WorldWideScience

Sample records for source locomotive control

  1. Artificial locomotion control

    DEFF Research Database (Denmark)

    Azevedo, Christine; Poignet, Philippe; Espiau, Bernard

    2004-01-01

    of postural and walking control; use of evolutive optimization objectives; on-line event handling and environment adaptation and anticipation. This leads to the synthesis of an original control scheme based on non-linear model predictive control: Trajectory Free NMPC. The movement is specified implicitly......This paper concerns the simultaneous synthesis and control of walking gaits for biped robots. The goal is to propose an adaptable and reactive control law for two-legged machines. The problem is addressed with human locomotion as a reference. The starting point of our work is an analysis of human...... walking from descriptive (biomechanics) as well as explicative (neuroscience and physiology) points of view, the objective being to stress the relevant elements for the approach of robot control. The adopted principles are then: no joint trajectory tracking; explicit distinction and integration...

  2. Visual Control of Locomotion

    National Research Council Canada - National Science Library

    Loomis, Jack M; Beall, Andrew C

    2005-01-01

    The accomplishments were threefold. First, a software tool for rendering virtual environments was developed, a tool useful for other researchers interested in visual perception and visual control of action...

  3. Patterned control of human locomotion

    Science.gov (United States)

    Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka

    2012-01-01

    There is much experimental evidence for the existence of biomechanical constraints which simplify the problem of control of multi-segment movements. In addition, it has been hypothesized that movements are controlled using a small set of basic temporal components or activation patterns, shared by several different muscles and reflecting global kinematic and kinetic goals. Here we review recent studies on human locomotion showing that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle. Similar patterns are involved in walking and running at different speeds, walking forwards or backwards, and walking under different loading conditions. The corresponding weights of distribution to different muscles may change as a function of the condition, allowing highly flexible control. Biomechanical correlates of each activation pattern have been described, leading to the hypothesis that the co-ordination of limb and body segments arises from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle activations need only intervene during limited time epochs to force intrinsic oscillations of the system when energy is lost. PMID:22411012

  4. Patterned control of human locomotion.

    Science.gov (United States)

    Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka

    2012-05-15

    There is much experimental evidence for the existence of biomechanical constraints which simplify the problem of control of multi-segment movements. In addition, it has been hypothesized that movements are controlled using a small set of basic temporal components or activation patterns, shared by several different muscles and reflecting global kinematic and kinetic goals. Here we review recent studies on human locomotion showing that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle. Similar patterns are involved in walking and running at different speeds, walking forwards or backwards, and walking under different loading conditions. The corresponding weights of distribution to different muscles may change as a function of the condition, allowing highly flexible control. Biomechanical correlates of each activation pattern have been described, leading to the hypothesis that the co-ordination of limb and body segments arises from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle activations need only intervene during limited time epochs to force intrinsic oscillations of the system when energy is lost.

  5. Locomotion

    DEFF Research Database (Denmark)

    Kiehn, Ole; Dougherty, Kimberly

    2016-01-01

    Locomotion is a complex motor behavior needed by animals and humans to move through the environment. All forms of locomotion, including swimming, flying, walking, running, and hopping, are repetitive motor activities that require the activation of the limb and body muscles in an organized rhythm ...

  6. Bioinspired template-based control of legged locomotion

    OpenAIRE

    Ahmad Sharbafi, Maziar

    2018-01-01

    cient and robust locomotion is a crucial condition for the more extensive use of legged robots in real world applications. In that respect, robots can learn from animals, if the principles underlying locomotion in biological legged systems can be transferred to their artificial counterparts. However, legged locomotion in biological systems is a complex and not fully understood problem. A great progress to simplify understanding locomotion dynamics and control was made by introducing simple mo...

  7. Cerebellar contribution to feedforward control of locomotion.

    Science.gov (United States)

    Pisotta, Iolanda; Molinari, Marco

    2014-01-01

    The cerebellum is an important contributor to feedforward control mechanisms of the central nervous system, and sequencing-the process that allows spatial and temporal relationships between events to be recognized-has been implicated as the fundamental cerebellar mode of operation. By adopting such a mode and because cerebellar activity patterns are sensitive to a variety of sensorimotor-related tasks, the cerebellum is believed to support motor and cognitive functions that are encoded in the frontal and parietal lobes of the cerebral cortex. In this model, the cerebellum is hypothesized to make predictions about the consequences of a motor or cognitive command that originates from the cortex to prepare the entire system to cope with ongoing changes. In this framework, cerebellar predictive mechanisms for locomotion are addressed, focusing on sensorial and motoric sequencing. The hypothesis that sequence recognition is the mechanism by which the cerebellum functions in gait control is presented and discussed.

  8. Modular control of limb movements during human locomotion

    NARCIS (Netherlands)

    Ivanenko, Yuri P; Cappellini, Germana; Dominici, Nadia; Poppele, Richard E; Lacquaniti, Francesco

    2007-01-01

    The idea that the CNS may control complex interactions by modular decomposition has received considerable attention. We explored this idea for human locomotion by examining limb kinematics. The coordination of limb segments during human locomotion has been shown to follow a planar law for walking at

  9. Distribution of spinal neuronal networks controlling forward and backward locomotion.

    Science.gov (United States)

    Merkulyeva, Natalia; Veshchitskii, Aleksandr; Gorsky, Oleg; Pavlova, Natalia; Zelenin, Pavel V; Gerasimenko, Yury; Deliagina, Tatiana G; Musienko, Pavel

    2018-04-20

    Higher vertebrates, including humans, are capable not only of forward (FW) locomotion but also of walking in other directions relative to the body axis [backward (BW), sideways, etc.]. While the neural mechanisms responsible for controlling FW locomotion have been studied in considerable detail, the mechanisms controlling steps in other directions are mostly unknown. The aim of the present study was to investigate the distribution of spinal neuronal networks controlling FW and BW locomotion. First, we applied electrical epidural stimulation (ES) to different segments of the spinal cord from L2 to S2 to reveal zones triggering FW and BW locomotion in decerebrate cats of either sex. Second, to determine the location of spinal neurons activated during FW and BW locomotion, we used c-fos immunostaining. We found that the neuronal networks responsible for FW locomotion were distributed broadly in the lumbosacral spinal cord and could be activated by ES of any segment from L3 to S2. By contrast, networks generating BW locomotion were activated by ES of a limited zone from the caudal part of L5 to the caudal part of L7. In the intermediate part of the gray matter within this zone, a significantly higher number of c- fos -positive interneurons was revealed in BW-stepping cats compared with FW-stepping cats. We suggest that this region of the spinal cord contains the network that determines the BW direction of locomotion. Significance Statement Sequential and single steps in various directions relative to the body axis [forward (FW), backward (BW), sideways, etc.] are used during locomotion and to correct for perturbations, respectively. The mechanisms controlling step direction are unknown. In the present study, for the first time we compared the distributions of spinal neuronal networks controlling FW and BW locomotion. Using a marker to visualize active neurons, we demonstrated that in the intermediate part of the gray matter within L6 and L7 spinal segments

  10. Advanced underground Vehicle Power and Control: The locomotive Research Platform

    Energy Technology Data Exchange (ETDEWEB)

    Vehicle Projects LLC

    2003-01-28

    Develop a fuelcell mine locomotive with metal-hydride hydrogen storage. Test the locomotive for fundamental limitations preventing successful commercialization of hydride fuelcells in underground mining. During Phase 1 of the DOE-EERE sponsored project, FPI and its partner SNL, completed work on the development of a 14.4 kW fuelcell power plant and metal-hydride energy storage. An existing battery-electric locomotive with similar power requirements, minus the battery module, was used as the base vehicle. In March 2001, Atlas Copco Wagner of Portland, OR, installed the fuelcell power plant into the base vehicle and initiated integration of the system into the vehicle. The entire vehicle returned to Sandia in May 2001 for further development and integration. Initial system power-up took place in December 2001. A revision to the original contract, Phase 2, at the request of DOE Golden Field Office, established Vehicle Projects LLC as the new prime contractor,. Phase 2 allowed industry partners to conduct surface tests, incorporate enhancements to the original design by SNL, perform an extensive risk and safety analysis, and test the fuelcell locomotive underground under representative production mine conditions. During the surface tests one of the fuelcell stacks exhibited reduced power output resulting in having to replace both fuelcell stacks. The new stacks were manufactured with new and improved technology resulting in an increase of the gross power output from 14.4 kW to 17 kW. Further work by CANMET and Hatch Associates, an engineering consulting firm specializing in safety analysis for the mining industry, both under subcontract to Vehicle Projects LLC, established minimum requirements for underground testing. CANMET upgraded the Programmable Logic Control (PLC) software used to monitor and control the fuelcell power plant, taking into account locomotive operator's needs. Battery Electric, a South Africa manufacturer, designed and manufactured (at no cost

  11. Towards a general neural controller for quadrupedal locomotion.

    Science.gov (United States)

    Maufroy, Christophe; Kimura, Hiroshi; Takase, Kunikatsu

    2008-05-01

    Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from one control method to the other according to locomotion speed. We are developing such a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing ground reaction force sensory feedback. We used a biologically faithful musculoskeletal model with a spine and hind legs, and computationally simulated stable stepping motion at various speeds using the neuro-mechanical system combining the neural controller and the musculoskeletal model. We compared the changes of the most important locomotion characteristics (stepping period, duty ratio and support length) according to speed in our simulations with the data on real cat walking. We found similar tendencies for all of them. In particular, the swing period was approximately constant while the stance period decreased with speed, resulting in a decreasing stepping period and duty ratio. Moreover, the support length increased with speed due to the posterior extreme position that shifted progressively caudally, while the anterior extreme position was approximately constant. This indicates that we succeeded in reproducing to some extent the motion of a cat from the kinematical point of view, even though we used a 2D bipedal model. We expect that such computational models will become essential tools for legged locomotion neuroscience in the future.

  12. Nonlinear control methods for planar carangiform robot fish locomotion

    OpenAIRE

    Morgansen, Kristi A.; Duindam, Vincent; Mason, Richard J.; Burdick, Joel W.; Murray, Richard M.

    2001-01-01

    Considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic fish system that is propelled using carangiform-like locomotion. Our model for the fish's propulsion is based on quasi-steady fluid flow. Using this model, we propose gaits for forward and turning trajectories and analyze system response under such control strategies. Our models and predictions are verified by ex...

  13. Control method for biped locomotion robots based on ZMP information

    International Nuclear Information System (INIS)

    Kume, Etsuo

    1994-01-01

    The Human Acts Simulation Program (HASP) started as a ten year program of Computing and Information Systems Center (CISC) at Japan Atomic Energy Research Institute (JAERI) in 1987. A mechanical design study of biped locomotion robots for patrol and inspection in nuclear facilities is being performed as an item of the research scope. One of the goals of our research is to design a biped locomotion robot for practical use in nuclear facilities. So far, we have been studying for several dynamic walking patterns. In conventional control methods for biped locomotion robots, the program control is used based on preset walking patterns, so it dose not have the robustness such as a dynamic change of walking pattern. Therefore, a real-time control method based on dynamic information of the robot states is necessary for the high performance of walking. In this study a new control method based on Zero Moment Point (ZMP) information is proposed as one of real-time control methods. The proposed method is discussed and validated based on the numerical simulation. (author)

  14. Energy-based control for a biologically inspired hexapod robot with rolling locomotion

    Directory of Open Access Journals (Sweden)

    Takuma Nemoto

    2015-04-01

    Full Text Available This paper presents an approach to control rolling locomotion on the level ground with a biologically inspired hexapod robot. For controlling rolling locomotion, a controller which can compensate energy loss with rolling locomotion of the hexapod robot is designed based on its dynamic model. The dynamic model describes the rolling locomotion which is limited to planar one by an assumption that the hexapod robot does not fall down while rolling and influences due to collision and contact with the ground, and it is applied for computing the mechanical energy of the hexapod robot and a plant for a numerical simulation. The numerical simulation of the rolling locomotion on the level ground verifies the effectiveness of the proposed controller. The simulation results show that the hexapod robot can perform the rolling locomotion with the proposed controller. In conclusion, it is shown that the proposed control approach is effective in achieving the rolling locomotion on the level ground.

  15. Autonomous control of a locomotion vehicle

    International Nuclear Information System (INIS)

    Ichikawa, Yoshiaki; Senoh, Makoto; Miyata, Kenji

    1984-01-01

    A path planner and an execution system are proposed for autonomous vehicle control. The planner creates a near shortest path avoiding obstacles that are represented by combinations of circles and line segments on a two dimensional map. For realizing real time execution, path search procedures employ a heuristic pruning strategies in selecting a node to expand and in generating successor nodes. Nodes are selected for expansion in order, according to a cost assigned to each node. The cost is mainly evaluated by approximating a path length from the initial node to the goal node. In order to expand a node and to generate successor nodes, a specific search procedure is activated that finds positions avoiding obstacles in the direction of the goal, and creates successor nodes corresponding to the positions. The execution system, utilizing an ultrasonic range finder equipped to the vehicle performs a plan repair against unknown obstacles when echoes from the obstacles are observed. The plan repair is conducted by a map edition and replanning in such a way that new circles representing the echoes are added to the map. Obstacle avoidance tests with a vehicle controlled by microprocessors demonstrate the utility of heuristics just outlined. (author)

  16. Spatio-temporal problems of locomotion control

    International Nuclear Information System (INIS)

    Smolyaninov, Vladimir V

    2000-01-01

    The problem of the spatio-temporal construction of legged movements involves structural freedoms due to the multi-link structure of the extremities, kinematic freedoms of the stepping cycle, and interextremity coordination freedoms, whose purposive organization is established by means of appropriate synergies, i.e. additional functional links the brain's control system forms. The main focus of attention in this work is on the kinematic and coordination synergies of the legged movements of humans and animals. The comparative historical analysis of experimental data and modelling metaphors concentrates on obtaining a unified description, whereas the ultimate mathematical metaphor reduces to space-time geometry, with base step synergies as its invariants. Thus, the concept of a synergetic organization for biomechanical movement freedoms is transformed to the geochronometry concept, actually a modification of Minkowskian geometry. To determine the spectrum of possible geochronometries, the consequences of a generalized 'postulate of a constant speed of light' are studied and different models of wave chronometers compared. (reviews of topical problems)

  17. Controlling legs for locomotion-insights from robotics and neurobiology.

    Science.gov (United States)

    Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

    2015-06-29

    Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

  18. Dynamic control of biped locomotion robot using optimal regulator

    International Nuclear Information System (INIS)

    Sano, Akihito; Furusho, Junji

    1988-01-01

    For moving in indoor space, it is generally recognized that biped locomotion is suitable. This paper proposes a hierarchical control strategy for the lower level where the position control or the force control at each joint is implemented. In the upper level control, the robot motion is divided into a sagittal plane and a lateral plane. We applied the optimal control algorithm to the motion control in the lateral plane in order to improve the robustness of the control system. The effects of these control schemes are shown by the experiments using the new walking robot BLR-G 1 and the parallel calculation system. BLR-G 1 has 9 degrees of freedom and equips the foot-pressure-sensors and a rate gyroscope. Complete dynamic walking is realized, in which the cycle for each step is about 1.0 second. (author)

  19. Support afferentation in the posture and locomotion control system

    Science.gov (United States)

    Grigoriev, Anatoly; Tomilovskaya, Elena; Kozlovskaya, Inesa

    Mechanisms of support afferentation contribution in posture and locomotion control, which were uncertain up to now, became the point of intensive studies recently. This became possible since the space flights era started which created the conditions for simulated microgravity experiments under conditions of dry immersion and bedrest. The results of neurophysiological studies performed under the conditions of supportlessness have shown that decline or elimination of support loads is followed by deep and fast developing alterations in postural tonic system, including development of postural muscle atonia, changes of recruitment order of motoneurons innervating the shin muscles, spinal hyperreflexia development etc. (Kozlovskaya I.B. et al., 1987). It has been also shown that application of artificial support stimulation in the regimen of natural locomotion under these conditions decreases significantly or even eliminates the development of mentioned changes. The results of these studies laid down the basis for a new hypothesis on the trigger role of support afferentation in postural tonic system and its role in organization and control of postural synergies (Grigoriev A.I. et al., 2004). According to this hypothesis the muscle reception is considered to be the leading afferent input in the control of locomotion. However the data of recent studies pointed out strongly to the participation of support afferentation in definition of cognitive strategies and motor programs of locomotor movements (Chernikova L.A. et al., 2013) and, consequently, in the processes of their initiation (Gerasimenko Yu.P. et al., 2012). The cortical locomotor reflex composes apparently the basis of these processes. The receptive field of this reflex is located in the support zones of the soles and the central part is located in the posterior parietal areas (IPL) of brain cortex. The study is supported by RFBR grant N 13-04-12091 OFI-m.

  20. The aspect of vector control using the asynchronous traction motor in locomotives

    Directory of Open Access Journals (Sweden)

    L. Liudvinavičius

    2009-12-01

    Full Text Available The article examines curves controlling asynchronous traction motors increasingly used in locomotive electric drives the main task of which is to create a tractive effort-speed curve of an ideal locomotive Fk = f(v, including a hyperbolic area the curve of which will create conditions showing that energy created by the diesel engine of diesel locomotives (electric locomotives and in case of electric trains, electricity taken from the contact network over the entire range of locomotive speed is turned into efficient work. Mechanical power on wheel sets is constant Pk = Fkv = const, the power of the diesel engine is fully used over the entire range of locomotive speed. Tractive effort-speed curve Fk(v shows the dependency of locomotive traction power Fk on movement speed v. The article presents theoretical and practical aspects relevant to creating the structure of locomotive electric drive and selecting optimal control that is especially relevant to creating the structure of locomotive electric drive using ATM (asynchronous traction motor that gains special popularity in traction rolling stock replacing DC traction motors having low reliability. The frequency modes of asynchronous motor speed regulation are examined. To control ATM, the authors suggest the method of vector control presenting the structural schemes of a locomotive with ATM and control algorithm.

  1. A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms

    NARCIS (Netherlands)

    Xiong, Xiaofeng; Sartori, Massimo; Dosen, Strahinja; González-Vargas, José; Wörgötter, Florentin; Farina, Dario; Ibanez, J.; González-Vargas, J.; Azorin, J.M.; Akay, M.; Pons, J.L.

    2017-01-01

    It has been recognized that bipedal locomotion is controlled using feed-forward (e.g., patterned) and feedback (e.g., reflex) control schemes. However, most current controllers fail to integrate the two schemes to simplify speed control of bipedal locomotion. To solve this problem, we here propose a

  2. An evaluation of the use of mobile source emissions trading: Locomotive case study

    International Nuclear Information System (INIS)

    West, W.R.; Brazell, M.M.

    1993-01-01

    There are many proposals for generating mobil source credits for use by stationary and other sources. This paper examines the benefits and practicality of including locomotive rail emissions in proposed emissions trading programs in california. In particular, this paper examines (1) if trading of locomotive rail emissions will result in lower compliance costs for railroads than traditional open-quotes command and controlclose quotes approaches, and (2) if emissions trading programs provide large enough incentives to entice railroads to seek to meet or exceed expected emissions reduction open-quotes command and controlclose quotes targets. The paper also examines under what circumstances stationary sources would be willing to purchase mobile source credits from railroads, in order to offset some of the stationary source's emissions reductions requirements. Stated simply, this analysis examines whether proposed trading programs offer enough benefits to both trading partners to warrant their use

  3. A Specific Population of Reticulospinal Neurons Controls the Termination of Locomotion.

    Science.gov (United States)

    Juvin, Laurent; Grätsch, Swantje; Trillaud-Doppia, Emilie; Gariépy, Jean-François; Büschges, Ansgar; Dubuc, Réjean

    2016-06-14

    Locomotion requires the proper sequencing of neural activity to start, maintain, and stop it. Recently, brainstem neurons were shown to specifically stop locomotion in mammals. However, the cellular properties of these neurons and their activity during locomotion are still unknown. Here, we took advantage of the lamprey model to characterize the activity of a cell population that we now show to be involved in stopping locomotion. We find that these neurons display a burst of spikes that coincides with the end of swimming activity. Their pharmacological activation ends ongoing swimming, whereas the inactivation of these neurons dramatically impairs the rapid termination of swimming. These neurons are henceforth referred to as stop cells, because they play a crucial role in the termination of locomotion. Our findings contribute to the fundamental understanding of motor control and provide important details about the cellular mechanisms involved in locomotor termination. Copyright © 2016 The Author(s). Published by Elsevier Inc. All rights reserved.

  4. Quasi-dynamic walk of a quadruped locomotion robot using optimal tracking control

    International Nuclear Information System (INIS)

    Uchida, Hiroaki; Nonami, Kenzo; Chiba, Yasunori; Koyama, Kakutaro.

    1994-01-01

    Recently, many research works of quadruped locomotion robots, which are considered to be operable on irregular terrain, have been carried out. In the case of realizing ideal motion control of the quadruped locomotion robot, it is assumed that hierarchical cooperative control consisting of decentralized control and centralized control is desirable. In the case that the locomotion robot moves at high speed, it is impossible to follow the desired trajectory because using only the feedback control method includes time delay. It is known that feedforward control input is valid for such motion control. In this paper, decentralized control is realized to apply optimal tracking control using feedforward control input to the quadruped locomotion robot, as the first step. As a result, it is determined that the angle variation of the foot and the stride applying optimal tracking control input are large compared with using only feedback control. It is verified that feedforward control input is useful to control the trajectory of the tip of the foot in high speed locomotion. (author)

  5. FIMTrack: An open source tracking and locomotion analysis software for small animals.

    Directory of Open Access Journals (Sweden)

    Benjamin Risse

    2017-05-01

    Full Text Available Imaging and analyzing the locomotion behavior of small animals such as Drosophila larvae or C. elegans worms has become an integral subject of biological research. In the past we have introduced FIM, a novel imaging system feasible to extract high contrast images. This system in combination with the associated tracking software FIMTrack is already used by many groups all over the world. However, so far there has not been an in-depth discussion of the technical aspects. Here we elaborate on the implementation details of FIMTrack and give an in-depth explanation of the used algorithms. Among others, the software offers several tracking strategies to cover a wide range of different model organisms, locomotion types, and camera properties. Furthermore, the software facilitates stimuli-based analysis in combination with built-in manual tracking and correction functionalities. All features are integrated in an easy-to-use graphical user interface. To demonstrate the potential of FIMTrack we provide an evaluation of its accuracy using manually labeled data. The source code is available under the GNU GPLv3 at https://github.com/i-git/FIMTrack and pre-compiled binaries for Windows and Mac are available at http://fim.uni-muenster.de.

  6. Design of master control unit for laboratory prototype of traction converter for locomotives

    OpenAIRE

    Žák, Jan; Peroutka, Zdeněk; Ovaska, Seppo J.

    2008-01-01

    This paper deals with the prototype of a main traction converter with medium-frequency transformer for AC trolley wire-fed locomotives. The attention is paid to the new master control and diagnostic unit. The designed master control unit has been implemented in the LabVIEW environment. Our master control unit ensures an effective human interface between a user and the control hardware. In this case, the master unit makes possible both extensive control and diagnostic operations of the laborat...

  7. Open source tracking and analysis of adult Drosophila locomotion in Buridan's paradigm with and without visual targets.

    Directory of Open Access Journals (Sweden)

    Julien Colomb

    Full Text Available BACKGROUND: Insects have been among the most widely used model systems for studying the control of locomotion by nervous systems. In Drosophila, we implemented a simple test for locomotion: in Buridan's paradigm, flies walk back and forth between two inaccessible visual targets [1]. Until today, the lack of easily accessible tools for tracking the fly position and analyzing its trajectory has probably contributed to the slow acceptance of Buridan's paradigm. METHODOLOGY/PRINCIPAL FINDINGS: We present here a package of open source software designed to track a single animal walking in a homogenous environment (Buritrack and to analyze its trajectory. The Centroid Trajectory Analysis (CeTrAn software is coded in the open source statistics project R. It extracts eleven metrics and includes correlation analyses and a Principal Components Analysis (PCA. It was designed to be easily customized to personal requirements. In combination with inexpensive hardware, these tools can readily be used for teaching and research purposes. We demonstrate the capabilities of our package by measuring the locomotor behavior of adult Drosophila melanogaster (whose wings were clipped, either in the presence or in the absence of visual targets, and comparing the latter to different computer-generated data. The analysis of the trajectories confirms that flies are centrophobic and shows that inaccessible visual targets can alter the orientation of the flies without changing their overall patterns of activity. CONCLUSIONS/SIGNIFICANCE: Using computer generated data, the analysis software was tested, and chance values for some metrics (as well as chance value for their correlation were set. Our results prompt the hypothesis that fixation behavior is observed only if negative phototaxis can overcome the propensity of the flies to avoid the center of the platform. Together with our companion paper, we provide new tools to promote Open Science as well as the collection and

  8. The perceptual control of goal-directed locomotion: a common control architecture for interception and navigation?

    Science.gov (United States)

    Chardenon, A; Montagne, G; Laurent, M; Bootsma, R J

    2004-09-01

    Intercepting a moving object while locomoting is a highly complex and demanding ability. Notwithstanding the identification of several informational candidates, the role of perceptual variables in the control process underlying such skills remains an open question. In this study we used a virtual reality set-up for studying locomotor interception of a moving ball. The subject had to walk along a straight path and could freely modify forward velocity, if necessary, in order to intercept-with the head-a ball moving along a straight path that led it to cross the agent's displacement axis. In a series of experiments we manipulated a local (ball size) and a global (focus of expansion) component of the visual flow but also the egocentric orientation of the ball. The experimental observations are well captured by a dynamic model linking the locomotor acceleration to properties of both global flow and egocentric direction. More precisely the changes in locomotor velocity depend on a linear combination of the change in bearing angle and the change in egocentric orientation, allowing the emergence of adaptive behavior under a variety of circumstances. We conclude that the mechanisms underlying the control of different goal-directed locomotion tasks (i.e. steering and interceptive tasks) could share a common architecture.

  9. FPGA implementation of a configurable neuromorphic CPG-based locomotion controller.

    Science.gov (United States)

    Barron-Zambrano, Jose Hugo; Torres-Huitzil, Cesar

    2013-09-01

    Neuromorphic engineering is a discipline devoted to the design and development of computational hardware that mimics the characteristics and capabilities of neuro-biological systems. In recent years, neuromorphic hardware systems have been implemented using a hybrid approach incorporating digital hardware so as to provide flexibility and scalability at the cost of power efficiency and some biological realism. This paper proposes an FPGA-based neuromorphic-like embedded system on a chip to generate locomotion patterns of periodic rhythmic movements inspired by Central Pattern Generators (CPGs). The proposed implementation follows a top-down approach where modularity and hierarchy are two desirable features. The locomotion controller is based on CPG models to produce rhythmic locomotion patterns or gaits for legged robots such as quadrupeds and hexapods. The architecture is configurable and scalable for robots with either different morphologies or different degrees of freedom (DOFs). Experiments performed on a real robot are presented and discussed. The obtained results demonstrate that the CPG-based controller provides the necessary flexibility to generate different rhythmic patterns at run-time suitable for adaptable locomotion. Copyright © 2013 Elsevier Ltd. All rights reserved.

  10. Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

    Energy Technology Data Exchange (ETDEWEB)

    Shieh, M-Y; Chang, K-H [Department of E. E., Southern Taiwan University, 1 Nantai St., YungKang City, Tainan County 71005, Taiwan (China); Lia, Y-S [Executive Director Office, ITRI, Southern Taiwan Innovation Park, Tainan County, Taiwan (China)], E-mail: myshieh@mail.stut.edu.tw

    2008-02-15

    This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface.

  11. Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

    International Nuclear Information System (INIS)

    Shieh, M-Y; Chang, K-H; Lia, Y-S

    2008-01-01

    This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface

  12. Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots

    International Nuclear Information System (INIS)

    Daltorio, Kathryn A; Horchler, Andrew D; Quinn, Roger D; Boxerbaum, Alexander S; Shaw, Kendrick M; Chiel, Hillel J

    2013-01-01

    In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress. (paper)

  13. Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots.

    Science.gov (United States)

    Daltorio, Kathryn A; Boxerbaum, Alexander S; Horchler, Andrew D; Shaw, Kendrick M; Chiel, Hillel J; Quinn, Roger D

    2013-09-01

    In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress

  14. Afferent control of central pattern generators: experimental analysis of locomotion in the decerebrate cat.

    Science.gov (United States)

    Baev, K V; Esipenko, V B; Shimansky YuP

    1991-01-01

    Changes in the motor activity of the spinal locomotor generator evoked by tonic and phasic peripheral afferent signals during fictitious locomotion of both slow and fast rhythms were analysed in the cat. The tonic afferent inflow was conditioned by the position of the hindlimb. The phasic afferent signals were imitated by electrical stimulation of hindlimb nerves. The correlation between the kinematics of hindlimb locomotor movement and sensory inflow was investigated during actual locomotion. Reliable correlations between motor activity parameters during fictitious locomotion were revealed in cases of both slow and fast "locomotor" rhythms. The main difference between these cases was that correlations "duration-intensity" were positive in the first and negative in the second case. The functional role of "locomotor" pattern dependence on tonic sensory inflow consisted of providing stability for planting the hindlimb on the ground. For any investigated afferent input the phase moments in the "locomotor" cycle were found, in which an afferent signal caused no rearrangement in locomotor generator activity. These moments corresponded to the transitions between "flexion" and "extension" phases and to the bursts of integral afferent activity observed during real locomotion. The data obtained are compared with the results previously described for the scratching generator. The character of changes in "locomotor" activity in response to tonic and phasic sensory signals was similar to that of such changes in "scratching" rhythm in the case of fast "locomotion". Intensification of the "flexion" phase caused by phasic high-intensity stimulation of cutaneous afferents during low "locomotor" rhythm was changed to inhibition (such as observed during "scratching") when this rhythm was fast. It is concluded that the main regularities of peripheral afferent control for both the locomotor and scratching generators are the same. Moreover, these central pattern generators are just

  15. A remotely-controlled locomotive IC driven by electrolytic bubbles and wireless powering.

    Science.gov (United States)

    Hsieh, Jian-Yu; Kuo, Po-Hung; Huang, Yi-Chun; Huang, Yu-Jie; Tsai, Rong-Da; Wang, Tao; Chiu, Hung-Wei; Wang, Yao-Hung; Lu, Shey-Shi

    2014-12-01

    A batteryless remotely-controlled locomotive IC utilizing electrolytic bubbles as propelling force is realized in 0.35 μm CMOS technology. Without any external components, such as magnets and on-board coils, the bare IC is wirelessly powered and controlled by a 10 MHz ASK modulated signal with RS232 control commands to execute movement in four moving directions and with two speeds. The receiving coil and electrolysis electrodes are all integrated on the locomotive chip. The experiment successfully demonstrated that the bare IC moved on the surface of an electrolyte with a speed up to 0.3 mm/s and change moving directions according to the commands. The total power consumptions of the chip are 207.4 μW and 180 μ W while the output electrolysis voltages are 2 V and 1.3 V, respectively.

  16. CPG-Based Locomotion Control of a Robotic Fish : Using Linear Oscillators and Reducing Control Parameters via PSO

    NARCIS (Netherlands)

    Wang, Chen; Xie, G.; Wang, L.; Cao, M.

    The aim of the present study is to investigate the locomotion control of a robotic fish. To achieve this goal, we design a control architecture based on a novel central pattern generator (CPG) and implement it as a system of coupled linear oscillators. This design differs significantly from the

  17. Legged locomotion : Balance, control and tools - from equation to action

    OpenAIRE

    Ridderström, Christian

    2003-01-01

    This thesis is about control and balance stability of leggedlocomotion. It also presents a combination of tools that makesit easier to design controllers for large and complicated robotsystems. The thesis is divided into four parts. The first part studies and analyzes how walking machines arecontrolled, examining the literature of over twenty machinesbriefly, and six machines in detail. The goal is to understandhow the controllers work on a level below task and pathplanning, but above actuato...

  18. Vestibular-Somatosensory Convergence in Head Movement Control During Locomotion after Long-Duration Space Flight

    Science.gov (United States)

    Mulavara, Ajitkumar; Ruttley, Tara; Cohen, Helen; Peters, Brian; Miller, Chris; Brady, Rachel; Merkle, Lauren; Bloomberg, Jacob

    2010-01-01

    Exposure to the microgravity conditions of space flight induces adaptive modification in the control of vestibular-mediated reflexive head movement during locomotion after space flight. Space flight causes astronauts to be exposed to somatosensory adaptation in both the vestibular and body load-sensing (BLS) systems. The goal of these studies was to examine the contributions of vestibular and BLS-mediated somatosensory influences on head movement control during locomotion after long-duration space flight. Subjects were asked to walk on a treadmill driven at 1.8 m/s while performing a visual acuity task. Data were collected using the same testing protocol from three independent subject groups; 1) normal subjects before and after exposure to 30 minutes of 40% bodyweight unloaded treadmill walking, 2) bilateral labyrinthine deficient (LD) patients and 3) astronauts who performed the protocol before and after long duration space flight. Motion data from head and trunk segmental motion data were obtained to calculate the angular head pitch (HP) movements during walking trials while subjects performed the visual task, to estimate the contributions of vestibular reflexive mechanisms in HP movements. Results showed that exposure to unloaded locomotion caused a significant increase in HP movements, whereas in the LD patients the HP movements were significantly decreased. Astronaut subjects results showed a heterogeneous response of both increases and decreases in the amplitude of HP movement. We infer that BLS-mediated somatosensory input centrally modulates vestibular input and can adaptively modify head-movement control during locomotion. Thus, space flight may cause a central adaptation mediated by the converging vestibular and body load-sensing somatosensory systems.

  19. Differential effects of absent visual feedback control on gait variability during different locomotion speeds.

    Science.gov (United States)

    Wuehr, M; Schniepp, R; Pradhan, C; Ilmberger, J; Strupp, M; Brandt, T; Jahn, K

    2013-01-01

    Healthy persons exhibit relatively small temporal and spatial gait variability when walking unimpeded. In contrast, patients with a sensory deficit (e.g., polyneuropathy) show an increased gait variability that depends on speed and is associated with an increased fall risk. The purpose of this study was to investigate the role of vision in gait stabilization by determining the effects of withdrawing visual information (eyes closed) on gait variability at different locomotion speeds. Ten healthy subjects (32.2 ± 7.9 years, 5 women) walked on a treadmill for 5-min periods at their preferred walking speed and at 20, 40, 70, and 80 % of maximal walking speed during the conditions of walking with eyes open (EO) and with eyes closed (EC). The coefficient of variation (CV) and fractal dimension (α) of the fluctuations in stride time, stride length, and base width were computed and analyzed. Withdrawing visual information increased the base width CV for all walking velocities (p < 0.001). The effects of absent visual information on CV and α of stride time and stride length were most pronounced during slow locomotion (p < 0.001) and declined during fast walking speeds. The results indicate that visual feedback control is used to stabilize the medio-lateral (i.e., base width) gait parameters at all speed sections. In contrast, sensory feedback control in the fore-aft direction (i.e., stride time and stride length) depends on speed. Sensory feedback contributes most to fore-aft gait stabilization during slow locomotion, whereas passive biomechanical mechanisms and an automated central pattern generation appear to control fast locomotion.

  20. Mid-Level Planning and Control for Articulated Locomoting Systems

    Science.gov (United States)

    2017-02-12

    processor to a 32-bit ARM Cortex M4F running at 7X the clock speed. We also wanted to enable higher frequency external control and sen- sor feedback and to...modules into separate threads. ChibiOS/RT1 was selected due to its out-of-the-box support for STM32 Cortex processors and a hardware abstraction layer...fine torque control on each joint. Additionally, each module contains a 32-bit processor and 100 Mbps Ethernet data bus, a 400X improvement in

  1. Distributed Recurrent Neural Forward Models with Neural Control for Complex Locomotion in Walking Robots

    DEFF Research Database (Denmark)

    Dasgupta, Sakyasingha; Goldschmidt, Dennis; Wörgötter, Florentin

    2015-01-01

    here, an artificial bio-inspired walking system which effectively combines biomechanics (in terms of the body and leg structures) with the underlying neural mechanisms. The neural mechanisms consist of (1) central pattern generator based control for generating basic rhythmic patterns and coordinated......Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow the animals to deal with changes in environmental...... conditions, like uneven terrains, gaps, obstacles etc. Biological study has revealed that such complex behaviors are a result of a combination of biomechanics and neural mechanism thus representing the true nature of embodied interactions. While the biomechanics helps maintain flexibility and sustain...

  2. Descending and Local Network Interactions Control Adaptive Locomotion

    Science.gov (United States)

    2014-12-04

    coupled CPGs also has the added benefit of making rhythms more robust. This improves both responses to perturbations to walking and the stability of...includes the sensory pathways identified in the insect and CPGs at each joint. We also developed a new robotic cockroach leg model that includes additional...controller. Campaniform sensilla (CS) are sensory neurons whose dendrites insert into a cuticular cap on the exoskeleton (Fig. 14). The elliptical

  3. A silicon central pattern generator controls locomotion in vivo.

    Science.gov (United States)

    Vogelstein, R J; Tenore, F; Guevremont, L; Etienne-Cummings, R; Mushahwar, V K

    2008-09-01

    We present a neuromorphic silicon chip that emulates the activity of the biological spinal central pattern generator (CPG) and creates locomotor patterns to support walking. The chip implements ten integrate-and-fire silicon neurons and 190 programmable digital-to-analog converters that act as synapses. This architecture allows for each neuron to make synaptic connections to any of the other neurons as well as to any of eight external input signals and one tonic bias input. The chip's functionality is confirmed by a series of experiments in which it controls the motor output of a paralyzed animal in real-time and enables it to walk along a three-meter platform. The walking is controlled under closed-loop conditions with the aide of sensory feedback that is recorded from the animal's legs and fed into the silicon CPG. Although we and others have previously described biomimetic silicon locomotor control systems for robots, this is the first demonstration of a neuromorphic device that can replace some functions of the central nervous system in vivo.

