is intended to catalyze the use of a clinically superior, yet rarely attempted, procedure for benign prostatic hyperplasia. This paper describes system design and experiments to evaluate the surgeon's functional workspace and accuracy using the robot. Phantom and cadaver experiments demonstrate successful completion of the target procedure via prostate lobe resection.

Task based synthesis of serial manipulators

Directory of Open Access Journals (Sweden)

Sarosh Patel

2015-05-01

Full Text Available Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified.

The effect of path length and display size on memory for spatial information.

Science.gov (United States)

Guérard, Katherine; Tremblay, Sébastien

2012-01-01

In serial memory for spatial information, some studies showed that recall performance suffers when the distance between successive locations increases relatively to the size of the display in which they are presented (the path length effect; e.g., Parmentier et al., 2005) but not when distance is increased by enlarging the size of the display (e.g., Smyth & Scholey, 1994). In the present study, we examined the effect of varying the absolute and relative distance between to-be-remembered items on memory for spatial information. We manipulated path length using small (15″) and large (64″) screens within the same design. In two experiments, we showed that distance was disruptive mainly when it is varied relatively to a fixed reference frame, though increasing the size of the display also had a small deleterious effect on recall. The insertion of a retention interval did not influence these effects, suggesting that rehearsal plays a minor role in mediating the effects of distance on serial spatial memory. We discuss the potential role of perceptual organization in light of the pattern of results.

Fitness cost of incubation in great tits (Parus major) is related to clutch size

Science.gov (United States)

de Heij, Maaike E; van den Hout, Piet J; Tinbergen, Joost M

2006-01-01

Life-history theory predicts that parents produce the number of offspring that maximizes their fitness. In birds, natural selection on parental decisions regarding clutch size may act during egg laying, incubation or nestling phase. To study the fitness consequences of clutch size during the incubation phase, we manipulated the clutch sizes during this phase only in three breeding seasons and measured the fitness consequences on the short and the long term. Clutch enlargement did not affect the offspring fitness of the manipulated first clutches, but fledging probability of the subsequent clutch in the same season was reduced. Parents incubating enlarged first clutches provided adequate care for the offspring of their first clutches during the nestling phase, but paid the price when caring for the offspring of their second clutch. Parents that incubated enlarged first clutches had lower local survival in the 2 years when the population had a relatively high production of second clutches, but not in the third year when there was a very low production of second clutches. During these 2 years, the costs of incubation were strong enough to change positive selection, as established by brood size manipulations in this study population, into stabilizing selection through the negative effect of incubation on parental fitness. PMID:16928638

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.

The Effect of Visual, Spatial and Temporal Manipulations on Embodiment and Action

Science.gov (United States)

Ratcliffe, Natasha; Newport, Roger

2017-01-01

The feeling of owning and controlling the body relies on the integration and interpretation of sensory input from multiple sources with respect to existing representations of the bodily self. Illusion paradigms involving multisensory manipulations have demonstrated that while the senses of ownership and agency are strongly related, these two components of bodily experience may be dissociable and differentially affected by alterations to sensory input. Importantly, however, much of the current literature has focused on the application of sensory manipulations to external objects or virtual representations of the self that are visually incongruent with the viewer’s own body and which are not part of the existing body representation. The current experiment used MIRAGE-mediated reality to investigate how manipulating the visual, spatial and temporal properties of the participant’s own hand (as opposed to a fake/virtual limb) affected embodiment and action. Participants viewed two representations of their right hand inside a MIRAGE multisensory illusions box with opposing visual (normal or grossly distorted), temporal (synchronous or asynchronous) and spatial (precise real location or false location) manipulations applied to each hand. Subjective experiences of ownership and agency towards each hand were measured alongside an objective measure of perceived hand location using a pointing task. The subjective sense of agency was always anchored to the synchronous hand, regardless of physical appearance and location. Subjective ownership also moved with the synchronous hand, except when both the location and appearance of the synchronous limb were incongruent with that of the real limb. Objective pointing measures displayed a similar pattern, however movement synchrony was not sufficient to drive a complete shift in perceived hand location, indicating a greater reliance on the spatial location of the real hand. The results suggest that while the congruence of self

The Effect of Visual, Spatial and Temporal Manipulations on Embodiment and Action

Directory of Open Access Journals (Sweden)

Natasha Ratcliffe

2017-05-01

Full Text Available The feeling of owning and controlling the body relies on the integration and interpretation of sensory input from multiple sources with respect to existing representations of the bodily self. Illusion paradigms involving multisensory manipulations have demonstrated that while the senses of ownership and agency are strongly related, these two components of bodily experience may be dissociable and differentially affected by alterations to sensory input. Importantly, however, much of the current literature has focused on the application of sensory manipulations to external objects or virtual representations of the self that are visually incongruent with the viewer’s own body and which are not part of the existing body representation. The current experiment used MIRAGE-mediated reality to investigate how manipulating the visual, spatial and temporal properties of the participant’s own hand (as opposed to a fake/virtual limb affected embodiment and action. Participants viewed two representations of their right hand inside a MIRAGE multisensory illusions box with opposing visual (normal or grossly distorted, temporal (synchronous or asynchronous and spatial (precise real location or false location manipulations applied to each hand. Subjective experiences of ownership and agency towards each hand were measured alongside an objective measure of perceived hand location using a pointing task. The subjective sense of agency was always anchored to the synchronous hand, regardless of physical appearance and location. Subjective ownership also moved with the synchronous hand, except when both the location and appearance of the synchronous limb were incongruent with that of the real limb. Objective pointing measures displayed a similar pattern, however movement synchrony was not sufficient to drive a complete shift in perceived hand location, indicating a greater reliance on the spatial location of the real hand. The results suggest that while the

More is More: The Relationship between Vocabulary Size and Word Extension

Science.gov (United States)

Thom, Emily E.; Sandhofer, Catherine M.

2009-01-01

This study experimentally tested the relationship between children's lexicon size and their ability to learn new words within the domain of color. We manipulated the size of 25 20-month-olds' color lexicons by training them with two, four, or six different color words over the course of eight training sessions. We subsequently tested children's…

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

Directory of Open Access Journals (Sweden)

Yunhan Lin

2016-01-01

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

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.

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)

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.

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

Experience affects the outcome of agonistic contests without affecting the selective advantage of size.

Science.gov (United States)

Kasumovic, Michael M; Elias, Damian O; Punzalan, David; Mason, Andrew C; Andrade, Maydianne C B

2009-06-01

In the field, phenotypic determinants of competitive success are not always absolute. For example, contest experience may alter future competitive performance. As future contests are not determined solely on phenotypic attributes, prior experience could also potentially alter phenotype-fitness associations. In this study, we examined the influence of single and multiple experiences on contest outcomes in the jumping spider Phidippus clarus. We also examined whether phenotype-fitness associations altered as individuals gained more experience. Using both size-matched contests and a tournament design, we found that both winning and losing experience affected future contest success; males with prior winning experience were more likely to win subsequent contests. Although experience was a significant determinant of success in future contests, male weight was approximately 1.3 times more important than experience in predicting contest outcomes. Despite the importance of experience in determining contest outcomes, patterns of selection did not change between rounds. Overall, our results show that experience can be an important determinant in contest outcomes, even in short-lived invertebrates, and that experience alone is unlikely to alter phenotype-fitness associations.

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...

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.

A large-scale throughfall manipulation experiment on Walker Branch Watershed

International Nuclear Information System (INIS)

Turner, R.S.; Hanson, P.J.; Huston, M.A.; Garten, C.T. Jr.; Mulholland, P.J.

1992-01-01

A throughfall displacement experiment is being performed in a mixed-age upland-oak forest on the upper slopes of Walker Branch Watershed in eastern Tennessee to investigate the effects of decreased and increased rainfall on individual species and ecosystem processes at the spatial scale of forest stands. Approximately 25% of the throughfall on the ''dry'' plot will be collected in polyethylene troughs suspended above the forest floor and the water transferred by gravity through pipes across the control plot for distribution onto the ''wet'' plot. Each plot is approximately 0.6 ha in size. The 25% reduction in soil moisture anticipated for the dry plot is equivalent to the driest growing season of the 1980's drought, which was correlated with sapling mortality and reduced growth of yellow poplar on the watershed. The experimental treatments will last at least 5 years. A wide range of biological and chemical characteristics of forest stands win be investigated, including: forest growth and physiological responses of major tree and understory species, leaf area index, herbivory, litter fall, understory competition, litter decomposition, soil organic matter and microbial populations, nutrient availability, soil and soil solution chemistry, and biogeochemical cycling processes. Data on vegetation growth, mortality, and reproduction will be used in existing models of community structure to produce estimates of potential changes in species composition over longer time periods resulting from wet versus dry experimental scenarios

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

International Nuclear Information System (INIS)

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

2004-01-01

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

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.

A microcontroller-based three degree-of-freedom manipulator testbed. M.S. Thesis

Science.gov (United States)

Brown, Robert Michael, Jr.

1995-01-01

A wheeled exploratory vehicle is under construction at the Mars Mission Research Center at North Carolina State University. In order to serve as more than an inspection tool, this vehicle requires the ability to interact with its surroundings. A crane-type manipulator, as well as the necessary control hardware and software, has been developed for use as a sample gathering tool on this vehicle. The system is controlled by a network of four Motorola M68HC11 microcontrollers. Control hardware and software were developed in a modular fashion so that the system can be used to test future control algorithms and hardware. Actuators include three stepper motors and one solenoid. Sensors include three optical encoders and one cable tensiometer. The vehicle supervisor computer provides the manipulator system with the approximate coordinates of the target object. This system maps the workspace surrounding the given location by lowering the claw, along a set of evenly spaced vertical lines, until contact occurs. Based on this measured height information and prior knowledge of the target object size, the system determines if the object exists in the searched area. The system can find and retrieve a 1.25 in. diameter by 1.25 in. tall cylinder placed within the 47.5 sq in search area in less than 12 minutes. This manipulator hardware may be used for future control algorithm verification and serves as a prototype for other manipulator hardware.

Manipulations of attention during eating and their effects on later snack intake.