  4. Electroencephalography(EEG)-based instinctive brain-control of a quadruped locomotion robot.

    Science.gov (United States)

    Jia, Wenchuan; Huang, Dandan; Luo, Xin; Pu, Huayan; Chen, Xuedong; Bai, Ou

    2012-01-01

    Artificial intelligence and bionic control have been applied in electroencephalography (EEG)-based robot system, to execute complex brain-control task. Nevertheless, due to technical limitations of the EEG decoding, the brain-computer interface (BCI) protocol is often complex, and the mapping between the EEG signal and the practical instructions lack of logic associated, which restrict the user's actual use. This paper presents a strategy that can be used to control a quadruped locomotion robot by user's instinctive action, based on five kinds of movement related neurophysiological signal. In actual use, the user drives or imagines the limbs/wrists action to generate EEG signal to adjust the real movement of the robot according to his/her own motor reflex of the robot locomotion. This method is easy for real use, as the user generates the brain-control signal through the instinctive reaction. By adopting the behavioral control of learning and evolution based on the proposed strategy, complex movement task may be realized by instinctive brain-control.

  5. Neural Control and Adaptive Neural Forward Models for Insect-like, Energy-Efficient, and Adaptable Locomotion of Walking Machines

    Directory of Open Access Journals (Sweden)

    Poramate eManoonpong

    2013-02-01

    Full Text Available Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs and sensory feedback (afferent-based control but also on internal forward models (efference copies. They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines.

  6. Disturbance Observer-Based Backstepping Control of PMSM for the Mine Traction Electric Locomotive

    Directory of Open Access Journals (Sweden)

    Jiande Yan

    2018-01-01

    Full Text Available For the Permanent Magnet Synchronous Motor (PMSM control system of the Mine Traction Electric Locomotive (MTEL, the fluctuation of the load will lead to the resonance of the velocity of the MTEL. In addition, the speed sensor is easy to be damaged due to the moisture, dust, and vibration. To solve the above problems, a disturbance observer-based (DOB backstepping control of PMSM for the MTEL is proposed in this paper. First, a full-dimensional Luenberger observer for PMSM is designed and the asymptotically stability of the observer is proved. Next, through the designing of the virtual control input that includes the reconstruction disturbances and using backstepping control strategy, the DOB controller is proposed. The obtained controller can achieve high precision speed tracking and disturbance rejection. Finally, the effectiveness and feasibility of the designed system are verified by Matlab simulation and experiment results.

  7. A measured-ZMP(Zero-Moment-Point)-referenced control of biped locomotion robots

    International Nuclear Information System (INIS)

    Kume, Etsuo; Akimoto, Masayuki

    1994-01-01

    For the control of biped locomotion, the model-referenced-control or programmed control method is widely used. In this method, the instantaneous torque of actuator equipped at each joint is controlled so as to equalize measured angle to input joint angle based on the prescribed motion. The drawback is that this method can not deal with the dynamic change of walking such as that due to unknown external force. To resolve such the drawback, we propose a new control method as follows: given a prescribed motion as a set of gait, namely gait of starting walk, cyclic walk, and stopping walk including a standard trajectory of the Zero-Moment-Point (ZMP), the trunk motion to compensate the legs' motion is generated in real time using the current ZMP measured by sensing device. The proposed method will be validated through some numerical simulations. (author)

  8. CPG-based Locomotion Controller Design for a Boxfish-like Robot

    Directory of Open Access Journals (Sweden)

    Wei Wang

    2014-06-01

    Full Text Available This paper focuses on a Central Pattern Generator (CPG-based locomotion controller design for a boxfish-like robot. The bio-inspired controller is aimed at flexible switching in multiple 3D swimming patterns and exact attitude control of yaw and roll such that the robot will swim more like a real boxfish. The CPG network comprises two layers, the lower layer is the network of coupled linear oscillators and the upper is the transition layer where the lower-dimensional locomotion stimuli are transformed into the higher-dimensional control parameters serving for all the oscillators. Based on such a two-layer framework, flexible switching between multiple three-dimensional swimming patterns, such as swimming forwards/backwards, turning left/right, swimming upwards/downwards and rolling clockwise/counter-clockwise, can be simply realized by inputting different stimuli. Moreover, the stability of the CPG network is strictly proved to guarantee the intrinsic stability of the swimming patterns. As to exact attitude control, based on this open-loop CPG network and the sensory feedback from the Inertial Measurement Unit (IMU, a closed-loop CPG controller is advanced for yaw and roll control of the robotic fish for the first time. This CPG-based online attitude control for a robotic fish will greatly facilitate high-level practical underwater applications. A series of relevant experiments with the robotic fish are conducted systematically to validate the effectiveness and stability of the open-loop and closed-loop CPG controllers.

  9. Neural Control and Adaptive Neural Forward Models for Insect-like, Energy-Efficient, and Adaptable Locomotion of Walking Machines

    DEFF Research Database (Denmark)

    Manoonpong, Poramate; Parlitz, Ulrich; Wörgötter, Florentin

    2013-01-01

    such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast...... on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models...... allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show...

  10. Unsteady locomotion: integrating muscle function with whole body dynamics and neuromuscular control

    Science.gov (United States)

    Biewener, Andrew A.; Daley, Monica A.

    2009-01-01

    Summary By integrating studies of muscle function with analysis of whole body and limb dynamics, broader appreciation of neuromuscular function can be achieved. Ultimately, such studies need to address non-steady locomotor behaviors relevant to animals in their natural environments. When animals move slowly they likely rely on voluntary coordination of movement involving higher brain centers. However, when moving fast, their movements depend more strongly on responses controlled at more local levels. Our focus here is on control of fast-running locomotion. A key observation emerging from studies of steady level locomotion is that simple spring-mass dynamics, which help to economize energy expenditure, also apply to stabilization of unsteady running. Spring-mass dynamics apply to conditions that involve lateral impulsive perturbations, sudden changes in terrain height, and sudden changes in substrate stiffness or damping. Experimental investigation of unsteady locomotion is challenging, however, due to the variability inherent in such behaviors. Another emerging principle is that initial conditions associated with postural changes following a perturbation define different context-dependent stabilization responses. Distinct stabilization modes following a perturbation likely result from proximo-distal differences in limb muscle architecture, function and control strategy. Proximal muscles may be less sensitive to sudden perturbations and appear to operate, in such circumstances, under feed-forward control. In contrast, multiarticular distal muscles operate, via their tendons, to distribute energy among limb joints in a manner that also depends on the initial conditions of limb contact with the ground. Intrinsic properties of these distal muscle–tendon elements, in combination with limb and body dynamics, appear to provide rapid initial stabilizing mechanisms that are often consistent with spring-mass dynamics. These intrinsic mechanisms likely help to simplify the

  11. 49 CFR 1242.67 - Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power...

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive power; operating switches... SERVICE FOR RAILROADS 1 Operating Expenses-Transportation § 1242.67 Switch crews; controlling operations...

  12. Kinesthetic Force Feedback and Belt Control for the Treadport Locomotion Interface.

    Science.gov (United States)

    Hejrati, Babak; Crandall, Kyle L; Hollerbach, John M; Abbott, Jake J

    2015-01-01

    This paper describes an improved control system for the Treadport immersive locomotion interface, with results that generalize to any treadmill that utilizes an actuated tether to enable self-selected walking speed. A new belt controller is implemented to regulate the user's position; when combined with the user's own volition, this controller also enables the user to naturally self-select their walking speed as they would when walking over ground. A new kinesthetic-force-feedback controller is designed for the tether that applies forces to the user's torso. This new controller is derived based on maintaining the user's sense of balance during belt acceleration, rather than by rendering an inertial force as was done in our prior work. Based on the results of a human-subjects study, the improvements in both controllers significantly contribute to an improved perception of realistic walking on the Treadport. The improved control system uses intuitive dynamic-system and anatomical parameters and requires no ad hoc gain tuning. The control system simply requires three measurements to be made for a given user: the user's mass, the user's height, and the height of the tether attachment point on the user's torso.

  13. Neural Control of Startle-Induced Locomotion by the Mushroom Bodies and Associated Neurons in Drosophila

    Directory of Open Access Journals (Sweden)

    Jun Sun

    2018-03-01

    Full Text Available Startle-induced locomotion is commonly used in Drosophila research to monitor locomotor reactivity and its progressive decline with age or under various neuropathological conditions. A widely used paradigm is startle-induced negative geotaxis (SING, in which flies entrapped in a narrow column react to a gentle mechanical shock by climbing rapidly upwards. Here we combined in vivo manipulation of neuronal activity and splitGFP reconstitution across cells to search for brain neurons and putative circuits that regulate this behavior. We show that the activity of specific clusters of dopaminergic neurons (DANs afferent to the mushroom bodies (MBs modulates SING, and that DAN-mediated SING regulation requires expression of the DA receptor Dop1R1/Dumb, but not Dop1R2/Damb, in intrinsic MB Kenyon cells (KCs. We confirmed our previous observation that activating the MB α'β', but not αβ, KCs decreased the SING response, and we identified further MB neurons implicated in SING control, including KCs of the γ lobe and two subtypes of MB output neurons (MBONs. We also observed that co-activating the αβ KCs antagonizes α'β' and γ KC-mediated SING modulation, suggesting the existence of subtle regulation mechanisms between the different MB lobes in locomotion control. Overall, this study contributes to an emerging picture of the brain circuits modulating locomotor reactivity in Drosophila that appear both to overlap and differ from those underlying associative learning and memory, sleep/wake state and stress-induced hyperactivity.

  14. Observation of Point-Light-Walker Locomotion Induces Motor Resonance When Explicitly Represented; An EEG Source Analysis Study

    Directory of Open Access Journals (Sweden)

    Alberto Inuggi

    2018-03-01

    Full Text Available Understanding human motion, to infer the goal of others' actions, is thought to involve the observer's motor repertoire. One prominent class of actions, the human locomotion, has been object of several studies, all focused on manipulating the shape of degraded human figures like point-light walker (PLW stimuli, represented as walking on the spot. Nevertheless, since the main goal of the locomotor function is to displace the whole body from one position to the other, these stimuli might not fully represent a goal-directed action and thus might not be able to induce the same motor resonance mechanism expected when observing a natural locomotion. To explore this hypothesis, we recorded the event-related potentials (ERP of canonical/scrambled and translating/centered PLWs decoding. We individuated a novel ERP component (N2c over central electrodes, around 435 ms after stimulus onset, for translating compared to centered PLW, only when the canonical shape was preserved. Consistently with our hypothesis, sources analysis associated this component to the activation of trunk and lower legs primary sensory-motor and supplementary motor areas. These results confirm the role of own motor repertoire in processing human action and suggest that ERP can detect the associated motor resonance only when the human figure is explicitly involved in performing a meaningful action.

  15. Intersegmental coordination of cockroach locomotion: adaptive control of centrally coupled pattern generator circuits

    Directory of Open Access Journals (Sweden)

    Einat eFuchs

    2011-01-01

    Full Text Available Animals’ ability to demonstrate both stereotyped and adaptive locomotor behavior is largely dependent on the interplay between centrally-generated motor patterns and the sensory inputs that shape them. We utilized a combined experimental and theoretical approach to investigate the relative importance of CPG interconnections vs. intersegmental afferents in the cockroach: an animal that is renowned for rapid and stable locomotion. We simultaneously recorded coxal levator and depressor motor neurons (MN in the thoracic ganglia of Periplaneta americana, while sensory feedback was completely blocked or allowed only from one intact stepping leg. In the absence of sensory feedback, we observed a coordination pattern with consistent phase relationship that shares similarities with a double tripod gait, suggesting central, feedforward control. This intersegmental coordination pattern was then reinforced in the presence of sensory feedback from a single stepping leg. Specifically, we report on transient stabilization of phase differences between activity recorded in the middle and hind thoracic MN following individual front-leg steps, suggesting a role for afferent phasic information in the coordination of motor circuits at the different hemiganglia. Data were further analyzed using stochastic models of coupled oscillators and maximum likelihood techniques to estimate underlying physiological parameters, such as uncoupled endogenous frequencies of hemisegmental oscillators and coupling strengths and directions. We found that descending ipsilateral coupling is stronger than ascending coupling, while left-right coupling in both the meso- and meta-thoracic ganglia appear to be symmetrical. We discuss our results in comparison with recent findings in stick insects that share similar neural and body architectures, and argue that the two species may exemplify opposite extremes of a fast-slow locomotion continuum, mediated through different intersegmental

  16. When is visual information used to control locomotion when descending a kerb?

    Directory of Open Access Journals (Sweden)

    John G Buckley

    Full Text Available BACKGROUND: Descending kerbs during locomotion involves the regulation of appropriate foot placement before the kerb-edge and foot clearance over it. It also involves the modulation of gait output to ensure the body-mass is safely and smoothly lowered to the new level. Previous research has shown that vision is used in such adaptive gait tasks for feedforward planning, with vision from the lower visual field (lvf used for online updating. The present study determined when lvf information is used to control/update locomotion when stepping from a kerb. METHODOLOGY/PRINCIPAL FINDINGS: 12 young adults stepped down a kerb during ongoing gait. Force sensitive resistors (attached to participants' feet interfaced with an high-speed PDLC 'smart glass' sheet, allowed the lvf to be unpredictably occluded at either heel-contact of the penultimate or final step before the kerb-edge up to contact with the lower level. Analysis focussed on determining changes in foot placement distance before the kerb-edge, clearance over it, and in kinematic measures of the step down. Lvf occlusion from the instant of final step contact had no significant effect on any dependant variable (p>0.09. Occlusion of the lvf from the instant of penultimate step contact had a significant effect on foot clearance and on several kinematic measures, with findings consistent with participants becoming uncertain regarding relative horizontal location of the kerb-edge. CONCLUSION/SIGNIFICANCE: These findings suggest concurrent feedback of the lower limb, kerb-edge, and/or floor area immediately in front/below the kerb is not used when stepping from a kerb during ongoing gait. Instead heel-clearance and pre-landing-kinematic parameters are determined/planned using lvf information acquired in the penultimate step during the approach to the kerb-edge, with information related to foot placement before the kerb-edge being the most salient.

  17. When is visual information used to control locomotion when descending a kerb?

    Science.gov (United States)

    Buckley, John G; Timmis, Matthew A; Scally, Andy J; Elliott, David B

    2011-04-18

    Descending kerbs during locomotion involves the regulation of appropriate foot placement before the kerb-edge and foot clearance over it. It also involves the modulation of gait output to ensure the body-mass is safely and smoothly lowered to the new level. Previous research has shown that vision is used in such adaptive gait tasks for feedforward planning, with vision from the lower visual field (lvf) used for online updating. The present study determined when lvf information is used to control/update locomotion when stepping from a kerb. 12 young adults stepped down a kerb during ongoing gait. Force sensitive resistors (attached to participants' feet) interfaced with an high-speed PDLC 'smart glass' sheet, allowed the lvf to be unpredictably occluded at either heel-contact of the penultimate or final step before the kerb-edge up to contact with the lower level. Analysis focussed on determining changes in foot placement distance before the kerb-edge, clearance over it, and in kinematic measures of the step down. Lvf occlusion from the instant of final step contact had no significant effect on any dependant variable (p>0.09). Occlusion of the lvf from the instant of penultimate step contact had a significant effect on foot clearance and on several kinematic measures, with findings consistent with participants becoming uncertain regarding relative horizontal location of the kerb-edge. These findings suggest concurrent feedback of the lower limb, kerb-edge, and/or floor area immediately in front/below the kerb is not used when stepping from a kerb during ongoing gait. Instead heel-clearance and pre-landing-kinematic parameters are determined/planned using lvf information acquired in the penultimate step during the approach to the kerb-edge, with information related to foot placement before the kerb-edge being the most salient.

  18. Feedback control of the neuromusculoskeletal system in a forward dynamics simulation of stair locomotion.

    Science.gov (United States)

    Selk Ghafari, A; Meghdari, A; Vossoughi, G

    2009-08-01

    The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional-integral-derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of pressure during locomotion. The parameters of the proposed controller were determined by employing the iterative feedback tuning approach to minimize tracking errors during forward dynamics simulation. Simultaneously, an inverse-dynamics-based optimization was employed to compute a set of desired musculotendon forces in the closed-loop simulation to resolve muscle redundancy. Quantitative comparisons of the simulation results with the experimental measurements and the reference muscles' activities illustrate the accuracy and efficiency of the proposed method during the stable ascending simulation.

  19. Feed forward and feedback control for over-ground locomotion in anaesthetized cats

    Science.gov (United States)

    Mazurek, K. A.; Holinski, B. J.; Everaert, D. G.; Stein, R. B.; Etienne-Cummings, R.; Mushahwar, V. K.

    2012-04-01

    The biological central pattern generator (CPG) integrates open and closed loop control to produce over-ground walking. The goal of this study was to develop a physiologically based algorithm capable of mimicking the biological system to control multiple joints in the lower extremities for producing over-ground walking. The algorithm used state-based models of the step cycle each of which produced different stimulation patterns. Two configurations were implemented to restore over-ground walking in five adult anaesthetized cats using intramuscular stimulation (IMS) of the main hip, knee and ankle flexor and extensor muscles in the hind limbs. An open loop controller relied only on intrinsic timing while a hybrid-CPG controller added sensory feedback from force plates (representing limb loading), and accelerometers and gyroscopes (representing limb position). Stimulation applied to hind limb muscles caused extension or flexion in the hips, knees and ankles. A total of 113 walking trials were obtained across all experiments. Of these, 74 were successful in which the cats traversed 75% of the 3.5 m over-ground walkway. In these trials, the average peak step length decreased from 24.9 ± 8.4 to 21.8 ± 7.5 (normalized units) and the median number of steps per trial increased from 7 (Q1 = 6, Q3 = 9) to 9 (8, 11) with the hybrid-CPG controller. Moreover, within these trials, the hybrid-CPG controller produced more successful steps (step length ≤ 20 cm ground reaction force ≥ 12.5% body weight) than the open loop controller: 372 of 544 steps (68%) versus 65 of 134 steps (49%), respectively. This supports our previous preliminary findings, and affirms that physiologically based hybrid-CPG approaches produce more successful stepping than open loop controllers. The algorithm provides the foundation for a neural prosthetic controller and a framework to implement more detailed control of locomotion in the future.

  20. PDGF controls contact inhibition of locomotion by regulating N-cadherin during neural crest migration.

    Science.gov (United States)

    Bahm, Isabel; Barriga, Elias H; Frolov, Antonina; Theveneau, Eric; Frankel, Paul; Mayor, Roberto

    2017-07-01

    A fundamental property of neural crest (NC) migration is contact inhibition of locomotion (CIL), a process by which cells change their direction of migration upon cell contact. CIL has been proven to be essential for NC migration in amphibians and zebrafish by controlling cell polarity in a cell contact-dependent manner. Cell contact during CIL requires the participation of the cell adhesion molecule N-cadherin, which starts to be expressed by NC cells as a consequence of the switch between E- and N-cadherins during epithelial-to-mesenchymal transition (EMT). However, the mechanism that controls the upregulation of N-cadherin remains unknown. Here, we show that platelet-derived growth factor receptor alpha (PDGFRα) and its ligand platelet-derived growth factor A (PDGF-A) are co-expressed in migrating cranial NC. Inhibition of PDGF-A/PDGFRα blocks NC migration by inhibiting N-cadherin and, consequently, impairing CIL. Moreover, we identify phosphatidylinositol-3-kinase (PI3K)/AKT as a downstream effector of the PDGFRα cellular response during CIL. Our results lead us to propose PDGF-A/PDGFRα signalling as a tissue-autonomous regulator of CIL by controlling N-cadherin upregulation during EMT. Finally, we show that once NC cells have undergone EMT, the same PDGF-A/PDGFRα works as an NC chemoattractant, guiding their directional migration. © 2017. Published by The Company of Biologists Ltd.

  1. When Is Visual Information Used to Control Locomotion When Descending a Kerb?

    OpenAIRE

    Buckley, John G.; Timmis, Matthew A.; Scally, Andy J.; Elliott, David B.

    2011-01-01

    BACKGROUND: Descending kerbs during locomotion involves the regulation of appropriate foot placement before the kerb-edge and foot clearance over it. It also involves the modulation of gait output to ensure the body-mass is safely and smoothly lowered to the new level. Previous research has shown that vision is used in such adaptive gait tasks for feedforward planning, with vision from the lower visual field (lvf) used for online updating. The present study determined when lvf information is ...

  2. Reservoir-based Online Adaptive Forward Models with Neural Control for Complex Locomotion in a Hexapod Robot

    DEFF Research Database (Denmark)

    Manoonpong, Poramate; Dasgupta, Sakyasingha; Goldschmidt, Dennis

    2014-01-01

    Walking animals show fascinating locomotor abilities and complex behaviors. Biological study has revealed that such complex behaviors is a result of a combination of biomechanics and neural mechanisms. While biomechanics allows for flexibility and a variety of movements, neural mechanisms generate...... locomotion, make predictions, and provide adaptation. Inspired by this finding, we present here an artificial bio-inspired walking system which combines biomechanics (in terms of its body and leg structures) and neural mechanisms. The neural mechanisms consist of 1) central pattern generator-based control...... for generating basic rhythmic patterns and coordinated movements, 2) reservoir-based adaptive forward models with efference copies for sensory prediction as well as state estimation, and 3) searching and elevation control for adapting the movement of an individual leg to deal with different environmental...

  3. Synthesis of digital locomotive receiver of automatic locomotive signaling

    Directory of Open Access Journals (Sweden)

    K. V. Goncharov

    2013-02-01

    Full Text Available Purpose. Automatic locomotive signaling of continuous type with a numeric coding (ALSN has several disadvantages: a small number of signal indications, low noise stability, high inertia and low functional flexibility. Search for new and more advanced methods of signal processing for automatic locomotive signaling, synthesis of the noise proof digital locomotive receiver are essential. Methodology. The proposed algorithm of detection and identification locomotive signaling codes is based on the definition of mutual correlations of received oscillation and reference signals. For selecting threshold levels of decision element the following criterion has been formulated: the locomotive receiver should maximum set the correct solution for a given probability of dangerous errors. Findings. It has been found that the random nature of the ALSN signal amplitude does not affect the detection algorithm. However, the distribution law and numeric characteristics of signal amplitude affect the probability of errors, and should be considered when selecting a threshold levels According to obtained algorithm of detection and identification ALSN signals the digital locomotive receiver has been synthesized. It contains band pass filter, peak limiter, normalizing amplifier with automatic gain control circuit, analog to digital converter and digital signal processor. Originality. The ALSN system is improved by the way of the transfer of technical means to modern microelectronic element base, more perfect methods of detection and identification codes of locomotive signaling are applied. Practical value. Use of digital technology in the construction of the locomotive receiver ALSN will expand its functionality, will increase the noise immunity and operation stability of the locomotive signal system in conditions of various destabilizing factors.

  4. TECHNICAL AND ENERGY PARAMETERS IMPROVEMENT OF DIESEL LOCOMOTIVES THROUGH THE INTRODUCTION OF AUTOMATED CONTROL SYSTEMS OF A DIESEL

    Directory of Open Access Journals (Sweden)

    M. I. Kapitsa

    2015-04-01

    Full Text Available Purpose. Today the issue, connected with diesel traction remains relevant for the majority of industrial enterprises and Ukrainian railways and diesel engine continues to be the subject of extensive research and improvements. Despite the intensive process of electrification, which accompanies Railway Transport of Ukraine the last few years, diesel traction continues to play an important role both in the main and in the industrial railway traction rolling stock. Anyway, all kinds of maneuvering and chores are for locomotives, they are improved and upgraded relentlessly and hourly. This paper is focused on finding the opportunities to improve technical and energy parameters of diesels due to the development of modern control method of the fuel equipment in the diesel engine. Methodology. The proposed method increases the power of locomotives diesel engines in the range of crankshaft rotation (from idle running to maximum one. It was based on approach of mixture ignition timing up to the top «dead» center of piston position. Findings. The paper provides a brief historical background of research in the area of operating cycle in the internal combustion engine (ICE. The factors affecting the process of mixing and its quality were analyzed. The requirements for fuel feed system in to the cylinder and the «weak points» of the process were presented. A variant of the modification the fuel pump drive, which allows approaching to the regulation of fuel feed system from the other hand and to improve it was proposed. Represents a variant of embodiment of the complex system with specification of mechanical features and control circuits. The algorithm of the system operation was presented and its impact on the performance of diesel was made. Originality. The angle regulating system of fuel supply allows automating the process of fuel injection advance angle into the cylinder. Practical value. At implementation the angle regulating system of fuel supply

  5. Development of human locomotion.

    Science.gov (United States)

    Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka

    2012-10-01

    Neural control of locomotion in human adults involves the generation of a small set of basic patterned commands directed to the leg muscles. The commands are generated sequentially in time during each step by neural networks located in the spinal cord, called Central Pattern Generators. This review outlines recent advances in understanding how motor commands are expressed at different stages of human development. Similar commands are found in several other vertebrates, indicating that locomotion development follows common principles of organization of the control networks. Movements show a high degree of flexibility at all stages of development, which is instrumental for learning and exploration of variable interactions with the environment. Copyright © 2012 Elsevier Ltd. All rights reserved.

  6. Dynamically Stable Legged Locomotion

    Science.gov (United States)

    1989-09-01

    length during overground locomotion: task-specific modulation of the locomotor synergy. Journal of Experimental Psychology, 15(3). Raibert, M. I. 1986...energy conversions that intermediates between combus- tion of a fluid fuel such as gasoline , and the controlled delivery of force and power to the...question of this study: Can the extremely high energy density and rapid response of combustible fluid fuels such as gasoline be harnessed to produce

  7. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  8. Can a single session of motor imagery promote motor learning of locomotion in older adults? A randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Nicholson VP

    2018-04-01

    Full Text Available Vaughan P Nicholson,1 Justin WL Keogh,2–4 Nancy L Low Choy1 1School of Physiotherapy, Australian Catholic University, Brisbane, QLD, Australia; 2Faculty of Health Sciences and Medicine, Bond University, Robina, QLD, Australia; 3Human Potential Centre, AUT University, Auckland, New Zealand; 4Cluster for Health Improvement, Faculty of Science, Health, Education and Engineering, University of the Sunshine Coast, Sunshine Coast, QLD, Australia Purpose: To investigate the influence of a single session of locomotor-based motor imagery training on motor learning and physical performance. Patients and methods: Thirty independent adults aged >65 years took part in the randomized controlled trial. The study was conducted within an exercise science laboratory. Participants were randomly divided into three groups following baseline locomotor testing: motor imagery training, physical training, and control groups. The motor imagery training group completed 20 imagined repetitions of a locomotor task, the physical training group completed 20 physical repetitions of a locomotor task, and the control group spent 25 minutes playing mentally stimulating games on an iPad. Imagined and physical performance times were measured for each training repetition. Gait speed (preferred and fast, timed-up-and-go, gait variability and the time to complete an obstacle course were completed before and after the single training session. Results: Motor learning occurred in both the motor imagery training and physical training groups. Motor imagery training led to refinements in motor planning resulting in imagined movements better matching the physically performed movement at the end of training. Motor imagery and physical training also promoted improvements in some locomotion outcomes as demonstrated by medium to large effect size improvements after training for fast gait speed and timed-up-and-go. There were no training effects on gait variability. Conclusion: A single session

  9. Locomotive energy savings possibilities

    Directory of Open Access Journals (Sweden)

    Leonas Povilas LINGAITIS

    2009-01-01

    Full Text Available Economic indicators of electrodynamic braking have not been properly estimated. Vehicles with alternative power trains are transitional stage between development of pollution- free vehicles. According to these aspects the investigation on conventional hybrids drives and their control system is carried out in the article. The equation that allows evaluating effectiveness of regenerative braking for different variants of hybrid drive are given. Presenting different types of locomotive energy savings power systems, which are using regenerative braking energy any form of hybrid traction vehicles systems, circuit diagrams, electrical parameters curves.

  10. Fractal gene regulatory networks for robust locomotion control of modular robots

    DEFF Research Database (Denmark)

    Zahadat, Payam; Christensen, David Johan; Schultz, Ulrik Pagh

    2010-01-01

    Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distributed way. Experiments with different morphologies of modular robot are performed and the ......Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distributed way. Experiments with different morphologies of modular robot are performed...

  11. Le Shuttle, the locomotive from Eurotunnel

    OpenAIRE

    Gabriel MOISA

    2002-01-01

    This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.

  12. Speed Sensorless Control of Permanent Magnet Synchronous Motors in Mine Electric Locomotive Drive

    Directory of Open Access Journals (Sweden)

    Yudong LI

    2014-04-01

    Full Text Available This paper presents a novel sensorless control method of permanent magnet synchronous motors a low speed based on a high-frequency voltage signal injection. The approach superimposes a persistent HF voltage signal into the estimated d-axis to get the rotor position error angle-related signal by detecting the corresponding voltage response and current response. Then the rotor position and motor speed are obtained. Theoretical analysis and simulation results demonstrate that the approach can achieve sensorless control of permanent magnet synchronous motors at zero and low speed, ensure good dynamic and static performances, and achieve effective control when applied to servo system. Finally, a test prototype system which used a digital signal processor and space vector pulse width modulation technology has been developed. Experimental results show that the system has better static, the effectiveness and dynamic performance of the adaptive test signals in a sensorless controlled surface-mounted permanent magnet synchronous machines.

  13. Dynamic control for a quadruped locomotion robot in consideration of the leg-support-exchange phenomenon

    International Nuclear Information System (INIS)

    Sano, Akihito; Furusho, Junji; Okajima, Yosuke

    1988-01-01

    This paper proposes a new control method for quardruped walking robots in which the leg-support-exchange is lithely implemented. First, the authors formulate the leg-support-exchange phenomenon in 'Trot' using Lagrange's collision equation. Then the continuous walking can be numerically analyzed. Secondly, we propose a new control algorithm for leg-support-exchange. The conventional high gain local feedback causes many problems such as slip and excessive high torque in the leg-support-exchange phase of dynamic walking since it is impossible in this phase to prepare the proper reference values beforehand. In this algorithm, the control law is changed to 'free mode' or 'constant current mode' in order to adjust to the environment. The effectiveness of the proposed control strategy is confirmed by computer simulation and experiments using the walking robot 'COLT-1.' (author)

  14. From traditional locomotive engineers to automated train control; Vom triebfahrzeugfuehrergefuehrten Zug zum Fahrautomaten

    Energy Technology Data Exchange (ETDEWEB)

    Hohnecker, E. [Karlsruhe Univ. (T.H.) (Germany). Inst. fuer Strassenbau und Eisenbahnwesen

    2000-07-01

    Profitability and capacity in public guided transport must be increased. One option is automatic, driverless train control. There are many questions surrounding the legal, technical and operational aspects of automated control which need to be answered. These intrinsic aspects of the system will be presented and discussed. The various options leading to automatic train control as well as the necessary technical measures will also be presented. (orig.) [German] Die Wirtschaftlichkeit und die Leistungsfaehigkeit im oeffentlichen spurgefuehrten Verkehr muessen erhoeht werden. Als Loesung bietet sich zukuenftig auch der automatische und fahrerlose Betrieb an. Das Fahren ohne Triebfahrzeugfuehrer wirft jedoch eine Vielzahl von Fragestellungen auf, die sowohl in juristischer, technischer und betrieblicher Hinsicht beantwortet werden muessen. Diese systemimmanenten Aspekte werden dargestellt und diskutiert. Anschliessend werden die Moeglichkeiten auf dem Weg zum Fahrautomaten aufgezeigt und die technischen Massnahmen zur Umsetzung des automatischen Fahrens erlaeutert. (orig.)

  15. Modeling, Control and Simulation of Three-Dimensional Robotic Systems with Applications to Biped Locomotion.

    Science.gov (United States)

    Zheng, Yuan-Fang

    A three-dimensional, five link biped system is established. Newton-Euler state space formulation is employed to derive the equations of the system. The constraint forces involved in the equations can be eliminated by projection onto a smaller state space system for deriving advanced control laws. A model-referenced adaptive control scheme is developed to control the system. Digital computer simulations of point to point movement are carried out to show that the model-referenced adaptive control increases the dynamic range and speeds up the response of the system in comparison with linear and nonlinear feedback control. Further, the implementation of the controller is simpler. Impact effects of biped contact with the environment are modeled and studied. The instant velocity change at the moment of impact is derived as a function of the biped state and contact speed. The effects of impact on the state, as well as constraints are studied in biped landing on heels and toes simultaneously or on toes first. Rate and nonlinear position feedback are employed for stability of the biped after the impact. The complex structure of the foot is properly modeled. A spring and dashpot pair is suggested to represent the action of plantar fascia during the impact. This action prevents the arch of the foot from collapsing. A mathematical model of the skeletal muscle is discussed. A direct relationship between the stimulus rate and the active state is established. A piecewise linear relation between the length of the contractile element and the isometric force is considered. Hill's characteristic equation is maintained for determining the actual output force during different shortening velocities. A physical threshold model is proposed for recruitment which encompasses the size principle, its manifestations and exceptions to the size principle. Finally the role of spindle feedback in stability of the model is demonstrated by study of a pair of muscles.

  16. Sensor-coupled fractal gene regulatory networks for locomotion control of a modular snake robot

    DEFF Research Database (Denmark)

    Zahadat, Payam; Christensen, David Johan; Katebi, Serajeddin

    2013-01-01

    in the coordination system of the module. The modules are controlled locally and there is no explicit communication between them. So, they can synchronize implicitly using their sensors, and coordination of their behavior takes place through the environment. In one of our experiments, all the three tilt sensors...

  17. Neural Computation Scheme of Compound Control: Tacit Learning for Bipedal Locomotion

    Science.gov (United States)

    Shimoda, Shingo; Kimura, Hidenori

    The growing need for controlling complex behaviors of versatile robots working in unpredictable environment has revealed the fundamental limitation of model-based control strategy that requires precise models of robots and environments before their operations. This difficulty is fundamental and has the same root with the well-known frame problem in artificial intelligence. It has been a central long standing issue in advanced robotics, as well as machine intelligence, to find a prospective clue to attack this fundamental difficulty. The general consensus shared by many leading researchers in the related field is that the body plays an important role in acquiring intelligence that can conquer unknowns. In particular, purposeful behaviors emerge during body-environment interactions with the help of an appropriately organized neural computational scheme that can exploit what the environment can afford. Along this line, we propose a new scheme of neural computation based on compound control which represents a typical feature of biological controls. This scheme is based on classical neuron models with local rules that can create macroscopic purposeful behaviors. This scheme is applied to a bipedal robot and generates the rhythm of walking without any model of robot dynamics and environments.

  18. A user-driven treadmill control scheme for simulating overground locomotion.

    Science.gov (United States)

    Kim, Jonghyun; Stanley, Christopher J; Curatalo, Lindsey A; Park, Hyung-Soon

    2012-01-01

    Treadmill-based locomotor training should simulate overground walking as closely as possible for optimal skill transfer. The constant speed of a standard treadmill encourages automaticity rather than engagement and fails to simulate the variable speeds encountered during real-world walking. To address this limitation, this paper proposes a user-driven treadmill velocity control scheme that allows the user to experience natural fluctuations in walking velocity with minimal unwanted inertial force due to acceleration/deceleration of the treadmill belt. A smart estimation limiter in the scheme effectively attenuates the inertial force during velocity changes. The proposed scheme requires measurement of pelvic and swing foot motions, and is developed for a treadmill of typical belt length (1.5 m). The proposed scheme is quantitatively evaluated here with four healthy subjects by comparing it with the most advanced control scheme identified in the literature.

  19. Hydraulic control of tuna fins: A role for the lymphatic system in vertebrate locomotion.

    Science.gov (United States)

    Pavlov, Vadim; Rosental, Benyamin; Hansen, Nathaniel F; Beers, Jody M; Parish, George; Rowbotham, Ian; Block, Barbara A

    2017-07-21

    The lymphatic system in teleost fish has genetic and developmental origins similar to those of the mammalian lymphatic system, which is involved in immune response and fluid homeostasis. Here, we show that the lymphatic system of tunas functions in swimming hydrodynamics. Specifically, a musculo-vascular complex, consisting of fin muscles, bones, and lymphatic vessels, is involved in the hydraulic control of median fins. This specialization of the lymphatic system is associated with fish in the family Scombridae and may have evolved in response to the demand for swimming and maneuvering control in these high-performance species. Copyright © 2017 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

  20. [Neuronal control of posture and locomotion in decerebrated and spinalized animals].

    Science.gov (United States)

    Musienko, P E; Gorskiĭ, O V; Kilimnik, V A; Kozlovskaia, I B; Courtine, G; Edgerton, V R; Gerasimenko, Iu P

    2013-03-01

    We have found that the brainstem-spinal cord circuitry of decerebrated cats actively maintain the equilibrium during standing, walking and imposed mechanical perturbations similar to that observed in intact animals. The corrective hindlimb motor responses during standing included redistribution of the extensor activity ipsilateral and contralateral to perturbation. The postural corrections in walking cats were due to considerable modification of EMG pattern in the limbs as well as changing of the swing-stance phases of the step cycle and ground reaction forces depending of perturbation side. Thus the basic mechanisms for balance control of decerebrated animals in these two forms of motor behavior are different. Balance-related adjustments relied entirely on the integration of somatosensory information arising from the moving hindquarters because of the suppression of vestibular, visual, and head-neck-trunk sensory input. We propose that the somatosensory input from the hindquarters in concert with the lumbosacral spinal circuitry can control the dynamics of the hindquarters sufficient to sustain balance. We found that, after isolation from the brainstem or forebrain, lumbosacral circuits receiving tonic epidural electrical stimulation can effectively control equilibrium during standing and stepping. Detailed analyses of the relationships among muscle activity, trunk kinematics, and limb kinetics indicate that spinal motor systems utilize a combination of feedback and feedforward strategies to maintain dynamic equilibrium during walking. The unexpected ability of spinal circuitries to exert efficient postural control in the presence of epidural electrical stimulation in decerebrated and spinal cats have significant implications for the potential of humans with a severe spinal cord injury to regain a significant level of functional standing and walking capacities.

  1. Synthetic aperture controlled source electromagnetics

    NARCIS (Netherlands)

    Fan, Y.; Snieder, R.; Slob, E.; Hunziker, J.W.; Singer, J.; Sheiman, J.; Rosenquist, M.

    2010-01-01

    Controlled?source electromagnetics (CSEM) has been used as a de?risking tool in the hydrocarbon exploration industry. Although there have been successful applications of CSEM, this technique is still not widely used in the industry because the limited types of hydrocarbon reservoirs CSEM can detect.

  2. [Serotoninergic system morphofunctional aspects in control of postural and locomotion function].

    Science.gov (United States)

    Gerasimenko, Iu P; Moshonkina, T R; Pavlova, N V; Tomilovskaia, E S; Kozlovskaia, I B

    2012-12-01

    Different mediator systems including serotoninergic one can influence animal's locomotor behavior. It has been shown that the spinal cord in the absence of supraspinal control is able to induce the locomotor activity in hindlimbs and afferent system can activate this mechanism. In behavioral studies on the rats with complete transection of the spinal cord it has been demonstrated that the pharmacological blocking of serotoninergic system results in depression of motor activity mediated by activation of support reactions. Histological studies did not reveal any effects of activation of support reactions on the safety of neurons as well as on the distribution of synaptic contacts within L2-L4 spinal segments. At the same time it has been shown that blockade of the serotoninergic system results in alterations of cells located in 1-3 laminae of dorsal horns, and in 7 Rexed's lamina as well as in redistribution of synaptic contacts in 1-4 Rexed laminae of the spinal cord dorsal horns.

  3. Electromechanical Characterization and Locomotion Control of IPMC BioMicroRobot

    Directory of Open Access Journals (Sweden)

    Martin J.-D. Otis

    2013-01-01

    Full Text Available This paper presents the electromechanical characterization of Nafion-Pt microlegs for the development of an insect-like hexapod BioMicroRobot (BMR. BMR microlegs are built using quasi-cylindrical Nafion-Pt ionomeric polymer-metal composite (IPMC, which has 2.5 degrees of freedom. The specific manufacturing process using a laser excimer for one leg in three-dimensional configurations is discussed. Dynamic behavior and microleg characteristics have been measured in deionized water using a laser vibrometer. The use of the laser vibrometer shows the linear characteristics between the duty cycle of square wave input and displacement rate of the actuator at multiple frequencies. This linearity is used to design a servo-system in order to reproduce insect tripod walking. As well, BMR current consumption is an important parameter evaluated for each leg. Current passing throughout the IPMC membrane can result in water electrolysis. Four methods are explained for avoiding electrolysis. The hardware test bench for measurements is presented. The purpose of this design is to control a BMR for biomedical goals such as implantation into a human body. Experimental results for the proposed propulsion system are conclusive for this type of bioinspired BMR.

  4. Advanced Light Source control system

    International Nuclear Information System (INIS)

    Magyary, S.; Chin, M.; Cork, C.; Fahmie, M.; Lancaster, H.; Molinari, P.; Ritchie, A.; Robb, A.; Timossi, C.

    1989-03-01

    The Advanced Light Source (ALS) is a third generation 1--2 GeV synchrotron radiation source designed to provide ports for 60 beamlines. It uses a 50 MeV electron linac and 1.5 GeV, 1 Hz, booster synchrotron for injection into a 1--2 GeV storage ring. Interesting control problems are created because of the need for dynamic closed beam orbit control to eliminate interaction between the ring tuning requirements and to minimize orbit shifts due to ground vibrations. The extremely signal sensitive nature of the experiments requires special attention to the sources of electrical noise. These requirements have led to a control system design which emphasizes connectivity at the accelerator equipment end and a large I/O bandwidth for closed loop system response. Not overlooked are user friendliness, operator response time, modeling, and expert system provisions. Portable consoles are used for local operation of machine equipment. Our solution is a massively parallel system with >120 Mbits/sec I/O bandwidth and >1500 Mips computing power. At the equipment level connections are made using over 600 powerful Intelligent Local Controllers (ILC-s) mounted in 3U size Eurocard slots using fiber-optic cables between rack locations. In the control room, personal computers control and display all machine variables at a 10 Hz rate including the scope signals which are collected though the control system. Commercially available software and industry standards are used extensively. Particular attention is paid to reliability, maintainability and upgradeability. 10 refs., 11 figs

  5. Adaptation to Elastic Loads and BMI Robot Controls During Rat Locomotion examined with Point-Process GLMs.

    Directory of Open Access Journals (Sweden)

    Weiguo eSong

    2015-04-01

    Full Text Available Currently little is known about how a mechanically coupled BMI system’s actions are integrated into ongoing body dynamics. We tested a locomotor task augmented with a BMI system driving a robot mechanically interacting with a rat under three conditions: control locomotion (BL, ‘simple elastic load’ (E and ‘BMI with elastic load’ (BMI/E. The effect of the BMI was to allow compensation of the elastic load as a function of the neural drive. Neurons recorded here were close to one another in cortex, all within a 200 micron diameter horizontal distance of one another. The interactions of these close assemblies of neurons may differ from those among neurons at longer distances in BMI tasks and thus are important to explore. A point process generalized linear model (GLM, was used to examine connectivity at two different binning timescales (1ms vs. 10ms. We used GLM models to fit non-Poisson neural dynamics solely using other neurons’ prior neural activity as covariates. Models at different timescales were compared based on Kolmogorov-Smirnov (KS goodness-of-fit and parsimony. About 15% of cells with non-Poisson firing were well fitted with the neuron-to-neuron models alone. More such cells were fitted at the 1ms binning than 10ms. Positive connection parameters (‘excitation’ ~70% exceeded negative parameters (‘inhibition’ ~30%. Significant connectivity changes in the GLM determined networks of well-fitted neurons occurred between the conditions. However, a common core of connections comprising at least ~15% of connections persisted between any two of the three conditions. Significantly almost twice as many connections were in common between the two load conditions (~27%, compared to between either load condition and the baseline. This local point process GLM identified neural correlation structure and the changes seen across task conditions in the rats in this neural subset may be intrinsic to cortex or due to feedback and input

  6. Neuromusculoskeletal models based on the muscle synergy hypothesis for the investigation of adaptive motor control in locomotion via sensory-motor coordination.

    Science.gov (United States)

    Aoi, Shinya; Funato, Tetsuro

    2016-03-01

    Humans and animals walk adaptively in diverse situations by skillfully manipulating their complicated and redundant musculoskeletal systems. From an analysis of measured electromyographic (EMG) data, it appears that despite complicated spatiotemporal properties, muscle activation patterns can be explained by a low dimensional spatiotemporal structure. More specifically, they can be accounted for by the combination of a small number of basic activation patterns. The basic patterns and distribution weights indicate temporal and spatial structures, respectively, and the weights show the muscle sets that are activated synchronously. In addition, various locomotor behaviors have similar low dimensional structures and major differences appear in the basic patterns. These analysis results suggest that neural systems use muscle group combinations to solve motor control redundancy problems (muscle synergy hypothesis) and manipulate those basic patterns to create various locomotor functions. However, it remains unclear how the neural system controls such muscle groups and basic patterns through neuromechanical interactions in order to achieve adaptive locomotor behavior. This paper reviews simulation studies that explored adaptive motor control in locomotion via sensory-motor coordination using neuromusculoskeletal models based on the muscle synergy hypothesis. Herein, the neural mechanism in motor control related to the muscle synergy for adaptive locomotion and a potential muscle synergy analysis method including neuromusculoskeletal modeling for motor impairments and rehabilitation are discussed. Copyright © 2015 The Authors. Published by Elsevier Ireland Ltd.. All rights reserved.

  7. Control of sealed radioactive sources in Peru

    International Nuclear Information System (INIS)

    Ramirez Quijada, R.

    2001-01-01

    The paper describes the inventory of radioactive sources in Peru and assesses the control. Three groups of source conditions are established: controlled sources, known sources, and lost and orphan sources. The potential risk, described as not significant, for producing accidents is established and the needed measures are discussed. The paper concludes that, while the control on sealed sources is good, there is still room for improvement. (author)

  8. Le Shuttle, the locomotive from Eurotunnel

    Directory of Open Access Journals (Sweden)

    Gabriel MOISA

    2002-12-01

    Full Text Available This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.

  9. Single Phase Current-Source Active Rectifier for Traction: Control System Design and Practical Problems

    Directory of Open Access Journals (Sweden)

    Jan Michalik

    2006-01-01

    Full Text Available This research has been motivated by industrial demand for single phase current-source active rectifier dedicated for reconstruction of older types of dc machine locomotives. This paper presents converters control structure design and simulations. The proposed converter control is based on the mathematical model and due to possible interaction with railway signaling and required low switching frequency employs synchronous PWM. The simulation results are verified by experimental tests performed on designed laboratory prototype of power of 7kVA

  10. 49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

    Science.gov (United States)

    2010-10-01

    ... 31, 2015, a train controlled by a locomotive with an onboard PTC apparatus that has failed en route... III railroad, including a tourist or excursion railroad, and controlled by a locomotive not equipped...

  11. Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion

    OpenAIRE

    Chevallereau , Christine; Boyer , Frédéric; Porez , Mathieu; Mauny , Johan; Aoustin , Yannick

    2017-01-01

    International audience; — To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with thei...

  12. Regulatory Control of Radioactive Sources in Spain

    Energy Technology Data Exchange (ETDEWEB)

    Rodriguez, M.; Martin, J.L., E-mail: mrm@csn.es [Nuclear Safety Council, Madrid (Spain)

    2011-07-15

    The arrangements for the regulatory control of the safety and security of sealed radioactive sources in Spain are described. Emphasis is given to the situations which are most likely to result in the loss of control of sources and on the procedures introduced to reduce the likelihood of losses in these cases. Finally, the strategy for locating sources which have been lost from control (orphan sources) is described. (author)

  13. Impact of locomotion training with a neurologic controlled hybrid assistive limb (HAL) exoskeleton on neuropathic pain and health related quality of life (HRQoL) in chronic SCI: a case study (.).

    Science.gov (United States)

    Cruciger, Oliver; Schildhauer, Thomas A; Meindl, Renate C; Tegenthoff, Martin; Schwenkreis, Peter; Citak, Mustafa; Aach, Mirko

    2016-08-01

    Chronic neuropathic pain (CNP) is a common condition associated with spinal cord injury (SCI) and has been reported to be severe, disabling and often treatment-resistant and therefore remains a clinical challenge for the attending physicians. The treatment usually includes pharmacological and/or nonpharmacological approaches. Body weight supported treadmill training (BWSTT) and locomotion training with driven gait orthosis (DGO) have evolved over the last decades and are now considered to be an established part in the rehabilitation of SCI patients. Conventional locomotion training goes along with improvements of the patients' walking abilities in particular speed and gait pattern. The neurologic controlled hybrid assistive limb (HAL®, Cyberdyne Inc., Ibraki, Japan) exoskeleton, however, is a new tailored approach to support motor functions synchronously to the patient's voluntary drive. This report presents two cases of severe chronic and therapy resistant neuropathic pain due to chronic SCI and demonstrates the beneficial effects of neurologic controlled exoskeletal intervention on pain severity and health-related quality of life (HRQoL). Both of these patients were engaged in a 12 weeks period of daily HAL®-supported locomotion training. In addition to improvements in motor functions and walking abilities, both show significant reduction in pain severity and improvements in all HRQoL domains. Although various causal factors likely contribute to abatement of CNP, the reported results occurred due to a new approach in the rehabilitation of chronic spinal cord injury patients. These findings suggest not only the feasibility of this new approach but in conclusion, demonstrate the effectiveness of neurologic controlled locomotion training in the long-term management of refractory neuropathic pain. Implications for Rehabilitation CNP remains a challenge in the rehabilitation of chronic SCI patients. Locomotion training with the HAL exoskeleton seems to improve CNP

  14. Axial dynamics during locomotion in vertebrates: lesson from the salamander

    OpenAIRE

    GOSSARD, JEAN-PIERRE; DUBUC, RÉJEAN; KOLTA, ARLETTE; Cabelguen, Jean-Marie; Ijspeert, Auke; Lamarque, Stéphanie; Ryczko, Dimitri

    2010-01-01

    Much of what we know about the flexibility of the locomotor networks in vertebrates is derived from studies examining the adaptation of limb movements during stepping in various conditions. However, the body movements play important roles during locomotion: they produce the thrust during undulatory locomotion and they help to increase the stride length during legged locomotion. In this chapter, we review our current knowledge about the flexibility in the neuronal circuits controlling the body...

  15. The Human Central Pattern Generator for Locomotion.

    Science.gov (United States)

    Minassian, Karen; Hofstoetter, Ursula S; Dzeladini, Florin; Guertin, Pierre A; Ijspeert, Auke

    2017-03-01

    The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal preparations. The existence of CPGs in humans is a matter of debate. Equally elusive is the contribution of CPGs to normal bipedal locomotion. To address these points, we focus on human studies that utilized spinal cord stimulation or pharmacological neuromodulation to generate rhythmic activity in individuals with spinal cord injury, and on neuromechanical modeling of human locomotion. In the absence of volitional motor control and step-specific sensory feedback, the human lumbar spinal cord can produce rhythmic muscle activation patterns that closely resemble CPG-induced neural activity of the isolated animal spinal cord. In this sense, CPGs in humans can be defined by the activity they produce. During normal locomotion, CPGs could contribute to the activation patterns during specific phases of the step cycle and simplify supraspinal control of step cycle frequency as a feedforward component to achieve a targeted speed. Determining how the human CPGs operate will be essential to advance the theory of neural control of locomotion and develop new locomotor neurorehabilitation paradigms.

  16. Locomotion through Morphosis

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian

    , this is still not the case. One of the reasons for this is that science does still not fully understand the principles of dynamic locomotion which is a requirement for them to move around in our environment with stairs, obstacles etc. In this thesis the focus will be on the creation of the modular robotic...... it have been build. This will hopefully help to identify which parameters that are affecting the locomotive abilities of a legged robot the most. Experiments shows that the system in its current state is able for form legged robots of various kinds, and perform walking gaits where phenomenon’s also seen...

  17. Operating a locomotive on liquid methane fuel

    International Nuclear Information System (INIS)

    Stolz, J.L.

    1992-01-01

    This paper reports that several years ago, Burlington Northern Railroad looked into the feasibility of operating a diesel railroad locomotive to also run on compressed natural gas in a dual-fuel mode. Recognizing the large volume of on-board storage required and other limitations of CNG in the application, a program was begun to fuel a locomotive with liquefied natural gas. Because natural gas composition can vary with source and processing, it was considered desirable to use essentially pure liquid methane as the engine fuel. Initial testing results show the locomotive system achieved full diesel-rated power when operating on liquid methane and with equivalent fuel efficiency. Extended testing, including an American Association of Railroad 500-hour durability test, was undertaken to obtain information on engine life, wear rate and lubrication oil life

  18. Advanced controls for light sources

    Science.gov (United States)

    Biedron, S. G.; Edelen, A. L.; Milton, S. V.

    2016-09-01

    We present a summary of our team's recent efforts in developing adaptive, artificial intelligence-inspired techniques specifically to address several control challenges that arise in machines/systems including those in particle accelerator systems. These techniques can readily be adapted to other systems such as lasers, beamline optics, etc… We are not at all suggesting that we create an autonomous system, but create a system with an intelligent control system, that can continually use operational data to improve itself and combines both traditional and advanced techniques. We believe that the system performance and reliability can be increased based on our findings. Another related point is that the controls sub-system of an overall system is usually not the heart of the system architecture or design process. More bluntly, often times all of the peripheral systems are considered as secondary to the main system components in the architecture design process because it is assumed that the controls system will be able to "fix" challenges found later with the sub-systems for overall system operation. We will show that this is not always the case and that it took an intelligent control application to overcome a sub-system's challenges. We will provide a recent example of such a "fix" with a standard controller and with an artificial intelligence-inspired controller. A final related point to be covered is that of system adaptation for requirements not original to a system's original design.

  19. Neutron generator tube ion source control

    International Nuclear Information System (INIS)

    Bridges, J.R.

    1982-01-01

    A system is claimed for controlling the output of a neutron generator tube of the deuterium-tritium accelerator type and having an ion source to produce sharply defined pulses of neutrons for well logging use. It comprises: means for inputting a relatively low voltage input control pulse having a leading edge and a trailing edge; means, responsive to the input control pulse, for producing a relatively high voltage ion source voltage pulse after receipt of the input pulse; and means, responsive to the input control pulse, for quenching, after receipt of the input pulse, the ion source control pulse, thereby providing a sharply time defined neutron output from the generator tube

  20. The Need for Speed in Rodent Locomotion Analyses

    Science.gov (United States)

    Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.

    2016-01-01

    Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript, we accomplish three things: (1) review the interaction between speed and locomotion variables in rodent studies, (2) comprehensively analyze the relationship between speed and 162 locomotion variables in a group of 16 wild-type mice using the CatWalk gait analysis system, and (3) develop and test a statistical method in which locomotion variables are analyzed and reported in the context of speed. Notable results include the following: (1) over 90% of variables, reported by CatWalk, were dependent on speed with an average R2 value of 0.624, (2) most variables were related to speed in a nonlinear manner, (3) current methods of controlling for speed are insufficient, and (4) the linear mixed model is an appropriate and effective statistical method for locomotion analyses that is inclusive of speed-dependent relationships. Given the pervasive dependency of locomotion variables on speed, we maintain that valid conclusions from locomotion analyses cannot be made unless they are analyzed and reported within the context of speed. PMID:24890845

  1. Muscle Coordination and Locomotion in Humans.

    Science.gov (United States)

    Sylos-Labini, Francesca; Zago, Myrka; Guertin, Pierre A; Lacquaniti, Francesco; Ivanenko, Yury P

    2017-01-01

    Locomotion is a semi-automatic daily task. Several studies show that muscle activity is fairly stereotyped during normal walking. Nevertheless, each human leg contains over 50 muscles and locomotion requires flexibility in order to adapt to different conditions as, for instance, different speeds, gaits, turning, obstacle avoidance, altered gravity levels, etc. Therefore, locomotor control has to deal with a certain level of flexibility and non-linearity. In this review, we describe and discuss different findings dealing with both simplicity and variability of the muscular control, as well as with its maturation during development. Despite complexity and redundancy, muscle activity patterns and spatiotemporal maps of spinal motoneuron output during human locomotion show both stereotypical features as well as functional re-organization. Flexibility and different solutions to adjust motor patterns should be considered when considering new rehabilitation strategies to treat disorders involving deficits in gait. Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.org.

  2. 49 CFR 232.105 - General requirements for locomotives.

    Science.gov (United States)

    2010-10-01

    ... locomotives. (a) The air brake equipment on a locomotive shall be in safe and suitable condition for service... set pressure at any service application with the brakes control valve in the freight position. If such... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION BRAKE SYSTEM SAFETY STANDARDS FOR FREIGHT AND OTHER NON-PASSENGER...

  3. The Determination of the Asynchronous Traction Motor Characteristics of Locomotive

    Directory of Open Access Journals (Sweden)

    Pavel Grigorievich Kolpakhchyan

    2017-01-01

    Full Text Available The article deals with the problem of the locomotive asynchronous traction motor control with the AC diesel-electric transmission. The limitations of the torque of the traction motor when powered by the inverter are determined. The recommendations to improve the use of asynchronous traction motor of locomotives with the AC diesel-electric transmission are given.

  4. Control of radiation sources in Japan

    International Nuclear Information System (INIS)

    Maki, S.

    2001-01-01

    The report refers to the regulations for radioactive material in force in Japan, and to the organizations with responsibilities for regulating radiation sources. An outline of the law regulating the use of radiation sources and radioactive materials is provided, including its scope, types of radiation sources under control, exemptions and the system of notification, authorization and inspection. The experience of Japan with orphan sources is presented in three different cases, and the measures carried out to store the orphan sources in safe conditions. (author)

  5. Automatic control of a negative ion source

    International Nuclear Information System (INIS)

    Saadatmand, K.; Sredniawski, J.; Solensten, L.

    1989-01-01

    A CAMAC based control architecture is devised for a Berkeley-type H - volume ion source. The architecture employs three 80386 PCs. One PC is dedicated to control and monitoring of source operation. The other PC functions with digitizers to provide data acquisition of waveforms. The third PC is used for off-line analysis. Initially, operation of the source was put under remote computer control (supervisory). This was followed by development of an automated startup procedure. Finally, a study of the physics of operation is now underway to establish a data base from which automatic beam optimization can be derived. (orig.)

  6. Automatic control of a negative ion source

    Science.gov (United States)

    Saadatmand, K.; Sredniawski, J.; Solensten, L.

    1989-04-01

    A CAMAC based control architecture is devised for a Berkeley-type H - volume ion source [1]. The architecture employs three 80386 TM PCs. One PC is dedicated to control and monitoring of source operation. The other PC functions with digitizers to provide data acquisition of waveforms. The third PC is used for off-line analysis. Initially, operation of the source was put under remote computer control (supervisory). This was followed by development of an automated startup procedure. Finally, a study of the physics of operation is now underway to establish a data base from which automatic beam optimization can be derived.

  7. Automatic control of a negative ion source

    Energy Technology Data Exchange (ETDEWEB)

    Saadatmand, K.; Sredniawski, J.; Solensten, L. (Grumman Corp., Long Island, NY (USA))

    1989-04-01

    A CAMAC based control architecture is devised for a Berkeley-type H/sup -/ volume ion source. The architecture employs three 80386 PCs. One PC is dedicated to control and monitoring of source operation. The other PC functions with digitizers to provide data acquisition of waveforms. The third PC is used for off-line analysis. Initially, operation of the source was put under remote computer control (supervisory). This was followed by development of an automated startup procedure. Finally, a study of the physics of operation is now underway to establish a data base from which automatic beam optimization can be derived. (orig.).

  8. 77 FR 75045 - Locomotive Safety Standards

    Science.gov (United States)

    2012-12-19

    ...; and, locomotive diesel exhaust. In addition to the issues raised in the petitions, FRA has determined... flow method (AFM) indicator calibration date on the Form 6180-49A; the duration of the remote control... in the context of its use. For example, fuel injectors might possibly be considered as providing...

  9. Control system for Siam photon source

    CERN Document Server

    Apiwatwaja, R; Isoyama, G; Ishii, T; Pairsuwan, W

    2003-01-01

    A new computer control system has been developed for Siam photon source, which is the first synchrotron light source in Thailand, personal computers and PLC's have been employed which are connected together through Ethernet. Man Machine Interface Stations (MMIS) at the front end act as a graphical user interface within Windows environment. The monitoring and controlling of individual devices is handled through several pairs of digital control station and the device interface located in each part of the synchrotron complex. The installation of the control system has been completed. The commissioning test of the control system is underway and the reliability of the system is on the positive side. Details of commissioning tests as well as characteristics of this newly built control system for the Siam photon source are described in this report.

  10. The IAEA and Control of Radioactive Sources

    International Nuclear Information System (INIS)

    Dodd, B.

    2004-01-01

    The presentation discusses the authoritative functions and the departments of the IAEA, especially the Department of Nuclear Safety and Security and its Safety and Security of Radiation Sources Unit. IAEA safety series and IAEA safety standards series inform about international standards, provide underlying principles, specify obligations and responsibilities and give recommendations to support requirements. Other IAEA relevant publications comprise safety reports, technical documents (TECDOCs), conferences and symposium papers series and accident reports. Impacts of loss of source control is discussed, definitions of orphan sources and vulnerable sources is given. Accidents with orphan sources, radiological accidents statistic (1944-2000) and its consequences are discussed. These incidents lead to development of the IAEA guidance. The IAEA's action plan for the safety of radiation sources and the security of radioactive material was approved by the IAEA Board of Governors and the General Conference in September 1999. This led to the 'Categorization of Radiation Sources' and the 'Code of Conduct on the Safety and Security of Radioactive Sources'. After 0911 the IAEA developed a nuclear security plan of activities including physical protection of nuclear material and nuclear facilities, detection of malicious activities involving nuclear and other radioactive materials, state systems for nuclear material accountancy and control, security of radioactive material other than nuclear material, assessment of safety and security related vulnerability of nuclear facilities, response to malicious acts, or threats thereof, adherence to and implementation of international agreements, guidelines and recommendations and nuclear security co-ordination and information management. The remediation of past problems comprised collection and disposal of known disused sources, securing vulnerable sources and especially high-risk sources (Tripartite initiative), searching for

  11. Regulatory control of radiation sources in Slovakia

    International Nuclear Information System (INIS)

    Auxtova, L.

    2001-01-01

    In Slovakia, there are two regulatory authorities. Regulatory control of the utilization of nuclear energy, based on the Slovak National Council's law No. 130/1998 on the peaceful uses of nuclear energy, is exercised by the Nuclear Regulatory Authority of the Slovak Republic. The second regulatory authority - the Ministry of Health - is empowered by law No. 72/1994 on the protection of human health to license radiation sources and is responsible for radiation protection supervision (there are nearly 3000 establishments with sealed sources, radiation generators and unsealed sources in Slovakia). Pursuant to a new radiation protection regulation based on international standards, radiation sources are to be categorized in six classes according to the associated exposure and contamination hazards. A national strategy for improving the safety of radiation sources over their life-cycle and for the management of disused and orphan sources is being prepared for governmental approval. (author)

  12. A survey report for the turning of biped locomotion robot

    International Nuclear Information System (INIS)

    Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.

    1992-12-01

    A mechanical design study of biped locomotion robots is going on at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the turning of biped locomotion robot: the WL-10R designed and developed at Waseda University. This report includes the control method of turning, machine model and control system. (author)

  13. Control for nuclear thermionic power source

    International Nuclear Information System (INIS)

    Fletcher, J.C.; Sawyer, C.D.

    1978-01-01

    A control for a power source is described which includes nuclear fuel interspersed with thermionic converters, including a power regulator that maintains a substantially constant output voltage to a variable load, and a control circuit that drives a neutron flux regulator in accordance with the current supplied to the power regulator and the neutron flux density in the region of the converters. The control circuit generates a control signal which is the difference between the neutron flux density and a linear fucntion of the current, and which drives the neutron regulator in a direction to decrease or increase the neutron flux according to the polarity of the control signal

  14. Dynamic Locomotion With Four and Six-Legged Robots

    National Research Council Canada - National Science Library

    Buehler, M; Saranli, U; Papadopoulos, D; Koditschek, D

    2000-01-01

    .... The Scout II quadruped runs on flat ground in a bounding gait, and was motivated by an effort to understand the minimal mechanical design and control complexity for dynamically stable locomotion...

  15. Effective regulatory control of radioactive sources

    International Nuclear Information System (INIS)

    Meserve, R.A.

    2001-01-01

    This paper provides an overview of the situation in the USA regarding government control over use of radiation sources, the challenges it faces and the potential paths to their resolution. In the light of the large number of radiation sources in use worldwide, the safety record on balance is remarkably good. But there is still considerable room for improvement. The IAEA has an important role to play, and it is playing it effectively

  16. Regulated control of practices and radiation sources

    International Nuclear Information System (INIS)

    1992-01-01

    Excepting the radiation caused by the natural background radiation, the Executive Secretariat for Nuclear Affairs (SEAN) does not authorize any source no practice within the national territory that may imply exposure of a person to ionizing radiation unless this use is ruled. This document establishes the basic criteria to set up such system as well as to exclude or exempt practices and sources from this regulated control

  17. Steam Locomotives: a forgotten era

    African Journals Online (AJOL)

    The boiler was not armoured as the idea was that it was bullet proof. The locomotives were arranged into groups of five and for each group there was an engine as standby. As far as can be ascertained, locomotive No 537 was never armoured, but did work draw trains and freight trains during the Anglo-Boer War too.

  18. Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion.

    Science.gov (United States)

    Chevallereau, Christine; Boyer, Frédéric; Porez, Mathieu; Mauny, Johan; Aoustin, Yannick

    2017-06-20

    To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with their physical surroundings, to outsource the high-level exteroceptive feedback control to low-level proprioceptive ones. In this case, passive interactions can ensure most of the expected control goals. In this article, we propose a methodological framework to study the role of morphology in the design of locomotion gaits and their stability. This framework ranges from modelling to control aspects, and is illustrated through three examples from bio-inspired locomotion: a three-dimensional micro air vehicle in hovering flight, a pendular planar climber and a bipedal planar walker. In these three cases, we will see how simple considerations based on the morphology of the body can ensure the existence of passive stable gaits without requiring any high-level control.

  19. Neutron generator tube ion source control apparatus

    International Nuclear Information System (INIS)

    Bridges, J.R.

    1982-01-01

    A pulsed neutron well logging system includes a neutron generator tube of the deuterium-tritium accelerator type and an ion source control apparatus providing extremely sharply time-defined neutron pulses. A low voltage control pulse supplied to an input by timing circuits turns a power FET on via a buffer-driver whereby a 2000 volt pulse is produced in the secondary of a pulse transformer and applied to the ion source of the tube. A rapid fall in this ion source control pulse is ensured by a quenching circuit wherein a one-shot responds to the falling edge of the control pulse and produces a 3 microsecond delay to compensate for the propagation delay. A second one-shot is triggered by the falling edge of the output of the first one-shot and gives an 8 microsecond pulse to turn on the power FET which, via an isolation transformer turns on a series-connected transistor to ground the secondary of the pulse transformer and the ion source. (author)

  20. Spatially Compact Neural Clusters in the Dorsal Striatum Encode Locomotion Relevant Information.

    Science.gov (United States)

    Barbera, Giovanni; Liang, Bo; Zhang, Lifeng; Gerfen, Charles R; Culurciello, Eugenio; Chen, Rong; Li, Yun; Lin, Da-Ting

    2016-10-05

    An influential striatal model postulates that neural activities in the striatal direct and indirect pathways promote and inhibit movement, respectively. Normal behavior requires coordinated activity in the direct pathway to facilitate intended locomotion and indirect pathway to inhibit unwanted locomotion. In this striatal model, neuronal population activity is assumed to encode locomotion relevant information. Here, we propose a novel encoding mechanism for the dorsal striatum. We identified spatially compact neural clusters in both the direct and indirect pathways. Detailed characterization revealed similar cluster organization between the direct and indirect pathways, and cluster activities from both pathways were correlated with mouse locomotion velocities. Using machine-learning algorithms, cluster activities could be used to decode locomotion relevant behavioral states and locomotion velocity. We propose that neural clusters in the dorsal striatum encode locomotion relevant information and that coordinated activities of direct and indirect pathway neural clusters are required for normal striatal controlled behavior. VIDEO ABSTRACT. Published by Elsevier Inc.

  1. EPICS application source/release control

    International Nuclear Information System (INIS)

    Zieman, B.; Anderson, J.; Kraimer, M.

    1995-01-01

    This manual describes a set of Application Source/Release Control tools (appSR) that can be used to develop software for EPICS based control systems. The Application Source/Release Control System (appSR) has been unbundled from base EPICS and is now available as an EPICS extension. Due to this unbundling, two new directories must be added to a user's path (see section ''Environment'' on page 3 for more information) and a new command getapp must be issued after the getrel command to get a specific version of appSR (see section ''Creating The Initial Application System Area'' on page 7 for more information). It is now required that GNU make version 3.71 or later be used for makes instead of SUN make. Users should now type gmake instead of make

  2. Inadequate control of world's radioactive sources

    International Nuclear Information System (INIS)

    2002-01-01

    The radioactive materials needed to build a 'dirty bomb' can be found in almost any country in the world, and more than 100 countries may have inadequate control and monitoring programs necessary to prevent or even detect the theft of these materials. The IAEA points out that while radioactive sources number in the millions, only a small percentage have enough strength to cause serious radiological harm. It is these powerful sources that need to be focused on as a priority. In a significant recent development, the IAEA, working in collaboration with the United States Department of Energy (DOE) and the Russian Federation's Ministry for Atomic Energy (MINATOM), have established a tripartite working group on 'Securing and Managing Radioactive Sources'. Through its program to help countries improve their national infrastructures for radiation safety and security, the IAEA has found that more than 100 countries may have no minimum infrastructure in place to properly control radiation sources. However, many IAEA Member States - in Africa, Asia, Latin America, and Europe - are making progress through an IAEA project to strengthen their capabilities to control and regulate radioactive sources. The IAEA is also concerned about the over 50 countries that are not IAEA Member States (there are 134), as they do not benefit from IAEA assistance and are likely to have no regulatory infrastructure. The IAEA has been active in lending its expertise to search out and secure orphaned sources in several countries. More than 70 States have joined with the IAEA to collect and share information on trafficking incidents and other unauthorized movements of radioactive sources and other radioactive materials. The IAEA and its Member States are working hard to raise levels of radiation safety and security, especially focusing on countries known to have urgent needs. The IAEA has taken the leading role in the United Nations system in establishing standards of safety, the most significant of

  3. Control of radiation sources in Brazil

    International Nuclear Information System (INIS)

    Oliveira, Silvia Maria Velasques de; Menezes, Sergio Ferreira; Alves Filho, Aristeu Dacio; Xavier, Ana Maria

    1997-01-01

    The radiological accident occurred in Goiania, in 1987, brought to light several deficiencies in the conduction of the licensing processes of medical, industrial and research facilities that handle radioisotopes as well as int he control of radioactive sources in Brazil. The objective of this article is to describe some of the technical and administrative measures taken to ensure the adoption of appropriate radiological safety standards throughout the country, thus reducing the incidence of radiological accidents. (author)

  4. The control of radioactive sources in Brazil

    International Nuclear Information System (INIS)

    Oliveira, S.M.V.; Menezes, C.F.; Alves Filho, A.D.; Xavier, A.M.

    1998-01-01

    The radiological accident of Goiania in 1987 brought to light several deficiencies in the licensing of medical, industrial and research facilities, which handle radioisotopes, as well as in the control of radioactive sources in Brazil. The article describes some of the technical and administrative measures taken to ensure the adoption of appropriate radiological safety standards throughout the country and thereby reduce the incidence of radiological accidents. (author)

  5. A quality control program for radiation sources

    International Nuclear Information System (INIS)

    Almeida, C.E. de; Sibata, C.H.; Cecatti, E.R.; Kawakami, N.S.; Alexandre, A.C.; Chiavegatti Junior, M.

    1982-01-01

    An extensive quality control program was established covering the following areas: physical parameters of the therapeutical machines, dosimetric standards, preventive maintenance of radiation sources and measuring instruments. A critical evaluation of this program was done after two years (1977-1979) of routine application and the results will be presented. The fluctuation on physical parameters strongly supports the efforts and cost of a quality control program. This program has certainly improved the accuracy required on the delivery of the prescribed dose for radiotherapy treatment. (Author) [pt

  6. Infrastructure of Taiwan photon source control network

    International Nuclear Information System (INIS)

    Chang, Y.T.; Kuo, C.H.; Cheng, Y.S.; Jenny Chen; Hsu, S.Y.; Wu, C.Y.; Hu, K.H.; Hsu, K.T.

    2012-01-01

    A reliable, flexible and secure network is essential for the Taiwan Photon Source (TPS) control system which is based upon the EPICS tool-kit framework. Subsystem sub-nets will connect to control system via EPICS based CA gateways for forwarding data and reducing network traffic. Combining cyber security technologies such as fire-wall, NAT and VLAN, control network is isolated to protect IOCs and accelerator components. Network management tools are used to improve network performance. Remote access mechanism will be constructed for maintenance and troubleshooting. The Ethernet is also used as field-bus for instruments such as power supplies. This paper will describe the system architecture for the TPS control network. Cabling topology, redundancy and maintainability are also discussed. (authors)

  7. The effect of transcranial direct current stimulation (tDCS) on locomotion and balance in patients with chronic stroke: study protocol for a randomised controlled trial.

    Science.gov (United States)

    Geiger, M; Supiot, A; Zory, R; Aegerter, P; Pradon, D; Roche, N

    2017-10-23

    Following stroke, patients are often left with hemiparesis that reduces balance and gait capacity. A recent, non-invasive technique, transcranial direct current stimulation, can be used to modify cortical excitability when used in an anodal configuration. It also increases the excitability of spinal neuronal circuits involved in movement in healthy subjects. Many studies in patients with stroke have shown that this technique can improve motor, sensory and cognitive function. For example, anodal tDCS has been shown to improve motor performance of the lower limbs in patients with stroke, such as voluntary quadriceps strength, toe-pinch force and reaction time. Nevertheless, studies of motor function have been limited to simple tasks. Surprisingly, the effects of tDCS on the locomotion and balance of patients with chronic stroke have never been evaluated. In this study, we hypothesise that anodal tDCS will improve balance and gait parameters in patients with chronic stroke-related hemiparesis through its effects at cortical and spinal level. This is a prospective, randomised, placebo-controlled, double-blinded, single-centre, cross-over study over 36 months. Forty patients with chronic stroke will be included. Each patient will participate in three visits: an inclusion visit, and two visits during which they will all undergo either one 30-min session of transcranial direct current stimulation or one 30-min session of placebo stimulation in a randomised order. Evaluations will be carried out before, during and twice after stimulation. The primary outcome is the variability of the displacement of the centre of mass during gait and a static-balance task. Secondary outcomes include clinical and functional measures before and after stimulation. A three-dimensional gait analysis, and evaluation of static balance on a force platform will be also conducted before, during and after stimulation. These results should constitute a useful database to determine the aspects of

  8. Animal Locomotion in Different Mediums

    Indian Academy of Sciences (India)

    IAS Admin

    examine only self-powered animal locomotion. ... At different phases of their life cycle both animals and plants are highly mobile but their ... wind driven transport (Figure C). ..... fins which serve the function of rudimentary limbs, particularly.