Science.gov (United States)

Higgs, Suzanne

2015-09-01

Manipulation of attention during eating has been reported to affect later consumption via changes in meal memory. The aim of the present studies was to examine the robustness of these effects and investigate moderating factors. Across three studies, attention to eating was manipulated via distraction (via a computer game or TV watching) or focusing of attention to eating, and effects on subsequent snack consumption and meal memory were assessed. The participants were predominantly lean, young women students and the designs were between-subjects. Distraction increased later snack intake and this effect was larger when participants were more motivated to engage with the distracter and were offset when the distractor included food-related cues. Attention to eating reduced later snacking and this effect was larger when participants imagined eating from their own perspective than when they imagined eating from a third person perspective. Meal memory was impaired after distraction but focusing on eating did not affect later meal memory, possibly explained by ceiling effects for the memory measure. The pattern of results suggests that attention manipulations during eating have robust effects on later eating and the effect sizes are medium to large. The data are consistent with previous reports and add to the literature by suggesting that type of attention manipulation is important in determining effects on later eating. The results further suggest that attentive eating may be a useful target in interventions to help with appetite control. Copyright © 2015 Elsevier Ltd. All rights reserved.

Professional responsibility in relation to cervical spine manipulation.

Science.gov (United States)

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

2002-01-01

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

Effects of picture size reduction and blurring on emotional engagement.

Directory of Open Access Journals (Sweden)

Andrea De Cesarei

Full Text Available The activity of basic motivational systems is reflected in emotional responses to arousing stimuli, such as natural pictures. The manipulation of picture properties such as size or detail allows for investigation into the extent to which separate emotional reactions are similarly modulated by perceptual changes, or, rather, may subserve different functions. Pursuing this line of research, the present study examined the effects of two types of perceptual degradation, namely picture size reduction and blurring, on emotional responses. Both manipulations reduced picture relevance and dampened affective modulation of skin conductance, possibly because of a reduced action preparation in response to degraded or remote pictures. However, the affective modulation of the startle reflex did not vary with picture degradation, suggesting that the identification of these degraded affective cues activated the neural circuits mediating appetitive or defensive motivation.

Self-Efficacy Manipulation Influences Physical Activity Enjoyment in Chinese Adolescents.

Science.gov (United States)

Hu, Liang; Cheng, Shoubin; Lu, Jiaying; Zhu, Lele; Chen, Ling

2016-02-01

In this study, we examined the effect of the manipulation of exercise self-efficacy on the enjoyment of physical activity in a sample of 44 Chinese adolescents (age = 14.27 ± .87 y), including 22 boys and 22 girls. The participants were randomized into a low-efficacy or high-efficacy condition, and their self-efficacy beliefs for engaging in moderate-intensity physical activity were manipulated by providing false feedback after a submaximal exercise test. The participants' self-efficacy was measured and compared before and after the exercise test and the participants' enjoyment of physical activity was assessed after the exercise test. It was found that exercise self-efficacy was successfully manipulated in the expected direction in both conditions, which significantly influenced the participants' enjoyment of physical activity. After the exercise test, the participants in the low-efficacy condition reported lower enjoyment scores relative to the high-efficacy participants. These results suggest that self-efficacy may have an important influence on the enjoyment of physical activity among Chinese adolescents. We recommend that physical activity promotion programs should be tailored to enhance adolescents' self-efficacy beliefs and enjoyment of the experience of physical activity.

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.

An Analysis of Manipulation Strategies in Stock Markets

OpenAIRE

Rasim Ozcan

2012-01-01

Manipulative transactions, which affect both the supply and demand side of the markets, have been studied by academic circles and it was concluded that manipulation exerts negative impact on markets. A market with manipulation is considered as less trustworthy and credible compared to a market without manipulation, which in turn, affects demand. Manipulations affecting both the supply and demand should be closely monitored by stock market investors as well as legislative, executive, and regul...

The Anatomy of Virtual Manipulative Apps: Using Grounded Theory to Conceptualize and Evaluate Educational Apps that Contain Virtual Manipulatives

OpenAIRE

Boyer-Thurgood, Jennifer M.

2017-01-01

This exploratory qualitative study used grounded theory to investigate the anatomy of educational apps that contain virtual manipulatives. For this study 100 virtual manipulatives within educational apps designed for the iPad were observed by the researcher in order to expand the explanations of and build theory about virtual manipulatives within apps. Affordance theory was used to frame all six phases of the study in which the researcher identified virtual manipulatives situated within educa...

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

Magnetic manipulation device for the optimization of cell processing conditions.

Science.gov (United States)

Ito, Hiroshi; Kato, Ryuji; Ino, Kosuke; Honda, Hiroyuki

2010-02-01

Variability in human cell phenotypes make it's advancements in optimized cell processing necessary for personalized cell therapy. Here we propose a strategy of palm-top sized device to assist physically manipulating cells for optimizing cell preparations. For the design of such a device, we combined two conventional approaches: multi-well plate formatting and magnetic cell handling using magnetite cationic liposomes (MCLs). From our previous works, we showed the labeling applications of MCL on adhesive cells for various tissue engineering approaches. To feasibly transfer cells in multi-well plate, we here evaluated the magnetic response of MCL-labeled suspension type cells. The cell handling performance of Jurkat cells proved to be faster and more robust compared to MACS (Magnetic Cell Sorting) bead methods. To further confirm our strategy, prototype palm-top sized device "magnetic manipulation device (MMD)" was designed. In the device, the actual cell transportation efficacy of Jurkat cells was satisfying. Moreover, as a model of the most distributed clinical cell processing, primary peripheral blood mononuclear cells (PBMCs) from different volunteers were evaluated. By MMD, individual PBMCs indicated to have optimum Interleukin-2 (IL-2) concentrations for the expansion. Such huge differences of individual cells indicated that MMD, our proposing efficient and self-contained support tool, could assist the feasible and cost-effective optimization of cell processing in clinical facilities. Copyright (c) 2009 The Society for Biotechnology, Japan. Published by Elsevier B.V. All rights reserved.

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.

Development of Needle Insertion Manipulator for Central Venous Catheterization

Science.gov (United States)

Kobayashi, Yo; Hong, Jaesung; Hamano, Ryutaro; Hashizume, Makoto; Okada, Kaoru; Fujie, Masakatsu G.

Central venous catheterization is a procedure, which a doctor insert a catheter into the patient’s vein for transfusion. Since there are risks of bleeding from arterial puncture or pneumothorax from pleural puncture. Physicians are strictly required to make needle reach up into the vein and to stop the needle in the middle of vein. We proposed a robot system for assisting the venous puncture, which can relieve the difficulties in conventional procedure, and the risks of complication. This paper reports the design structuring and experimental results of needle insertion manipulator. First, we investigated the relationship between insertion force and angle into the vein. The results indicated that the judgment of perforation using the reaction force is possible in case where the needling angle is from 10 to 20 degree. The experiment to evaluate accuracy of the robot also revealed that it has beyond 0.5 mm accuracy. We also evaluated the positioning accuracy in the ultrasound images. The results displays that the accuracy is beyond 1.0 mm and it has enough for venous puncture. We also carried out the venous puncture experiment to the phantom and confirm our manipulator realized to make needle reach up into the vein.

How emotions affect logical reasoning:Evidence from experiments with mood-manipulated participants, spider phobics, and people with exam anxiety

Directory of Open Access Journals (Sweden)

Nadine eJung

2014-06-01

Full Text Available Recent experimental studies show that emotions can have a significant effect on the way we think, decide, and solve problems. This paper presents a series of four experiments on how emotions affect logical reasoning. In two experiments different groups of participants first had to pass a manipulated intelligence test. Their emotional state was altered by giving them feedback, that they performed excellent, poor or on average. Then they completed a set of logical inference problems (with if p, then q statements either in a Wason selection task paradigm or problems from the logical propositional calculus. Problem content also had either a positive, negative or neutral emotional value. Results showed a clear effect of emotions on reasoning performance. Participants in negative mood performed worse than participants in positive mood, but both groups were outperformed by the neutral mood reasoners. Problem content also had an effect on reasoning performance. In a second set of experiments, participants with exam or spider phobia solved logical problems with contents that were related to their anxiety disorder (spiders or exams. Spider phobic participants’ performance was lowered by the spider-content, while exam anxious participants were not affected by the exam-related problem content. Overall, unlike some previous studies, no evidence was found that performance is improved when emotion and content are congruent. These results have consequences for cognitive reasoning research and also for cognitively oriented psychotherapy and the treatment of disorders like depression and anxiety.

How emotions affect logical reasoning: evidence from experiments with mood-manipulated participants, spider phobics, and people with exam anxiety.

Science.gov (United States)

Jung, Nadine; Wranke, Christina; Hamburger, Kai; Knauff, Markus

2014-01-01

Recent experimental studies show that emotions can have a significant effect on the way we think, decide, and solve problems. This paper presents a series of four experiments on how emotions affect logical reasoning. In two experiments different groups of participants first had to pass a manipulated intelligence test. Their emotional state was altered by giving them feedback, that they performed excellent, poor or on average. Then they completed a set of logical inference problems (with if p, then q statements) either in a Wason selection task paradigm or problems from the logical propositional calculus. Problem content also had either a positive, negative or neutral emotional value. Results showed a clear effect of emotions on reasoning performance. Participants in negative mood performed worse than participants in positive mood, but both groups were outperformed by the neutral mood reasoners. Problem content also had an effect on reasoning performance. In a second set of experiments, participants with exam or spider phobia solved logical problems with contents that were related to their anxiety disorder (spiders or exams). Spider phobic participants' performance was lowered by the spider-content, while exam anxious participants were not affected by the exam-related problem content. Overall, unlike some previous studies, no evidence was found that performance is improved when emotion and content are congruent. These results have consequences for cognitive reasoning research and also for cognitively oriented psychotherapy and the treatment of disorders like depression and anxiety.