  9. Locomotion of bluefish.

    Science.gov (United States)

    DuBois, A B; Cavagna, G A; Fox, R S

    1976-02-01

    1. Pressure previously measured on the body surface of swimming bluefish were resolved into their backward vectorial components to allow calculation of profile drag. It was 0.18 kg at a speed of 1.8 m/sec. Tangential drag was calculated as if for a thin plate of an area equal to that of the fish. It was 0.08 kg at 1.8 m/sec. Net drag, 0.26 kg, was the sum of profile and tangential drag. 2. Thrust and drag also were calculated from the changes of acceleration measured during steady swimming, assuming that thrust took place only during the acceleration phase, whereas drag occurred during both acceleration and deceleration. This drag was 0.08 kg at a speed of 1.1 m/sec. It is compatible with the drag of 0.26 at 1.8 m/sec calculated from profile and tangential drag provided drag varies as the square of velocity. 3. The force required to produced maximal acceleration was measured during a scare. It was calculated to be 6.9 kg at a peak acceleration of 3 g. 4. The compression strength of th vertebrae was found to be approximately 20 kg per cm2, or roughly three times the force encountered during maximal acceleration. This safety factor of 3 would be reduced when the back was curved, or if opposing groups of muscles were under tension. 5. The finding that a bluefish can accelerate at 3 g and that the vertebral column is strongg enough to withstand this force indicates that the muscles and body structure of a bluefish would be able to withstand the force of gravity if the fish were otherwise equipped for terrestrial life. This fish may have evolved these strengths simultaneously with land animals. It is speculated that other fish may have evolved some degree of strength to overcome inertia and drag during aquatic locomotion, and this evolution may have been a prelude to terrestrial locomotion.

  10. Fundamentals of soft robot locomotion

    OpenAIRE

    Calisti, M.; Picardi, G.; Laschi, C.

    2017-01-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human���robot interaction and locomotion. Although field applications have emerged for soft manipulation and human���robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...

  11. Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot

    International Nuclear Information System (INIS)

    Onal, Cagdas D; Rus, Daniela

    2013-01-01

    Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar way to its biological counterpart using pressure for actuation power, without human intervention. With this approach, we develop an autonomous soft snake robot with on-board actuation, power, computation and control capabilities. The robot consists of four bidirectional fluidic elastomer actuators in series to create a traveling curvature wave from head to tail along its body. Passive wheels between segments generate the necessary frictional anisotropy for forward locomotion. It takes 14 h to build the soft robotic snake, which can attain an average locomotion speed of 19 mm s −1 . (paper)

  12. The advanced light source control system

    International Nuclear Information System (INIS)

    Magyary, S.; Chin, M.; Cork, C.; Fahmie, M.; Lancaster, H.; Molinari, P.; Ritchie, A.; Robb, A.; Timossi, C.; Young, J.

    1990-01-01

    The criteria for the design of a modern control system are discussed in the context of the special requirements for the control of the Advanced Light Source (ALS). This is followed by the description of the system being built, which has a number of special features. The emphasis has been placed on providing an extremely wide I/O and CPU bandwidth (greater than 120 Mbits/s and 1200 Mips, respectively) and on using commercially available hardware and software. The only major custom design item is the Intelligent Local Controller (ILC), of which about 600 will be used to interface to the hardware. The use of personal computers for the operator stations allows the use of a wealth of industrial standards for windows, languages and tools. (orig.)

  13. Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

    Directory of Open Access Journals (Sweden)

    Huiming Xing

    2018-01-01

    Full Text Available We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.

  14. Chaotic exploration and learning of locomotion behaviors.

    Science.gov (United States)

    Shim, Yoonsik; Husbands, Phil

    2012-08-01

    We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage.

  15. Performance requirements for locomotive braking systems

    CSIR Research Space (South Africa)

    Vermaak, P

    2000-02-01

    Full Text Available operated “Neutral Brake”. This brake may become active immediately or after a certain time delay when the controller is placed in the neutral position or moved into the neutral position by the “dead-man’s device”. Because this brake will interfere... in testing emergency brake systems due to the inherent braking action of the service brakes and/or locomotive controllers; • Potential problems limitations to braking effort associated with the prime movers and/or hydraulic systems on hydrostatically...

  16. Fundamentals of soft robot locomotion.

    Science.gov (United States)

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

  17. The mechanics of slithering locomotion.

    Science.gov (United States)

    Hu, David L; Nirody, Jasmine; Scott, Terri; Shelley, Michael J

    2009-06-23

    In this experimental and theoretical study, we investigate the slithering of snakes on flat surfaces. Previous studies of slithering have rested on the assumption that snakes slither by pushing laterally against rocks and branches. In this study, we develop a theoretical model for slithering locomotion by observing snake motion kinematics and experimentally measuring the friction coefficients of snakeskin. Our predictions of body speed show good agreement with observations, demonstrating that snake propulsion on flat ground, and possibly in general, relies critically on the frictional anisotropy of their scales. We have also highlighted the importance of weight distribution in lateral undulation, previously difficult to visualize and hence assumed uniform. The ability to redistribute weight, clearly of importance when appendages are airborne in limbed locomotion, has a much broader generality, as shown by its role in improving limbless locomotion.

  18. INFORMATION-MEASURING TEST SYSTEM OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSIONS

    Directory of Open Access Journals (Sweden)

    I. V. Zhukovytskyy

    2015-08-01

    authors developed the information-measuring system that improves the hydraulic transmission test process by automating and increasing the accuracy of measurements of control parameters. The measurement results are initial data for carrying out further studies to determine the technical condition of the hydraulic transmission UGP750-1200 during the plant post-repair tests. Practical value. The paper proposed the alternate design of microprocessor hydraulic transmission test system for diesel locomotives, which has no analogues in Ukraine. Automated data collection during the tests will allow capturing the fast processes to determine the technical condition of hydraulic transmission.

  19. Regulatory Control of Radiation Sources. Safety Guide

    International Nuclear Information System (INIS)

    2009-01-01

    This Safety Guide is intended to assist States in implementing the requirements established in Safety Standards Series No. GS-R-1, Legal and Governmental Infrastructure for Nuclear, Radiation, Radioactive Waste and Transport Safety, for a national regulatory infrastructure to regulate any practice involving radiation sources in medicine, industry, research, agriculture and education. The Safety Guide provides advice on the legislative basis for establishing regulatory bodies, including the effective independence of the regulatory body. It also provides guidance on implementing the functions and activities of regulatory bodies: the development of regulations and guides on radiation safety; implementation of a system for notification and authorization; carrying out regulatory inspections; taking necessary enforcement actions; and investigating accidents and circumstances potentially giving rise to accidents. The various aspects relating to the regulatory control of consumer products are explained, including justification, optimization of exposure, safety assessment and authorization. Guidance is also provided on the organization and staffing of regulatory bodies. Contents: 1. Introduction; 2. Legal framework for a regulatory infrastructure; 3. Principal functions and activities of the regulatory body; 4. Regulatory control of the supply of consumer products; 5. Functions of the regulatory body shared with other governmental agencies; 6. Organization and staffing of the regulatory body; 7. Documentation of the functions and activities of the regulatory body; 8. Support services; 9. Quality management for the regulatory system.

  20. Relation between observed locomotion traits and locomotion score in dairy cows

    NARCIS (Netherlands)

    Schlageter Tello, A.A.; Bokkers, E.A.M.; Groot Koerkamp, P.W.G.; Hertem, van T.; Viazzi, S.; Lokhorst, Kees

    2015-01-01

    Lameness is still an important problem in modern dairy farming. Human observation of locomotion, by looking at different traits in one go, is used in practice to assess locomotion. The objectives of this article were to determine which individual locomotion traits are most related to locomotion

  1. Strengthening control over radioactive sources in authorized use and regaining control over orphan sources. National strategies

    International Nuclear Information System (INIS)

    2004-02-01

    The objective of this report is to provide practical guidance to States on the development of a national strategy for improving control over radioactive sources, particularly dangerous sources (Categories 1-3). Part of this process involves the determination of the magnitude of the potential problem with orphan and vulnerable sources and indeed, whether or not a national strategy is needed. The ultimate objective is that States will use this report to develop and then implement a plan of action that will result in all significant sources being managed in a safe and secure manner. This report attempts to provide both the background knowledge and the methodology necessary for an individual or small team of responsible persons to develop a national strategy for improving control over all radioactive sources, but especially orphan and vulnerable sources. The background knowledge given in Chapter 3 is an update of the information on practices that was given in IAEA-TECDOC-804, which focused on spent radioactive sources. After some introductory material, this report provides both the factual information and the general steps needed to develop and implement a national strategy. Part I contains background information for those who are not already familiar with the subject including the need for national strategies, the generic causes of loss of control of sources, with specific examples and the common applications of radioactive sources. Part II details the actual process for the development and implementation of a national strategy, which includes assessing the problem by first gathering specific and national information, determining the nature and magnitude of the problem, developing the national strategy by evaluating, and prioritizing possible solutions, implementing the strategy subsequent to a high level decision; and evaluating the effectiveness of the plan and making changes as a result until the desired objective is achieved. Searches for sources will be part of

  2. In Pipe Robot with Hybrid Locomotion System

    Directory of Open Access Journals (Sweden)

    Cristian Miclauş

    2015-06-01

    Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.

  3. Locomotive monitoring system using wireless sensor networks

    CSIR Research Space (South Africa)

    Croucamp, PL

    2014-07-01

    Full Text Available Theft of cables used for powering a locomotive not only stops the train from functioning but also paralyzes the signalling and monitoring system. This means that information on certain locomotive's cannot be passed onto other locomotives which may...

  4. Model predictive control for Z-source power converter

    DEFF Research Database (Denmark)

    Mo, W.; Loh, P.C.; Blaabjerg, Frede

    2011-01-01

    This paper presents Model Predictive Control (MPC) of impedance-source (commonly known as Z-source) power converter. Output voltage control and current control for Z-source inverter are analyzed and simulated. With MPC's ability of multi- system variables regulation, load current and voltage...

  5. Mosquito larval source management for controlling malaria

    Science.gov (United States)

    Tusting, Lucy S; Thwing, Julie; Sinclair, David; Fillinger, Ulrike; Gimnig, John; Bonner, Kimberly E; Bottomley, Christian; Lindsay, Steven W

    2015-01-01

    Background Malaria is an important cause of illness and death in people living in many parts of the world, especially sub-Saharan Africa. Long-lasting insecticide treated bed nets (LLINs) and indoor residual spraying (IRS) reduce malaria transmission by targeting the adult mosquito vector and are key components of malaria control programmes. However, mosquito numbers may also be reduced by larval source management (LSM), which targets mosquito larvae as they mature in aquatic habitats. This is conducted by permanently or temporarily reducing the availability of larval habitats (habitat modification and habitat manipulation), or by adding substances to standing water that either kill or inhibit the development of larvae (larviciding). Objectives To evaluate the effectiveness of mosquito LSM for preventing malaria. Search methods We searched the Cochrane Infectious Diseases Group Specialized Register; Cochrane Central Register of Controlled Trials (CENTRAL); MEDLINE; EMBASE; CABS Abstracts; and LILACS up to 24 October 2012. We handsearched the Tropical Diseases Bulletin from 1900 to 2010, the archives of the World Health Organization (up to 11 February 2011), and the literature database of the Armed Forces Pest Management Board (up to 2 March 2011). We also contacted colleagues in the field for relevant articles. Selection criteria We included cluster randomized controlled trials (cluster-RCTs), controlled before-and-after trials with at least one year of baseline data, and randomized cross-over trials that compared LSM with no LSM for malaria control. We excluded trials that evaluated biological control of anopheline mosquitoes with larvivorous fish. Data collection and analysis At least two authors assessed each trial for eligibility. We extracted data and at least two authors independently determined the risk of bias in the included studies. We resolved all disagreements through discussion with a third author. We analyzed the data using Review Manager 5 software

  6. Proprioceptive Actuation Design for Dynamic Legged locomotion

    Science.gov (United States)

    Kim, Sangbae; Wensing, Patrick; Biomimetic Robotics Lab Team

    Designing an actuator system for highly-dynamic legged locomotion exhibited by animals has been one of the grand challenges in robotics research. Conventional actuators designed for manufacturing applications have difficulty satisfying challenging requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. It is critical to introduce a new actuator design paradigm and provide guidelines for its incorporation in future mobile robots for research and industry. To this end, we suggest a paradigm called proprioceptive actuation, which enables highly- dynamic operation in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. Results show that the proposed design provides an impact mitigation factor that is comparable to other quadruped designs with series springs to handle impact. The paradigm is shown to enable the MIT Cheetah to manage the application of contact forces during dynamic bounding, with results given down to contact times of 85ms and peak forces over 450N. As a result, the MIT Cheetah achieves high-speed 3D running up to 13mph and jumping over an 18-inch high obstacle. The project is sponsored by DARPA M3 program.

  7. Dynamically Stable Legged Locomotion.

    Science.gov (United States)

    1983-01-27

    digitai~y thro)ugh a ribbon cable. lhe dcsign effort required to mount power sources and computing u(m board would hive distracted us fiorn our main...angular momentum. "The model used in this paper, shown in Fig. 6-1, has 3 single springy leg that articular •s ,ith respect to a body about a simple hince

  8. The New Era of Virtual Reality Locomotion: A Systematic Literature Review of Techniques and a Proposed Typology

    Directory of Open Access Journals (Sweden)

    Costas Boletsis

    2017-09-01

    Full Text Available The latest technical and interaction advancements that took place in the Virtual Reality (VR field have marked a new era, not only for VR, but also for VR locomotion. Although the latest advancements in VR locomotion have raised the interest of both researchers and users in analyzing and experiencing current VR locomotion techniques, the field of research on VR locomotion, in its new era, is still uncharted. In this work, VR locomotion is explored through a systematic literature review investigating empirical studies of VR locomotion techniques from 2014–2017. The review analyzes the VR locomotion techniques that have been studied, their interaction-related characteristics and the research topics that were addressed in these studies. Thirty-six articles were identified as relevant to the literature review, and the analysis of the articles resulted in 73 instances of 11 VR locomotion techniques, such as real-walking, walking-in-place, point and teleport, joystick-based locomotion, and more. Results showed that since the VR revival, the focus of VR locomotion research has been on VR technology and various technological aspects, overshadowing the investigation of user experience. From an interaction perspective, the majority of the utilized and studied VR locomotion techniques were found to be based on physical interaction, exploiting physical motion cues for navigation in VR environments. A significant contribution of the literature review lies in the proposed typology for VR locomotion, introducing four distinct VR locomotion types: motion-based, room scale-based, controller-based and teleportation-based locomotion.

  9. Locomotion of Mexican jumping beans

    International Nuclear Information System (INIS)

    West, Daniel M; K Lal, Ishan; Leamy, Michael J; Hu, David L

    2012-01-01

    The Mexican jumping bean, Laspeyresia saltitans, consists of a hollow seed housing a moth larva. Heating by the sun induces movements by the larva which appear as rolls, jumps and flips by the bean. In this combined experimental, numerical and robotic study, we investigate this unique means of rolling locomotion. Time-lapse videography is used to record bean trajectories across a series of terrain types, including one-dimensional channels and planar surfaces of varying inclination. We find that the shell encumbers the larva's locomotion, decreasing its speed on flat surfaces by threefold. We also observe that the two-dimensional search algorithm of the bean resembles the run-and-tumble search of bacteria. We test this search algorithm using both an agent-based simulation and a wheeled Scribbler robot. The algorithm succeeds in propelling the robot away from regions of high temperature and may have application in biomimetic micro-scale navigation systems. (paper)

  10. Radiographic Control of 137-Cs Brachytherapy Sources

    International Nuclear Information System (INIS)

    Bistrovic, M.; Viculin, T.; Jurkovic, S.

    2003-01-01

    1 37C s brachytherapy sources are practical for the intracavitary application due to their relatively long lifetime (T 1/2 = 30 y). On the other hand, due to the relatively low energy (0.66 MeV) of the emitted photons, they are suitable for an efficient radiation protection. The dose distribution around the sources is usually calculated by a specific program. However this program requires the knowledge of the position of sources within the applicator as well as the distribution of activity along them. The only way to learn these data is to make an X-ray picture of applicators and sources superimposed to the autoradiography of every source. It is difficult to achieve satisfactory radiographs with high dose rate sources with standard X-ray film material because autoradiography covers the structure of the radiographic shadow. The problem can be overcome either by applying a high intensity X-ray or gamma beam (originating from a radiotherapeutic machine), or by using photographic material of very low sensitivity, for example photographic paper. Combining both possibilities one can obtain satisfactory images. (author)

  11. Emotion through Locomotion: Gender Impact

    OpenAIRE

    Kr?ger, Samuel; Sokolov, Alexander N.; Enck, Paul; Kr?geloh-Mann, Ingeborg; Pavlova, Marina A.

    2013-01-01

    Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass fema...

  12. Application of flywheel energy storage for heavy haul locomotives

    International Nuclear Information System (INIS)

    Spiryagin, Maksym; Wolfs, Peter; Szanto, Frank; Sun, Yan Quan; Cole, Colin; Nielsen, Dwayne

    2015-01-01

    Highlights: • A novel design for heavy haul locomotive equipped with a flywheel energy storage system is proposed. • The integrated intelligent traction control system was developed. • A flywheel energy storage system has been tested through a simulation process. • The developed hybrid system was verified using an existing heavy haul railway route. • Fuel efficiency analysis confirms advantages of the hybrid design. - Abstract: At the present time, trains in heavy haul operations are typically hauled by several diesel-electric locomotives coupled in a multiple unit. This paper studies the case of a typical consist of three Co–Co diesel-electric locomotives, and considers replacing one unit with an alternative version, with the same design parameters, except that the diesel-electric plant is replaced with flywheel energy storage equipment. The intelligent traction and energy control system installed in this unit is integrated into the multiple-unit control to allow redistribution of the power between all units. In order to verify the proposed design, a three-stage investigation has been performed as described in this paper. The initial stage studies a possible configuration of the flywheel energy storage system by detailed modelling of the proposed intelligent traction and energy control system. The second stage includes the investigation and estimation of possible energy flows using a longitudinal train dynamics simulation. The final stage compares the conventional and the proposed locomotive configurations considering two parameters: fuel efficiency and emissions reduction.

  13. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion

    Science.gov (United States)

    Lee, Scott

    2015-01-01

    In our first article on scaling in theropod dinosaurs, the longitudinal stress in the leg bones due to supporting the weight of the animal was studied and found not to control the dimensions of the femur. As a continuation of our study of elasticity in dinosaur bones, we now examine the transverse stress in the femur due to locomotion and find…

  14. Control of sources of ionizing radiation in Lithuania

    Energy Technology Data Exchange (ETDEWEB)

    Mastauskas, Albinas; Ziliukas, Julius; Morkunas, Gendrutis [Radiation Protection Centre, Vilnius (Lithuania)

    1997-12-31

    Aspects connected with regulatory control of radioactive sources in Lithuania, such as keeping of the computer-based registry, investigation of arrested illegal radioactive material, decision making, control of users of radioactive sources are discussed. Most of the sources of ionizing radiation are smoke detectors and x-ray equipment. Potentially most dangerous sources (both sealed and unsealed) of therapy and industry are also presented 2 refs., 2 tabs.; e-mail: rsc at post.omnitel.net

  15. Control of sources of ionizing radiation in Lithuania

    International Nuclear Information System (INIS)

    Mastauskas, Albinas; Ziliukas, Julius; Morkunas, Gendrutis

    1997-01-01

    Aspects connected with regulatory control of radioactive sources in Lithuania, such as keeping of the computer-based registry, investigation of arrested illegal radioactive material, decision making, control of users of radioactive sources are discussed. Most of the sources of ionizing radiation are smoke detectors and x-ray equipment. Potentially most dangerous sources (both sealed and unsealed) of therapy and industry are also presented

  16. Emotion through locomotion: gender impact.

    Directory of Open Access Journals (Sweden)

    Samuel Krüger

    Full Text Available Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass females in recognition accuracy and readiness to respond to happy walking portrayed by female actors, whereas females exhibit a tendency to be better in recognition of hostile angry locomotion expressed by male actors. In contrast to widespread beliefs about female superiority in social cognition, the findings suggest that gender effects in recognition of emotions from human locomotion are modulated by emotional content of actions and opposite actor gender. In a nutshell, the study makes a further step in elucidation of gender impact on body language reading and on neurodevelopmental and psychiatric deficits in visual social cognition.

  17. Establishing control over nuclear materials and radiation sources in Georgia

    International Nuclear Information System (INIS)

    Basilia, G.

    2010-01-01

    Regulatory control over radiation sources in Georgia was lost after disintegration of the Soviet Union. A number of radiation accidents and illegal events occurred in Georgia. From 1999 Nuclear and Radiation Safety Service of the Ministry of Environmental Protection and Natural Resources is responsible for regulatory control over radiation sources in Georgia. US NRC Regulatory Assistance Program in Georgia Assist the Service in establishing long term regulatory control over sources. Main focuses of US NRC program are country-wide inventory, create National Registry of sources, safe storage of disused sources, upgrade legislation and regulation, implementation licensing and inspection activities

  18. Controlling hazardous energy sources (lockout/tagout)

    Science.gov (United States)

    Dominguez, Manuel B.

    1991-10-01

    The minimum requirements as established by the Occupational Safety and Health Administration (OSHA) standard 29 CFR 1910.147 are discussed for preventing the unexpected operation of equipment or release of energy which could cause injury to personnel, damage to equipment, harm to the environment, or loss or compromise of test data. Safety requirements both for government and contractor personnel are explained for potentially hazardous energy sources during work operations at LeRC (Cleveland and Plum Brook Stations). Basic rules are presented to ensure protection against harmful exposures, and baseline implementation requirements are discussed from which detailed lockout/tagout procedures can be developed for individual equipment items. Examples of energy sources covered by this document include electrical, pneumatic, mechanical, chemical, cryogenic, thermal, spring tension/compression suspended or moving loads, and other potentially hazardous sources. Activities covered by this standard include, but are not limited to, construction, maintenance, installation, calibration, inspection, cleaning, or repair.

  19. Hearing aid controlled by binaural source localizer

    NARCIS (Netherlands)

    2009-01-01

    An adaptive directional hearing aid system comprising a left hearing aid and a right hearing aid, wherein a binaural acoustic source localizer is located in the left hearing aid or in the right hearing aid or in a separate body- worn device connected wirelessly to the left hearing aid and the right

  20. Rate Control in Dual Source Evaporation

    NARCIS (Netherlands)

    Wielinga, T.; Gruisinga, W.; Leeuwis, H.; Lodder, J.C.; van Weers, J.F.; Wilmans, J.C.

    1980-01-01

    Two-component thin films are deposited in a high-vacuum system from two close sources, heated by an electron beam which is deflected between them. By using quartz-crystal monitors the evaporation rates are measured seperately, which is usually considered to be problematical. One rate signal is used

  1. Dynamic legged locomotion in robots and animals

    Science.gov (United States)

    Raibert, Marc; Playter, Robert; Ringrose, Robert; Bailey, Dave; Leeser, Karl

    1995-01-01

    This report documents our study of active legged systems that balance actively and move dynamically. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of how animal locomotion works. In this report we provide an update on progress during the past year. Here are the topics covered in this report: (1) Is cockroach locomotion dynamic? To address this question we created three models of cockroaches, each abstracted at a different level. We provided each model with a control system and computer simulation. One set of results suggests that 'Groucho Running,' a type of dynamic walking, seems feasible at cockroach scale. (2) How do bipeds shift weight between the legs? We built a simple planar biped robot specifically to explore this question. It shifts its weight from one curved foot to the other, using a toe-off and toe-on strategy, in conjunction with dynamic tipping. (3) 3D biped gymnastics: The 3D biped robot has done front somersaults in the laboratory. The robot changes its leg length in flight to control rotation rate. This in turn provides a mechanism for controlling the landing attitude of the robot once airborne. (4) Passively stabilized layout somersault: We have found that the passive structure of a gymnast, the configuration of masses and compliances, can stabilize inherently unstable maneuvers. This means that body biomechanics could play a larger role in controlling behavior than is generally thought. We used a physical 'doll' model and computer simulation to illustrate the point. (5) Twisting: Some gymnastic maneuvers require twisting. We are studying how to couple the biomechanics of the system to its control to produce efficient, stable twisting maneuvers.

  2. The noise factor in railway locomotives.

    Science.gov (United States)

    Rotter, T

    1982-09-01

    This article concerns the problem of acoustic work conditions on railway locomotives. The objective results of sonometric surveys in locomotive cabins are compared with subject data received from locomotive crews obtained by means of a specific questionnaire 'The Subjective Estimation of Noise'. The analysis touched 9 type of locomotives; steam, diesel and electric engines. We asked drivers of different age groups and with varying lengths of professional service for their opinions The aim of the investigation was to determine the following points: 1. to analyse the drivers' subjective estimation of the noise in the locomotive cabins; 2. to define length of time for which the driver remains under the influence of the noise after finishing work; 3. to investigate the question of perception and understanding of sounds and vocal signals used in the locomotive. These problems are a small part of the general plan to improve work conditions on the Polish National Railways.

  3. Regulatory control of radiation sources. Safety guide

    International Nuclear Information System (INIS)

    2004-01-01

    The basic requirements for the protection of persons against exposure to ionizing radiation and for the safety of radiation sources were established in the International Basic Safety Standards for Protection against Ionizing Radiation and for the Safety of Radiation Sources (the Basic Safety Standards), jointly sponsored by the Food and Agriculture Organization of the United Nations (FAO), the International Atomic Energy Agency (IAEA), the International Labour Organization (ILO), the OECD Nuclear Energy Agency (OECD/ NEA), the Pan American Health Organization (PAHO) and the World Health Organization (WHO) (the Sponsoring Organizations). The application of the Basic Safety Standards is based on the presumption that national infrastructures are in place to enable governments to discharge their responsibilities for radiation protection and safety. Requirements relating to the legal and governmental infrastructure for the safety of nuclear facilities and sources of ionizing radiation, radiation protection, the safe management of radioactive waste and the safe transport of radioactive material are established in the Safety Requirements on Legal and Governmental Infrastructure for Nuclear, Radiation, Radioactive Waste and Transport Safety, Safety Standards Series No. GS-R-1. This Safety Guide, which is jointly sponsored by the FAO, the IAEA, the International Labour Office, the PAHO and the WHO, gives detailed guidance on the key elements for the organization and operation of a national regulatory infrastructure for radiation safety, with particular reference to the functions of the national regulatory body that are necessary to ensure the implementation of the Basic Safety Standards. The Safety Guide is based technically on material first published in IAEA-TECDOC-10671, which was jointly sponsored by the FAO, the IAEA, the OECD/NEA, the PAHO and the WHO. The requirements established in GS-R-1 have been taken into account. The Safety Guide is oriented towards national

  4. Railroad and locomotive technology roadmap.

    Energy Technology Data Exchange (ETDEWEB)

    Stodolsky, F.; Gaines, L.; Energy Systems

    2003-02-24

    Railroads are important to the U.S. economy. They transport freight efficiently, requiring less energy and emitting fewer pollutants than other modes of surface transportation. While the railroad industry has steadily improved its fuel efficiency--by 16% over the last decade--more can, and needs to, be done. The ability of locomotive manufacturers to conduct research into fuel efficiency and emissions reduction is limited by the small number of locomotives manufactured annually. Each year for the last five years, the two North American locomotive manufacturers--General Electric Transportation Systems and the Electro-Motive Division of General Motors--have together sold about 800 locomotives in the United States. With such a small number of units over which research costs can be spread, outside help is needed to investigate all possible ways to reduce fuel usage and emissions. Because fuel costs represent a significant portion of the total operating costs of a railroad, fuel efficiency has always been an important factor in the design of locomotives and in the operations of a railroad. However, fuel efficiency has recently become even more critical with the introduction of strict emission standards by the U.S. Environmental Protection Agency, to be implemented in stages (Tiers 0, 1, and 2) between 2000 and 2005. Some of the technologies that could be employed to meet the emission standards may negatively affect fuel economy--by as much as 10-15% when emissions are reduced to Tier 1 levels. Lowering fuel economy by that magnitude would have a serious impact on the cost to the consumer of goods shipped by rail, on the competitiveness of the railroad industry, and on this country's dependence on foreign oil. Clearly, a joint government/industry R&D program is needed to help catalyze the development of advanced technologies that will substantially reduce locomotive engine emissions while also improving train system energy efficiency. DOE convened an industry

  5. Time-lapse controlled-source electromagnetics using interferometry

    NARCIS (Netherlands)

    Hunziker, J.W.; Slob, E.C.; Wapenaar, C.P.A.

    In time-lapse controlled-source electromagnetics, it is crucial that the source and the receivers are positioned at exactly the same location at all times of measurement. We use interferometry by multidimensional deconvolution (MDD) to overcome problems in repeatability of the source location.

  6. The regulatory control of ionizing radiation sources in Lithuania

    International Nuclear Information System (INIS)

    Mastauskas, A.; Ziliukas, J.; Morkunas, G.

    1998-01-01

    The Radiation Protection Centre of the Ministry of Health is the regulatory authority responsible for radiation protection of the public and of workers using sources of ionizing radiation in Lithuania. One of its responsibilities is the control of radioactive sources, which includes keeping the registry, investigating persons arrested while illegally carrying or in possession of radioactive material, decision making and control of users of radioactive sources. The computer based registry contains a directory of more than 24,000 sources and some 800 users in research, medicine and industry. Most of these sources are found in smoke detectors and X ray equipment. The potentially most dangerous sources for therapy and industry (sealed and unsealed) are also listed in this registry. Problems connected with the regulatory control of radioactive sources in Lithuania are presented and their solution is discussed. (author)

  7. Effluent release limits, sources and control

    International Nuclear Information System (INIS)

    Swindell, G.E.

    1977-01-01

    Objectives of radiation protection in relation to releases. Environmental transfer models for radionuclides. Relationship between releases, environmental levels and doses to persons. Establishment of release limits: Limits based on critical population group concept critical pathway analysis and identification of critical group. Limits based on optimization of radiation protection individual dose limits, collective doses and dose commitments 1) differential cost benefit analysis 2) authorized and operational limits taking account of future exposures. Monitoring of releases to the environment: Objectives of effluent monitoring. Typical sources and composition of effluents; design and operation of monitoring programmes; recording and reporting of monitoring results; complementary environmental monitoring. (orig.) [de

  8. 10 CFR 36.31 - Control of source movement.

    Science.gov (United States)

    2010-01-01

    ... 10 Energy 1 2010-01-01 2010-01-01 false Control of source movement. 36.31 Section 36.31 Energy NUCLEAR REGULATORY COMMISSION LICENSES AND RADIATION SAFETY REQUIREMENTS FOR IRRADIATORS Design and Performance Requirements for Irradiators § 36.31 Control of source movement. (a) The mechanism that moves the...

  9. Origami-based earthworm-like locomotion robots.

    Science.gov (United States)

    Fang, Hongbin; Zhang, Yetong; Wang, K W

    2017-10-16

    Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mimicked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a periodic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar to the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot development: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism-retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualitatively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re-configurability.

  10. Computer aided control of the Bonn Penning polarized ion source

    International Nuclear Information System (INIS)

    He, N.W.; VonRossen, P.; Eversheim, P.D.; Busch, R.

    1984-01-01

    A CBM computer system is described which has been set up to control the Bonn Polarized Ion Source. The controlling program, besides setting and logging parameters, performs an optimization of the ion source output. A free definable figure of merit, being composed of the current of the ionizer and its variance, has proven to be an effective means in directing the source optimization. The performance that has been reached during the first successful tests is reported

  11. Radiological control in fires involving radiation sources

    International Nuclear Information System (INIS)

    Franco, J.O.A.; Coelho, C.P.

    1984-01-01

    The copies used during the chatter by techniques from CDTN in the I Mineiro Symposium of Fire Engineering, are presented. The chatter was based on emergency radiation control course, given by CDTN. Basic concepts, such as nuclear physics fundaments, radiation nature and detection, radiation protection and practical aspects of radiological fire emergency, were enphasized. (M.C.K.) [pt

  12. Identification of major sources controlling groundwater chemistry ...

    Indian Academy of Sciences (India)

    The study area Mettur forms an important industrial town situated NW of Salem district. The geology of the area is mainly composed of Archean crystalline metamorphic complexes. To iden- tify the major process activated for controlling the groundwater chemistry an attempt has been made by collecting a total of 46 ...

  13. Acute food deprivation reverses morphine-induced locomotion deficits in M5 muscarinic receptor knockout mice.

    Science.gov (United States)

    Steidl, Stephan; Lee, Esther; Wasserman, David; Yeomans, John S

    2013-09-01

    Lesions of the pedunculopontine tegmental nucleus (PPT), one of two sources of cholinergic input to the ventral tegmental area (VTA), block conditioned place preference (CPP) for morphine in drug-naïve rats. M5 muscarinic cholinergic receptors, expressed by midbrain dopamine neurons, are critical for the ability of morphine to increase nucleus accumbens dopamine levels and locomotion, and for morphine CPP. This suggests that M5-mediated PPT cholinergic inputs to VTA dopamine neurons critically contribute to morphine-induced dopamine activation, reward and locomotion. In the current study we tested whether food deprivation, which reduces PPT contribution to morphine CPP in rats, could also reduce M5 contributions to morphine-induced locomotion in mice. Acute 18-h food deprivation reversed the phenotypic differences usually seen between non-deprived wild-type and M5 knockout mice. That is, food deprivation increased morphine-induced locomotion in M5 knockout mice but reduced morphine-induced locomotion in wild-type mice. Food deprivation increased saline-induced locomotion equally in wild-type and M5 knockout mice. Based on these findings, we suggest that food deprivation reduces the contribution of M5-mediated PPT cholinergic inputs to the VTA in morphine-induced locomotion and increases the contribution of a PPT-independent pathway. The contributions of cholinergic, dopaminergic and GABAergic neurons to the effects of acute food deprivation are discussed. Copyright © 2013 Elsevier B.V. All rights reserved.

  14. Blunt impact tests of retired passenger locomotive fuel tanks

    Science.gov (United States)

    2017-08-01

    The Transportation Technology Center, Inc. conducted impact tests on three locomotive fuel tanks as part of the Federal Railroad Administrations locomotive fuel tank crashworthiness improvement program. Three fuel tanks, two from EMD F40PH locomot...

  15. Acid deposition: sources, effects and controls

    Energy Technology Data Exchange (ETDEWEB)

    Longhurst, J.W.S. (ed.)

    1989-01-01

    The purpose of this collection of 19 papers is to review our understanding of the cause and effect of acid deposition, to present new data that assist in the provision of a fuller understanding of cause, process and implication and thus to assist in defining the research agenda of the future. The materials presented are European in perspective, drawn from the Federal Republic of Germany, Hungary, Norway, Sweden and the United Kingdom. The current position as regards deposition monitoring, ecological effects and control technologies is presented in five sections: acid deposition monitoring, freshwater acidification, soils and forest systems, structural materials and control technologies. Each section is introduced by an overview paper outlining the contemporary understanding and identifying areas requiring future work. Specialist papers presenting new data or re-interpretations of existing information comprise the remainder of each section. Four of the papers have been abstracted separately.

  16. Software architecture considerations for ion source control systems

    International Nuclear Information System (INIS)

    Sinclair, J.W.

    1997-09-01

    General characteristics of distributed control system software tools are examined from the perspective of ion source control system requirements. Emphasis is placed on strategies for building extensible, distributed systems in which the ion source element is one component of a larger system. Vsystem, a commercial software tool kit from Vista Control Systems was utilized extensively in the control system upgrade of the Holifield Radioactive Ion Beam Facility. Part of the control system is described and the characteristics of Vsystem are examined and compared with those of EPICS, the Experimental Physics and Industrial Control System

  17. Locomotion training of legged robots using hybrid machine learning techniques

    Science.gov (United States)

    Simon, William E.; Doerschuk, Peggy I.; Zhang, Wen-Ran; Li, Andrew L.

    1995-01-01

    In this study artificial neural networks and fuzzy logic are used to control the jumping behavior of a three-link uniped robot. The biped locomotion control problem is an increment of the uniped locomotion control. Study of legged locomotion dynamics indicates that a hierarchical controller is required to control the behavior of a legged robot. A structured control strategy is suggested which includes navigator, motion planner, biped coordinator and uniped controllers. A three-link uniped robot simulation is developed to be used as the plant. Neurocontrollers were trained both online and offline. In the case of on-line training, a reinforcement learning technique was used to train the neurocontroller to make the robot jump to a specified height. After several hundred iterations of training, the plant output achieved an accuracy of 7.4%. However, when jump distance and body angular momentum were also included in the control objectives, training time became impractically long. In the case of off-line training, a three-layered backpropagation (BP) network was first used with three inputs, three outputs and 15 to 40 hidden nodes. Pre-generated data were presented to the network with a learning rate as low as 0.003 in order to reach convergence. The low learning rate required for convergence resulted in a very slow training process which took weeks to learn 460 examples. After training, performance of the neurocontroller was rather poor. Consequently, the BP network was replaced by a Cerebeller Model Articulation Controller (CMAC) network. Subsequent experiments described in this document show that the CMAC network is more suitable to the solution of uniped locomotion control problems in terms of both learning efficiency and performance. A new approach is introduced in this report, viz., a self-organizing multiagent cerebeller model for fuzzy-neural control of uniped locomotion is suggested to improve training efficiency. This is currently being evaluated for a possible

  18. Regulatory control of radiation sources in Germany

    International Nuclear Information System (INIS)

    Coy, K.

    1998-01-01

    The regulatory programme governing the safe use of radioisotopes in Germany is based on the federal legislation enacted as Atomic Energy Control Act (Atomgesetz) and Radiation Protection Ordinance (Strahlen-schutzverordnung) and its implementation by the competent authorities of the individual states. Despite this highly decentralized infrastructure of enforcement the basic principles of regulations described in this paper such as authorization criteria, conditions imposed as well as depth and intensity of inspection balanced according to the individual radiation hazard involved are harmonized to the greatest possible extent by regular coordination among the competent authorities as well as a series of technical regulations such as standards and guidelines. (author)

  19. Locomotive Crash Energy Management Coupling Tests

    Science.gov (United States)

    2018-04-18

    This paper describes the results of the CEM equipped locomotive coupling tests. In this set of tests, a moving CEM locomotive was coupled to a standing cab car. The primary objective was to demonstrate the robustness of the PBC design and determine t...

  20. The investigation of the locomotive boiler material

    International Nuclear Information System (INIS)

    Tucholski, Z.; Wasiak, J.; Bilous, W.; Hajewska, E.

    2006-01-01

    In the paper, the history of narrow-gauge railway system is described. The other information about the steam locomotive construction, as well as the technical regulations of its construction and exploitation are also done. The results of the studies of the locomotive boiler material are presented. (authors)

  1. 77 FR 21311 - Locomotive Safety Standards

    Science.gov (United States)

    2012-04-09

    ... preparedness, alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA... Association (ATDA) Amtrak AAR Association of Railway Museums (ARM) Association of State Rail Safety Managers... Administration 49 CFR Parts 229 and 238 Locomotive Safety Standards; Final Rule #0;#0;Federal Register / Vol. 77...

  2. 76 FR 2199 - Locomotive Safety Standards

    Science.gov (United States)

    2011-01-12

    ..., alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA issued the...) Association of State Rail Safety Managers (ASRSM) Brotherhood of Locomotive Engineers and Trainmen (BLET... desirable to minimize the health and safety effects of temperature extremes. Depending upon the workplace...

  3. Control of sealed sources and equipments used in gammagraphy

    International Nuclear Information System (INIS)

    Sahyun, A.; Sordi, G.-M.A.A.; Biazzini Filho, F.L.

    1988-01-01

    The Radiation Protection Department of the IPEN-CNEN/SP, in 1987, formed a section incharged to control all radioactive material: a) received by the IPEN-CNEN/SP; b) produced by the IPEN-CNEN/SP; c) delivered from the IPEN-CNEN/SP. The aim of this section is to maintain a permanent control of all radioactive sources movement got at the IPEN-CNEN/SP. This control is performed with a microcomputer, trademark MICRODIGITAL, model TK3000 //e, 256 KBytes of memory, utilizing the TOTALWORKS program. This program permits to have the origin, characteristics and address of the radioactive sources, its sites in the IPEN, its uses, etc. Already we have put in the microcomputer, the control of the sealed sources produced used in nondestructive test, the inspection control of the gamagraphy irradiator and the control of the depleted sources. The next step is to introduce in the computer the inspection of the remote control of the irradiator. The aim of this paper is to describe the control program that was already put on. This radioactive material control was started with the sealed sources used in gamagraphy because we believe that is the field with the most likelihood of accident in the population, and therefore it's that need the most hard control about the site and the performance of the irradiation facility. (author) [pt

  4. 238Pu sources for cardiac pacemakers. II. Control

    International Nuclear Information System (INIS)

    Pottier, R.; Merigot, S.

    1976-01-01

    The method and the apparatus used for thermal (power) and radioactive control of radioisotopic sources for pacemakers are briefly described. The cybernetic system is also presented, which assumes almost automatically the monitoring of control, mechanical and electronic works, data processing, the measurements and computations, and the works related to quality control [fr

  5. Experimental investigation into the mechanism of the polygonal wear of electric locomotive wheels

    Science.gov (United States)

    Tao, Gongquan; Wang, Linfeng; Wen, Zefeng; Guan, Qinghua; Jin, Xuesong

    2018-06-01

    Experiments were conducted at field sites to investigate the mechanism of the polygonal wear of electric locomotive wheels. The polygonal wear rule of electric locomotive wheels was obtained. Moreover, two on-track tests have been carried out to investigate the vibration characteristics of the electric locomotive's key components. The measurement results of wheels out-of-round show that most electric locomotive wheels exhibit polygonal wear. The main centre wavelength in the 1/3 octave bands is 200 mm and/or 160 mm. The test results of vibration characteristics indicate that the dominating frequency of the vertical acceleration measured on the axle box is approximately equal to the passing frequency of a polygonal wheel, and does not vary with the locomotive speed during the acceleration course. The wheelset modal analysis using the finite element method (FEM) indicates that the first bending resonant frequency of the wheelset is quite close to the main vibration frequency of the axle box. The FEM results are verified by the experimental modal analysis of the wheelset. Moreover, different plans were designed to verify whether the braking system and the locomotive's adhesion control have significant influence on the wheel polygon or not. The test results indicate that they are not responsible for the initiation of the wheel polygon. The first bending resonance of the wheelset is easy to be excited in the locomotive operation and it is the root cause of wheel polygon with centre wavelength of 200 mm in the 1/3 octave bands.

  6. Femtosecond Light Source for Phase-Controlled Multiphoton Ionization

    International Nuclear Information System (INIS)

    Sokolov, A. V.; Walker, D. R.; Yavuz, D. D.; Yin, G. Y.; Harris, S. E.

    2001-01-01

    We describe a femtosecond Raman light source with more than an octave of optical bandwidth. We use this source to demonstrate phase control of multiphoton ionization under conditions where ionization requires eleven photons of the lowest frequency of the spectrum or five photons of the highest frequency. The nonlinearity of the photoionization process allows us to characterize the light source. Experiment-to-theory comparison implies generation of a near single-cycle waveform

  7. Orphan sources control in the Republic of Korea

    International Nuclear Information System (INIS)

    Kim, C.-W.

    2001-01-01

    In this paper, the orphan source control programme in Korea will be discussed. Orphan sources are, in general, classified into three groups: 1) Illegally trafficking radioactive sources; 2) Domestic loss of radioactive sources due to the bankruptcy of licensees or authorized suppliers; and 3) Contaminated metal scrap, which has been imported. There are, currently, two approaches going on to control and manage orphan sources in Korea. First, the Korean regulatory authority (Ministry of Science and Technology: MOST) will fully run an information system on radiation safety to effectively trace and monitor all radioactive sources in the country by the year 2001. Second, the regulatory authority strongly advises steel mill companies to closely scrutinize and inspect scrap metal through a scrap monitoring system when they attempt to reutilize it in order to prevent it from being contaminated by uncontrolled sources. The Korea Institute of Nuclear Safety (KINS), a regulatory expert organization, is carrying out a three-year multiphase project to control and monitor orphan sources in Korea. The system, called the Information System on Integrated Radiation Safety (ISIRS) on the inter- and intra-net system has been developed to effectively control and accurately monitor radioactive sources on a real time basis since 1998. If the system is successfully set up as scheduled by the middle of May next year, the regulatory authority will be able to control any reutilization of uncontrolled sources efficiently. At the same time, the system can also provide, not only licensees, suppliers, or perspective end users but also the Korean general public of interests with information on radiation safety, safe radiation management tools and public services. The system has been created because of the necessity to effectively control radioactive sources safely. Also, it serves to prepare necessary protective measures in a timely manner for abnormal events of uncontrolled radiation from

  8. Status report on the ADVANCED LIGHT SOURCE control system

    International Nuclear Information System (INIS)

    Magyary, S.; Chin, M.; Fahmie, M.; Lancaster, H.; Molinari, P.; Robb, A.; Timossi, C.; Young, J.

    1992-01-01

    This paper is a status report on the ADVANCED LIGHT SOURCE (ALS) control system. The current status, performance data, and future plans will be discussed. Manpower, scheduling, and costs issues are addressed. (author)

  9. National Management Measures to Control Nonpoint Source Pollution from Forestry

    Science.gov (United States)

    This report helps forest owners protect lakes and streams from polluted runoff that can result from forestry activities. The report will also help states to implement their nonpoint source control programs.

  10. Continuum limbed robots for locomotion

    Science.gov (United States)

    Mutlu, Alper

    This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

  11. Rate-control algorithms testing by using video source model

    DEFF Research Database (Denmark)

    Belyaev, Evgeny; Turlikov, Andrey; Ukhanova, Anna

    2008-01-01

    In this paper the method of rate control algorithms testing by the use of video source model is suggested. The proposed method allows to significantly improve algorithms testing over the big test set.......In this paper the method of rate control algorithms testing by the use of video source model is suggested. The proposed method allows to significantly improve algorithms testing over the big test set....

  12. Unifying Rules for Aquatic Locomotion

    Science.gov (United States)

    Saadat, Mehdi; Domel, August; di Santo, Valentina; Lauder, George; Haj-Hariri, Hossein

    2016-11-01

    Strouhal number, St (=fA/U) , a scaling parameter that relates speed, U, to the tail-beat frequency, f, and tail-beat amplitude, A, has been used many times to describe animal locomotion. It has been observed that swimming animals cruise at 0.2 fish-like swimmer, we show that when cruising at minimum hydrodynamic input power, St is predetermined, and is only a function of the shape, i.e. drag coefficient and area. The narrow range for St, 0.2-0.4, has been previously associated with optimal propulsive efficiency. However, St alone is insufficient for deciding optimal motion. We show that hydrodynamic input power (energy usage to propel over a unit distance) in fish locomotion is minimized at all cruising speeds when A* (= A/L), a scaling parameter that relates tail-beat amplitude, A, to the length of the swimmer, L, is constrained to a narrow range of 0.15-0.25. Our analysis proposes a constraint on A*, in addition to the previously found constraint on St, to fully describe the optimal swimming gait for fast swimmers. A survey of kinematics for dolphin, as well as new data for trout, show that the range of St and A* for fast swimmers indeed are constrained to 0.2-0.4 and 0.15-0.25, respectively. Our findings provide physical explanation as to why fast aquatic swimmers cruise with relatively constant tail-beat amplitude at approximately 20 percent of body length, while their swimming speed is linearly correlated with their tail-beat frequency.

  13. RCT: Module 2.08, Radiological Source Control, Course 8774

    Energy Technology Data Exchange (ETDEWEB)

    Hillmer, Kurt T. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2017-08-10

    radioactive source is material used for its emitted radiation. Sources are sealed or unsealed and are classified as accountable or exempt. Radioactive sources are used for response checks, functional checks, and the calibration of instruments and monitors to traceable standards. To ensure the safety and welfare of all personnel, it is important to maintain control of radioactive sources to minimize the potential for the spread of contamination, unnecessary exposure to personnel, loss or theft, and improper disposal. This course will prepare the student with the skills necessary for RCT qualification by passing quizzes, tests, and the RCT Comprehensive Phase 1, Unit 2 Examination (TEST 27566) and will provide in-the-field skills.

  14. Study on road surface source pollution controlled by permeable pavement

    Science.gov (United States)

    Zheng, Chaocheng

    2018-06-01

    The increase of impermeable pavement in urban construction not only increases the runoff of the pavement, but also produces a large number of Non-Point Source Pollution. In the process of controlling road surface runoff by permeable pavement, a large number of particulate matter will be withheld when rainwater is being infiltrated, so as to control the source pollution at the source. In this experiment, we determined the effect of permeable road surface to remove heavy pollutants in the laboratory and discussed the related factors that affect the non-point pollution of permeable pavement, so as to provide a theoretical basis for the application of permeable pavement.

  15. Controlled-source seismic interferometry with one way wave fields

    Science.gov (United States)

    van der Neut, J.; Wapenaar, K.; Thorbecke, J. W.

    2008-12-01

    In Seismic Interferometry we generally cross-correlate registrations at two receiver locations and sum over an array of sources to retrieve a Green's function as if one of the receiver locations hosts a (virtual) source and the other receiver location hosts an actual receiver. One application of this concept is to redatum an area of surface sources to a downhole receiver location, without requiring information about the medium between the sources and receivers, thus providing an effective tool for imaging below complex overburden, which is also known as the Virtual Source method. We demonstrate how elastic wavefield decomposition can be effectively combined with controlled-source Seismic Interferometry to generate virtual sources in a downhole receiver array that radiate only down- or upgoing P- or S-waves with receivers sensing only down- or upgoing P- or S- waves. For this purpose we derive exact Green's matrix representations from a reciprocity theorem for decomposed wavefields. Required is the deployment of multi-component sources at the surface and multi- component receivers in a horizontal borehole. The theory is supported with a synthetic elastic model, where redatumed traces are compared with those of a directly modeled reflection response, generated by placing active sources at the virtual source locations and applying elastic wavefield decomposition on both source and receiver side.

  16. Orphan sources: Consequences, regaining control and learning the lessons

    International Nuclear Information System (INIS)

    Croft, J.R.

    2001-01-01

    The safety and security record of technologies that use radiation sources is adequate in most cases, but on occasions there has been a lack of appropriate controls or circumvention of those that exist, leading to radiological accidents. Particular concern rise those radiation sources that have become orphans i.e. sources that were never subject to regulatory control, or were abandoned, lost or misplaced, stolen, or removed without authorisation. These sources are likely to be found in the public domain; examples include sources that used in radiotherapy units which have been unintentionally sold as scrap metal and melted thereafter, or which have been found by unsuspecting individuals or stolen, causing serious radiation exposure of people and contamination of the human habitat

  17. ANALYSIS OF THE OPERATIONAL CHARACTERISTICS OF DIESEL-ELECTRIC LOCOMOTIVES

    Directory of Open Access Journals (Sweden)

    L. V. Ursulyak

    2014-12-01

    Full Text Available Purpose. To compare the operational characteristics of freight diesel-electric locomotives ER20CF and 2М62м, which are operated with Lithuanian Railways. Important problems on traction calculations are considered in this article. In this article the critical tasks of traction calculations are solved. It is the main computational tool in the rational functioning, planning and development of railways: determination of the estimated weight of the rolling stock, the diagrams construction of specific resultant forces of a train, the permitted speed definition of the train on the slopes, curves of train traffic construction on the section. Methodology. Using the rules and methods of traction calculations the analysis of the basic operational characteristics of the modernized freight diesel-electric locomotive 2М62m and freight passenger dual locomotive 2ER20CF was held. The maximum weight of the train set, the track structure on a high-speed ascent through the use of kinetic energy (with traction and without traction, technical speed, acceleration force and the value of the smallest radius curve are selected as controlled parameters. During the calculations it was considered that the trains were formed of a fully loaded four-axle gondola cars, model 112-119 (feature-606 with axle load of 23.5 t; the motion was carried out on the continuous welded rail track; the front of the train set is a dual locomotive 2ER20CF or two locomotive 2М62м. Longitudinal profile of the road on the route Vilnus–KlF was analyzed for the choice of theoretical rise. Inspection concerning the possibility of overcoming the high-speed rise was performed with an analytical method, based on the use of the kinetic energy accumulated by the overcoming of «light» elements of the profile. Findings. In the calculations, the maximum weight of the train set taking into account theoretical rise was analyzed. The inspection of the theoretical weight of the train set on a reliable

  18. Locomotive Assignment Problem with Heterogeneous Vehicle Fleet and Hiring External Locomotives

    Directory of Open Access Journals (Sweden)

    Dušan Teichmann

    2015-01-01

    Full Text Available This paper focuses on solving the problem of how to assign locomotives to assembled trains optimally. To solve the problem, linear programming is applied. The situation we model in the paper occurs in the conditions of a transport operator that provides rail transport in the Czech Republic. In the paper, an extended locomotive assignment problem is modeled; the transport operator can use different classes of the locomotives to serve individual connections, some connections must be served by a predefined locomotive class, and the locomotives can be allocated to several depots at the beginning. The proposed model also takes into consideration the fact that some connections can be served by the locomotives of external transport companies or operators. The presented model is applied to a real example in order to test its functionality.

  19. 49 CFR 229.121 - Locomotive cab noise.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive cab noise. 229.121 Section 229.121... § 229.121 Locomotive cab noise. (a) Performance standards for locomotives. (1) When tested for static noise in accordance with paragraph (a)(3) of this section, all locomotives of each design or model that...

  20. 49 CFR 238.223 - Locomotive fuel tanks.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive fuel tanks. 238.223 Section 238.223... Equipment § 238.223 Locomotive fuel tanks. Locomotive fuel tanks shall comply with either the following or....21: (a) External fuel tanks. External locomotive fuel tanks shall comply with the requirements...

  1. National Strategy for Regaining Control Over Orphan Sources and Improving Control Over Vulnerable Sources

    International Nuclear Information System (INIS)

    2011-01-01

    . The standards are also applied by regulatory bodies and operators around the world to enhance safety in nuclear power generation and in nuclear applications in medicine, industry, agriculture and research. Safety is not an end in itself but a prerequisite for the purpose of the protection of people in all States and of the environment - now and in the future. The risks associated with ionizing radiation must be assessed and controlled without unduly limiting the contribution of nuclear energy to equitable and sustainable development. Governments, regulatory bodies and operators everywhere must ensure that nuclear material and radiation sources are used beneficially, safely and ethically. The IAEA safety standards are designed to facilitate this, and I encourage all Member States to make use of them.

  2. National Strategy for Regaining Control over Orphan Sources and Improving Control over Vulnerable Sources (Arabic Edition)

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2011-07-15

    . The standards are also applied by regulatory bodies and operators around the world to enhance safety in nuclear power generation and in nuclear applications in medicine, industry, agriculture and research. Safety is not an end in itself but a prerequisite for the purpose of the protection of people in all States and of the environment - now and in the future. The risks associated with ionizing radiation must be assessed and controlled without unduly limiting the contribution of nuclear energy to equitable and sustainable development. Governments, regulatory bodies and operators everywhere must ensure that nuclear material and radiation sources are used beneficially, safely and ethically. The IAEA safety standards are designed to facilitate this, and I encourage all Member States to make use of them.

  3. Urban stormwater source control policies: why and how?

    Directory of Open Access Journals (Sweden)

    G. Petrucci

    2014-09-01

    Full Text Available Stormwater source control is becoming a common strategy for urban stormwater management in many countries. It relies on regulations or other policy instruments compelling or inciting implementation, for each new urban development, of small-scale facilities to locally store and manage stormwater. Local authorities that pioneered source control since the 1980s have already observed that small-scale facilities systematically implemented over a catchment are able to influence its hydrological behaviour. This capability is the main strength of source control, as it allows compensation for the negative effects of urbanization. Yet, it also represents its main risk: if initial decision-making is not sufficiently accurate, source control can produce long-term negative effects. Because of its current spreading, source control will acquire an increasing role as a driver of hydrological changes in urban catchments, and the directions of these changes depend on current policy-making practices. This paper presents an analysis and a critical discussion of the main objectives that policy-makers attribute to stormwater source control. The investigation is based on a sample of French case studies, completed by a literature review for international comparison. It identifies four main objectives, some typical of urban stormwater management and some more innovative: flood reduction, receiving waters protection, sustainable development, costs reduction. The discussion focuses on how current policy-making practices are able to translate these objectives in concrete policy instruments, and on which knowledge and tools could improve this process. It is shown that for some objectives, basic knowledge is available, but the creation of policy instruments which are effective at the catchment scale and adapted to local conditions is still problematic. For other objectives, substantial lacks of knowledge exist, casting doubts on long-term effectiveness of current policy

  4. Electrical stimulation of motor cortex in the uninjured hemisphere after chronic unilateral injury promotes recovery of skilled locomotion through ipsilateral control.

    Science.gov (United States)

    Carmel, Jason B; Kimura, Hiroki; Martin, John H

    2014-01-08

    Partial injury to the corticospinal tract (CST) causes sprouting of intact axons at their targets, and this sprouting correlates with functional improvement. Electrical stimulation of motor cortex augments sprouting of intact CST axons and promotes functional recovery when applied soon after injury. We hypothesized that electrical stimulation of motor cortex in the intact hemisphere after chronic lesion of the CST in the other hemisphere would restore function through ipsilateral control. To test motor skill, rats were trained and tested to walk on a horizontal ladder with irregularly spaced rungs. Eight weeks after injury, produced by pyramidal tract transection, half of the rats received forelimb motor cortex stimulation of the intact hemisphere. Rats with injury and stimulation had significantly improved forelimb control compared with rats with injury alone and achieved a level of proficiency similar to uninjured rats. To test whether recovery of forelimb function was attributable to ipsilateral control, we selectively inactivated the stimulated motor cortex using the GABA agonist muscimol. The dose of muscimol we used produces strong contralateral but no ipsilateral impairments in naive rats. In rats with injury and stimulation, but not those with injury alone, inactivation caused worsening of forelimb function; the initial deficit was reinstated. These results demonstrate that electrical stimulation can promote recovery of motor function when applied late after injury and that motor control can be exerted from the ipsilateral motor cortex. These results suggest that the uninjured motor cortex could be targeted for brain stimulation in people with large unilateral CST lesions.

  5. CLOSED LOOP CONTROL OF EMBEDDED Z-SOURCE INVERTER WITH FUZZY CONTROLLER FOR SOLAR PV APPLICATIONS

    OpenAIRE

    Midde Mahesh*, K. Leleedhar Rao

    2017-01-01

    This paper proposes the use of Embedded Z –source inverter system with fuzzy controller for Solar Photo Voltaic (PV) applications with adjustable speed drives. Closed loop operation FUZZY control strategies of EZSI system are proposed. EZSI produces the same voltage gain as Z-source inverter (ZSI) but due to the DC sources embedded within the X- shaped impedance network, it has the added advantage of inherent source filtering capability and also reduced capacitor sizing. This can be achiev...

  6. Energy control of supercapacitor/fuel cell hybrid power source

    International Nuclear Information System (INIS)

    Payman, Alireza; Pierfederici, Serge; Meibody-Tabar, Farid

    2008-01-01

    This paper deals with a flatness based control principle in a hybrid system utilizing a fuel cell as a main power source and a supercapacitor as an auxiliary power source. The control strategy is based on regulation of the dc bus capacitor energy and, consequently, voltage regulation. The proposed control algorithm does not use a commutation algorithm when the operating mode changes with the load power variation and, thus, avoids chattering effects. Using the flatness based control method, the fuel cell dynamic and its delivered power is perfectly controlled, and the fuel cell can operate in a safe condition. In the hybrid system, the supercapacitor functions during transient energy delivery or during energy recovery situations. To validate the proposed method, the control algorithms are executed in dSPACE hardware, while analogical current loops regulators are employed in the experimental environment. The experimental results prove the validity of the proposed approach

  7. Modeling limbless locomotion using ADAMS software

    Data.gov (United States)

    National Aeronautics and Space Administration — Until now, the methods used by probes or humans for locomotion on planetary surfaces have typically been restricted to variations of wheeled motion. As human...

  8. Electrical Stimulation of Motor Cortex in the Uninjured Hemisphere after Chronic Unilateral Injury Promotes Recovery of Skilled Locomotion through Ipsilateral Control

    OpenAIRE

    Carmel, Jason B.; Kimura, Hiroki; Martin, John H.

    2014-01-01

    Partial injury to the corticospinal tract (CST) causes sprouting of intact axons at their targets, and this sprouting correlates with functional improvement. Electrical stimulation of motor cortex augments sprouting of intact CST axons and promotes functional recovery when applied soon after injury. We hypothesized that electrical stimulation of motor cortex in the intact hemisphere after chronic lesion of the CST in the other hemisphere would restore function through ipsilateral control. To ...

  9. The regulatory control of radioactive sources in Argentina

    Energy Technology Data Exchange (ETDEWEB)

    Rojkind, Roberto Hector [Autoridade Regulatoria Nuclear, Buenos Aires (Argentina)

    1997-12-31

    Argentina has been conducting nuclear activities for more than forty years, and as early as in 1956 established a Regulatory Authority. Procedures for compliance monitoring and enforcement have been in use in the regulatory control of radioactive sources, and regulatory standards and regulations had been set in Argentina, before the accident in Goiania. The conclusions drawn from that accident encouraged in Argentina the improvement of some regulatory procedures and helped to enhance the quality of the regulatory process. Therefore, the effectiveness of the control of spent radioactive sources has gradually increased, and enforcement actions to prevent radioactive sources ending up in the public domain improved. Some lessons learned in Argentina from the accident in Goiania and the main characteristics of an effective enforcement program helpful to prevent radiological accidents in industrial, medical, research and teaching uses of radioactive sources are presented. (author) 9 refs; e-mail: rrojkind at sede.arn.gov.br

  10. The regulatory control of radioactive sources in Argentina

    International Nuclear Information System (INIS)

    Rojkind, R.H.

    1998-01-01

    Argentina has been conducting nuclear activities for more than forty years, and had established a Regulatory Authority as early as in 1956. Procedures for compliance monitoring and enforcement have been in use in the regulatory control of radioactive sources, and regulatory standards and regulations were in force in Argentina before the accident in Goiania. The conclusions drawn from the Goiania accident encouraged the Argentine authorities to improve some regulatory procedures and helped to enhance the quality of the regulatory process. As a result, the effectiveness of the control of spent radioactive sources has gradually increased, and enforcement actions to prevent radioactive sources ending up in the public domain have improved. Lessons learned in Argentina from the accident in Goiania are presented as well as the main characteristics of an effective enforcement programme to prevent radiological accidents when radioactive sources are used for industrial, medical, research and teaching purposes. (author)

  11. The regulatory control of radioactive sources in Argentina

    International Nuclear Information System (INIS)

    Rojkind, Roberto Hector

    1997-01-01

    Argentina has been conducting nuclear activities for more than forty years, and as early as in 1956 established a Regulatory Authority. Procedures for compliance monitoring and enforcement have been in use in the regulatory control of radioactive sources, and regulatory standards and regulations had been set in Argentina, before the accident in Goiania. The conclusions drawn from that accident encouraged in Argentina the improvement of some regulatory procedures and helped to enhance the quality of the regulatory process. Therefore, the effectiveness of the control of spent radioactive sources has gradually increased, and enforcement actions to prevent radioactive sources ending up in the public domain improved. Some lessons learned in Argentina from the accident in Goiania and the main characteristics of an effective enforcement program helpful to prevent radiological accidents in industrial, medical, research and teaching uses of radioactive sources are presented. (author)

  12. APPLICATION OF CONTROLLED SOURCE AUDIO MAGNETOTELLURIC (CSAMT AT GEOTHERMAL

    Directory of Open Access Journals (Sweden)

    Susilawati S.

    2017-04-01

    Full Text Available CSAMT or Controlled Source Audio-Magnetotelluric is one of the Geophysics methods to determine the resistivity of rock under earth surface. CSAMT method utilizes artificial stream and injected into the ground, the frequency of artificial sources ranging from 0.1 Hz to 10 kHz, CSAMT data source effect correction is inverted. From the inversion results showed that there is a layer having resistivity values ranged between 2.5 Ω.m – 15 Ω.m, which is interpreted that the layer is clay.

  13. System control for the modulated 252Cf source ''Shuffler''

    International Nuclear Information System (INIS)

    Stephens, M.M.

    1975-06-01

    The design and theory of operation of the control chassis for a 252 Cf nondestructive assay system are described. This system repetitively transfers a 252 Cf source from the irradiation region to a shielded position before measuring the delayed neutrons. The design criteria for the system were: rapid movement and precise positioning of the 252 Cf source, precise positioning of the sample, and very accurate timing of the irradiate and count cycles. To achieve these results crystal oscillators were used for timing, and stepping motors were used to position the sample and the source. (U.S.)

  14. The PS locomotive runs again

    CERN Multimedia

    2001-01-01

    Over forty years ago, the PS train entered service to steer the magnets of the accelerator into place... ... a service that was resumed last Tuesday. Left to right: Raymond Brown (CERN), Claude Tholomier (D.B.S.), Marcel Genolin (CERN), Gérard Saumade (D.B.S.), Ingo Ruehl (CERN), Olivier Carlier (D.B.S.), Patrick Poisot (D.B.S.), Christian Recour (D.B.S.). It is more than ten years since people at CERN heard the rumbling of the old PS train's steel wheels. Last Tuesday, the locomotive came back into service to be tested. It is nothing like the monstrous steel engines still running on conventional railways -just a small electric battery-driven vehicle employed on installing the magnets for the PS accelerator more than 40 years ago. To do so, it used the tracks that run round the accelerator. In fact, it is the grandfather of the LEP monorail. After PS was commissioned in 1959, the little train was used more and more rarely. This is because magnets never break down, or hardly ever! In fact, the loc...

  15. An optical system for controlling ion source parameters

    International Nuclear Information System (INIS)

    Zhang Baifang; Liu Zhenhao; Jiang Yi; Xu Zhengjia

    1999-01-01

    An optical control system used for adjusting the source's parameters of an ion separator is described. There are two slice microcomputers at HV terminal and the ground respectively. These microcomputers communicate each other with the full-duplex mode through two pieces of optical fiber, in which many parameters are time-share transmitted in the form of optical pulse. This system can stabilize the arc current and temperature, adjust and display all parameters and has safe-guard ability. At HV terminal, the optical coupling technique is used for connecting the CPU and the ion source, and at the ground the CPU can communicate with a control microcomputer

  16. Status report on the Advanced Light Source control system, 1993

    International Nuclear Information System (INIS)

    Young, J.; Brown, W. Jr.; Cork, C.

    1993-10-01

    The Advanced Light Source (ALS), under construction for the past seven years, has become operational. The accelerator has been successfully commissioned using a control system based on hundreds of controllers of our own design and high performance personal computers which are the operator interface. The first beamlines are being commissioned using a control system based on VME hardware and the Experimental Physics and Industrial Control System (EPICS) software. The two systems are being integrated, and this paper reports on the current work being done

  17. Control of orphan sources. Import to and transport through Slovenia

    International Nuclear Information System (INIS)

    Cesarek, J.; Vokal Nemec, B.

    2007-01-01

    Orphan sources are radioactive sources which are not under regulatory control, either because they have never been under regulatory control, or because they have been abandoned, lost, misplaced, stolen or transferred without proper authorisation. The issue of orphan sources is not a new one but the situation has been highlighted more and more in the last ten years. One of the most important international milestones in this regard was the conference in Dijon, France in 1998. The orphan sources have become an international problem due to steady increase in international trade which made impossible to control every transfer of goods between countries. Shipments of metal scrap, either national or international, could comprise orphan sources which had come into metal stream. The consequences of such events vary greatly: from contaminated metal just above exemption levels to a melting of volatile radionuclides of significant activity which may cause enormous remediation costs. In addition, the phenomenon of deliberate abuse of nuclear material and radioactive material or previous accidents with found orphan sources worldwide and fatalities have made this issue even more provoking. In Slovenia, no such drastic events have occurred so far. Since 1991 there have been a few meltings of cobalt-60 sources with only economic impact. On several occasions, Italy - the country with strict import control - has detected elevated radiation and denied shipments of scrap metal. They had originated either from Slovenia or from other countries, mostly from former Yugoslav republics. The Slovenian experience shows that majority of cases is related to import of scrap metal in Slovenia or to transit of such material through Slovenia. These orphan sources have originated from past industrial activities or have been under no or weak regulatory control in their countries of origin. In order to prevent inadvertent movement and illicit trafficking of nuclear material and radioactive sources some

  18. Strengthening the control on radioactive sources - Cernavoda NPP operating experience

    International Nuclear Information System (INIS)

    Daian, I.; Simionov, V.

    2005-01-01

    This paper presents the national legal frame governing the radioactive source management, legislative requirements introduced during last years and current status of controlled radioactive sources program at Cernavoda NPP. Romania has only one nuclear power plant, Cernavoda NPP, equipped with five PHWR - CANDU-6 Canadian type reactors - with a 700 MW(e) gross capacity each, in different implementation stages. The legal representative of the nuclear power production sector in Romania is 'Nuclearelectrica' S.A. National Company (SNN). SNN is a governmental company controlled by the Ministry of Industry and Trade. The company has headquarters in Bucharest and three subsidiaries: - CNE-PROD Cernavoda (CNE-PROD), operating the Cernavoda NPP - Unit 1; - CNE-INVEST Cernavoda, in charge with the completion of Unit 2 and with the preservation of Units 3,4,5; - Nuclear Fuel Plant in Pitesti (FCN). Unit 1 is in commercial operation since December 2, 1996, Unit 2 is under construction (80% completed) and Units 3, 4, 5 are under preservation. The operation of Cernavoda NPP implies use of radioactive sources that may present a significant risk to health, property and the environment when control is lost. Within the last years CNCAN issued new regulations stating clear responsibilities for the different institutions involved in radioactive materials control programs. To manage radioactive sources in a safe way CNE-PROD established and revised the Controlled Radioactive Sources Program, as part of Station Radiation Protection Regulation, ensuring strict recording of the radioactive sources and their usage, ensuring physical and radiological security, protecting the personnel, members of the public and the environment from the hazards of ionizing radiation during the life cycle of the plant, including decommissioning. (authors)

  19. Strengthening the control on radioactive sources - Cernavoda NPP operating experience

    International Nuclear Information System (INIS)

    Daian, I.; Simionov, V.

    2005-01-01

    Full text: This paper presents the national legal frame governing the radioactive source management, legislative requirements introduced during last years and current status of controlled radioactive sources program at Cernavoda NPP. Romania has only one nuclear power plant, Cernavoda NPP, equipped with five PHWR - CANDU-6 Canadian type reactors - with a 700 MW(e) gross capacity each, in different implementation stages. The legal representative of the nuclear power production sector in Romania is 'Nuclearelectrica' S.A. National Company (SNN). SNN is a governmental company controlled by the Ministry of Industry and Trade. The company has headquarters in Bucharest and three subsidiaries: - CNE-PROD Cernavoda (CNE-PROD), operating the Cernavoda NPP - Unit 1; - CNE-INVEST Cernavoda, in charge with the completion of Unit 2 and with the preservation of Units 3,4,5; - Nuclear Fuel Plant in Pitesti (FCN). Unit 1 is in commercial operation since December 2, 1996, Unit 2 is under construction (80% completed) and Units 3, 4, 5 are under preservation. The operation of Cernavoda NPP implies use of radioactive sources that may present a significant risk to health, property and the environment when control is lost. Within the last years CNCAN issued new regulations stating clear responsibilities for the different institutions involved in radioactive materials control programs. To manage radioactive sources in a safe way CNE-PROD established and revised the Controlled Radioactive Sources Program, as part of Station Radiation Protection Regulation, ensuring strict recording of the radioactive sources and their usage, ensuring physical and radiological security, protecting the personnel, members of the public and the environment from the hazards of ionizing radiation during the life cycle of the plant. (authors)

  20. CLS A Fully Open-Source Control System

    CERN Document Server

    Matias, Elder; Johnson, Terry; Tanner, Robby; Wilson, Tony; Wright, Glen; Zhang, Hao

    2005-01-01

    The Canadian Light Source is one of the first major accelerator facility to adopt a fully open source control system. The control system is based on Experimental Physics and Industrial Control System (EPICS) in use at may other facilities. From the outset CLS utilised RTEMS and Linux as the underlying operating systems for real-time control computers, operator interface computers and servers. When communicating with PLC and other intelligent devices CLS has also adopted a policy of using open communications protocols where possible. Combined these strategies have lead to a system that can easily evolve over the life of the facility without being tied to specific hardware or software suppliers. The operational experience over the past few years has indicates the selected architecture is sufficiently robust and reliable.

  1. Locomotion of inchworm-inspired robot made of smart soft composite (SSC)

    International Nuclear Information System (INIS)

    Wang, Wei; Lee, Jang-Yeob; Rodrigue, Hugo; Song, Sung-Hyuk; Ahn, Sung-Hoon; Chu, Won-Shik

    2014-01-01

    A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable of both two-way linear and turning movement has been proposed, developed, and tested. The robot was divided into three functional parts based on the different functions of the inchworm: the body, the back foot, and the front foot. Shape memory alloy wires were embedded longitudinally in a soft polymer to imitate the longitudinal muscle fibers that control the abdominal contractions of the inchworm during locomotion. Each foot of the robot has three segments with different friction coefficients to implement the anchor and sliding movement. Then, utilizing actuation patterns between the body and feet based on the looping gait, the robot achieves a biomimetic inchworm gait. Experiments were conducted to evaluate the robot’s locomotive performance for both linear locomotion and turning movement. Results show that the proposed robot’s stride length was nearly one third of its body length, with a maximum linear speed of 3.6 mm s −1 , a linear locomotion efficiency of 96.4%, a maximum turning capability of 4.3 degrees per stride, and a turning locomotion efficiency of 39.7%. (paper)

  2. Effective Regulatory Control of Radioactive Sources in Taiwan

    International Nuclear Information System (INIS)

    Liu, W.; Yuan, C.; Fan, S.; Su, S.

    2004-01-01

    Since the incident of radioactively contaminated buildings first surfaced in Taiwan in 1992, efforts have been made by AEC (Atomic Energy Council) of Taiwan to prevent recurrence of similar incidents involving radioactive materials and to achieve effective regulatory control over radioactive sources. The most important milestone is when AEC began to enforce IRPA he Ionizing Radiation Protection Act with the promulgation of 18 relevant regulations on Feb. 1, 2003. In order to enhance accountability of radioactive material and equipment capable of producing ionizing radiation, AEC develops and begins implementing a RPCS Radiation Protection Control System which is a powerful tool in controlling radiation safety and security. In addition, AEC develops a monthly registration program via internet, an o n-line reporting system f or owners/operators of radioactive sources, to improve monitoring of sealed sources (in-use and not-in-use). The registration requirement applies to 469 licensees possessing about 3,000 sealed sources in Taiwan. Because of the threat of orphan sources, AEC has made great efforts in preventing their contamination of construction steel material by establishing and enforcing the RPMMPIRCB Regulation for Preventive Measures and Management Plans for Incident of Radioactively Contaminated Buildings. To comply with this regulation, all 19 of Taiwan's steel factories with melting furnace have installed portal-type radiation detection system to monitor incoming scrap metal. (Author)

  3. 40 CFR 92.707 - Notification to locomotive or locomotive engine owners.