How emotions affect logical reasoning: evidence from experiments with mood-manipulated participants, spider phobics, and people with exam anxiety

Science.gov (United States)

Jung, Nadine; Wranke, Christina; Hamburger, Kai; Knauff, Markus

2014-01-01

Recent experimental studies show that emotions can have a significant effect on the way we think, decide, and solve problems. This paper presents a series of four experiments on how emotions affect logical reasoning. In two experiments different groups of participants first had to pass a manipulated intelligence test. Their emotional state was altered by giving them feedback, that they performed excellent, poor or on average. Then they completed a set of logical inference problems (with if p, then q statements) either in a Wason selection task paradigm or problems from the logical propositional calculus. Problem content also had either a positive, negative or neutral emotional value. Results showed a clear effect of emotions on reasoning performance. Participants in negative mood performed worse than participants in positive mood, but both groups were outperformed by the neutral mood reasoners. Problem content also had an effect on reasoning performance. In a second set of experiments, participants with exam or spider phobia solved logical problems with contents that were related to their anxiety disorder (spiders or exams). Spider phobic participants' performance was lowered by the spider-content, while exam anxious participants were not affected by the exam-related problem content. Overall, unlike some previous studies, no evidence was found that performance is improved when emotion and content are congruent. These results have consequences for cognitive reasoning research and also for cognitively oriented psychotherapy and the treatment of disorders like depression and anxiety. PMID:24959160

Traction-drive seven degrees-of-freedom telerobot arm: A concept for manipulation in space

International Nuclear Information System (INIS)

Kuban, D.P.; Williams, D.M.

1987-01-01

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. This paper summarizes the report of a study performed for NASA Langley Research Center. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation will be presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance. Further development of this arm is in progress at the Oak Ridge National Laboratory

Habitat change and restoration: responses of a forest-floor mammal species to manipulations of fallen timber in floodplain forests

Directory of Open Access Journals (Sweden)

Mac Nally, R

2002-05-01

Full Text Available In forests and woodlands, fallen timber (logs and large branches is an important habitat element for many species of animals. Fallen timber has been systematically stripped in many forests, eliminating an important structural element. This study describes results of a ‘meso-scale’ experiment in which fallen timber was manipulated in a floodplain forest of the Murray River in south-eastern Australia. A thousand tons of wood were redistributed after one-year’s pre-manipulation monitoring, while a further two-year’s post-manipulation monitoring was conducted. The response of the main forest-floor small-mammal species, the Yellow-footed Antechinus Antechinus flavipes, to alterations of fallen-wood loads is documented. Results of the experiment will help to frame guidelines for fallen-timber management in these extensive floodplain forests.

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

Size matters: pitch dimensions constrain inter-team distances and surface area difference in small-sided soccer games

NARCIS (Netherlands)

Frencken, Wouter; van der Plaats, Jorrit; Visscher, Chris; Lemmink, Koen

2013-01-01

Pitch size varies in official soccer matches and differently sized pitches are adopted for tactical purposes in small-sided training games. Since interactive team behaviour emerges under con- straints, the authors evaluate the effect of pitch size (task) manipulations on interactive team behaviour

Managerial Incentives and Stock Price Manipulation

OpenAIRE

Peng, Lin; Röell, Ailsa A

2009-01-01

This paper presents a rational expectations model of optimal executive compensation in a setting where managers are in a position to manipulate short-term stock prices, and managers' propensity to manipulate is uncertain. Stock-based incentives elicit not only productive effort, but also costly information manipulation. We analyze the tradeoffs involved in conditioning pay on long- versus short-term performance and characterize a second-best optimal compensation scheme. The paper shows manipu...

Conflict adaptation in positive and negative mood: Applying a success-failure manipulation.

Science.gov (United States)

Schuch, Stefanie; Zweerings, Jana; Hirsch, Patricia; Koch, Iring

2017-05-01

Conflict adaptation is a cognitive mechanism denoting increased cognitive control upon detection of conflict. This mechanism can be measured by the congruency sequence effect, indicating the reduction of congruency effects after incongruent trials (where response conflict occurs) relative to congruent trials (without response conflict). Several studies have reported increased conflict adaptation under negative, as compared to positive, mood. In these studies, sustained mood states were induced by film clips or music combined with imagination techniques; these kinds of mood manipulations are highly obvious, possibly distorting the actual mood states experienced by the participants. Here, we report two experiments where mood states were induced in a less obvious way, and with higher ecological validity. Participants received success or failure feedback on their performance in a bogus intelligence test, and this mood manipulation proved highly effective. We largely replicated previous findings of larger conflict adaptation under negative mood than under positive mood, both with a Flanker interference paradigm (Experiment 1) and a Stroop-like interference paradigm (Experiment 2). Results are discussed with respect to current theories on affective influences on cognitive control. Copyright © 2017 Elsevier B.V. All rights reserved.

Kinematic sensitivity of robot manipulators

Science.gov (United States)

Vuskovic, Marko I.

1989-01-01

Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

A links manipulator simulation program interim report

International Nuclear Information System (INIS)

Noble, R.A.

1987-04-01

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

Acute effects of rearfoot manipulation on dynamic standing balance in healthy individuals.

Science.gov (United States)

Wassinger, Craig A; Rockett, Ariel; Pitman, Lucas; Murphy, Matthew Matt; Peters, Charles

2014-06-01

Dynamic standing balance is essential to perform functional activities and is included in the treatment of many lower extremity injuries. Physiotherapists utilize many methods to restore standing balance including stability exercises, functional retraining, and manual therapy. The purpose of this study was to investigate the effects of a rearfoot distraction manipulation on dynamic standing balance. Twenty healthy participants (age: 24.4 ± 2.8 years; height: 162.9 ± 37.7 cm; mass: 68.0 ± 4.8 kg; right leg dominant = 20) completed this study. Following familiarization, dynamic standing balance was assessed during: (1) an experimental condition immediately following a rearfoot distraction manipulation, and (2) a control condition. Dominant leg balance was quantified using the Y-balance test which measures lower extremity reach distances. Reach distances were normalized to leg length and measured in the anterior, posteromedial and posterolateral directions. Overall balance was calculated through the summing of all normalized directions. Paired t-tests and Wilcoxon rank tests were used to compare balance scores for parametric and non-parametric data as appropriate. Significance was set at 0.05 a priori. Effect size (ES) was calculated to determine the clinical impact of the manipulation. Increased reach distances (indicating improved balance) were noted following manipulation for overall balance (p = 0.03, ES = 0.26) and in the posteromedial direction (p = 0.01, ES = 0.42). Reach distances did not differ for the anterior (p = 0.11, ES = 0.16) or posterolateral (p = 0.11, ES = 0.25) components. Dynamic standing balance improved after a rearfoot distraction manipulation in healthy participants. It is hypothesized that manual therapy applied to the foot and ankle may be beneficial to augment other therapeutic modalities when working with patients to improve dynamic standing balance. Copyright © 2013 Elsevier Ltd. All rights reserved.

Soil acidification occurs under ambient conditions but is retarded by repeated drought: Results of a field-scale climate manipulation experiment

Energy Technology Data Exchange (ETDEWEB)

Kopittke, G.R.; Tietema, A., E-mail: A.Tietema@uva.nl; Verstraten, J.M.

2012-11-15

Acid atmospheric emissions within Europe and North America have decreased strongly since 1985 and most recent acidification studies have focused on the changes occurring within ecosystems as a result of this decreased deposition. This current study documents a soil acidification trend under ambient N deposition conditions over a 13 year period, suggesting that acidification continues to be a process of concern at this Calluna vulgaris dominated heathland with an acidic sandy soil. The annual manipulation of climatic conditions on this heathland simulated the predicted summer rainfall reduction (drought) and resulted in a long term retardation of the soil acidification trend. The pH of the soil solution significantly decreased over the course of the trial for both treatments, however, in the final 2 years the decline continued only in the Control treatment. This retardation is primarily associated with the reduction in rainfall leading to lower drainage rates, reduced loss of cations and therefore reduced lowering of the soil acid neutralizing capacity (ANC). However, a change in the underlying mechanisms also indicated that N transformations became less important in the Drought treatment. This change corresponded to an increase in groundcover of an air-pollution tolerant moss species and it is hypothesized that this increasing moss cover filtered an increasing quantity of deposited N, thus reducing the N available for transformation. A soil acidification lag time is expected to increase between the two treatments due to the cumulative disparity in cation retention and rates of proton formation. To the authors' knowledge, this is the first study in which such acidification trends have been demonstrated in a field-scale climate manipulation experiment. -- Highlights: Black-Right-Pointing-Pointer A unique investigation of acidification on a field-scale climate manipulation trial. Black-Right-Pointing-Pointer Soil acidification occurred over 13 years of ambient N

Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs

Directory of Open Access Journals (Sweden)

Jianxun Fu

2015-05-01

Full Text Available This article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with this structure, the kinematic constrain equations are decoupled. Based on this character, the polynomial solutions of the forward kinematics problem are also presented. In this method, the closed-loop kinematic chain of the manipulator is divided into two parts, the solution forward position kinematics is obtained by a first-degree polynomial equation first, and then an eighth-degree polynomial equation in a single variable for the forward orientation kinematics is obtained. Based on those solutions, the configurations of the robot, including position and orientation of the end-effector, are graphically displayed. A numerical simulation is given to verify the algorithm, and the result implies that for a given set of input values, the manipulator can be assembled in eight different configurations at most. And a set of experiments illustrate the motion ability for forward kinematics of the prototype of this manipulator.

Manipulators

International Nuclear Information System (INIS)

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

2005-01-01

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

Penetration depth and nonlocal manipulation of quantum spin hall edge states in chiral honeycomb nanoribbons.

Science.gov (United States)

Xu, Yong; Uddin, Salah; Wang, Jun; Wu, Jiansheng; Liu, Jun-Feng

2017-08-08

We have studied numerically the penetration depth of quantum spin hall edge states in chiral honeycomb nanoribbons based on the Green's function method. The changing of edge orientation from armchair to zigzag direction decreases the penetration depth drastically. The penetration depth is used to estimate the gap opened for the finite-size effect. Beside this, we also proposed a nonlocal transistor based on the zigzag-like chiral ribbons in which the current is carried at one edge and the manipulation is by the edge magnetization at the other edge. The difficulty that the edge magnetization is unstable in the presence of a ballistic current can be removed by this nonlocal manipulation.

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

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.

Why do spinal manipulation techniques take the form they do? Towards a general model of spinal manipulation.

Science.gov (United States)

Evans, David W

2010-06-01

For centuries, techniques used to manipulate joints in the spine have been passed down from one generation of manipulators to the next. Today, spinal manipulation is in the curious position that positive clinical effects have now been demonstrated, yet the theoretical base underpinning every aspect of its use is still underdeveloped. An important question is posed in this masterclass: why do spinal manipulation techniques take the form they do? From the available literature, two factors appear to provide an answer: 1. Action of a force upon vertebrae. Any 'direct' spinal manipulation technique requires that the patient be orientated in such a way that force is applied perpendicular to the overlying skin surface so as to act upon the vertebrae beneath. If the vertebral motion produced by 'directly' applied force is insufficient to produce the desired effect (e.g. cavitation), then force must be applied 'indirectly', often through remote body segments such as the head, thorax, abdomen, pelvis, and extremities. 2. Spinal segment morphology. A new hypothesis is presented. Spinal manipulation techniques exploit the morphology of vertebrae by inducing rotation at a spinal segment, about an axis that is always parallel to the articular surfaces of the constituent zygapophysial joints. In doing so, the articular surfaces of one zygapophysial joint appose to the point of contact, resulting in migration of the axis of rotation towards these contacting surfaces, and in turn this facilitates gapping of the other (target) zygapophysial joint. Other variations in the form of spinal manipulation techniques are likely to depend upon the personal style and individual choices of the practitioner.

Effect of Particle-size Distribution on Chemical Washing Experiment of Uranium Contaminated Concrete

International Nuclear Information System (INIS)

Kim, Wan Suk; Kim, Gye Nam; Shon, Dong Bin; Park, Hye Min; Kim, Ki Hong; Lee, Kun Woo; Lee, Ki Won; Moon, Jei Kwon

2011-01-01

Taken down of nuclear institution was radioactive contaminated concrete over 70% of whole waste. Advanced countries have realized the importance of waste processing. Nuclear institutions keep a lot of radioactive contaminated concrete in internal waste storage. Therefore radioactive contaminated concrete disport to whole waste and reduce for self-processing standard concentration may be disposed of inexpensive more than radioactive waste storage. This study uses mechanical and thermal technology for a uranium contaminated concrete process in Korea Atomic Energy Research Institute's radioactive waste storage. Mechanical and thermal technologies are divided based on particle size. Each particles-sized concrete analyzed for uranium contamination using an MCA instrument. A chemical washing experiment was carried out

Better with Byzantine: Manipulation-Optimal Mechanisms

Science.gov (United States)

Othman, Abraham; Sandholm, Tuomas

A mechanism is manipulable if it is in some agents’ best interest to misrepresent their private information. The revelation principle establishes that, roughly, anything that can be accomplished by a manipulable mechanism can also be accomplished with a truthful mechanism. Yet agents often fail to play their optimal manipulations due to computational limitations or various flavors of incompetence and cognitive biases. Thus, manipulable mechanisms in particular should anticipate byzantine play. We study manipulation-optimal mechanisms: mechanisms that are undominated by truthful mechanisms when agents act fully rationally, and do better than any truthful mechanism if any agent fails to act rationally in any way. This enables the mechanism designer to do better than the revelation principle would suggest, and obviates the need to predict byzantine agents’ irrational behavior. We prove a host of possibility and impossibility results for the concept which have the impression of broadly limiting possibility. These results are largely in line with the revelation principle, although the considerations are more subtle and the impossibility not universal.

Short Term Motor-Skill Acquisition Improves with Size of Self-Controlled Virtual Hands.

Science.gov (United States)

Ossmy, Ori; Mukamel, Roy

2017-01-01

Visual feedback in general, and from the body in particular, is known to influence the performance of motor skills in humans. However, it is unclear how the acquisition of motor skills depends on specific visual feedback parameters such as the size of performing effector. Here, 21 healthy subjects physically trained to perform sequences of finger movements with their right hand. Through the use of 3D Virtual Reality devices, visual feedback during training consisted of virtual hands presented on the screen, tracking subject's hand movements in real time. Importantly, the setup allowed us to manipulate the size of the displayed virtual hands across experimental conditions. We found that performance gains increase with the size of virtual hands. In contrast, when subjects trained by mere observation (i.e., in the absence of physical movement), manipulating the size of the virtual hand did not significantly affect subsequent performance gains. These results demonstrate that when it comes to short-term motor skill learning, the size of visual feedback matters. Furthermore, these results suggest that highest performance gains in individual subjects are achieved when the size of the virtual hand matches their real hand size. These results may have implications for optimizing motor training schemes.

Short Term Motor-Skill Acquisition Improves with Size of Self-Controlled Virtual Hands.

Directory of Open Access Journals (Sweden)

Ori Ossmy

Full Text Available Visual feedback in general, and from the body in particular, is known to influence the performance of motor skills in humans. However, it is unclear how the acquisition of motor skills depends on specific visual feedback parameters such as the size of performing effector. Here, 21 healthy subjects physically trained to perform sequences of finger movements with their right hand. Through the use of 3D Virtual Reality devices, visual feedback during training consisted of virtual hands presented on the screen, tracking subject's hand movements in real time. Importantly, the setup allowed us to manipulate the size of the displayed virtual hands across experimental conditions. We found that performance gains increase with the size of virtual hands. In contrast, when subjects trained by mere observation (i.e., in the absence of physical movement, manipulating the size of the virtual hand did not significantly affect subsequent performance gains. These results demonstrate that when it comes to short-term motor skill learning, the size of visual feedback matters. Furthermore, these results suggest that highest performance gains in individual subjects are achieved when the size of the virtual hand matches their real hand size. These results may have implications for optimizing motor training schemes.

MANIPULATING CONSUMERS THROUGH ADVERTISING

Directory of Open Access Journals (Sweden)

Nicoleta -Andreea Neacşu

2012-12-01

Full Text Available Marketing communication has evolved steadily in the direction of increasing complexity and increasing volume of funds needed to run their own actions. More than ever, consumers are exposed to an overwhelming variety of sources and communication tehniques, the information received being numerous, diverse and polyvalent. The desire to make more efficient the marketing communication activity urges the broadcasters to encode messages, to use effective means of propagation in order to obtain a high degree of control on receptors and to influence the consumption attitudes. Between the means used for this purpose, manipulation tehniques are well known. This paper highlights the main conclusions drawn as a result of a quantitative marketing research on the adult population from Braşov in order to identify the attitudes and opinions of consumers from Braşov regarding the manipulation techniques used by commercial practices and advertising.The results of the research have shown that 82% of the respondents buy products in promotional offers, and 18% choose not to buy these products and 61% of the respondents consider that they have not been manipulated not even once, while only 39% believe that they have been manipulated at least once through advertising or commercial practices. Advertisements on TV have a strong influence on consumers, 81% of the respondents considering that at least once they have bought a product because of a TV commercial.

SETS, Boolean Manipulation for Network Analysis and Fault Tree Analysis

International Nuclear Information System (INIS)

Worrell, R.B.

1985-01-01

Description of problem or function - SETS is used for symbolic manipulation of set (or Boolean) equations, particularly the reduction of set equations by the application of set identities. It is a flexible and efficient tool for performing probabilistic risk analysis (PRA), vital area analysis, and common cause analysis. The equation manipulation capabilities of SETS can also be used to analyze non-coherent fault trees and determine prime implicants of Boolean functions, to verify circuit design implementation, to determine minimum cost fire protection requirements for nuclear reactor plants, to obtain solutions to combinatorial optimization problems with Boolean constraints, and to determine the susceptibility of a facility to unauthorized access through nullification of sensors in its protection system. 4. Method of solution - The SETS program is used to read, interpret, and execute the statements of a SETS user program which is an algorithm that specifies the particular manipulations to be performed and the order in which they are to occur. 5. Restrictions on the complexity of the problem - Any properly formed set equation involving the set operations of union, intersection, and complement is acceptable for processing by the SETS program. Restrictions on the size of a set equation that can be processed are not absolute but rather are related to the number of terms in the disjunctive normal form of the equation, the number of literals in the equation, etc. Nevertheless, set equations involving thousands and even hundreds of thousands of terms can be processed successfully

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

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

Science.gov (United States)

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

2015-01-01

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

On stiffening cables of a long reach manipulator

International Nuclear Information System (INIS)

Wang, S.L.; Santiago, P.

1996-01-01

A long reach manipulator will be used for waste remediation in large underground storage tanks. The manipulator's slenderness makes it flexible and difficult to control. A low-cost and effective method to enhance the manipulator's stiffness is proposed in this research by using suspension cables. These cables can also be used to accurately measure the position of the manipulator's wrist

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.

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...

Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures

International Nuclear Information System (INIS)

Kang, Rongjie; Zheng Tianjiang; Guglielmino, Emanuele; Caldwell, Darwin G; Branson, David T

2013-01-01

Biological tentacles, such as octopus arms, have entirely flexible structures and virtually infinite degrees of freedom (DOF) that allow for elongation, shortening and bending at any point along the arm length. The amazing dexterity of biological tentacles has driven the growing implementation of continuum manipulators in robotic systems. This paper presents a pneumatic manipulator inspired by biological continuum structures in some of their key features and functions, such as continuum morphology, intrinsic compliance and stereotyped motions with hyper redundant DOF. The kinematics and dynamics of the manipulator are formulated and identified, and a hierarchical controller taking inspiration from the structure of an octopus nervous system is used to relate desired stereotyped motions to individual actuator inputs. Simulations and experiments are carried out to validate the model and prototype where good agreement was found between the two. (paper)

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)

No Effect of Featural Attention on Body Size Aftereffects

Directory of Open Access Journals (Sweden)

Ian David Stephen

2016-08-01

Full Text Available Prolonged exposure to images of narrow bodies has been shown to induce a perceptual aftereffect, such that observers’ point of subjective normality (PSN for bodies shifts towards narrower bodies. The converse effect is shown for adaptation to wide bodies. In low-level stimuli, object attention (attention directed to the object and spatial attention (attention directed to the location of the object have been shown to increase the magnitude of visual aftereffects, while object-based attention enhances the adaptation effect in faces. It is not known whether featural attention (attention directed to a specific aspect of the object affects the magnitude of adaptation effects in body stimuli. Here, we manipulate the attention of Caucasian observers to different featural information in body images, by asking them to rate the fatness or sex typicality of male and female bodies manipulated to appear fatter or thinner than average. PSNs for body fatness were taken at baseline and after adaptation, and a change in PSN (ΔPSN was calculated. A body size adaptation effect was found, with observers who viewed fat bodies showing an increased PSN, and those exposed to thin bodies showing a reduced PSN. However, manipulations of featural attention to body fatness or sex typicality produced equivalent results, suggesting that featural attention may not affect the strength of the body size aftereffect.