    Science.gov (United States)

    2010-07-01

    ... the nonconformity of any such locomotives or locomotive engines which have been, if required by the... affected by the remedy and a general statement of the measures to be taken to correct the nonconformity. (5) A description of the adverse effects, if any, that an uncorrected nonconformity would have on the...

  4. Locomotive fuel tank structural safety testing program : passenger locomotive fuel tank jackknife derailment load test.

    Science.gov (United States)

    2010-08-01

    This report presents the results of a passenger locomotive fuel tank load test simulating jackknife derailment (JD) load. The test is based on FRA requirements for locomotive fuel tanks in the Title 49, Code of Federal Regulations (CFR), Part 238, Ap...

  5. Access control and interlock system at the Advanced Photon Source

    International Nuclear Information System (INIS)

    Forrestal, J.; Hogrefe, R.; Knott, M.; McDowell, W.; Reigle, D.; Solita, L.; Koldenhoven, R.; Haid, D.

    1997-01-01

    The Advanced Photon Source (APS) consists of a linac, position accumulator ring (PAR), booster synchrotron, storage ring, and up to 70 experimental beamlines. The Access Control and Interlock System (ACIS) utilizes redundant programmable logic controllers (PLCs) and a third hard-wired chain to protect personnel from prompt radiation generated by the linac, PAR, synchrotron, and storage ring. This paper describes the ACIS's design philosophy, configuration, hardware, functionality, validation requirements, and operational experience

  6. REGIONAL DRAINWATER MANAGEMENT: SOURCE CONTROL, AGROFORESTRY, AND EVAPORATION PONDS

    OpenAIRE

    Posnikoff, Judith F.; Knapp, Keith C.

    1996-01-01

    Source control is one way to address salinity and drainage problems in irrigated agriculture, and reuse of drainage flows on salt-tolerant crops or trees in agroforestry production is another. A regional model of agricultural production with drainwater reuse and disposal is developed. Deep percolation flows are controlled through choice of crop areas, irrigation systems, and applied-water quantities. Crop drainwater may by reused in agroforestry production, and residual emissions are disposed...

  7. Revised accident source terms and control room habitability

    International Nuclear Information System (INIS)

    Lahti, G.P.; Hubner, R.S.; Johnson, W.J.; Schwartz, B.C.

    1993-01-01

    In April 1992, the NRC staff presented to the Commissioners the draft NUREG open-quotes Revised Accident Source Terms for Light-Water Nuclear Power Plants.close quotes This document is the culmination of more than ten years of NRC-sponsored research and represents the first change in the NRC's position on source terms since TID-14844 was issued in 1962. The purpose of this paper is to investigate the impact of the revised source terms on the current approach to analyzing control room habitability as required by 10 CFR 50. Sample calculations are presented that identify aspects of the model requiring clarification before the implementation of the revised source terms. 6 refs., 4 tabs

  8. The Sources of Air Pollution and Their Control.

    Science.gov (United States)

    National Air Pollution Control Administration (DHEW), Arlington, VA.

    The problems of air pollution and its control are discussed. Major consideration is given the sources of pollution - motor vehicles, industry, power plants, space heating, and refuse disposal. Annual emission levels of five principle pollutants - carbon monoxide, sulfur dioxide, nitrogen oxides, hydrocarbons, and particulate matter - are listed…

  9. Regulatory control of radioactive sources: an international perspective

    International Nuclear Information System (INIS)

    Flakus, F.N.

    1998-01-01

    Within its Regular Programme and its Technical Co-operation Programme, the IAEA undertakes a number of activities in support of national efforts aimed at strengthening national infrastructures for the control of radiation sources. The framework of these activities is described. (author)

  10. Sources of ionizing radiation in industry: licensing and control

    International Nuclear Information System (INIS)

    Dimitrov, V.

    2001-01-01

    In this paper are presented several methods, which the Inspection on the Safe Use of Atomic Energy applies for the control on the use of sources of ionizing radiation in industry. It reviews some problems, which we have to solve during our inspections. An analysis and assessment of them is done. The prescribed safety ensuring measures are discussed. (author)

  11. Stability analysis of direct current control in current source rectifier

    DEFF Research Database (Denmark)

    Lu, Dapeng; Wang, Xiongfei; Blaabjerg, Frede

    2017-01-01

    Current source rectifier with high switching frequency has a great potential for improving the power efficiency and power density in ac-dc power conversion. This paper analyzes the stability of direct current control based on the time delay effect. Small signal model including dynamic behaviors...

  12. Generalized space vector control for current source inverters and rectifiers

    Directory of Open Access Journals (Sweden)

    Roseline J. Anitha

    2016-06-01

    Full Text Available Current source inverters (CSI is one of the widely used converter topology in medium voltage drive applications due to its simplicity, motor friendly waveforms and reliable short circuit protection. The current source inverters are usually fed by controlled current source rectifiers (CSR with a large inductor to provide a constant supply current. A generalized control applicable for both CSI and CSR and their extension namely current source multilevel inverters (CSMLI are dealt in this paper. As space vector pulse width modulation (SVPWM features the advantages of flexible control, faster dynamic response, better DC utilization and easy digital implementation it is considered for this work. This paper generalizes SVPWM that could be applied for CSI, CSR and CSMLI. The intense computation involved in framing a generalized space vector control are discussed in detail. The algorithm includes determination of band, region, subregions and vectors. The algorithm is validated by simulation using MATLAB /SIMULINK for CSR 5, 7, 13 level CSMLI and for CSR fed CSI.

  13. Plasma control for efficient extreme ultra-violet source

    International Nuclear Information System (INIS)

    Takahashi, Kensaku; Nakajima, Mitsuo; Kawamura, Tohru; Shiho, Makoto; Hotta, Eiki; Horioka, Kazuhiko

    2008-01-01

    To generate a high efficiency extreme-ultraviolet (EUV) source, effects of plasma shape for controlling radiative plasmas based on xenon capillary discharge are experimentally investigated. The radiation characteristics observed via tapered capillary discharge are compared with those of straight one. From the comparison, the long emission period and different plasma behaviors of tapered capillary discharge are confirmed. This means that control of the plasma geometry is effective for prolonging the EUV emission period. This result also indicates that the plasma shape control seems to have a potential for enhancing the conversion efficiency. (author)

  14. [Automatic adjustment control system for DC glow discharge plasma source].

    Science.gov (United States)

    Wan, Zhen-zhen; Wang, Yong-qing; Li, Xiao-jia; Wang, Hai-zhou; Shi, Ning

    2011-03-01

    There are three important parameters in the DC glow discharge process, the discharge current, discharge voltage and argon pressure in discharge source. These parameters influence each other during glow discharge process. This paper presents an automatic control system for DC glow discharge plasma source. This system collects and controls discharge voltage automatically by adjusting discharge source pressure while the discharge current is constant in the glow discharge process. The design concept, circuit principle and control program of this automatic control system are described. The accuracy is improved by this automatic control system with the method of reducing the complex operations and manual control errors. This system enhances the control accuracy of glow discharge voltage, and reduces the time to reach discharge voltage stability. The glow discharge voltage stability test results with automatic control system are provided as well, the accuracy with automatic control system is better than 1% FS which is improved from 4% FS by manual control. Time to reach discharge voltage stability has been shortened to within 30 s by automatic control from more than 90 s by manual control. Standard samples like middle-low alloy steel and tin bronze have been tested by this automatic control system. The concentration analysis precision has been significantly improved. The RSDs of all the test result are better than 3.5%. In middle-low alloy steel standard sample, the RSD range of concentration test result of Ti, Co and Mn elements is reduced from 3.0%-4.3% by manual control to 1.7%-2.4% by automatic control, and that for S and Mo is also reduced from 5.2%-5.9% to 3.3%-3.5%. In tin bronze standard sample, the RSD range of Sn, Zn and Al elements is reduced from 2.6%-4.4% to 1.0%-2.4%, and that for Si, Ni and Fe is reduced from 6.6%-13.9% to 2.6%-3.5%. The test data is also shown in this paper.

  15. Regulatory inspection: a powerful tool to control industrial radioactive sources

    International Nuclear Information System (INIS)

    Silva, F.C.A. da; Leocadio, J.C.; Ramalho, A.T.

    2008-01-01

    An important contribution for Brazilian development, especially for the quality control of products, is the use of radiation sources by conventional industries. There are in Brazil roughly 3,000 radioactive sources spread out among 950 industries. The main industrial practices involved are: industrial radiography, industrial irradiators, industrial accelerators, well logging petroleum and nuclear gauges. More than 1,800 Radiation Protection Officers (RPOs) were qualified to work in these practices. The present work presents a brief description of the safety control over industrial radioactive installations performed by the Brazilian Regulatory Authority, i.e. the National Commission of Nuclear Energy (CNEN). This paper also describes the national system for radiation safety inspections, the regulation infrastructure and the national inventory of industrial installations. The inspections are based on specific indicators, and their periodicity depends on the risk and type of installation. The present work discusses some relevant aspects that must be considered during the inspections, in order to make the inspections more efficient in controlling the sources. One of these aspects regards the evaluation of the storage place for the sources, a very important parameter for preventing future risky situations. (author)

  16. Dynamic Primitives in the Control of Locomotion

    Directory of Open Access Journals (Sweden)

    Neville eHogan

    2013-06-01

    Full Text Available Humans achieve locomotor dexterity that far exceeds the capability of modern robots, yet this is achieved despite slower actuators, imprecise sensors and vastly slower communication. We propose that this spectacular performance arises from encoding motor commands in terms of dynamic primitives. We propose three primitives as a foundation for a comprehensive theoretical framework that can embrace a wide range of upper- and lower-limb behaviors. Building on previous work that suggested discrete and rhythmic movements as elementary dynamic behaviors, we define submovements and oscillations: As discrete movements cannot be combined with sufficient flexibility, we argue that suitably-defined submovements are primitives. As the term rhythmic may be ambiguous, we define oscillations as the corresponding class of primitives. We further propose mechanical impedances as a third class of dynamic primitives, necessary for interaction with the physical environment. Combination of these three classes of primitive requires care. One approach is through a generalized equivalent network: a virtual trajectory composed of simultaneous and/or sequential submovements and/or oscillations that interacts with mechanical impedances to produce observable forces and motions. Reliable experimental identification of these dynamic primitives presents challenges: Identification of mechanical impedances is exquisitely sensitive to assumptions about their dynamic structure; identification of submovements and oscillations is sensitive to their assumed form and to details of the algorithm used to extract them. Some methods to address these challenges are presented. Some implications of this theoretical framework for locomotor rehabilitation are considered.

  17. Dynamic primitives in the control of locomotion.

    Science.gov (United States)

    Hogan, Neville; Sternad, Dagmar

    2013-01-01

    Humans achieve locomotor dexterity that far exceeds the capability of modern robots, yet this is achieved despite slower actuators, imprecise sensors, and vastly slower communication. We propose that this spectacular performance arises from encoding motor commands in terms of dynamic primitives. We propose three primitives as a foundation for a comprehensive theoretical framework that can embrace a wide range of upper- and lower-limb behaviors. Building on previous work that suggested discrete and rhythmic movements as elementary dynamic behaviors, we define submovements and oscillations: as discrete movements cannot be combined with sufficient flexibility, we argue that suitably-defined submovements are primitives. As the term "rhythmic" may be ambiguous, we define oscillations as the corresponding class of primitives. We further propose mechanical impedances as a third class of dynamic primitives, necessary for interaction with the physical environment. Combination of these three classes of primitive requires care. One approach is through a generalized equivalent network: a virtual trajectory composed of simultaneous and/or sequential submovements and/or oscillations that interacts with mechanical impedances to produce observable forces and motions. Reliable experimental identification of these dynamic primitives presents challenges: identification of mechanical impedances is exquisitely sensitive to assumptions about their dynamic structure; identification of submovements and oscillations is sensitive to their assumed form and to details of the algorithm used to extract them. Some methods to address these challenges are presented. Some implications of this theoretical framework for locomotor rehabilitation are considered.

  18. Human-robot interaction strategies for walker-assisted locomotion

    CERN Document Server

    Cifuentes, Carlos A

    2016-01-01

    This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed. .

  19. A Look at the Future of Controlled-Source Seismology

    Science.gov (United States)

    Keller, G. R.; Klemperer, S.; Hole, J.; Snelson, C.

    2008-12-01

    Facilities like EarthScope and IRIS/PASSCAL offer a framework in which to re-assess the role of our highest- resolution geophysical tool, controlled-source seismology. This tool is effective in near surface studies that focus on the upper 100 m of the crust to studies that focus on Moho structure and the lithospheric mantle. IRIS has now existed for over two decades and has transformed the way in which passive-source seismology in particular is carried out. Progress over these two decades has led to major discoveries about continental architecture and evolution through the development of three-dimensional images of the upper mantle and lithosphere. Simultaneously the hydrocarbon exploration industry has mapped increasingly large fractions of our sedimentary basins in three-dimensions and at unprecedented resolution and fidelity. Thanks to the additional instruments in the EarthScope facility, a clear scientific need and opportunity exists to map, at similar resolution, all of the crust - the igneous/metamorphic basement, the non-petroliferous basins that contain the record of continental evolution, and the seismogenic faults and active volcanoes that are the principal natural hazards we face. Controlled-source seismology remains the fundamental technology behind exploration for all fossil fuels and many water resources, and as such is a multi-billion-dollar industry centered in the USA. Academic scientists are leaders in developing the algorithms to process the most advanced industry data, but lack the academic data sets to which to apply this technology. University and government controlled-source seismologists, and their students who will populate the exploration industry, are increasingly divorced from that industry by their reliance on sparse spatial recording of usually only a single-component of the wavefield, generated by even sparser seismic sources. However, if we can find the resources, the technology now exists to provide seismic images of immense

  20. Modeling in control of the Advanced Light Source

    International Nuclear Information System (INIS)

    Bengtsson, J.; Forest, E.; Nishimura, H.; Schachinger, L.

    1991-05-01

    A software system for control of accelerator physics parameters of the Advanced Light Source (ALS) is being designed and implemented at LBL. Some of the parameters we wish to control are tunes, chromaticities, and closed orbit distortions as well as linear lattice distortions and, possibly, amplitude- and momentum-dependent tune shifts. In all our applications, the goal is to allow the user to adjust physics parameters of the machine, instead of turning knobs that control magnets directly. This control will take place via a highly graphical user interface, with both a model appropriate to the application and any correction algorithm running alongside as separate processes. Many of these applications will run on a Unix workstation, separate from the controls system, but communicating with the hardware database via Remote Procedure Calls (RPCs)

  1. Control of radioisotopes and radiation sources in Indonesia

    International Nuclear Information System (INIS)

    Ridwan, M.

    2001-01-01

    Radioisotopes and radiation sources are extensively used in Indonesia in medicine, industry, mining, agriculture and research. These materials are controlled by the regulatory authority, according to established legal procedures. The Nuclear Energy Control Board of Indonesia (BAPETEN), which was established in 1998 through the Nuclear Energy Act No. 10/1997, is entrusted with the control of any application of nuclear energy, including the application of radioisotopes and radiation sources, through regulation, licensing and inspection. The control is aimed to assure welfare, security and peace, the safety and health of workers and the public, and environmental protection. The number of licences issued to date is around 2400, consisting of 1600 licences for radioisotopes and radiation sources used in hospitals, 347 in radiography, 256 in industry, 53 in mining, and the rest in many other areas such as research and agriculture. A licence can cover one or more radioisotopes or radiation sources, depending on the location of the user institution. These radioisotopes and radiation sources are Co-60, Cs-137, Ir-192, Ra-226, Am-241, Sr-90, Kr-85, Pm-147, linear accelerator and X-ray, and short half-life radioisotopes such as I-125, I-131 and Tc-99m. There are 10 LINACs, 27 X-ray medicines, 61 radioisotope devices for Co-60 and Cs-137, and 10 mHDR Ir-192 for therapeutic purposes currently used in Indonesia and some Ra-226 in storage. Any activity related to the application of nuclear energy is required to be conducted in a manner which observes safety and security. According to the legal requirements, each user has to employ at least one radiation safety officer. To improve the control of the application of radiation sources and radioactive material in the country, BAPETEN introduced some new approaches to the users, including regular dialogues with radiation safety officers and the management of the users, requalification for radiation protection officers twice in five

  2. Experiments on vibration-driven stick-slip locomotion: A sliding bifurcation perspective

    Science.gov (United States)

    Du, Zhouwei; Fang, Hongbin; Zhan, Xiong; Xu, Jian

    2018-05-01

    Dry friction appears at the contact interface between two surfaces and is the source of stick-slip vibrations. Instead of being a negative factor, dry friction is essential for vibration-driven locomotion system to take effect. However, the dry-friction-induced stick-slip locomotion has not been fully understood in previous research, especially in terms of experiments. In this paper, we experimentally study the stick-slip dynamics of a vibration-driven locomotion system from a sliding bifurcation perspective. To this end, we first design and build a vibration-driven locomotion prototype based on an internal piezoelectric cantilever. By utilizing the mechanical resonance, the small piezoelectric deformation is significantly amplified to drive the prototype to achieve effective locomotion. Through identifying the stick-slip characteristics in velocity histories, we could categorize the system's locomotion into four types and obtain a stick-slip categorization diagram. In each zone of the diagram the locomotion exhibits qualitatively different stick-slip dynamics. Such categorization diagram is actually a sliding bifurcation diagram; crossing from one stick-slip zone to another corresponds to the triggering of a sliding bifurcation. In addition, a simplified single degree-of-freedom model is established, with the rationality of simplification been explained theoretically and numerically. Based on the equivalent model, a numerical stick-slip categorization is also obtained, which shows good agreement with the experiments both qualitatively and quantitatively. To the best of our knowledge, this is the first work that experimentally generates a sliding bifurcation diagram. The obtained stick-slip categorizations deepen our understanding of stick-slip dynamics in vibration-driven systems and could serve as a base for system design and optimization.

  3. Modelling of dynamically stable AR-601M robot locomotion in Simulink

    Directory of Open Access Journals (Sweden)

    Khusainov Ramil

    2016-01-01

    Full Text Available Humanoid robots will gradually play an important role in our daily lives. Currently, research on anthropomorphic robots and biped locomotion is one of the most important problems in the field of mobile robotics, and the development of reliable control algorithms for them is a challenging task. In this research two algorithms for stable walking of Russian anthropomorphic robot AR-601M with 41 Degrees of Freedom (DoF are investigated. To achieve a human-like dynamically stable locomotion 6 DoF in each robot leg are controlled with Virtual Height Inverted Pendulum and Preview control methods.

  4. Passive appendages aid locomotion through symmetry breaking

    Science.gov (United States)

    Bagheri, Shervin; Lacis, Ugis; Mazzino, Andrea; Kellay, Hamid; Brosse, Nicolas; Lundell, Fredrik; Ingremeau, Francois

    2014-11-01

    Plants and animals use plumes, barbs, tails, feathers, hairs, fins, and other types of appendages to aid locomotion. Despite their enormous variation, passive appendages may contribute to locomotion by exploiting the same physical mechanism. We present a new mechanism that applies to body appendages surrounded by a separated flow, which often develops behind moving bodies larger than a few millimeters. We use theory, experiments, and numerical simulations to show that bodies with protrusions turn and drift by exploiting a symmetry-breaking instability similar to the instability of an inverted pendulum. Our model explains why the straight position of an appendage in flowing fluid is unstable and how it stabilizes either to the left or right of the incoming fluid flow direction. The discovery suggests a new mechanism of locomotion that may be relevant for certain organisms; for example, how plumed seeds may drift without wind and how motile animals may passively reorient themselves.

  5. Numerical simulation of human biped locomotion

    International Nuclear Information System (INIS)

    Ishiguro, Misako; Fujisaki, Masahide

    1988-04-01

    This report describes the numerical simulation of the motion of human-like robot which is one of the research theme of human acts simulation program (HASP) begun at the Computing Center of JAERI in 1987. The purpose of the theme is to model the human motion using robotics kinematic/kinetic equations and to get the joint angles as the solution. As the first trial, we treat the biped locomotion (walking) which is the most fundamental human motion. We implemented a computer program on FACOM M-780 computer, where the program is originated from the book of M. Vukobratovic in Yugoslavia, and made a graphic program to draw a walking shot sequence. Mainly described here are the mathematical model of the biped locomotion, implementation method of the computer program, input data for basic walking pattern, computed results and its validation, and graphic representation of human walking image. Literature survey on robotics equation and biped locomotion is also included. (author)

  6. Control of radioactive sources in industry through regulatory inspections

    International Nuclear Information System (INIS)

    Leocadio, J.C.; Ramalho, A.T.; Pinho, A.S.; Lourenco, M.M.J.; Nicola, M.S.; D'Avila, R.L.; Melo, I.F.; Cucco, A.C.S.

    2005-01-01

    In Brazil, the applications of ionizing radiation in industry are accomplished about 900 radioactive facilities, which handle approximately 3.000 radiation sources. The control of radioactive sources used in industrial installations authorized by the Brazilian Nuclear Energy Commission (CNEN) is accomplished by Servico de Radioprotecao na Industria Radiativa (SERIR) of the Instituto de Radioprotecao e Dosimetria (IRD), Rio de Janeiro, RJ, Brazil. This service carries out regulatory inspections in the practices of industrial radiography, nuclear gauges, industrial irradiators and oil wells logging. The frequency of inspections depends on the type of practice, ranging from a year to 5 years, depending on the risk involved. This paper presents a brief description of the situation of radiation safety in the use of radioactive sources in the industries of the country. The results obtained with regulatory inspections at industrial installations demonstrate that the conditions of safety and radiation protection in these facilities are satisfactory when compared with the technical regulations, both national and international

  7. Deghosting, Demultiple, and Deblurring in Controlled-Source Seismic Interferometry

    Directory of Open Access Journals (Sweden)

    Joost van der Neut

    2011-01-01

    Full Text Available With controlled-source seismic interferometry we aim to redatum sources to downhole receiver locations without requiring a velocity model. Interferometry is generally based on a source integral over cross-correlation (CC pairs of full, perturbed (time-gated, or decomposed wavefields. We provide an overview of ghosts, multiples, and spatial blurring effects that can occur for different types of interferometry. We show that replacing cross-correlation by multidimensional deconvolution (MDD can deghost, demultiple, and deblur retrieved data. We derive and analyze MDD for perturbed and decomposed wavefields. An interferometric point spread function (PSF is introduced that can be obtained directly from downhole data. Ghosts, multiples, and blurring effects that may populate the retrieved gathers can be locally diagnosed with the PSF. MDD of perturbed fields can remove ghosts and deblur retrieved data, but it leaves particular multiples in place. To remove all overburden-related effects, MDD of decomposed fields should be applied.

  8. Analysis of fuel cell hybrid locomotives

    Energy Technology Data Exchange (ETDEWEB)

    Miller, Arnold R. [Vehicle Projects LLC, 621, 17th Street, Suite 2131, Denver, CO 80293 (United States); Peters, John; Smith, Brian E. [Transportation Technology Center Inc., 55500 DOT Road, Pueblo, CO 81007 (United States); Velev, Omourtag A. [AeroVironment Inc., 232 West Maple Avenue, Monrovia, CA 91016 (United States)

    2006-07-03

    Led by Vehicle Projects LLC, an international industry-government consortium is developing a 109t, 1.2MW road-switcher locomotive for commercial and military railway applications. As part of the feasibility and conceptual-design analysis, a study has been made of the potential benefits of a hybrid power plant in which fuel cells comprise the prime mover and a battery or flywheel provides auxiliary power. The potential benefits of a hybrid power plant are: (i) enhancement of transient power and hence tractive effort; (ii) regenerative braking; (iii) reduction of capital cost. Generally, the tractive effort of a locomotive at low speed is limited by wheel adhesion and not by available power. Enhanced transient power is therefore unlikely to benefit a switcher locomotive, but could assist applications that require high acceleration, e.g. subway trains with all axles powered. In most cases, the value of regeneration in locomotives is minimal. For low-speed applications such as switchers, the available kinetic energy and the effectiveness of traction motors as generators are both minimal. For high-speed heavy applications such as freight, the ability of the auxiliary power device to absorb a significant portion of the available kinetic energy is low. Moreover, the hybrid power plant suffers a double efficiency penalty, namely, losses occur in both absorbing and then releasing energy from the auxiliary device, which result in a net storage efficiency of no more than 50% for present battery technology. Capital cost in some applications may be reduced. Based on an observed locomotive duty cycle, a cost model shows that a hybrid power plant for a switcher may indeed reduce capital cost. Offsetting this potential benefit are the increased complexity, weight and volume of the power plant, as well as 20-40% increased fuel consumption that results from lower efficiency. Based on this analysis, the consortium has decided to develop a pure fuel cell road-switcher locomotive, that

  9. Regulatory control of radiation sources in the Philippines

    International Nuclear Information System (INIS)

    Daroy, Rosita R.

    1995-01-01

    This paper is concerned with the radiation protection and safety infrastructure providing emphasis on the regulation and control of radiation sources in the Philippines. It deals with the experiences of the Philippine Nuclear Research Institute, as a regulatory body, in the regulation and control of radioactive materials in radiotherapy, nuclear medicine, industrial radiography, industrial gauges, industrial irradiators, and well logging. This paper includes an inventory of the sources and types of devices/equipment used by licensed users of radioactive materials in the Philippines as a contribution to the data base being prepared by the IAEA. The problems encountered by the regulatory body in the licensing and enforcement process, as well as the lessons learned from incidents involving radioactive materials are discussed. Plans for improving compliance to the regulations and enhancing the effectiveness of PNRI's regulatory functions are presented. (author)

  10. DESIGN IMPROVEMENT OF THE LOCOMOTIVE RUNNING GEARS

    Directory of Open Access Journals (Sweden)

    S. V. Myamlin

    2013-09-01

    Full Text Available Purpose. To determine the dynamic qualities of the mainline freight locomotives characterizing the safe motion in tangent and curved track sections at all operational speeds, one needs a whole set of studies, which includes a selection of the design scheme, development of the corresponding mathematical model of the locomotive spatial fluctuations, construction of the computer calculation program, conducting of the theoretical and then experimental studies of the new designs. In this case, one should compare the results with existing designs. One of the necessary conditions for the qualitative improvement of the traction rolling stock is to define the parameters of its running gears. Among the issues related to this problem, an important place is occupied by the task of determining the locomotive dynamic properties on the stage of projection, taking into account the selected technical solutions in the running gear design. Methodology. The mathematical modeling studies are carried out by the numerical integration method of the dynamic loading for the mainline locomotive using the software package «Dynamics of Rail Vehicles » («DYNRAIL». Findings. As a result of research for the improvement of locomotive running gear design it can be seen that the creation of the modern locomotive requires from engineers and scientists the realization of scientific and technical solutions. The solutions enhancing design speed with simultaneous improvement of the traction, braking and dynamic qualities to provide a simple and reliable design, especially the running gear, reducing the costs for maintenance and repair, low initial cost and operating costs for the whole service life, high traction force when starting, which is as close as possible to the ultimate force of adhesion, the ability to work in multiple traction mode and sufficient design speed. Practical Value. The generalization of theoretical, scientific and methodological, experimental studies aimed

  11. Locomotion of Paramecium in patterned environments

    Science.gov (United States)

    Park, Eun-Jik; Eddins, Aja; Kim, Junil; Yang, Sung; Jana, Saikat; Jung, Sunghwan

    2011-10-01

    Ciliary organisms like Paramecium Multimicronucleatum locomote by synchronized beating of cilia that produce metachronal waves over their body. In their natural environments they navigate through a variety of environments especially surfaces with different topology. We study the effects of wavy surfaces patterned on the PDMS channels on the locomotive abilities of Paramecium by characterizing different quantities like velocity amplitude and wavelength of the trajectories traced. We compare this result with the swimming characteristics in straight channels and draw conclusions about the effects of various patterned surfaces.

  12. Stability and vibration control in synchrotron light source buildings

    Energy Technology Data Exchange (ETDEWEB)

    Godel, J.B.

    1991-01-01

    Synchrotron light sources have undergone three generations of development in the last two decades. The National Synchrotron Light Source (NSLS) at Brookhaven National Laboratory has two second generation'' storage rings that currently provide the world's most intense sources of photons in the VUV and X-ray spectral ranges. There are almost 90 beam lines serving a community of 2600 scientists from 370 institutions. They are engaged in basic and applied research in physics, chemistry, biology, medicine, materials science and various technologies. When design of the NSLS began in 1977, emphasis was given to the stability of the concrete slab on which the storage rings and experimental beam lines were placed. Stability is the result of controlling: vibration from sources internal and external to the building, thermal effects of air and water temperature variations, foundation settlement and contact between the slab and underlying subsoil. With the advent of new research where highly focused beams of x-rays must be placed on increasingly smaller targets located 35 meters or more from the source, and the development of x-ray lithography with resolutions approaching 0.1 micron at chip exposure stations, even greater attention to stability is required in building designs. This paper will review the results of the successful NSLS experience and give an integrated design approach that includes elements which contribute to instabilities, and the means available to reduce them to acceptable levels.

  13. Stability and vibration control in synchrotron light source buildings

    Energy Technology Data Exchange (ETDEWEB)

    Godel, J.B.

    1991-12-31

    Synchrotron light sources have undergone three generations of development in the last two decades. The National Synchrotron Light Source (NSLS) at Brookhaven National Laboratory has two ``second generation`` storage rings that currently provide the world`s most intense sources of photons in the VUV and X-ray spectral ranges. There are almost 90 beam lines serving a community of 2600 scientists from 370 institutions. They are engaged in basic and applied research in physics, chemistry, biology, medicine, materials science and various technologies. When design of the NSLS began in 1977, emphasis was given to the stability of the concrete slab on which the storage rings and experimental beam lines were placed. Stability is the result of controlling: vibration from sources internal and external to the building, thermal effects of air and water temperature variations, foundation settlement and contact between the slab and underlying subsoil. With the advent of new research where highly focused beams of x-rays must be placed on increasingly smaller targets located 35 meters or more from the source, and the development of x-ray lithography with resolutions approaching 0.1 micron at chip exposure stations, even greater attention to stability is required in building designs. This paper will review the results of the successful NSLS experience and give an integrated design approach that includes elements which contribute to instabilities, and the means available to reduce them to acceptable levels.

  14. Stability and vibration control in synchrotron light source buildings

    International Nuclear Information System (INIS)

    Godel, J.B.

    1991-01-01

    Synchrotron light sources have undergone three generations of development in the last two decades. The National Synchrotron Light Source (NSLS) at Brookhaven National Laboratory has two ''second generation'' storage rings that currently provide the world's most intense sources of photons in the VUV and X-ray spectral ranges. There are almost 90 beam lines serving a community of 2600 scientists from 370 institutions. They are engaged in basic and applied research in physics, chemistry, biology, medicine, materials science and various technologies. When design of the NSLS began in 1977, emphasis was given to the stability of the concrete slab on which the storage rings and experimental beam lines were placed. Stability is the result of controlling: vibration from sources internal and external to the building, thermal effects of air and water temperature variations, foundation settlement and contact between the slab and underlying subsoil. With the advent of new research where highly focused beams of x-rays must be placed on increasingly smaller targets located 35 meters or more from the source, and the development of x-ray lithography with resolutions approaching 0.1 micron at chip exposure stations, even greater attention to stability is required in building designs. This paper will review the results of the successful NSLS experience and give an integrated design approach that includes elements which contribute to instabilities, and the means available to reduce them to acceptable levels

  15. Mobile source pollution control in the United States and China

    International Nuclear Information System (INIS)

    Menz, Fredric C

    2002-01-01

    This paper reviews policies for the control of mobile source pollution and their potential application in China. The first section of the paper reviews the U.S. experience with mobile source pollution control since regulations were first established in the Clean Air Act of 1970. Highlights in the policy and trends in vehicle emissions over the 1970 to 2000 time period are discussed. The second section of the paper discusses the range of policy instruments that could be used to control vehicle pollution, ranging from traditional direct regulations to market-based instruments. Experiences with the use of economic incentives in the United States and elsewhere are also discussed. The third section of the paper discusses possible implications of the U.S. experience for controlling vehicle pollution in China. While market-based instruments might be particularly appropriate for use in several aspects of China's pollution control policies, important differences between the institutional structures in China and the United States suggest that they should be phased in gradually. The paper closes with concluding remarks. (author)

  16. Mobile source pollution control in the United States and China

    Energy Technology Data Exchange (ETDEWEB)

    Menz, Fredric C

    2002-07-01

    This paper reviews policies for the control of mobile source pollution and their potential application in China. The first section of the paper reviews the U.S. experience with mobile source pollution control since regulations were first established in the Clean Air Act of 1970. Highlights in the policy and trends in vehicle emissions over the 1970 to 2000 time period are discussed. The second section of the paper discusses the range of policy instruments that could be used to control vehicle pollution, ranging from traditional direct regulations to market-based instruments. Experiences with the use of economic incentives in the United States and elsewhere are also discussed. The third section of the paper discusses possible implications of the U.S. experience for controlling vehicle pollution in China. While market-based instruments might be particularly appropriate for use in several aspects of China's pollution control policies, important differences between the institutional structures in China and the United States suggest that they should be phased in gradually. The paper closes with concluding remarks. (author)

  17. Regulatory control of radiation sources in the Philippines

    Energy Technology Data Exchange (ETDEWEB)

    Daroy, Rosita R

    1996-12-31

    This paper is concerned with the radiation protection and safety infrastructure providing emphasis on the regulation and control of radiation sources in the Philippines. It deals with the experiences of the Philippine Nuclear Research Institute, as a regulatory body, in the regulation and control of radioactive materials in radiotherapy, nuclear medicine, industrial radiography, industrial gauges, industrial irradiators, and well logging. This paper includes an inventory of the sources and types of devices/equipment used by licensed users of radioactive materials in the Philippines as a contribution to the data base being prepared by the IAEA. The problems encountered by the regulatory body in the licensing and enforcement process, as well as the lessons learned from incidents involving radioactive materials are discussed. Plans for improving compliance to the regulations and enhancing the effectiveness of PNRI`s regulatory functions are presented. (author). Paper presented during the IAEA Regional (RCA) Workshop on System of Notification, Registration, Licensing, and Control of Radiation Sources and Installations, Jakarta, Indonesia, 24-28 April 1995. 6 refs., 2 figs., 12 tabs.

  18. Boldness and intermittent locomotion in the bluegill sunfish, Lepomis macrochirus

    OpenAIRE

    Alexander D.M. Wilson; Jean-Guy J. Godin

    2009-01-01

    Intermittent locomotion, characterized by moves interspersed with pauses, is a common pattern of locomotion in animals, but its ecological and evolutionary significance relative to continuous locomotion remains poorly understood. Although many studies have examined individual differences in both intermittent locomotion and boldness separately, to our knowledge, no study to date has investigated the relationship between these 2 traits. Characterizing and understanding this relationship is impo...

  19. The Role of Adaptation in Body Load-Regulating Mechanisms During Locomotion

    Science.gov (United States)

    Ruttley, Tara; Holt, Christopher; Mulavara, Ajitkumar; Bloomberg, Jacob

    2010-01-01

    Body loading is a fundamental parameter that modulates motor output during locomotion, and is especially important for controlling the generation of stepping patterns, dynamic balance, and termination of locomotion. Load receptors that regulate and control posture and stance in locomotion include the Golgi tendon organs and muscle spindles at the hip, knee, and ankle joints, and the Ruffini endings and the Pacinian corpuscles in the soles of the feet. Increased body weight support (BWS) during locomotion results in an immediate reorganization of locomotor control, such as a reduction in stance and double support duration and decreased hip, ankle, and knee angles during the gait cycle. Previous studies on the effect during exposure to increased BWS while walking showed a reduction in lower limb joint angles and gait cycle timing that represents a reorganization of locomotor control. Until now, no studies have investigated how locomotor control responds after a period of exposure to adaptive modification in the body load sensing system. The goal of this research was to determine the adaptive properties of body load-regulating mechanisms in locomotor control during locomotion. We hypothesized that body load-regulating mechanisms contribute to locomotor control, and adaptive changes in these load-regulating mechanisms require reorganization to maintain forward locomotion. Head-torso coordination, lower limb movement patterns, and gait cycle timing were evaluated before and after a 30-minute adaptation session during which subjects walked on a treadmill at 5.4 km/hr with 40% body weight support (BWS). Before and after the adaptation period, head-torso and lower limb 3D kinematic data were obtained while performing a goal directed task during locomotion with 0% BWS using a video-based motion analysis system, and gait cycle timing parameters were collected by foot switches positioned under the heel and toe of the subjects shoes. Subjects showed adaptive modification in

  20. A source-controlled data center network model.

    Science.gov (United States)

    Yu, Yang; Liang, Mangui; Wang, Zhe

    2017-01-01

    The construction of data center network by applying SDN technology has become a hot research topic. The SDN architecture has innovatively separated the control plane from the data plane which makes the network more software-oriented and agile. Moreover, it provides virtual multi-tenancy, effective scheduling resources and centralized control strategies to meet the demand for cloud computing data center. However, the explosion of network information is facing severe challenges for SDN controller. The flow storage and lookup mechanisms based on TCAM device have led to the restriction of scalability, high cost and energy consumption. In view of this, a source-controlled data center network (SCDCN) model is proposed herein. The SCDCN model applies a new type of source routing address named the vector address (VA) as the packet-switching label. The VA completely defines the communication path and the data forwarding process can be finished solely relying on VA. There are four advantages in the SCDCN architecture. 1) The model adopts hierarchical multi-controllers and abstracts large-scale data center network into some small network domains that has solved the restriction for the processing ability of single controller and reduced the computational complexity. 2) Vector switches (VS) developed in the core network no longer apply TCAM for table storage and lookup that has significantly cut down the cost and complexity for switches. Meanwhile, the problem of scalability can be solved effectively. 3) The SCDCN model simplifies the establishment process for new flows and there is no need to download flow tables to VS. The amount of control signaling consumed when establishing new flows can be significantly decreased. 4) We design the VS on the NetFPGA platform. The statistical results show that the hardware resource consumption in a VS is about 27% of that in an OFS.