No Effect of Featural Attention on Body Size Aftereffects.

Science.gov (United States)

Stephen, Ian D; Bickersteth, Chloe; Mond, Jonathan; Stevenson, Richard J; Brooks, Kevin R

2016-01-01

Prolonged exposure to images of narrow bodies has been shown to induce a perceptual aftereffect, such that observers' point of subjective normality (PSN) for bodies shifts toward narrower bodies. The converse effect is shown for adaptation to wide bodies. In low-level stimuli, object attention (attention directed to the object) and spatial attention (attention directed to the location of the object) have been shown to increase the magnitude of visual aftereffects, while object-based attention enhances the adaptation effect in faces. It is not known whether featural attention (attention directed to a specific aspect of the object) affects the magnitude of adaptation effects in body stimuli. Here, we manipulate the attention of Caucasian observers to different featural information in body images, by asking them to rate the fatness or sex typicality of male and female bodies manipulated to appear fatter or thinner than average. PSNs for body fatness were taken at baseline and after adaptation, and a change in PSN (ΔPSN) was calculated. A body size adaptation effect was found, with observers who viewed fat bodies showing an increased PSN, and those exposed to thin bodies showing a reduced PSN. However, manipulations of featural attention to body fatness or sex typicality produced equivalent results, suggesting that featural attention may not affect the strength of the body size aftereffect.

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.

Sociosexual Investigation in Sexually Experienced, Hormonally Manipulated Male Leopard Geckos: Relation With Phosphorylated DARPP-32 in Dopaminergic Pathways

OpenAIRE

HUANG, VICTORIA; HEMMINGS, HUGH C.; CREWS, DAVID

2014-01-01

Dopaminergic activity is both associated with sociosexual exposure and modulated by sexual experience and hormonal state across vertebrate taxa. Mature leopard geckos, a reptile with temperature-dependent sex determination, have dopaminoceptive nuclei that are influenced by their embryonic environment and sensitive to adult hormonal manipulation. In this study, we exposed hormonally manipulated male leopard geckos from different incubation temperatures to conspecifics and measured their socio...

Development of a mobile manipulator for nuclear plant disaster, HELIOS X. Mechanical design and basic experiments

International Nuclear Information System (INIS)

Noda, Satsuya; Hirose, Shigeo; Ueda, Koji; Nakano, Hisami; Horigome, Atsushi; Endo, Gen

2016-01-01

In places such as nuclear power plant disaster area, which it is difficult for human workers to enter, robots are required to scout those places instead of human workers. In this paper, we present a mobile manipulator HELIOS X for a nuclear plant decommissioning task. Firstly, we address demands and specifications for the robot, considering the mission of reconnaissance. Then we outline the system of the robot, mainly focusing on the following mechanism: 'Crank Wheel', 'Main Arm', 'Sphere Link Wrist', 'Camera Arm', 'Control System' and 'System architecture'. Especially, we installed 3 degree of freedom 'Camera Arm' on the 'Main Arm', in order to improve functionality of remote control system. This enables the operator to monitor both the gripper and its overall view of the robot. 'Camera Arm' helps the operator to recognize the distance from an object to the gripper, because the operator can interactively move the viewpoint of the camera, and monitor from another camera angle without changing the gripper's position. We confirmed the basic functionality of mobile base, 'Main Arm' and 'Camera Arm' through hardware experiments. We also demonstrated that HELIOS X could pass through the pull-to-open door with a substantial closing force when the operator watched camera view only. (author)

Dynamic modelling and simulation for control of a cylindrical robotic manipulator

International Nuclear Information System (INIS)

Iqbal, A.; Athar, S.M.

1995-03-01

In this report a dynamic model for the three degrees-of-freedom cylindrical manipulator, INFOMATE has been developed. Although the robot dynamics are highly coupled and non-linear, the developed model is relatively straight forward and compact for control engineering and simulation applications. The model has been simulated using the graphical simulation package SIMULINK. Different aspects of INFOMATE associated with forward dynamics, inverse dynamics and control have been investigated by performing various simulation experiments. These simulation experiments confirm the accuracy and applicability of the dynamic robot model. (author) 18 figs

Impact of institutional volume and experience with CT interpretation on sizing of transcatheter aortic valves: A multicenter retrospective study

International Nuclear Information System (INIS)

Verma, Divya Ratan; Pershad, Yash; Pershad, Ashish; Fang, Kenith; Gellert, George; Morris, Michael F.

2016-01-01

Background: Computed tomography (CT) has become the standard imaging modality for pre-procedural aortic annular sizing prior to transcatheter aortic valve replacement (TAVR). We hypothesized that the accuracy of CT derived annular measurements would be greater at sites with higher TAVR procedural volume. Methods: Within a large integrated health system, TAVR was performed at low ( 75 cases). 181 patients underwent TAVR with a Sapien XT transcatheter heart valve (THV). Two blinded experienced readers independently remeasured the annulus on CT and compared their measurements to site reported measurements. Hypothetical THV sizes were chosen based on measurements from site CT reports and independent readers’ measurements, and compared to the implanted THV size. Results: Correlation between site reported measurements and independent readers measurements of mean annulus size varied between low-volume (r = 0.31, p = 0.18), intermediate-volume (r = 0.34, p = 0.01), and high-volume sites (r = 0.96, p < 0.01). On multivariate analysis, interpretation of ≥20 CT scans (OR 0.29; 95% CI 0.03–0.81; p 0.02) and high-volume site (OR 0.16; 95% CI 0.10–0.82; p 0.02) were associated with reduced mismatch between the site predicted THV size and independent readers predicted THV size. Mismatch between site predicted THV size and implanted THV size was associated with a worse 30-day composite of mortality, dialysis-dependent renal failure, cerebrovascular accident, new permanent pacemaker, and hospital readmission (55.3 vs. 38.7%; p = 0.05). Conclusions: Accuracy of CT aortic annular sizing is improved with higher individual experience and site TAVR volume. These findings should be confirmed in larger, prospective studies. - Highlights: • Accuracy of CT aortic annular sizing is improved with higher individual experience and site TAVR volume. • CT readers with experience interpreting ≥20 pre-TAVR CT scans had significantly improved accuracy in identifying the annulus. �

Data manipulation with R

CERN Document Server

Abedin, Jaynal

2014-01-01

This book is a step-by step, example-oriented tutorial that will show both intermediate and advanced users how data manipulation is facilitated smoothly using R.This book is aimed at intermediate to advanced level users of R who want to perform data manipulation with R, and those who want to clean and aggregate data effectively. Readers are expected to have at least an introductory knowledge of R and some basic administration work in R, such as installing packages and calling them when required.

Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator

Directory of Open Access Journals (Sweden)

Yong-Lin Kuo

2014-01-01

Full Text Available This paper implements the model predictive control to fulfill the position control of a 3-DOF 3-RRR planar parallel manipulator. The research work covers experimental and numerical studies. First, an experimental hardware-in-the-loop system to control the manipulator is constructed. The manipulator is driven by three DC motors, and each motor has an encoder to measure the rotating angles of the motors. The entire system is designed as a semiclosed-loop control system. The controller receives the encoder signals as inputs to produce signals driving the motors. Secondly, the motor parameters are obtained by system identification, and the controllers are designed based on these parameters. Finally, the numerical simulations are performed by incorporating the manipulator kinematics and the motor dynamics; the results are compared with those from the experiments. Both results show that they are in good agreement at steady state. There are two main contributions in this paper. One is the application of the model predictive control to the planar parallel manipulator, and the other one is to overcome the effects of the uncertainties of the DC motors and the performance of the position control due to the dynamic behavior of the manipulator.

Sizing for ethnicity in multi-cultural societies: development of size ...

African Journals Online (AJOL)

... years, and fell in the size 6/10 to size 14/38 size range. The findings of the study suggest that young South African women of African descent with a triangular body shape may experience loose fit in the upper body of garments sized according to the size specifications currently used in the South African apparel industry.

From the SEM (IAEA) to the SIMS (ITU): Re-location experiment of μm-size particles - first results

International Nuclear Information System (INIS)

Admon, U.; Donohue, D.; Aigner, H.; Tamborini, G.; Bildstein, O.; Betti, M.

2002-01-01

Full text: Nuclear forensic analysis of individual radioactive particles in the μm-size range can be performed in two steps: in the first, an automated SEM screening of the loaded sample holder, particles of interest (POIs) are located and classified according to their elemental composition and size. In the second, the sample is transferred to a mass spectrometer (usually a SIMS), and individual POIs are re-located and further analyzed for their isotopic composition. Alternatively, selected POIs can be extracted after SEM screening or fission track analysis, and then analyzed in a TIMS or ICPMS. In the SIMS, which has imaging capability of its own, the whole sample is manipulated to bring specific POIs to the ion-beam point of impingement. In all these cases, including re-visiting POIs in the SEM itself, a precise relocation method is essential. The re-location of POIs in the SIMS after they have been identified as such in the SEM is based on the triangulation method. A set of reference marks are 'printed' by vacuum-deposition of metallic thin-film patterns on the sample holder, a flat-polished graphite planchet. These marks, easily recognizable and precisely measurable by both instruments, serve as inherent coordinate system for each sample. The SEM screening provides a list of POIs, each with a data profile comprising stage coordinates, composition, and size. Having measured the stage coordinates of at least 3 linearly-independent reference marks in the SEM and in the SIMS allows predicting the SIMS stage coordinates where the POIs can be found. This paper describes a joint IAEA-ITU experiment aimed at testing the feasibility of the relocation method in two separate laboratories. A flat-polished graphite planchet was loaded with a small number (a few hundreds) of μm-size uranium particles using the NIST method [3] in the ITU clean laboratory. The sample was sent to the IAEA clean laboratory, where the reference marks pattern was 'printed' by vacuum

Stock Market Manipulation on the Hong Kong Stock Exchange

Directory of Open Access Journals (Sweden)

Dionigi Gerace

2014-10-01

Full Text Available This study is the first to empirically examine stock market manipulation on the Hong Kong Stock Exchange. The dataset contains 40 cases of market manipulation from 1996 to 2009 that were successfully prosecuted by the Hong Kong Securities & Futures Commission. Manipulation is found to negatively impact market efficiency measures such as the bid-ask spread and volatility. Markets appear incapable of efficiently responding to the presence of manipulators and are characterised by information asymmetry. Manipulators were successfully able to raise prices and exit the market. This finding contradicts views that trade-based manipulation is entirely unprofitable and self-deterring. The victimisation of information-seeking investors and the market as a whole provides a strong rationale for all jurisdictions, including Australia, to have effective laws that prohibit manipulation and for robust enforcement of those laws to further deter market manipulation.

Adverse events among seniors receiving spinal manipulation and exercise in a randomized clinical trial

DEFF Research Database (Denmark)

Maiers, Michele; Evans, Roni; Hartvigsen, Jan

2015-01-01

Spinal manipulative therapy (SMT) and exercise have demonstrated effectiveness for neck pain (NP). Adverse events (AE) reporting in trials, particularly among elderly participants, is inconsistent and challenges informed clinical decision making. This paper provides a detailed report of AE experi...

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.

Manipulation of Auxin Response Factor 19 affects seed size in the woody perennial Jatropha curcas

Science.gov (United States)

Sun, Yanwei; Wang, Chunming; Wang, Ning; Jiang, Xiyuan; Mao, Huizhu; Zhu, Changxiang; Wen, Fujiang; Wang, Xianghua; Lu, Zhijun; Yue, Genhua; Xu, Zengfu; Ye, Jian

2017-01-01

Seed size is a major determinant of seed yield but few is known about the genetics controlling of seed size in plants. Phytohormones cytokinin and brassinosteroid were known to be involved in the regulation of herbaceous plant seed development. Here we identified a homolog of Auxin Response Factor 19 (JcARF19) from a woody plant Jatropha curcas and genetically demonstrated its functions in controlling seed size and seed yield. Through Virus Induced Gene Silencing (VIGS), we found that JcARF19 was a positive upstream modulator in auxin signaling and may control plant organ size in J. curcas. Importantly, transgenic overexpression of JcARF19 significantly increased seed size and seed yield in plants Arabidopsis thaliana and J. curcas, indicating the importance of auxin pathway in seed yield controlling in dicot plants. Transcripts analysis indicated that ectopic expression of JcARF19 in J. curcas upregulated auxin responsive genes encoding essential regulators in cell differentiation and cytoskeletal dynamics of seed development. Our data suggested the potential of improving seed traits by precisely engineering auxin signaling in woody perennial plants. PMID:28102350

Impact of Spinal Manipulation on Cortical Drive to Upper and Lower Limb Muscles

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Heidi Haavik

2016-12-01

Full Text Available This study investigates whether spinal manipulation leads to changes in motor control by measuring the recruitment pattern of motor units in both an upper and lower limb muscle and to see whether such changes may at least in part occur at the cortical level by recording movement related cortical potential (MRCP amplitudes. In experiment one, transcranial magnetic stimulation input–output (TMS I/O curves for an upper limb muscle (abductor pollicus brevis; APB were recorded, along with F waves before and after either spinal manipulation or a control intervention for the same subjects on two different days. During two separate days, lower limb TMS I/O curves and MRCPs were recorded from tibialis anterior muscle (TA pre and post spinal manipulation. Dependent measures were compared with repeated measures analysis of variance, with p set at 0.05. Spinal manipulation resulted in a 54.5% ± 93.1% increase in maximum motor evoked potential (MEPmax for APB and a 44.6% ± 69.6% increase in MEPmax for TA. For the MRCP data following spinal manipulation there were significant difference for amplitude of early bereitschafts-potential (EBP, late bereitschafts potential (LBP and also for peak negativity (PN. The results of this study show that spinal manipulation leads to changes in cortical excitability, as measured by significantly larger MEPmax for TMS induced input–output curves for both an upper and lower limb muscle, and with larger amplitudes of MRCP component post manipulation. No changes in spinal measures (i.e., F wave amplitudes or persistence were observed, and no changes were shown following the control condition. These results are consistent with previous findings that have suggested increases in strength following spinal manipulation were due to descending cortical drive and could not be explained by changes at the level of the spinal cord. Spinal manipulation may therefore be indicated for the patients who have lost tonus of their muscle

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...

Manipulation of the response of human endothelial colony-forming cells by focal adhesion assembly using gradient nanopattern plates.

Science.gov (United States)

Cui, Long-Hui; Joo, Hyung Joon; Kim, Dae Hwan; Seo, Ha-Rim; Kim, Jung Suk; Choi, Seung-Cheol; Huang, Li-Hua; Na, Ji Eun; Lim, I-Rang; Kim, Jong-Ho; Rhyu, Im Joo; Hong, Soon Jun; Lee, Kyu Back; Lim, Do-Sun

2018-01-01

Nanotopography plays a pivotal role in the regulation of cellular responses. Nonetheless, little is known about how the gradient size of nanostructural stimuli alters the responses of endothelial progenitor cells without chemical factors. Herein, the fabrication of gradient nanopattern plates intended to mimic microenvironment nanotopography is described. The gradient nanopattern plates consist of nanopillars of increasing diameter ranges [120-200 nm (GP 120/200), 200-280 nm (GP 200/280), and 280-360 nm (GP 280/360)] that were used to screen the responses of human endothelial colony-forming cells (hECFCs). Nanopillars with a smaller nanopillar diameter caused the cell area and perimeter of hECFCs to decrease and their filopodial outgrowth to increase. The structure of vinculin (a focal adhesion marker in hECFCs) was also modulated by nanostructural stimuli of the gradient nanopattern plates. Moreover, Rho-associated protein kinase (ROCK) gene expression was significantly higher in hECFCs cultured on GP 120/200 than in those on flat plates (no nanopillars), and ROCK suppression impaired the nanostructural-stimuli-induced vinculin assembly. These results suggest that the gradient nanopattern plates generate size-specific nanostructural stimuli suitable for manipulation of the response of hECFCs, in a process dependent on ROCK signaling. This is the first evidence of size-specific nanostructure-sensing behavior of hECFCs. Nano feature surfaces are of growing interest as materials for a controlled response of various cells. In this study, we successfully fabricated gradient nanopattern plates to manipulate the response of blood-derived hECFCs without any chemical stimulation. Interestingly, we find that the sensitive nanopillar size for manipulation of hECFCs is range between 120 nm and 200 nm, which decreased the area and increased the filopodial outgrowth of hECFCs. Furthermore, we only modulate the nanopillar size to increase ROCK expression can be an

Particle Manipulation Methods in Droplet Microfluidics.

Science.gov (United States)

Tenje, Maria; Fornell, Anna; Ohlin, Mathias; Nilsson, Johan

2018-02-06

This Feature describes the different particle manipulation techniques available in the droplet microfluidics toolbox to handle particles encapsulated inside droplets and to manipulate whole droplets. We address the advantages and disadvantages of the different techniques to guide new users.

The importance of the secure base effect for domestic dogs - evidence from a manipulative problem-solving task.

Directory of Open Access Journals (Sweden)

Lisa Horn

Full Text Available It has been suggested that dogs display a secure base effect similar to that found in human children (i.e., using the owner as a secure base for interacting with the environment. In children, this effect influences their daily lives and importantly also their performance in cognitive testing. Here, we investigate the importance of the secure base effect for dogs in a problem-solving task.Using a manipulative task, we tested dogs in three conditions, in which we varied the owner's presence and behavior (Experiment 1: "Absent owner", "Silent owner", "Encouraging owner" and in one additional condition, in which the owner was replaced by an unfamiliar human (Experiment 2: "Replaced owner". We found that the dogs' duration of manipulating the apparatus was longer when their owner was present than absent, irrespective of the owner's behavior. The presence of an unfamiliar human however did not increase their manipulation. Furthermore, the reduced manipulation during the absence of the owner was not correlated with the dog's degree of separation distress scored in a preceding attachment experiment.Our study is the first to provide evidence for an owner-specific secure base effect in dogs that extends from attachment tests to other areas of dogs' lives and also manifests itself in cognitive testing - thereby confirming the remarkable similarity between the secure base effect in dogs and in human children. These results also have important implications for behavioral testing in dogs, because the presence or absence of the owner during a test situation might substantially influence dogs' motivation and therefore the outcome of the test.

Manipulation or Mobilisation for Neck Pain

NARCIS (Netherlands)

Gross, Anita; Miller, Jordan; D'Sylva, Jonathan; Burnie, Stephen J.; Goldsmith, Charles H.; Graham, Nadine; Haines, Ted; Brønfort, Gert; Hoving, Jan L.

2010-01-01

Background Manipulation and mobilisation are often used, either alone or combined with other treatment approaches, to treat neck pain. Objectives To assess if manipulation or mobilisation improves pain, function/disability, patient satisfaction, quality of life, and global perceived effect in adults

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

Science.gov (United States)

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

2018-05-10

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

Illusory changes in body size modulate body satisfaction in a way that is related to non-clinical eating disorder psychopathology.

Directory of Open Access Journals (Sweden)

Catherine Preston

Full Text Available Historically, body size overestimation has been linked to abnormal levels of body dissatisfaction found in eating disorders. However, recently this relationship has been called into question. Indeed, despite a link between how we perceive and how we feel about our body seeming intuitive, until now lack of an experimental method to manipulate body size has meant that a causal link, even in healthy participants, has remained elusive. Recent developments in body perception research demonstrate that the perceptual experience of the body can be readily manipulated using multisensory illusions. The current study exploits such illusions to modulate perceived body size in an attempt to influence body satisfaction. Participants were presented with stereoscopic video images of slimmer and wider mannequin bodies viewed through head-mounted displays from first person perspective. Illusory ownership was induced by synchronously stroking the seen mannequin body with the unseen real body. Pre and post-illusion affective and perceptual measures captured changes in perceived body size and body satisfaction. Illusory ownership of a slimmer body resulted in participants perceiving their actual body as slimmer and giving higher ratings of body satisfaction demonstrating a direct link between perceptual and affective body representations. Change in body satisfaction following illusory ownership of a wider body, however, was related to degree of (non-clinical eating disorder psychopathology, which can be linked to fluctuating body representations found in clinical samples. The results suggest that body perception is linked to body satisfaction and may be of importance for eating disorder symptomology.