  1. A source-controlled data center network model

    Science.gov (United States)

    Yu, Yang; Liang, Mangui; Wang, Zhe

    2017-01-01

    The construction of data center network by applying SDN technology has become a hot research topic. The SDN architecture has innovatively separated the control plane from the data plane which makes the network more software-oriented and agile. Moreover, it provides virtual multi-tenancy, effective scheduling resources and centralized control strategies to meet the demand for cloud computing data center. However, the explosion of network information is facing severe challenges for SDN controller. The flow storage and lookup mechanisms based on TCAM device have led to the restriction of scalability, high cost and energy consumption. In view of this, a source-controlled data center network (SCDCN) model is proposed herein. The SCDCN model applies a new type of source routing address named the vector address (VA) as the packet-switching label. The VA completely defines the communication path and the data forwarding process can be finished solely relying on VA. There are four advantages in the SCDCN architecture. 1) The model adopts hierarchical multi-controllers and abstracts large-scale data center network into some small network domains that has solved the restriction for the processing ability of single controller and reduced the computational complexity. 2) Vector switches (VS) developed in the core network no longer apply TCAM for table storage and lookup that has significantly cut down the cost and complexity for switches. Meanwhile, the problem of scalability can be solved effectively. 3) The SCDCN model simplifies the establishment process for new flows and there is no need to download flow tables to VS. The amount of control signaling consumed when establishing new flows can be significantly decreased. 4) We design the VS on the NetFPGA platform. The statistical results show that the hardware resource consumption in a VS is about 27% of that in an OFS. PMID:28328925

  2. A novel device for studying weight supported, quadrupedal overground locomotion in spinal cord injured rats.

    Science.gov (United States)

    Hamlin, Marvin; Traughber, Terence; Reinkensmeyer, David J; de Leon, Ray D

    2015-05-15

    Providing weight support facilitates locomotion in spinal cord injured animals. To control weight support, robotic systems have been developed for treadmill stepping and more recently for overground walking. We developed a novel device, the body weight supported ambulatory rodent trainer (i.e. BART). It has a small pneumatic cylinder that moves along a linear track above the rat. When air is supplied to the cylinder, the rats are lifted as they perform overground walking. We tested the BART device in rats that received a moderate spinal cord contusion injury and in normal rats. Locomotor training with the BART device was not performed. All of the rats learned to walk in the BART device. In the contused rats, significantly greater paw dragging and dorsal stepping occurred in the hindlimbs compared to normal. Providing weight support significantly raised hip position and significantly reduced locomotor deficits. Hindlimb stepping was tightly coupled to forelimb stepping but only when the contused rats stepped without weight support. Three weeks after the contused rats received a complete spinal cord transection, significantly fewer hindlimb steps were performed. Relative to rodent robotic systems, the BART device is a simpler system for studying overground locomotion. The BART device lacks sophisticated control and sensing capability, but it can be assembled relatively easily and cheaply. These findings suggest that the BART device is a useful tool for assessing quadrupedal, overground locomotion which is a more natural form of locomotion relative to treadmill locomotion. Published by Elsevier B.V.

  3. On the Role of the Pedunculopontine Nucleus and Mesencephalic Reticular Formation in Locomotion in Nonhuman Primates.

    Science.gov (United States)

    Goetz, Laurent; Piallat, Brigitte; Bhattacharjee, Manik; Mathieu, Hervé; David, Olivier; Chabardès, Stéphan

    2016-05-04

    The mesencephalic reticular formation (MRF) is formed by the pedunculopontine and cuneiform nuclei, two neuronal structures thought to be key elements in the supraspinal control of locomotion, muscle tone, waking, and REM sleep. The role of MRF has also been advocated in modulation of state of arousal leading to transition from wakefulness to sleep and it is further considered to be a main player in the pathophysiology of gait disorders seen in Parkinson's disease. However, the existence of a mesencephalic locomotor region and of an arousal center has not yet been demonstrated in primates. Here, we provide the first extensive electrophysiological mapping of the MRF using extracellular recordings at rest and during locomotion in a nonhuman primate (NHP) (Macaca fascicularis) model of bipedal locomotion. We found different neuronal populations that discharged according to a phasic or a tonic mode in response to locomotion, supporting the existence of a locomotor neuronal circuit within these MRF in behaving primates. Altogether, these data constitute the first electrophysiological characterization of a locomotor neuronal system present within the MRF in behaving NHPs under normal conditions, in accordance with several studies done in different experimental animal models. We provide the first extensive electrophysiological mapping of the two major components of the mesencephalic reticular formation (MRF), namely the pedunculopontine and cuneiform nuclei. We exploited a nonhuman primate (NHP) model of bipedal locomotion with extracellular recordings in behaving NHPs at rest and during locomotion. Different MRF neuronal groups were found to respond to locomotion, with phasic or tonic patterns of response. These data constitute the first electrophysiological evidences of a locomotor neuronal system within the MRF in behaving NHPs. Copyright © 2016 the authors 0270-6474/16/364917-13$15.00/0.

  4. 49 CFR 230.101 - Steam locomotive driving journal boxes.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive driving journal boxes. 230.101... Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal boxes. Driving journal boxes shall be maintained in a safe and suitable condition for service. Not more...

  5. Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

    Energy Technology Data Exchange (ETDEWEB)

    Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho [Chonnam National University, Gwangju (Korea, Republic of)

    2011-12-15

    In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.

  6. Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

    International Nuclear Information System (INIS)

    Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho

    2011-01-01

    In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified

  7. Status and design of the Advanced Photon Source control system

    International Nuclear Information System (INIS)

    McDowell, W.; Knott, M.; Lenkszus, F.; Kraimer, M.; Arnold, N.; Daly, R.

    1993-01-01

    This paper presents the current status of the Advanced Photon Source (APS) control system. It will discuss the design decisions which led us to use industrial standards and collaborations with other laboratories to develop the APS control system. The system uses high performance graphic workstations and the X-windows Graphical User Interface (GUI) at the operator interface level. It connects to VME/VXI-based microprocessors at the field level using TCP/IP protocols over high performance networks. This strategy assures the flexibility and expansibility of the control system. A defined interface between the system components will allow the system to evolve with the direct addition of future, improved equipment and new capabilities

  8. The geological controls of geothermal groundwater sources in Lebanon

    Energy Technology Data Exchange (ETDEWEB)

    Shaban, Amin [National Council for Scientific Research, Remote Sensing Center, Beirut (Lebanon); Khalaf-Keyrouz, Layla [Notre Dame University-Louaize, Zouk Mosbeh (Lebanon)

    2013-07-01

    Lebanon is a country that is relatively rich in water resources, as compared to its neighboring states in the Middle East. Several water sources are issuing on the surface or subsurface, including nonconventional water sources as the geothermal groundwater. This aspect of water sources exists in Lebanon in several localities, as springs or in deep boreholes. To the present little attention has been given to these resources and their geological setting is still unidentified. The preliminary geological field surveys revealed that they mainly occur in the vicinity of the basalt outcrops. Therefore, understanding their geological controls will help in exploring their origin, and thus giving insights into their economical exploitation. This can be investigated by applying advanced detection techniques, field surveys along with detailed geochemical analysis. This study aims at assessing the geographic distribution of the geothermal water in Lebanon with respect to the different geological settings and controls that govern their hydrogeologic regimes. It will introduce an approach for an integrated water resources management which became of utmost significance for the country.

  9. Lizard locomotion in heterogeneous granular media

    Science.gov (United States)

    Schiebel, Perrin; Goldman, Daniel

    2014-03-01

    Locomotion strategies in heterogeneous granular environments (common substrates in deserts), are relatively unexplored. The zebra-tailed lizard (C. draconoides) is a useful model organism for such studies owing to its exceptional ability to navigate a variety of desert habitats at impressive speed (up to 50 body-lengths per second) using both quadrapedal and bidepal gaits. In laboratory experiments, we challenge the lizards to run across a field of boulders (2.54 cm diameter glass spheres or 3.8 cm 3D printed spheres) placed in a lattice pattern and embedded in a loosely packed granular medium of 0.3 mm diameter glass particles. Locomotion kinematics of the lizard are recorded using high speed cameras, with and without the scatterers. The data reveals that unlike the lizard's typical quadrupedal locomotion using a diagonal gait, when scatterers are present the lizard is most successful when using a bipedal gait, with a raised center of mass (CoM). We propose that the kinematics of bipedal running in conjunction with the lizard's long toes and compliant hind foot are the keys to this lizard's successful locomotion in the presence of such obstacles. NSF PoLS

  10. 49 CFR 229.129 - Locomotive horn.

    Science.gov (United States)

    2010-10-01

    .... The locomotive shall be positioned on straight, level track. (6) Measurements shall be taken only when... between 20 percent and 95 percent inclusively; wind velocity is not more than 12 miles per hour and there..., at an angle no greater than 20 degrees from the center line of the track, and oriented with respect...

  11. PM10 standards and nontraditional particulate source controls: Research perspective

    International Nuclear Information System (INIS)

    Watson, J.G.

    1992-01-01

    Knowledge of how to measure suspended particles, what their concentrations are, what they are composed of, and where they come from has increased substantially since 1975. At that time, much of the pioneering work in these areas was just being conducted and published. Size-classified measurements, low-level elemental analysis, inorganic ion analysis, and carbon determinations for aerosol samples were novel research developments. Receptor modeling was not considered to be a scientific discipline, let alone a useful tool for source apportionment. Presentations at earlier conferences went to great lengths to document and justify methodologies which are taken for granted at this conference. This paper goes on to discuss research findings in control of wood smoke, fugitive dusts, motor vehicle exhausts, and secondary aerosols. Research results in source apportionment are also discussed

  12. 49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of a...

  13. Implementation and performance evaluation open-source controller for precision control of gripper

    Science.gov (United States)

    Lee, Seung-Yong; Ham, Un-Hyeong; Park, Young-Woo; Jung, Hak-Sang; Jung, Il-Kyun; Lim, Sun

    2017-12-01

    This paper proposes integrating gripper embedded operating system, which consist of external interface structure for sophisticated gripper control. This system has multiple functions that control the gripping module and measure the pose of the gripper body with respect to contact environment. A controller based on open source only for the gripper is developed and an external communication interface between robot controller and gripper controller is designed. An experimental environment for the fixed-cycle test consists of integrating magic gripper software system and hardware on commercial business. As a result, a deviation is measured approximately 2% and the system were verified for gripper control.

  14. Hybrid magnetic mechanism for active locomotion based on inchworm motion

    International Nuclear Information System (INIS)

    Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi

    2013-01-01

    Magnetic robots have been studied in the past. Insect-type micro-robots are used in various biomedical applications; researchers have developed inchworm micro-robots for endoscopic use. A biological inchworm has a looping locomotion gait. However, most inchworm micro-robots depend on a general bending, or bellows, motion. In this paper, we introduce a new robotic mechanism using magnetic force and torque control in a rotating magnetic field for a looping gait. The proposed robot is controlled by the magnetic torque, attractive force, and body mechanisms (two stoppers, flexible body, and different frictional legs). The magnetic torque generates a general bending motion. In addition, the attractive force and body mechanisms produce the robot’s looping motion within a rotating magnetic field and without the use of an algorithm for field control. We verified the device’s performance and analyzed the motion through simulations and various experiments. The robot mechanism can be applied to active locomotion for various medical robots, such as wireless endoscopes. (technical note)

  15. Optimization and control of a small angle ion source using an adaptive neural network controller

    Energy Technology Data Exchange (ETDEWEB)

    Brown, S.K.; Mead, W.C.; Bowling, P.S.; Jones, R.D.; Barnes, C.W.

    1993-09-01

    This project developed an automated controller based on an artificial neural network and evaluated its applicability in a real-time environment. This capability was developed within the context of a small angle negative ion source on the Discharge Test Stand at Los Alamos. The controller processes information obtained from the beam current waveform, developing a figure of merit (fom) to determine the ion source operating conditions. The fom is composed of the magnitude of the beam current, the stability of operation, and the quietness of the beam. Using no knowledge of operating conditions, the controller begins by making of rough scan of the four-dimensional operating surface. This surface uses as independent variables the anode and cathode temperatures, the hydrogen flow rate, and the arc voltage. `Me dependent variable is the fom described above. Once the rough approximation of the surface has been determined, the network formulates a model from which it determines the best operating point. The controller takes the ion source to that operating point for a reality check. As real data is fed in, the model of the operating surface is updated until the neural network`s model agrees with reality. The controller then uses a gradient ascent method to optimize the operation of the ion source. Initial tests of the controller indicate that it is remarkably capable. It has optimized the operation of the ion source on six different occasions bringing the beam to excellent quality and stability.

  16. Locomotive Schedule Optimization for Da-qin Heavy Haul Railway

    Directory of Open Access Journals (Sweden)

    Ruiye Su

    2015-01-01

    Full Text Available The main difference between locomotive schedule of heavy haul railways and that of regular rail transportation is the number of locomotives utilized for one train. One heavy-loaded train usually has more than one locomotive, but a regular train only has one. This paper develops an optimization model for the multilocomotive scheduling problem (MLSP through analyzing the current locomotive schedule of Da-qin Railway. The objective function of our paper is to minimize the total number of utilized locomotives. The MLSP is nondeterministic polynomial (NP hard. Therefore, we convert the multilocomotive traction problem into a single-locomotive traction problem. Then, the single-locomotive traction problem (SLTP can be converted into an assignment problem. The Hungarian algorithm is applied to solve the model and obtain the optimal locomotive schedule. We use the variance of detention time of locomotives at stations to evaluate the stability of locomotive schedule. In order to evaluate the effectiveness of the proposed optimization model, case studies for 20 kt and 30 kt heavy-loaded combined trains on Da-qin Railway are both conducted. Compared to the current schedules, the optimal schedules from the proposed models can save 62 and 47 locomotives for 20 kt and 30 kt heavy-loaded combined trains, respectively. Therefore, the effectiveness of the proposed model and its solution algorithm are both valid.

  17. Development of a Novel Locomotion Algorithm for Snake Robot

    International Nuclear Information System (INIS)

    Khan, Raisuddin; Billah, Md Masum; Watanabe, Mitsuru; Shafie, A A

    2013-01-01

    A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation

  18. [Bibliometric analysis of literature regarding integrated schistosomiasis control strategy with emphasis on infectious source control].

    Science.gov (United States)

    Qian, Yi-Li; Wang, Wei; Hong, Qing-Biao; Liang, You-Sheng

    2014-12-01

    To evaluate the outcomes of implementation of integrated schistosomiasis control strategy with emphasis on infectious source control using a bibliometric method. The literature pertaining to integrated schistosomiasis control strategy with emphasis on infectious source control was retrieved from CNKI, Wanfangdata, VIP, PubMed, Web of Science, BIOSIS and Google Scholar, and a bibliometric analysis of literature captured was performed. During the period from January 1, 2004 through September 30, 2014, a total of 94 publications regarding integrated schistosomiasis control strategy with emphasis on infectious source control were captured, including 78 Chinese articles (82.98%) and 16 English papers (17.02%). The Chinese literature was published in 21 national journals, and Chinese Journal of Schistosomiasis Control had the largest number of publications, consisting of 37.23% of total publications; 16 English papers were published in 12 international journals, and PLoS Neglected Tropical Diseases had the largest number of publications (3 publications). There were 37 affiliations publishing these 94 articles, and National Institute of Parasitic Diseases, Chinese Center for Disease Control and Prevention (16 publications), Anhui Institute of Schistosomiasis Control (12 publications) and Hunan Institute of Schistosomiasis Control (9 publications) ranked top three affiliations in number of publications. A total of 157 persons were co-authored in these 94 publications, and Wang, Zhou and Zhang ranked top 3 authors in number of publications. The integrated schistosomiasis control strategy with emphasis on infectious source control has been widely implemented in China, and the achievements obtained from the implementation of this strategy should be summarized and transmitted internationally.

  19. Bombardier extends its TRAXX locomotive family; Bombardier erweitert seine Lokomotivfamilie TRAXX

    Energy Technology Data Exchange (ETDEWEB)

    Vitins, J. [Bombardier, Zuerich (Switzerland)

    2005-07-01

    Bombardier has extended and optimised its TRAXX locomotive platform, launched in 2003, with the addition of a multi-system locomotive and the introduction of technical innovations. The developments centre on the multi-system loco TRAXX F140 MS, which gained approval in a very short space of time and is already being successfully operated by SBB as type Re 484 for freight traffic between Switzerland and Italy; the TRAXX F140 DC, recently ordered by Angel Trains Cargo for Italy's DC network, and the 2nd series of the proven AC loco TRAXX AC2, operated by Railion in Germany as type BR 185.2. All these locomotive types reflect the development work undertaken with a view to accommodating the various national train protection systems through the new ETCS-compatible Bombardier ATP (Automatic Train Protection) system, together with chopper-controlled power conversion in DC networks. (orig.)

  20. Adaptive Sliding Mode Control of MEMS AC Voltage Reference Source

    Directory of Open Access Journals (Sweden)

    Ehsan Ranjbar

    2017-01-01

    Full Text Available The accuracy of physical parameters of a tunable MEMS capacitor, as the major part of MEMS AC voltage reference, is of great importance to achieve an accurate output voltage free of the malfunctioning noise and disturbance. Even though strenuous endeavors are made to fabricate MEMS tunable capacitors with desiderated accurate physical characteristics and ameliorate exactness of physical parameters’ values, parametric uncertainties ineluctably emerge in fabrication process attributable to imperfections in micromachining process. First off, this paper considers applying an adaptive sliding mode controller design in the MEMS AC voltage reference source so that it is capable of giving off a well-regulated output voltage in defiance of jumbling parametric uncertainties in the plant dynamics and also aggravating external disturbance imposed on the system. Secondly, it puts an investigatory comparison with the designed model reference adaptive controller and the pole-placement state feedback one into one’s prospective. Not only does the tuned adaptive sliding mode controller show remarkable robustness against slow parameter variation and external disturbance being compared to the pole-placement state feedback one, but also it immensely gets robust against the external disturbance in comparison with the conventional adaptive controller. The simulation results are promising.

  1. [Job stress in locomotive attendants in a locomotive depot and related influencing factors].

    Science.gov (United States)

    Kang, L; Jia, X C; Lu, F; Zhou, W H; Chen, R

    2017-10-20

    Objective: To investigate the current status of job stress in locomotive attendants in a locomotive depot and related influencing factors. Methods: From 2012 to 2013, cluster sampling was used to select 1500 locomotive attendants in a locomotive depot in Zhengzhou Railway Bureau as respondents.The contents of the investigation included general data and occupational information.A job satisfaction questionnaire was used to investigate the degree of satisfaction, a depression scale was used to investigate the frequency of symptoms, and a daily stress scale was used to investigate the frequency of fatigue and stress. Results: There was a significant difference in depression score between locomotive attendants with different ages, working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendanceat night, monthly numbers of times of attendance,ormonthly attendance times( P job satisfaction score between locomotive attendants with different ages,working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendance at night, monthly attendance times,or ways to work( P job satisfaction( β =1.546)and monthly number of times of attendance,working years,attendance time at night,and degree of education were negatively correlated with job satisfaction( β =-0.185,-0.097,-0.020,and -1.106); monthly number of times of attendance andcommute time were positively correlated with depression( β =0.243 and 0.029); attendance time at night,working situation of spouse,commute time,monthly number of times of attendance,degree of education,and working years were positively correlated with daily stress( β =0.006,0.473,0.010,0.043,0.585, and 0.028). Conclusion: Number of times of attendance, attendance time,working years,and spouse are influencing factors for job stress in locomotive attendants. Improvement in work process and care for their personal life help to reduce

  2. Locomotion of Amorphous Surface Robots

    Science.gov (United States)

    Bradley, Arthur T. (Inventor)

    2018-01-01

    An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

  3. Using entropy measures to characterize human locomotion.

    Science.gov (United States)

    Leverick, Graham; Szturm, Tony; Wu, Christine Q

    2014-12-01

    Entropy measures have been widely used to quantify the complexity of theoretical and experimental dynamical systems. In this paper, the value of using entropy measures to characterize human locomotion is demonstrated based on their construct validity, predictive validity in a simple model of human walking and convergent validity in an experimental study. Results show that four of the five considered entropy measures increase meaningfully with the increased probability of falling in a simple passive bipedal walker model. The same four entropy measures also experienced statistically significant increases in response to increasing age and gait impairment caused by cognitive interference in an experimental study. Of the considered entropy measures, the proposed quantized dynamical entropy (QDE) and quantization-based approximation of sample entropy (QASE) offered the best combination of sensitivity to changes in gait dynamics and computational efficiency. Based on these results, entropy appears to be a viable candidate for assessing the stability of human locomotion.

  4. 40 CFR 201.27 - Procedures for: (1) Determining applicability of the locomotive load cell test stand standard and...

    Science.gov (United States)

    2010-07-01

    ... localizing its apparent source(s). If the observer is clearly convinced by this localization process that the... is observed to change by 10 dB, coincident with evidence of a change in operation of the locomotive... microphone position on a diagram of the particular railroad facility, and the distances between the...

  5. Exotendons for assistance of human locomotion

    Directory of Open Access Journals (Sweden)

    van den Bogert Antonie J

    2003-10-01

    Full Text Available Abstract Background Powered robotic exoskeletons for assistance of human locomotion are currently under development for military and medical applications. The energy requirements for such devices are excessive, and this has become a major obstacle for practical applications. Legged locomotion in many animals, however, is very energy efficient. We propose that poly-articular elastic mechanisms are a major contributor to the economy of locomotion in such specialized animals. Consequently, it should be possible to design unpowered assistive devices that make effective use of similar mechanisms. Methods A passive assistive technology is presented, based on long elastic cords attached to an exoskeleton and guided by pulleys placed at the joints. A general optimization procedure is described for finding the best geometrical arrangement of such "exotendons" for assisting a specific movement. Optimality is defined either as minimal residual joint moment or as minimal residual joint power. Four specific exotendon systems with increasing complexity are considered. Representative human gait data were used to optimize each of these four systems to achieve maximal assistance for normal walking. Results The most complex exotendon system, with twelve pulleys per limb, was able to reduce the joint moments required for normal walking by 71% and joint power by 74%. A simpler system, with only three pulleys per limb, could reduce joint moments by 46% and joint power by 47%. Conclusion It is concluded that unpowered passive elastic devices can substantially reduce the muscle forces and the metabolic energy needed for walking, without requiring a change in movement. When optimally designed, such devices may allow independent locomotion in patients with large deficits in muscle function.

  6. On the rules for aquatic locomotion

    Science.gov (United States)

    Saadat, M.; Fish, F. E.; Domel, A. G.; Di Santo, V.; Lauder, G. V.; Haj-Hariri, H.

    2017-08-01

    We present unifying rules governing the efficient locomotion of swimming fish and marine mammals. Using scaling and dimensional analysis, supported by new experimental data, we show that efficient locomotion occurs when the values of the Strouhal (St) number St (=f A /U ) and A*(=A /L ) , two nondimensional numbers that relate forward speed U , tail-beat amplitude A , tail-beat frequency f , and the length of the swimmer L are bound to the tight ranges of 0.2-0.4 and 0.1-0.3, respectively. The tight range of 0.2-0.4 for the St number has previously been associated with optimal thrust generation. We show that the St number alone is insufficient to achieve optimal aquatic locomotion, and an additional condition on A* is needed. More importantly, we show that when swimming at minimal power consumption, the Strouhal number of a cruising swimmer is predetermined solely by the shape and drag characteristics of the swimmer. We show that diverse species of fish and cetaceans cruise indeed with the St number and A* predicted by our theory. Our findings provide a physical explanation as to why fast aquatic swimmers cruise with a relatively constant tail-beat amplitude of approximately 20% of the body length, and their swimming speed is nearly proportional to their tail-beat frequency.

  7. FEL polarization control studies on Dalian coherent light source

    International Nuclear Information System (INIS)

    Zhang Tong; Deng Haixiao; Wang Dong; Zhao Zhentang; Zhang Weiqing; Wu Guorong; Dai Dongxu; Yang Xueming

    2013-01-01

    The polarization switch of a free-electron laser (FEL) is of great importance to the user scientific community. In this paper, we investigate the generation of controllable polarization FEL from two well-known approaches for Dalian coherent light source, i.e., crossed planar undulator and elliptical permanent undulator. In order to perform a fair comparative study, a one-dimensional time-dependent FEL code has been developed, in which the imperfection effects of an elliptical permanent undulator are taken into account. Comprehensive simulation results indicate that the residual beam energy chirp and the intrinsic FEL gain may contribute to the degradation of the polarization performance for the crossed planar undulator. The elliptical permanent undulator is not very sensitive to the undulator errors and beam imperfections. Meanwhile, with proper configurations of the main planar undulators and additional elliptical permanent undulator section, circular polarized FEL with pulse energy exceeding 100 μJ could be achieved at Dalian coherent light source. (authors)

  8. Regularized inversion of controlled source and earthquake data

    International Nuclear Information System (INIS)

    Ramachandran, Kumar

    2012-01-01

    Estimation of the seismic velocity structure of the Earth's crust and upper mantle from travel-time data has advanced greatly in recent years. Forward modelling trial-and-error methods have been superseded by tomographic methods which allow more objective analysis of large two-dimensional and three-dimensional refraction and/or reflection data sets. The fundamental purpose of travel-time tomography is to determine the velocity structure of a medium by analysing the time it takes for a wave generated at a source point within the medium to arrive at a distribution of receiver points. Tomographic inversion of first-arrival travel-time data is a nonlinear problem since both the velocity of the medium and ray paths in the medium are unknown. The solution for such a problem is typically obtained by repeated application of linearized inversion. Regularization of the nonlinear problem reduces the ill posedness inherent in the tomographic inversion due to the under-determined nature of the problem and the inconsistencies in the observed data. This paper discusses the theory of regularized inversion for joint inversion of controlled source and earthquake data, and results from synthetic data testing and application to real data. The results obtained from tomographic inversion of synthetic data and real data from the northern Cascadia subduction zone show that the velocity model and hypocentral parameters can be efficiently estimated using this approach. (paper)

  9. Plasma shape control by pulsed solenoid on laser ion source

    International Nuclear Information System (INIS)

    Sekine, M.; Ikeda, S.; Romanelli, M.; Kumaki, M.; Fuwa, Y.; Kanesue, T.; Hayashizaki, N.; Lambiase, R.; Okamura, M.

    2015-01-01

    A Laser ion source (LIS) provides high current heavy ion beams with a very simple mechanical structure. Plasma is produced by a pulsed laser ablation of a solid state target and ions are extracted by an electric field. However, it was difficult to manipulate the beam parameters of a LIS, since the plasma condition could only be adjusted by the laser irradiation condition. To enhance flexibility of LIS operation, we employed a pulsed solenoid in the plasma drift section and investigated the effect of the solenoid field on singly charged iron beams. The experimentally obtained current profile was satisfactorily controlled by the pulsed magnetic field. This approach may also be useful to reduce beam emittance of a LIS

  10. Plasma shape control by pulsed solenoid on laser ion source

    Science.gov (United States)

    Sekine, M.; Ikeda, S.; Romanelli, M.; Kumaki, M.; Fuwa, Y.; Kanesue, T.; Hayashizaki, N.; Lambiase, R.; Okamura, M.

    2015-09-01

    A Laser ion source (LIS) provides high current heavy ion beams with a very simple mechanical structure. Plasma is produced by a pulsed laser ablation of a solid state target and ions are extracted by an electric field. However, it was difficult to manipulate the beam parameters of a LIS, since the plasma condition could only be adjusted by the laser irradiation condition. To enhance flexibility of LIS operation, we employed a pulsed solenoid in the plasma drift section and investigated the effect of the solenoid field on singly charged iron beams. The experimentally obtained current profile was satisfactorily controlled by the pulsed magnetic field. This approach may also be useful to reduce beam emittance of a LIS.

  11. Plasma shape control by pulsed solenoid on laser ion source

    Energy Technology Data Exchange (ETDEWEB)

    Sekine, M. [Tokyo Institute of Technology, Meguro-ku, Tokyo 2-12-1 (Japan); RIKEN, Wako, Saitama 351-0198 (Japan); Ikeda, S. [Tokyo Institute of Technology, Yokohama, Kanagawa 226-8502 (Japan); RIKEN, Wako, Saitama 351-0198 (Japan); Romanelli, M. [Cornell University, Ithaca, NY 14850 (United States); Kumaki, M. [RIKEN, Wako, Saitama 351-0198 (Japan); Waseda University, Shinjuku, Tokyo 169-0072 (Japan); Fuwa, Y. [RIKEN, Wako, Saitama 351-0198 (Japan); Kyoto University, Uji, Kyoto 611-0011 (Japan); Kanesue, T. [Brookhaven National Laboratory, Upton, NY 11973 (United States); Hayashizaki, N. [Tokyo Institute of Technology, Meguro-ku, Tokyo 2-12-1 (Japan); Lambiase, R. [Brookhaven National Laboratory, Upton, NY 11973 (United States); Okamura, M. [RIKEN, Wako, Saitama 351-0198 (Japan); Brookhaven National Laboratory, Upton, NY 11973 (United States)

    2015-09-21

    A Laser ion source (LIS) provides high current heavy ion beams with a very simple mechanical structure. Plasma is produced by a pulsed laser ablation of a solid state target and ions are extracted by an electric field. However, it was difficult to manipulate the beam parameters of a LIS, since the plasma condition could only be adjusted by the laser irradiation condition. To enhance flexibility of LIS operation, we employed a pulsed solenoid in the plasma drift section and investigated the effect of the solenoid field on singly charged iron beams. The experimentally obtained current profile was satisfactorily controlled by the pulsed magnetic field. This approach may also be useful to reduce beam emittance of a LIS.

  12. Monitoring Hydraulic Fracturing Using Ground-Based Controlled Source Electromagnetics

    Science.gov (United States)

    Hickey, M. S.; Trevino, S., III; Everett, M. E.

    2017-12-01

    Hydraulic fracturing allows hydrocarbon production in low permeability formations. Imaging the distribution of fluid used to create a hydraulic fracture can aid in the characterization of fracture properties such as extent of plume penetration as well as fracture azimuth and symmetry. This could contribute to improving the efficiency of an operation, for example, in helping to determine ideal well spacing or the need to refracture a zone. A ground-based controlled-source electromagnetics (CSEM) technique is ideal for imaging the fluid due to the change in field caused by the difference in the conductive properties of the fluid when compared to the background. With advances in high signal to noise recording equipment, coupled with a high-power, broadband transmitter we can show hydraulic fracture extent and azimuth with minimal processing. A 3D finite element code is used to model the complete well casing along with the layered subsurface. This forward model is used to optimize the survey design and isolate the band of frequencies with the best response. In the field, the results of the modeling are also used to create a custom pseudorandom numeric (PRN) code to control the frequencies transmitted through a grounded dipole source. The receivers record the surface voltage across two grounded dipoles, one parallel and one perpendicular to the transmitter. The data are presented as the displays of amplitude ratios across several frequencies with the associated spatial information. In this presentation, we show multiple field results in multiple basins in the United States along with the CSEM theory used to create the survey designs.

  13. Power conversion and control methods for renewable energy sources

    Science.gov (United States)

    Yu, Dachuan

    2005-07-01

    In recent years, there has been an increase in the use of renewable energy due to the growing concern over the pollution caused by fossil-fuel-based energy. Renewable energy sources, such as photovoltaic (PV) and fuel cell, can be used to enhance the safety, reliability, sustainability, and transmission efficiency of a power system. This dissertation focuses on the power conversion and control for two major renewable-energy sources: PV and fuel cell. Firstly, a current-based, maximum power-point tracking (MPPT) algorithm is proposed for PV energy. An economical converter system using the above scheme for converting the output from PV panels into 60 Hz AC voltage is developed and built. Secondly, a novel circuit model for the Proton Exchange Membrane (PEM) fuel-cell stack that is useful in the design and analysis of fuel-cell-based power systems is proposed. This Pspice-based model uses elements available in the Pspice library with some modifications to represent both the static and dynamic responses of a PEM fuel-cell module. The accuracy of the model is verified by comparing the simulation and experimental results. Thirdly, a DSP-controlled three-phase induction-motor drive using constant voltage over frequency is built and can be used in a fuel-cell automobile. A hydrogen sensor is used in the drive to both sound an alarm and shut down the inverter trigger pulses through the DSP. Finally, a hybrid power system consisting of PV panels and fuel cell is proposed and built. In the proposed system, PV panels can supply most of the power when the sunlight is available, and the excess power required by the load is supplied by a fuel cell. Load sharing between a fuel cell (FC) and the PV panel is investigated by both simulation and experiments.

  14. Differences in gaze anticipation for locomotion with and without vision

    Science.gov (United States)

    Authié, Colas N.; Hilt, Pauline M.; N'Guyen, Steve; Berthoz, Alain; Bennequin, Daniel

    2015-01-01

    Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition. PMID:26106313

  15. Effects of wearing lower leg compression sleeves on locomotion economy.

    Science.gov (United States)

    Kurz, Eduard; Anders, Christoph

    2018-09-01

    The purpose of this investigation was to assess the effect of compression sleeves on muscle activation cost during locomotion. Twenty-two recreationally active men (age: 25 ± 3 years) ran on a treadmill at four different speeds (ordered sequence of 2.8, 3.3, 2.2, and 3.9 m/s). The tests were performed without (control situation, CON) and while wearing specially designed lower leg compression sleeves (SL). Myoelectric activity of five lower leg muscles (tibialis anterior, fibularis longus, lateral and medial head of gastrocnemius, and soleus) was captured using Surface EMG. To assess muscle activation cost, the cumulative muscle activity per distance travelled (CMAPD) of the CON and SL situations was determined. Repeated measures analyses of variance were performed separately for each muscle. The analyses revealed a reduced lower leg muscle activation cost with respect to test situation for SL for all muscles (p  0.18). The respective significant reductions of CMAPD values during SL ranged between 4% and 16% and were largest at 2.8 m/s. The findings presented point towards an improved muscle activation cost while wearing lower leg compression sleeves during locomotion that have potential to postpone muscle fatigue.

  16. Paper-based Pneumatic Locomotive Robot with Sticky Actuator

    Directory of Open Access Journals (Sweden)

    Du Xiaohan

    2016-01-01

    Full Text Available Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.

  17. Power source with spark-safe outlet

    Energy Technology Data Exchange (ETDEWEB)

    Tsesarenko, N P; Alekhin, A V

    1982-01-01

    The invention refers to the technique of electrical monitoring and control in systems operating in a spark-safe medium (for example, in coal mines). A more accurate area of application is mobile objects with autonomous source of electricity (mine diesel locomotives, battery electric locomotives etc.). The purpose of the invention is to simplify and to improve the reliability of the planned device, and also to expand the area of application for conditions when it is powered from an autonomous generator of direct voltage. This goal is achieved because the power source with spark-safe outlet (the source contains a thyristor of advance disconnection, connected by anode to the delimiting throttle, one outlet of which is connected to the capacitor included between the controlling electrode and the anode of the thyristor, and the capacitor is connected through the resistor parallel to the outlet clamps of the source, while the thyristor of emergency protection connected parallel to the inlet clamps of the power source) is additionally equipped with a current sensor, hercon, transistor key (included in series in the power circuit) and optron, whose emitter is connected parallel to the current sensor connected in series to the inlet of the power source, while the receiver of the optron is connected in a circuit for controlling the thyristor of emergency protection. Hercon is built into the core of the delimiting throttle and is connected to the circuit for controlling the transistor key.

  18. FORMALIZATION OF LOCOMOTIVE DRIVER ACTIVITY TENSION INDICATOR BASED ON THE ERGONOMIC MODEL

    Directory of Open Access Journals (Sweden)

    O. M. Horobchenko

    2017-02-01

    Full Text Available Purpose. A key factor contributing to the safety and quality of ergatic system "train-driver" is the intensity of the locomotive crew’s work. The aim of this work is formalization of locomotive driver activity tension indicator. Methodology. One of the characteristics of driver activity tension is the difference between the time allotted to complete the task, and the necessary (external reserve or deficiency time. The sets of major and minor operations in the management of the train locomotive in different train situations were identified. Using the methods of fuzzy logic, the concept of "materiality of the operation of the locomotive control" is presented in the form of a set of linguistic variables. To determine the function membership of the elements of the set "the importance of the operation of the locomotive control" the method of expert evaluations was used. Coefficient of temporary tension is presented in the form of fuzzy number L-R-type. Findings. It was found the value of the relative number of operations of locomotive control according to the distribution using the parameter of operation "importance". To determine the most tensioned mode of the driver ranking the traffic condition according to the parameter of relative amounts of the important management operations was conducted. The most difficult modes are the "front hindrance", "movement in unfavorable weather conditions" and "departure from the station to the running line". Originality. The introduction of the value "conventional importance of the operation" allowed us to more accurately describe the terms of train driving. For the first time the work presents determination of tension of the driver’s work in the form of a unimodal fuzzy number, which will make it possible to use the methods of the theory of artificial intelligence to simulate activity of the locomotive driver and develop intelligent control systems. Practical value. There were obtained the opportunity to

  19. Regulatory control for safe usage of radiation sources in India

    International Nuclear Information System (INIS)

    Ghosh, P.K.; Sonawane, A.U.