Illusory Changes in Body Size Modulate Body Satisfaction in a Way That Is Related to Non-Clinical Eating Disorder Psychopathology

Science.gov (United States)

Preston, Catherine; Ehrsson, H. Henrik

2014-01-01

Historically, body size overestimation has been linked to abnormal levels of body dissatisfaction found in eating disorders. However, recently this relationship has been called into question. Indeed, despite a link between how we perceive and how we feel about our body seeming intuitive, until now lack of an experimental method to manipulate body size has meant that a causal link, even in healthy participants, has remained elusive. Recent developments in body perception research demonstrate that the perceptual experience of the body can be readily manipulated using multisensory illusions. The current study exploits such illusions to modulate perceived body size in an attempt to influence body satisfaction. Participants were presented with stereoscopic video images of slimmer and wider mannequin bodies viewed through head-mounted displays from first person perspective. Illusory ownership was induced by synchronously stroking the seen mannequin body with the unseen real body. Pre and post-illusion affective and perceptual measures captured changes in perceived body size and body satisfaction. Illusory ownership of a slimmer body resulted in participants perceiving their actual body as slimmer and giving higher ratings of body satisfaction demonstrating a direct link between perceptual and affective body representations. Change in body satisfaction following illusory ownership of a wider body, however, was related to degree of (non-clinical) eating disorder psychopathology, which can be linked to fluctuating body representations found in clinical samples. The results suggest that body perception is linked to body satisfaction and may be of importance for eating disorder symptomology. PMID:24465698

A microfluidic device for continuous manipulation of biological cells using dielectrophoresis.

Science.gov (United States)

Das, Debanjan; Biswas, Karabi; Das, Soumen

2014-06-01

The present study demonstrates the design, simulation, fabrication and testing of a label-free continuous manipulation and separation micro-device of particles/biological cells suspended on medium based on conventional dielectrophoresis. The current dielectrophoretic device uses three planner electrodes to generate non-uniform electric field and induces both p-DEP and n-DEP force simultaneously depending on the dielectric properties of the particles and thus influencing at least two types of particles at a time. Numerical simulations were performed to predict the distribution of non-uniform electric field, DEP force and particle trajectories. The device is fabricated utilizing the advantage of bonding between PDMS and SU8 polymer. The p-DEP particles move away from the center of the streamline, while the n-DEP particles will follow the central streamline along the channel length. Dielectrophoretic effects were initially tested using polystyrene beads followed by manipulation of HeLa cells. In the experiment, it was observed that polystyrene beads in DI water always response as n-DEP up to 1MHz frequency, whereas HeLa cells in PBS medium response as n-DEP up to 400kHz frequency and then it experiences p-DEP up to 1MHz. Further, the microscopic observations of DEP responses of HeLa cells were verified by performing trapping experiment at static condition. Copyright © 2013 IPEM. Published by Elsevier Ltd. All rights reserved.

Design and characterization of a microelectromechanical system electro-thermal linear motor with interlock mechanism for micro manipulators.

Science.gov (United States)

Hu, Tengjiang; Zhao, Yulong; Li, Xiuyuan; Zhao, You; Bai, Yingwei

2016-03-01

The design, fabrication, and testing of a novel electro-thermal linear motor for micro manipulators is presented in this paper. The V-shape electro-thermal actuator arrays, micro lever, micro spring, and slider are introduced. In moving operation, the linear motor can move nearly 1 mm displacement with 100 μm each step while keeping the applied voltage as low as 17 V. In holding operation, the motor can stay in one particular position without consuming energy and no creep deformation is found. Actuation force of 12.7 mN indicates the high force generation capability of the device. Experiments of lifetime show that the device can wear over two million cycles of operation. A silicon-on-insulator wafer is introduced to fabricate a high aspect ratio structure and the chip size is 8.5 mm × 8.5 mm × 0.5 mm.

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

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.

Nitrogen transformations in response to temperature and rainfall manipulation in oak savanna: A global change experiment

Science.gov (United States)

Wellman, R. L.; Boutton, T. W.; Tjoelker, M. G.; Volder, A.; Briske, D. D.

2013-12-01

Increasing concentrations of greenhouse gases are projected to elevate global surface air temperatures by 1.1 to 6.4°C by the end of the century, and potentially magnify the intensity and variability of seasonal precipitation distribution. The mid-latitude grasslands of North America are predicted to experience substantial modification in precipitation regimes, with a shift towards drier summers and wetter spring and fall seasons. Despite these predictions, little is known concerning the effects of these global climate change drivers or their potential interactive effects on nitrogen (N) cycling processes. The purpose of this study is to quantify seasonal variation in rates of N-mineralization, nitrification, and N-losses via leaching in soil subjected to experimental warming and rainfall manipulation. Research was conducted at the Texas A&M Warming and Rainfall Manipulation (WaRM) Site in College Station where eight 9x18m rainout shelters and two unsheltered controls were established in post oak savanna in 2003. Replicate annual rainfall redistribution treatments (n = 4) are applied at the shelter level (long term mean vs. 40% of summer redistributed to fall and spring with same annual total). Warming treatments (ambient vs. 24-hr IR canopy warming of 1-3°C) were applied to planted monocultures of juniper and little bluestem, and a juniper-grass combination. Both juniper and little bluestem are key species within the post oak savanna region. Plots were sampled from the full factorial design during years six and seven of the WaRM experiment. Soil N-mineralization, nitrification, and N-losses via leaching were assessed quarterly for two years using the resin core incubation method. Rainfall, species composition, and time interacted significantly to influence both ammonification and nitrification. Highest rates of ammonification (0.115 mg NH4+ -N/ kg soil/day) occurred in grass monocultures during summer in the control rainfall plots, whereas highest rates of

A Molecular Analysis of Training Multiple versus Single Manipulations to Establish a Generalized Manipulative Imitation Repertoire

Science.gov (United States)

Hartley, Breanne K.

2009-01-01

This study evaluates the necessity of training multiple versus single manipulative-imitations per object in order to establish generalized manipulative-imitation. Training took place in Croyden Avenue School's Early Childhood Developmental Delay preschool classroom in Kalamazoo, MI. Two groups of 3 children each were trained to imitate in order to…

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...

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

Phenomena of Inter-age Manipulations in Interaction "Teacher-Student"

Directory of Open Access Journals (Sweden)

Miklyaeva A.V.,

2017-01-01

Full Text Available Thearticlepresentsthe results of studies of the phenomenon empirical inter-age manipulation in the pedagogical interaction. Inter-age manipulation is considered a form of manipulation carried out on the basis of an appeal to the participants in the interaction age roles. Based on the results of a survey 109 teenagers 13-15 years, using a questionnaire, color test of relations and projective drawing shows that inter-age manipulation is a common way to impact on the students, elected teacher. Teachers are the subjects of inter-age manipulation more often than students. It was revealed that the effectiveness of inter-age manipulation in pedagogical interaction increases if it is meaningful is consistent with the normative content of age roles, as well as «inter-age distance" between the teacher and the students. The greatest effectiveness of have inter-age manipulation undertaken for older teachers, and manipulation "from below" from young teachers

Cooperative Prototyping Experiments

DEFF Research Database (Denmark)

Bødker, Susanne; Grønbæk, Kaj

1989-01-01

This paper describes experiments with a design technique that we denote cooperative prototyping. The experiments consider design of a patient case record system for municipal dental clinics in which we used HyperCard, an off the shelf programming environment for the Macintosh. In the ecperiments we...... tried to achieve a fluent work-like evaluation of prototypes where users envisioned future work with a computer tool, at the same time as we made on-line modifications of prototypes in cooperation with the users when breakdown occur in their work-like evaluation. The experiments showed...... that it was possible to make a number of direct manipulation changes of prototypes in cooperation with the users, in interplay with their fluent work-like evaluation of these. However, breakdown occurred in the prototyping process when we reached the limits of the direct manipulation support for modification. From...

Three-dimensional cell manipulation and patterning using dielectrophoresis via a multi-layer scaffold structure.

Science.gov (United States)

Chu, H K; Huan, Z; Mills, J K; Yang, J; Sun, D

2015-02-07

Cell manipulation is imperative to the areas of cellular biology and tissue engineering, providing them a useful tool for patterning cells into cellular patterns for different analyses and applications. This paper presents a novel approach to perform three-dimensional (3D) cell manipulation and patterning with a multi-layer engineered scaffold. This scaffold structure employed dielectrophoresis as the non-contact mechanism to manipulate cells in the 3D domain. Through establishing electric fields via this multi-layer structure, the cells in the medium became polarized and were attracted towards the interior part of the structure, forming 3D cellular patterns. Experiments were conducted to evaluate the manipulation and the patterning processes with the proposed structure. Results show that with the presence of a voltage input, this multi-layer structure was capable of manipulating different types of biological cells examined through dielectrophoresis, enabling automatic cell patterning in the time-scale of minutes. The effects of the voltage input on the resultant cellular pattern were examined and discussed. Viability test was performed after the patterning operation and the results confirmed that majority of the cells remained viable. After 7 days of culture, 3D cellular patterns were observed through SEM. The results suggest that this scaffold and its automated dielectrophoresis-based patterning mechanism can be used to construct artificial tissues for various tissue engineering applications.

The influence of object and background color manipulations on the electrophysiological indices of recognition memory.

Science.gov (United States)

Ecker, Ullrich K H; Zimmer, Hubert D; Groh-Bordin, Christian

2007-12-14

In a recognition memory experiment, the claim was tested that intrinsic object features contribute to familiarity, whereas extrinsic context features do not. We used the study-test manipulation of color to investigate the perceptual specificity of ERP old-new effects associated with familiarity and recollection. Color was either an intrinsic surface feature of the object or a feature of the surrounding context (a frame encasing the object); thus, the same feature was manipulated across intrinsic/extrinsic conditions. Subjects performed a threefold (same color/different color/new object) decision, making feature information task-relevant. Results suggest that the intrinsic manipulation of color affected the mid-frontal old-new effect associated with familiarity, while this effect was not influenced by extrinsic manipulation. This ERP pattern could not be explained by basic behavioral performance differences. It is concluded that familiarity can be perceptually specific with regard to intrinsic information belonging to the object. The putative electrophysiological signature of recollection - a late parietal old-new effect - was not present in the data, and reasons for this null effect are discussed.

Perceived Spaciousness and Preference in Sequential Experience.

Science.gov (United States)

Bokharaei, Saleheh; Nasar, Jack L

2016-11-01

We assessed the perceived spaciousness and preference for a destination space in relation to six attributes (size, lighting, window size, texture, wall mural, and amount of furniture) of it and of the space experienced before it. Studies have examined effects of these attributes but not for dynamic experience or preference. We created 24 virtual reality walks between each possible pair of two levels of each attribute. For each destination space, 31 students (13 men, 18 women) rated spaciousness and 30 students (16 men, 14 women) rated preference. We conducted separate 2 × 2 repeated-measure ANOVAs across each condition for perceived spaciousness and preference. Participants judged the space that was larger, was more brightly lit, with a larger window, or with less furniture as the more spacious. These attributes also increased preference. Consonant with adaptation-level theory, participants judged offices as higher in spaciousness and preference if preceded by a space that was smaller, was more dimly lit, or had smaller windows. The findings suggest that perceived spaciousness varies with size, lightness, window size, and amount of furniture but that perception also depends on the size, lightness, and size of the space experienced before. Designers could use the findings to manipulate features to make a space appear larger or more desirable. © 2016, Human Factors and Ergonomics Society.

Maximum allowable load on wheeled mobile manipulators

International Nuclear Information System (INIS)

Habibnejad Korayem, M.; Ghariblu, H.

2003-01-01

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

Laser Diode Beam Basics, Manipulations and Characterizations

CERN Document Server

Sun, Haiyin

2012-01-01

Many optical design technical books are available for many years which mainly deal with image optics design based on geometric optics and using sequential raytracing technique. Some books slightly touched laser beam manipulation optics design. On the other hand many books on laser diodes have been published that extensively deal with laser diode physics with little touching on laser diode beam manipulations and characterizations. There are some internet resources dealing with laser diode beams. However, these internet resources have not covered enough materials with enough details on laser diode beam manipulations and characterizations. A technical book concentrated on laser diode beam manipulations and characterizations can fit in to the open and provide useful information to laser diode users. Laser Diode Beam Basics, Manipulations and  Characterizations is concentrated on the very practical side of the subject, it only discusses the basic physics and mathematics that are necessary for the readers in order...

First mirror deposition/erosion experiment by using multi-purpose manipulators in KSTAR

Energy Technology Data Exchange (ETDEWEB)

Hong, Suk-Ho, E-mail: sukhhong@nfri.re.kr [National Fusion Research Institute, Daejeon (Korea, Republic of); University of Science and Technology, Daejeon (Korea, Republic of); Department of Electrical Engineering, Hanyang University, Seoul (Korea, Republic of); Bang, Eunnam; Son, Soohyun [National Fusion Research Institute, Daejeon (Korea, Republic of); Kogut, Dmitry; Douai, David [CEA, IRFM, Association Euratom-CEA, Paul lez Durance (France)

2016-11-01

First mirrors are essential plasma-facing components (PFCs) for fusion devices. Erosion and redeposition on first mirrors are of interest, since they cause degradation of signal intensity. In order to trace deposition/erosion characteristics of amorphous hydrogenated carbon (a-C:H) films on first mirrors, two manipulators attached at midplane and divertor regions of KSTAR vacuum vessel are utilized. A net deposition rate of 0.3–0.5 nm/s during a discharge and an erosion rates of 0.1 nm/s during He ion cyclotron wall conditioning (ICWC) are obtained. Property of redeposited layers are different depending on the location, varying from soft polymer-like to hard diamond-like a-C:H layers. For the deposition and erosion of metal layers, a plan for a dedicated experimental session has been set at KSTAR.

First mirror deposition/erosion experiment by using multi-purpose manipulators in KSTAR

International Nuclear Information System (INIS)

Hong, Suk-Ho; Bang, Eunnam; Son, Soohyun; Kogut, Dmitry; Douai, David

2016-01-01

First mirrors are essential plasma-facing components (PFCs) for fusion devices. Erosion and redeposition on first mirrors are of interest, since they cause degradation of signal intensity. In order to trace deposition/erosion characteristics of amorphous hydrogenated carbon (a-C:H) films on first mirrors, two manipulators attached at midplane and divertor regions of KSTAR vacuum vessel are utilized. A net deposition rate of 0.3–0.5 nm/s during a discharge and an erosion rates of 0.1 nm/s during He ion cyclotron wall conditioning (ICWC) are obtained. Property of redeposited layers are different depending on the location, varying from soft polymer-like to hard diamond-like a-C:H layers. For the deposition and erosion of metal layers, a plan for a dedicated experimental session has been set at KSTAR.

Manipulatives Work!

Science.gov (United States)

Moch, Peggy L.

2001-01-01

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

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

Seismic qualification of existing safety class manipulators

International Nuclear Information System (INIS)

Wu, Ting-shu; Moran, T.J.

1992-01-01

There are two bridge type electromechanical manipulators within a nuclear fuel handling facility which were constructed over twenty-five years ago. At that time, there were only minimal seismic considerations. These manipulators together with the facility are being reactivated. Detailed analyses have shown that the manipulators will satisfy the requirements of ANSI/AISC N690-1984 when they are subjected to loadings including the site specific design basis earthquake. 4 refs

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)

Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator

Science.gov (United States)

Yang, Yi-ling; Wei, Yan-ding; Lou, Jun-qiang; Fu, Lei; Fang, Sheng; Chen, Te-huan

2018-05-01

This paper presents a dynamic modeling and microscopic vibration suppression for a flexible macro-micro manipulator dedicated to high-speed operation. The manipulator system mainly consists of a macro motion stage and a flexible micromanipulator bonded with one macro-fiber-composite actuator. Based on Hamilton's principle and the Bouc-Wen hysteresis equation, the nonlinear dynamic model is obtained. Then, a hybrid control scheme is proposed to simultaneously suppress the elastic vibration during and after the motor motion. In particular, the hybrid control strategy is composed of a trajectory planning approach and an adaptive variable structure control. Moreover, two optimization indices regarding the comprehensive torques and synthesized vibrations are designed, and the optimal trajectories are acquired using a genetic algorithm. Furthermore, a nonlinear fuzzy regulator is used to adjust the switching gain in the variable structure control. Thus, a fuzzy variable structure control with nonlinear adaptive control law is achieved. A series of experiments are performed to verify the effectiveness and feasibility of the established system model and hybrid control strategy. The excited vibration during the motor motion and the residual vibration after the motor motion are decreased. Meanwhile, the settling time is shortened. Both the manipulation stability and operation efficiency of the manipulator are improved by the proposed hybrid strategy.

How to Make the Most of Math Manipulatives.

Science.gov (United States)

Burns, Marilyn

1996-01-01

A discussion of how to use math manipulatives to teach elementary students focuses on essential program elements: what math manipulatives are and why they are used, common questions about math manipulatives, how one teacher introduced the geoboard into the classroom, and pattern block activities. (SM)

Therapeutic implications of manipulating and mining the microbiota.

LENUS (Irish Health Repository)

Shanahan, Fergus

2009-09-01

The gut microbiota is increasingly recognized as a health asset but occasionally is a contributor to the pathogenesis of both gastrointestinal and certain extra-intestinal disorders. This is driving research interest, the pace of which has been greatly facilitated by new molecular technologies for studying mixed microbial populations, including the non-cultivable sector. In addition, it appears that elements of a modern lifestyle such as diet, domestic hygiene, urbanization, antibiotic usage and family size, may represent proxy markers of environmental influence on the composition of the microbiota colonizing the host in early life. While manipulation of the microbiota has become a therapeutic strategy in certain clinical disorders, the prospect of mining host-microbe-dietary interactions for novel drug discovery may become an even more intriguing reality.

Chemical shift-dependent apparent scalar couplings: An alternative concept of chemical shift monitoring in multi-dimensional NMR experiments

International Nuclear Information System (INIS)

Kwiatkowski, Witek; Riek, Roland

2003-01-01

The paper presents an alternative technique for chemical shift monitoring in a multi-dimensional NMR experiment. The monitored chemical shift is coded in the line-shape of a cross-peak through an apparent residual scalar coupling active during an established evolution period or acquisition. The size of the apparent scalar coupling is manipulated with an off-resonance radio-frequency pulse in order to correlate the size of the coupling with the position of the additional chemical shift. The strength of this concept is that chemical shift information is added without an additional evolution period and accompanying polarization transfer periods. This concept was incorporated into the three-dimensional triple-resonance experiment HNCA, adding the information of 1 H α chemical shifts. The experiment is called HNCA coded HA, since the chemical shift of 1 H α is coded in the line-shape of the cross-peak along the 13 C α dimension

Size-Adjustable Microdroplets Generation Based on Microinjection

Directory of Open Access Journals (Sweden)

Shibao Li

2017-03-01

Full Text Available Microinjection is a promising tool for microdroplet generation, while the microinjection for microdroplets generation still remains a challenging issue due to the Laplace pressure at the micropipette opening. Here, we apply a simple and robust substrate-contacting microinjection method to microdroplet generation, presenting a size-adjustable microdroplets generation method based on a critical injection (CI model. Firstly, the micropipette is adjusted to a preset injection pressure. Secondly, the micropipette is moved down to contact the substrate, then, the Laplace pressure in the droplet is no longer relevant and the liquid flows out in time. The liquid constantly flows out until the micropipette is lifted, ending the substrate-contacting situation, which results in the recovery of the Laplace pressure at the micropipette opening, and the liquid injection is terminated. We carry out five groups of experiments whereupon 1600 images are captured within each group and the microdroplet radius of each image is detected. Then we determine the relationship among microdroplet radius, radius at the micropipette opening, time, and pressure, and, two more experiments are conducted to verify the relationship. To verify the effectiveness of the substrate-contacting method and the relationship, we conducted two experiments with six desired microdroplet radii are set in each experiment, by adjusting the injection time with a given pressure, and adjusting the injection pressure with a given time. Then, six arrays of microdroplets are obtained in each experiment. The results of the experiments show that the standard errors of the microdroplet radii are less than 2% and the experimental errors fall in the range of ±5%. The average operating speed is 20 microdroplets/min and the minimum radius of the microdroplets is 25 μm. This method has a simple experimental setup that enables easy manipulation and lower cost.