    1998-01-01

    The widespread applications of radioactive materials and radiation generating equipment in the field of industry, medicine agriculture and research in India necessitated the establishment of an efficient regulatory framework and consequently the Atomic Energy Regulatory Board (AERB) was constituted to exercise regulatory control over the safe usage of the radioactive materials and the radiation generating equipment. The Atomic Energy Act, 1962 and the Radiation Protection Rules, 1971 promulgated under the Act forms the basis of radiation safety in India and Chairman, AERB is the Competent Authority to enforce the regulatory provisions of the Radiation Protection Rules, 1971, for safe use of radiation source in the country. AERB has published a number of documents such as Radiation Surveillance Procedures, Standards, Codes, Guides and Manuals for safe use and handling of radioactive materials and radiation generating equipment. Apart from nuclear fuel cycle documents, these publications pertain to industrial radiography, medical application of radiation, transport of radioactive material, industrial gamma irradiators, X-ray units etc. AERB safety related publications are based on international standards e.g. BSS, IAEA, ICRP, ISO etc. This paper outlines the methodology of regulatory control exercised by AERB for safe use of the radioactive materials and the radiation generating equipment in the country. (author)

  20. Regulatory Control of Radiation Sources. Safety Guide (Arabic Edition)

    International Nuclear Information System (INIS)

    2012-01-01

    This Safety Guide is intended to assist States in implementing the requirements established in Safety Standards Series No. GS-R-1, Legal and Governmental Infrastructure for Nuclear, Radiation, Radioactive Waste and Transport Safety, for a national regulatory infrastructure to regulate any practice involving radiation sources in medicine, industry, research, agriculture and education. The Safety Guide provides advice on the legislative basis for establishing regulatory bodies, including the effective independence of the regulatory body. It also provides guidance on implementing the functions and activities of regulatory bodies: the development of regulations and guides on radiation safety; implementation of a system for notification and authorization; carrying out regulatory inspections; taking necessary enforcement actions; and investigating accidents and circumstances potentially giving rise to accidents. The various aspects relating to the regulatory control of consumer products are explained, including justification, optimization of exposure, safety assessment and authorization. Guidance is also provided on the organization and staffing of regulatory bodies. Contents: 1. Introduction; 2. Legal framework for a regulatory infrastructure; 3. Principal functions and activities of the regulatory body; 4. Regulatory control of the supply of consumer products; 5. Functions of the regulatory body shared with other governmental agencies; 6. Organization and staffing of the regulatory body; 7. Documentation of the functions and activities of the regulatory body; 8. Support services; 9. Quality management for the regulatory system.

  1. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    Science.gov (United States)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

    2015-01-01

    The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

  2. FIM imaging and FIMtrack: two new tools allowing high-throughput and cost effective locomotion analysis.

    Science.gov (United States)

    Risse, Benjamin; Otto, Nils; Berh, Dimitri; Jiang, Xiaoyi; Klämbt, Christian

    2014-12-24

    The analysis of neuronal network function requires a reliable measurement of behavioral traits. Since the behavior of freely moving animals is variable to a certain degree, many animals have to be analyzed, to obtain statistically significant data. This in turn requires a computer assisted automated quantification of locomotion patterns. To obtain high contrast images of almost translucent and small moving objects, a novel imaging technique based on frustrated total internal reflection called FIM was developed. In this setup, animals are only illuminated with infrared light at the very specific position of contact with the underlying crawling surface. This methodology results in very high contrast images. Subsequently, these high contrast images are processed using established contour tracking algorithms. Based on this, we developed the FIMTrack software, which serves to extract a number of features needed to quantitatively describe a large variety of locomotion characteristics. During the development of this software package, we focused our efforts on an open source architecture allowing the easy addition of further modules. The program operates platform independent and is accompanied by an intuitive GUI guiding the user through data analysis. All locomotion parameter values are given in form of csv files allowing further data analyses. In addition, a Results Viewer integrated into the tracking software provides the opportunity to interactively review and adjust the output, as might be needed during stimulus integration. The power of FIM and FIMTrack is demonstrated by studying the locomotion of Drosophila larvae.

  3. The Need for Speed in Rodent Locomotion Analyses

    OpenAIRE

    Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.

    2014-01-01

    Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript,...

  4. Advanced aftertreatment systems for locomotive applications; Moderne Abgasnachbehandlungssysteme fuer Lokomotiven

    Energy Technology Data Exchange (ETDEWEB)

    Park, Paul [Caterpillar Inc., Peoria, IL (United States); Bruestle, Claus [Emitec Inc., Rochester Hill, MI (United States)

    2013-07-15

    Tier 4 legislation for locomotives, starting in 2015, will require significant reductions in particulate matter and nitrogen oxide tail pipe emissions. To reduce nitrogen oxide emissions of line-haul locomotives at least to the level of Tier 4, Caterpillar has developed an aftertreatment system. Here, for the first time an SCR system was used for diesel locomotive engines with an urea dosing system. (orig.)

  5. Field Operations and Enforcement Manual for Air Pollution Control. Volume II: Control Technology and General Source Inspection.

    Science.gov (United States)

    Weisburd, Melvin I.

    The Field Operations and Enforcement Manual for Air Pollution Control, Volume II, explains in detail the following: technology of source control, modification of operations, particulate control equipment, sulfur dioxide removal systems for power plants, and control equipment for gases and vapors; inspection procedures for general sources, fuel…

  6. SIMULATION OF DRIVER’S LOCOMOTIVE-HANDLING ACTIVITY USING THE THEORY OF FUZZY GRAPHS

    Directory of Open Access Journals (Sweden)

    T. V. Butko

    2015-03-01

    Full Text Available Purpose. The efficiency and safety of locomotive control improving is important and relevant scientific and practical problem. Every driver during the trains-handling bases on his experience and knowledge, that is why the compilation and detection the most efficient ways to control the locomotive-handling is one of the stages of measures development to reduce transportation costs. The purpose of this paper is a formalization process description of locomotive-handling and quality parameters determination of this process. Methodology. In order to achieve this goal the theory of fuzzy probabilistic graphs was used. Vertices of the graph correspond to the events start and end operations at train-handling. The graph arcs describe operations on train-handling. Graph consists of thirteen peaks corresponding to the main control actions of the engine-driver. The weighting factors of transitions between vertices are assigned by fuzzy numbers. Their values were obtained by expert estimates. Fuzzy probabilities and transition time are presented as numbers with trapezoidal membership function. Findings. Using successive merging of parallel arcs, loops and vertices elimination, the equivalent fuzzy graph of train-handling and the corresponding L-matrix were obtained. Equivalent graph takes into account separately activity of the driver during normal operation and during emergency situations. Originality. The theoretical foundations of describing process formalization in driver’s locomotive-handling activity were developed using the fuzzy probabilistic graph. The parameters characterizing the decision-making process of engineer were obtained. Practical value. With the resulting model it is possible to estimate the available reserves for the quality improvement of locomotive-handling. Reduction in the time for decision-making will lead to the approximation the current mode of control to the rational one and decrease costs of hauling operations. And reduction

  7. Combining Bio-inspired Sensing with Bio-inspired Locomotion

    DEFF Research Database (Denmark)

    Shaikh, Danish; Hallam, John; Christensen-Dalsgaard, Jakob

    In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model that modula......In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model...

  8. Sole-Source Lighting for Controlled-Environment Agriculture

    Science.gov (United States)

    Mitchell.Cary; Stutte, Gary W.

    2015-01-01

    Since plants on Earth evolved under broad-spectrum solar radiation, anytime they are grown exclusively under electric lighting that does not contain all wavelengths in similar proportion to those in sunlight, plant appearance and size could be uniquely different. Nevertheless, plants have been grown for decades under fluorescent (FL) (1) + incandescent (IN) (2) lamps as a sole source of lighting (SSL), and researchers have become comfortable that, in certain proportions of FL + IN for a given species, plants can appear "normal" relative to their growth outdoors. The problem with using such traditional SSLs for commercial production typically is short lamp lifespans and not obtaining enough photosynthetically active radiation (PAR, 400-700 nm) when desired. These limitations led to supplementation of FL + IN lamp outputs with longer-lived, high-intensity discharge (HID) lamps in growth chambers (3). As researchers became comfortable that mixes of orange-biased high-pressure sodium (HPS) and blue-biased metal halide (MH) HIDs together also could give normal plant growth at higher intensities, growth chambers and phytotrons subsequently were equipped mainly with HID lamps, with their intense thermal output filtered out by ventilated light caps or thermal-controlled water barriers. For the most part, IN and HID lamps have found a home in commercial protected horticulture, usually for night-break photoperiod lighting (IN) or for seasonal supplemental lighting (mostly HPS) in greenhouses. However, lack of economically viable options for SSL have held back aspects of year-round indoor agriculture from taking off commercially.

  9. Alarm handler for the advanced photon source control system

    International Nuclear Information System (INIS)

    Kraimer, M.R.; Cha, B.K.; Anderson, M.

    1991-01-01

    The Advanced Photon Source (APS), now under construction at Argonne National Laboratory, will have a control system employing graphics workstations at the operator interface level and VME-based microprocessors operating with a distributed database at the field level. The alarm handler is an application utilizing X-Windows running on one or more operator interface workstations which monitors alarms generated by the VME-based microprocessors. Alarms can be grouped in a hierarchical manner. The operator can monitor, acknowledge, and mask alarms either individually or aggregately. Alarm changes of state and all operator modifications are logged. When alarms occur, display windows are automatically generated conveying system and subsystem relationships and severity. Menus are used to modify the alarm action configuration files and to obtain help. Since alarm groups are defined via an alarm configuration file, the alarm handler is a general purpose application which can be customized to monitor a single subsystem or configured to monitor the entire accelerator complex. 2 refs., 2 figs

  10. Coupling of cytoskeleton functions for fibroblast locomotion

    DEFF Research Database (Denmark)

    Couchman, J R; Lenn, M; Rees, D A

    1985-01-01

    caused visible protrusions in projected positions at the leading edge. We conclude that fibroblast locomotion may be driven coordinately by a common set of motility mechanisms and that this coordination may be lost as a result of physical or pharmacological disturbance. Taking our evidence with results...... from other Laboratories, we propose the following cytoskeleton functions. (i) Protrusive activity, probably based on solation--gelation cycles of the actin based cytoskeleton and membrane recycling which provides cellular and membrane components for streaming through the cell body to the leading edge...

  11. The regulatory control of radiation sources in Turkey

    International Nuclear Information System (INIS)

    Uslu, I.; Birol, E.

    2001-01-01

    In Turkey, the national competent authority for regulating activities involving radioactive sources is the Turkish Atomic Energy Authority, which implements the responsibility for the safety and security of radiation sources through its Radiation Health and Safety Department. The report describes the organization of the regulatory infrastructure for radiation safety in Turkey and, after a brief explanation of the current legal framework for such purpose, it refers to how the management of radiation sources is carried out and to the new provisions regarding radiation sources, including inspections of licensees and training on source safety. Finally, the report provides information on the Ikitelli radiological accident in Turkey and the current public concern about radiation sources after it happened. (author)

  12. Cross-Layer Design of Source Rate Control and Congestion Control for Wireless Video Streaming

    Directory of Open Access Journals (Sweden)

    Peng Zhu

    2007-01-01

    Full Text Available Cross-layer design has been used in streaming video over the wireless channels to optimize the overall system performance. In this paper, we extend our previous work on joint design of source rate control and congestion control for video streaming over the wired channel, and propose a cross-layer design approach for wireless video streaming. First, we extend the QoS-aware congestion control mechanism (TFRCC proposed in our previous work to the wireless scenario, and provide a detailed discussion about how to enhance the overall performance in terms of rate smoothness and responsiveness of the transport protocol. Then, we extend our previous joint design work to the wireless scenario, and a thorough performance evaluation is conducted to investigate its performance. Simulation results show that by cross-layer design of source rate control at application layer and congestion control at transport layer, and by taking advantage of the MAC layer information, our approach can avoid the throughput degradation caused by wireless link error, and better support the QoS requirements of the application. Thus, the playback quality is significantly improved, while good performance of the transport protocol is still preserved.

  13. Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation

    Directory of Open Access Journals (Sweden)

    A. Espinal

    2016-01-01

    Full Text Available A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN that acts as a Central Pattern Generator (CPG producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies, which were estimated by a metaheuristic method based on Christiansen Grammar Evolution (CGE. The system has been implemented and validated on two robot platforms; firstly, we tested our system on a quadruped robot and, secondly, on a hexapod one. In this last one, we simulated the case where two legs of the hexapod were amputated and its locomotion mechanism has been changed. For the quadruped robot, the control is performed by the spiking neural network implemented on an Arduino board with 35% of resource usage. In the hexapod robot, we used Spartan 6 FPGA board with only 3% of resource usage. Numerical results show the effectiveness of the proposed system in both cases.

  14. Swimming at low Reynolds number: a beginners guide to undulatory locomotion

    Science.gov (United States)

    Cohen, Netta; Boyle, Jordan H.

    2010-03-01

    Undulatory locomotion is a means of self-propulsion that relies on the generation and propagation of waves along a body. As a mode of locomotion it is primitive and relatively simple, yet can be remarkably robust. No wonder then, that it is so prevalent across a range of biological scales from motile bacteria to gigantic prehistoric snakes. Key to understanding undulatory locomotion is the body's interplay with the physical environment, which the swimmer or crawler will exploit to generate propulsion, and in some cases, even to generate the underlying undulations. This review focuses by and large on undulators in the low Reynolds number regime, where the physics of the environment can be much more tractable. We review some key concepts and theoretical advances, as well as simulation tools and results applied to selected examples of biological swimmers. In particular, we extend the discussion to some simple cases of locomotion in non-Newtonian media as well as to small animals, in which the nervous system, motor control, body properties and the environment must all be considered to understand how undulations are generated and modulated. To conclude, we review recent progress in microrobotic undulators that may one day become commonplace in applications ranging from toxic waste disposal to minimally invasive surgery.

  15. 49 CFR 230.106 - Steam locomotive frame.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive frame. 230.106 Section 230.106... Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance and inspection. Frames, decks, plates, tailpieces, pedestals, and braces shall be maintained in a safe and...

  16. Locomotive emissions measurements for various blends of biodiesel fuel.

    Science.gov (United States)

    2014-12-01

    The objective of this project was to assess the effects of various blends of biodiesel on locomotive engine exhaust emissions. The : emission tests were conducted on two locomotive models, a Tier 2 EMD SD70ACe and a Tier 1 Plus GE Dash9-44CW, using t...

  17. THE DYNAMICS AND TRACTION ENERGY METRICS LOCOMOTIVE VL40

    Directory of Open Access Journals (Sweden)

    S. V. Pylypenko

    2008-03-01

    Full Text Available In the article the results of dynamic running and traction-energy tests of the electric locomotive VL40U are presented. In accordance with the test results a conclusion about the suitability of electric locomotive of such a type for operation with trains containing up to 15 passenger coaches inclusive is made.

  18. Architectures of soft robotic locomotion enabled by simple mechanical principles.

    Science.gov (United States)

    Zhu, Liangliang; Cao, Yunteng; Liu, Yilun; Yang, Zhe; Chen, Xi

    2017-06-28

    In nature, a variety of limbless locomotion patterns flourish, from the small or basic life forms (Escherichia coli, amoebae, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past few decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and going beyond the existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by the simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire a series of advanced designs.

  19. Locomotion Gait Planning of Climber Snake-Like Robot

    Directory of Open Access Journals (Sweden)

    Mohammad Nezaminia

    2013-04-01

    Full Text Available In this article a novel breed of snake-like climber robots has been introduced. Structure and operation of the first generation of snake-like climber robot "Marak I" has been discussed. The gait planning for two dimensional locomotion of a novel snake-like climber robot "Marak I" is presented. The types of locomotion investigated were rectilinear and wheeling gaits. The gaits of locomotion were experimented and their suitability for various applications has been mentioned. Some encountered practical problems plus solutions were addressed. Finally we found out that: the vertical motion was producing more fault than horizontal locomotion, and notably the fastest gait of locomotion was the wheeling gait

  20. 40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Discrete-mode steady-state emission... Procedures § 1033.515 Discrete-mode steady-state emission tests of locomotives and locomotive engines. This... a warm-up followed by a sequence of nominally steady-state discrete test modes, as described in...

  1. PSO-SVM-Based Online Locomotion Mode Identification for Rehabilitation Robotic Exoskeletons.

    Science.gov (United States)

    Long, Yi; Du, Zhi-Jiang; Wang, Wei-Dong; Zhao, Guang-Yu; Xu, Guo-Qiang; He, Long; Mao, Xi-Wang; Dong, Wei

    2016-09-02

    Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM) optimized by particle swarm optimization (PSO) to identify different locomotion modes to realize a smooth and automatic locomotion transition. A PSO algorithm is used to obtain the optimal parameters of SVM for a better overall performance. Signals measured by the foot pressure sensors integrated in the insoles of wearable shoes and the MEMS-based attitude and heading reference systems (AHRS) attached on the shoes and shanks of leg segments are fused together as the input information of SVM. Based on the chosen window whose size is 200 ms (with sampling frequency of 40 Hz), a three-layer wavelet packet analysis (WPA) is used for feature extraction, after which, the kernel principal component analysis (kPCA) is utilized to reduce the dimension of the feature set to reduce computation cost of the SVM. Since the signals are from two types of different sensors, the normalization is conducted to scale the input into the interval of [0, 1]. Five-fold cross validation is adapted to train the classifier, which prevents the classifier over-fitting. Based on the SVM model obtained offline in MATLAB, an online SVM algorithm is constructed for locomotion mode identification. Experiments are performed for different locomotion modes and experimental results show the effectiveness of the proposed algorithm with an accuracy of 96.00% ± 2.45%. To improve its accuracy, majority vote algorithm (MVA) is used for post-processing, with which the identification accuracy is better than 98.35% ± 1.65%. The proposed algorithm can be extended and employed in the field of robotic rehabilitation and assistance.

  2. PSO-SVM-Based Online Locomotion Mode Identification for Rehabilitation Robotic Exoskeletons

    Directory of Open Access Journals (Sweden)

    Yi Long

    2016-09-01

    Full Text Available Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM optimized by particle swarm optimization (PSO to identify different locomotion modes to realize a smooth and automatic locomotion transition. A PSO algorithm is used to obtain the optimal parameters of SVM for a better overall performance. Signals measured by the foot pressure sensors integrated in the insoles of wearable shoes and the MEMS-based attitude and heading reference systems (AHRS attached on the shoes and shanks of leg segments are fused together as the input information of SVM. Based on the chosen window whose size is 200 ms (with sampling frequency of 40 Hz, a three-layer wavelet packet analysis (WPA is used for feature extraction, after which, the kernel principal component analysis (kPCA is utilized to reduce the dimension of the feature set to reduce computation cost of the SVM. Since the signals are from two types of different sensors, the normalization is conducted to scale the input into the interval of [0, 1]. Five-fold cross validation is adapted to train the classifier, which prevents the classifier over-fitting. Based on the SVM model obtained offline in MATLAB, an online SVM algorithm is constructed for locomotion mode identification. Experiments are performed for different locomotion modes and experimental results show the effectiveness of the proposed algorithm with an accuracy of 96.00% ± 2.45%. To improve its accuracy, majority vote algorithm (MVA is used for post-processing, with which the identification accuracy is better than 98.35% ± 1.65%. The proposed algorithm can be extended and employed in the field of robotic rehabilitation and assistance.

  3. Control of radiation sources in Brazil; Controle de fontes de radiacao no Brasil

    Energy Technology Data Exchange (ETDEWEB)

    Oliveira, Silvia Maria Velasques de; Menezes, Sergio Ferreira; Alves Filho, Aristeu Dacio; Xavier, Ana Maria [Comissao Nacional de Energia Nuclear (CNEN), Rio de Janeiro, RJ (Brazil). Superintendencia de Licenciamento e Controle

    1997-12-31

    The radiological accident occurred in Goiania, in 1987, brought to light several deficiencies in the conduction of the licensing processes of medical, industrial and research facilities that handle radioisotopes as well as int he control of radioactive sources in Brazil. The objective of this article is to describe some of the technical and administrative measures taken to ensure the adoption of appropriate radiological safety standards throughout the country, thus reducing the incidence of radiological accidents. (author) 9 refs., 6 figs., 5 tabs.; e-mail: corad at cnen.gov.br

  4. Slipping slender bodies and enhanced flagellar locomotion

    Science.gov (United States)

    Man, Yi; Lauga, Eric

    2017-11-01

    In the biological world, many cells exploit slender appendages to swim, include numerous species of bacteria, algae and spermatozoa. A classical method to describe the flow field around such appendages is slender-body theory (SBT), which is often used to study flagellar motility in Newtonian fluids. However, biology environments are often rheologically complex due to the presence of polymers. These polymers generically phase-separate near rigid boundaries where low-viscosity fluid layers lead to effective slip on the surface. In this talk, we present an analytical derivation of SBT in the case where the no-slip boundary condition on the appendage is replaced by a Navier slip boundary condition. Our results demonstrate in particular a systematic reduction of the resistance coefficient of the slender filaments in their tangential direction, which leads to enhanced flagellar locomotion.

  5. A predictive model of muscle excitations based on muscle modularity for a large repertoire of human locomotion conditions

    Directory of Open Access Journals (Sweden)

    Jose eGonzalez-Vargas

    2015-09-01

    Full Text Available Humans can efficiently walk across a large variety of terrains and locomotion conditions with little or no mental effort. It has been hypothesized that the nervous system simplifies neuromuscular control by using muscle synergies, thus organizing multi-muscle activity into a small number of coordinative co-activation modules. In the present study we investigated how muscle modularity is structured across a large repertoire of locomotion conditions including five different speeds and five different ground elevations. For this we have used the non-negative matrix factorization technique in order to explain EMG experimental data with a low-dimensional set of four motor components. In this context each motor components is composed of a non-negative factor and the associated muscle weightings. Furthermore, we have investigated if the proposed descriptive analysis of muscle modularity could be translated into a predictive model that could: 1 Estimate how motor components modulate across locomotion speeds and ground elevations. This implies not only estimating the non-negative factors temporal characteristics, but also the associated muscle weighting variations. 2 Estimate how the resulting muscle excitations modulate across novel locomotion conditions and subjects.The results showed three major distinctive features of muscle modularity: 1 the number of motor components was preserved across all locomotion conditions, 2 the non-negative factors were consistent in shape and timing across all locomotion conditions, and 3 the muscle weightings were modulated as distinctive functions of locomotion speed and ground elevation. Results also showed that the developed predictive model was able to reproduce well the muscle modularity of un-modeled data, i.e. novel subjects and conditions. Muscle weightings were reconstructed with a cross-correlation factor greater than 70% and a root mean square error less than 0.10. Furthermore, the generated muscle excitations

  6. Research on wireless remote control scheme for the water source well of a uranium mine

    International Nuclear Information System (INIS)

    Wang Yun; Bao Feng

    2013-01-01

    Traditional wired electrical control method is applicable to simple control for the short-distance industrial equipment, but it is not suitable for the water source well of uranium mines requiring remote control. A kind of wireless remote control system based on high-speed radio modem communication technology was presented for the water source wells of a uranium mine, and the water source wells can be remotely controlled with the system. The component, implementation and characteristics of the control system are introduced. (authors)

  7. Sealed Radioactive Sources. Information, Resources, and Advice for Key Groups about Preventing the Loss of Control over Sealed Radioactive Sources

    International Nuclear Information System (INIS)

    2013-10-01

    Among its many activities to improve the safety and security of sealed sources, the IAEA has been investigating the root causes of major accidents and incidents since the 1980's and publishes findings so that others can learn from them. There are growing concerns today about the possibility that an improperly stored source could be stolen and used for malicious purposes. To improve both safety and security, information needs to be in the hands of those whose actions and decisions can prevent a source from being lost or stolen in the first place. The IAEA developed this booklet to help improve communication with key groups about hazards that may result from the loss of control over sealed radioactive sources and measures that should be implemented to prevent such loss of control. Many people may benefit from the information contained in this booklet, particularly those working with sources and those likely to be involved if control over a source is lost; especially: officials in government agencies, first responders, medical users, industrial users and the metal recycling industry. The general public may also benefit from an understanding of the fundamentals of radiation safety. This booklet is comprised of several stand-alone chapters intended to communicate with these key groups. Various accidents that are described and information that is provided are relevant to more than one key group and therefore, some information is repeated throughout the booklet. This booklet seeks to raise awareness of the importance of the safety and security of sealed radioactive sources. However, it is not intended to be a comprehensive 'how to' guide for implementing safety and security measures for sealed radioactive sources. For more information on these measures, readers are encouraged to consult the key IAEA safety and security-related publications identified in this booklet

  8. Control system for compact SR light source 'AURORA'

    International Nuclear Information System (INIS)

    Fukami, Nobutaka; Kariya, Hiroyuki; Yamada, Hironari

    1991-01-01

    The computer control system developed for 'AURORA' has a three level hierarchical architecture. The top level is Central Intelligence System (CIS), and the second one is Autonomic Control System (ACS). The bottom one is an assembly of distributed local controllers linked to the ACS level through optical fibers. This system provides fully automated operation, and a powerful machine study capability through the associated man-machine console and an interpretive operation language. (author)

  9. Sources of Social Control in School: A Speculative Essay.

    Science.gov (United States)

    Schlechty, Phillip C.; Burke, William I.

    1980-01-01

    This essay attempts to demonstrate that age segregation and subject matter specialization are two important supports of the authority of teachers and the school's ability to control students. Therefore, efforts to change these organizational patterns without considering alternative means of establishing control are doomed to failure. (Author/SJL)

  10. An Adaptive Classification Strategy for Reliable Locomotion Mode Recognition

    Directory of Open Access Journals (Sweden)

    Ming Liu

    2017-09-01

    Full Text Available Algorithms for locomotion mode recognition (LMR based on surface electromyography and mechanical sensors have recently been developed and could be used for the neural control of powered prosthetic legs. However, the variations in input signals, caused by physical changes at the sensor interface and human physiological changes, may threaten the reliability of these algorithms. This study aimed to investigate the effectiveness of applying adaptive pattern classifiers for LMR. Three adaptive classifiers, i.e., entropy-based adaptation (EBA, LearnIng From Testing data (LIFT, and Transductive Support Vector Machine (TSVM, were compared and offline evaluated using data collected from two able-bodied subjects and one transfemoral amputee. The offline analysis indicated that the adaptive classifier could effectively maintain or restore the performance of the LMR algorithm when gradual signal variations occurred. EBA and LIFT were recommended because of their better performance and higher computational efficiency. Finally, the EBA was implemented for real-time human-in-the-loop prosthesis control. The online evaluation showed that the applied EBA effectively adapted to changes in input signals across sessions and yielded more reliable prosthesis control over time, compared with the LMR without adaptation. The developed novel adaptive strategy may further enhance the reliability of neurally-controlled prosthetic legs.

  11. Research on control technology of hardware parallelism for marine controlled source electromagnetic transmitter

    Science.gov (United States)

    Wang, Meng; Deng, Ming; Luo, Xianhu; Zhao, Qingxian; Chen, Kai; Jing, Jianen

    2018-02-01

    The marine controlled source electromagnetic (CSEM) method has been recognized as an effective exploration method of shallow hydrocarbons around the world. We developed our own underwater marine CSEM transmitter that consisted of many functional modules with various response times. We previously adopted a centralized software-control technology to design the transmitter circuit topological structure. That structure probably generated a control disorder or malfunction. These undesirable conditions could lead to repeated recovery and deployment of the transmitter, which not only consumed time but also affected data continuity and establishment of stable and continuous CSEM field. We developed an instrument design concept named ‘control technology of hardware parallelism’. In this design, a noteworthy innovation of our new technology is to solve the above-mentioned problems at the physical and fundamental levels. We used several self-contained control-units to simultaneously accomplish the predetermined functions of the transmitter. The new solution relies on two technologies: multi-core embedded technology and multi-channel parallel optical-fiber data transmission technology. The first technology depends on many independent microcontrollers. Every microcontroller is only used to achieve a customized function. The second one relies on several multiple optical-fiber transmission channels realized by a complex programmable logic device and two optical-fiber conversion devices, which are used to establish a communication link between the shipboard monitoring and control-unit and underwater transmitter. We have conducted some marine experiments to verify the reliability and stability of the new method. In particular, the new technology used in the transmitter system could help us obtain more useful measured data in a limited time, improve real-time efficiency, and support the establishment of a stable CSEM field.

  12. Respiratory source control using a surgical mask: An in vitro study.

    Science.gov (United States)

    Patel, Rajeev B; Skaria, Shaji D; Mansour, Mohamed M; Smaldone, Gerald C

    2016-07-01

    Cough etiquette and respiratory hygiene are forms of source control encouraged to prevent the spread of respiratory infection. The use of surgical masks as a means of source control has not been quantified in terms of reducing exposure to others. We designed an in vitro model using various facepieces to assess their contribution to exposure reduction when worn at the infectious source (Source) relative to facepieces worn for primary (Receiver) protection, and the factors that contribute to each. In a chamber with various airflows, radiolabeled aerosols were exhaled via a ventilated soft-face manikin head using tidal breathing and cough (Source). Another manikin, containing a filter, quantified recipient exposure (Receiver). The natural fit surgical mask, fitted (SecureFit) surgical mask and an N95-class filtering facepiece respirator (commonly known as an "N95 respirator") with and without a Vaseline-seal were tested. With cough, source control (mask or respirator on Source) was statistically superior to mask or unsealed respirator protection on the Receiver (Receiver protection) in all environments. To equal source control during coughing, the N95 respirator must be Vaseline-sealed. During tidal breathing, source control was comparable or superior to mask or respirator protection on the Receiver. Source control via surgical masks may be an important adjunct defense against the spread of respiratory infections. The fit of the mask or respirator, in combination with the airflow patterns in a given setting, are significant contributors to source control efficacy. Future clinical trials should include a surgical mask source control arm to assess the contribution of source control in overall protection against airborne infection.

  13. Ergonomics of locomotive design in South African Gold and Platinum mines.

    CSIR Research Space (South Africa)

    Smith, JR

    2002-03-01

    Full Text Available to determine reach, posture, field of view and control locations for the operator. • determining the design modifications, which would improve the overall operation of the mine locomotives in South African gold and platinum mines • formu... Acknowledgements Invaluable contributions from the following people are acknowledged: Mr J Annandale Impala Platinum Ltd., Shaft No. 1 Mr W Birmingham Joel Gold Mining Company Ltd. Mr W Brits Anglogold Ltd., Savuka Mine Mr G Burger Anglogold Ltd, West Wits...

  14. Electron dynamics in RF sources with a laser controlled emission

    CERN Document Server

    Khodak, I V; Metrochenko, V V

    2001-01-01

    Photoemission radiofrequency (RF) electron sources are sources of electron beams with extremely high brightness. Beam bunching processes in such devices are well studied in case when laser pulse duration is much lower of rf oscillation period.At the same time photoemission RF guns have some merits when operating in 'long-pulse' mode. In this case the laser pulse duration is much higher of rf oscillation period but much lower of rise time of oscillations in a gun cavity. Beam parameters at the gun output are compared for photoemission and thermoemission cathode applications. The paper presents results of a beam dynamics simulation in such guns with different resonance structures. Questions connected with defining of the current pulse peak value that can be obtained in such guns are discussed.

  15. Control of radiation sources and general regulations for accidental situations

    International Nuclear Information System (INIS)

    Slimani, A.

    1998-01-01

    In order to prevent accidents caused by application of radiation sources the Tunisian O.N.P.C. established straightforward strategy made up of 3 phases: prevention, planning and intervention. Civil Protection conducts prevention studies of all radiation sources by examining normal application conditions as well as possible accidental situations. It keeps up with scientific, technical and statistical aspects of radiation risks, elaborates specific plans and programs for intervention operations and cooperates with administrative and security services as well as international organisations. The O.N.P.C. established a model intervention plan based on observation (according to preliminary information), evaluation of the situation (according to the head of operation) intervention (specialized units) and post intervention (testing of personnel)

  16. BEAMLINE-CONTROLLED STEERING OF SOURCE-POINT ANGLE AT THE ADVANCED PHOTON SOURCE

    Energy Technology Data Exchange (ETDEWEB)

    Emery, L.; Fystro, G.; Shang, H.; Smith, M.

    2017-06-25

    An EPICS-based steering software system has been implemented for beamline personnel to directly steer the angle of the synchrotron radiation sources at the Advanced Photon Source. A script running on a workstation monitors "start steering" beamline EPICS records, and effects a steering given by the value of the "angle request" EPICS record. The new system makes the steering process much faster than before, although the older steering protocols can still be used. The robustness features of the original steering remain. Feedback messages are provided to the beamlines and the accelerator operators. Underpinning this new steering protocol is the recent refinement of the global orbit feedback process whereby feedforward of dipole corrector set points and orbit set points are used to create a local steering bump in a rapid and seamless way.

  17. Quality control of concretes for conditioning of spent radioactive sources

    International Nuclear Information System (INIS)

    Gonzalez N, M.

    2015-01-01

    The spent sealed radioactive sources are considered as a specific type of radioactive wastes and should be properly stored to ensure their integrity and prevent or limit the release of radionuclides in the geosphere. For this, these sources can be put up in concrete matrices. This research presents the evaluation and characterization of five concretes prepared with 4 brands of commercial cements: CPC Extra RS, CPC 30R Impercem of Cemex, Cruz Azul CPC 30R and CPC 30R of Apasco; three sizes of coarse aggregate (<30 mm, 29-11 mm and <10 mm) and fine aggregate (0.0797 mm) used as matrices for conditioning of spent sealed radioactive sources, in order to verify if these specific concretes accredit the standard NOM-019-Nucl-1995. After hardening for 28 days the concrete specimens were subjected to the tests: compressive strength; thermal cycles, irradiation, leaching and permeability, later to be characterized by: 1) X-ray diffraction in order to meet their crystalline phases; 2) scanning electron microscopy, to determine changes in morphology; 3) infrared spectroscopy, to determine the structural changes of concrete from its functional groups; 4) Raman spectroscopy to determine their structural changes and 5) Moessbauer spectroscopy, which determines changes in the oxidation state of iron in the concrete. According to the results and the changes presented by each concrete after applying the tests set by NOM-019-Nucl-1995, is concluded that the concrete made with cement Cemex brand (CPC 30-RS Extra), gravel of particle size 11-29 mm and sieved sand (0.0797 mm) can be used as matrices of spent sealed sources conditioning. Is remarkable a morphological and structural change of the concrete due to gamma irradiation and heat treatment. (Author)

  18. Control and Driving Methods for LED Based Intelligent Light Sources

    OpenAIRE

    Beczkowski, Szymon

    2012-01-01

    High power light-emitting diodes allow the creation of luminaires capable of generating saturated colour light at very high efficacies. Contrary to traditional light sources like incandescent and high-intensity discharge lamps, where colour is generated using filters, LEDs use additive light mixing, where the intensity of each primary colour diode has to be adjusted to the needed intensity to generate specified colour. The function of LED driver is to supply the diode with power needed to ach...

  19. Method for controlling an accelerator-type neutron source, and a pulsed neutron source

    International Nuclear Information System (INIS)

    Givens, W.W.

    1991-01-01

    The patent deals with an accelerator-type neutron source which employs a target, an ionization section and a replenisher for supplying accelerator gas. A positive voltage pulse is applied to the ionization section to produce a burst of neutrons. A negative voltage pulse is applied to the ionization section upon the termination of the positive voltage pulse to effect a sharp cut-off to the burst of neutrons. 4 figs

  20. Control and Driving Methods for LED Based Intelligent Light Sources

    DEFF Research Database (Denmark)

    Beczkowski, Szymon

    of the diode is controlled either by varying the magnitude of the current or by driving the LED with a pulsed current and regulate the width of the pulse. It has been shown previously, that these two methods yield different effects on diode's efficacy and colour point. A hybrid dimming strategy has been...... proposed where two variable quantities control the intensity of the diode. This increases the controllability of the diode giving new optimisation possibilities. It has been shown that it is possible to compensate for temperature drift of white diode's colour point using hybrid dimming strategy. Also...

  1. Regulatory control of radiation sources and radioactive materials in Ireland

    International Nuclear Information System (INIS)

    McGarry, A.T.; Fenton, D.; O'Flaherty, T.

    2001-01-01

    The primary legislation governing safety in uses of ionizing radiation in Ireland is the Radiological Protection Act, 1991. This Act provided for the establishment in 1992 of the Radiological Protection Institute of Ireland, and gives the Institute the functions and powers which enable it to be the regulatory body for all matters relating to ionizing radiation. A Ministerial Order made under the Act in 2000 consolidates previous regulations and, in particular, provides for the implementation in Irish law of the 1996 European Union Directive which lays down basic safety standards for the protection of the health of workers and the general public against the dangers arising from ionizing radiation. Under the legislation, the custody, use and a number of other activities involving radioactive substances and irradiating apparatus require a licence issued by the Institute. Currently some 1260 licences are in force. Of these, some 850 are in respect of irradiating apparatus only and are issued principally to dentists and veterinary surgeons. The remaining licences involve sealed radiation sources and/or unsealed radioactive substances used in medicine, industry or education. A schedule attached to each licence fully lists the sealed sources to which the licence applies, and also the quantities of radioactive substances which may be acquired or held under the licence. It is an offence to dispose of, or otherwise relinquish possession of, any licensable material other than in accordance with terms and conditions of the licence. Disused sources are returned to the original supplier or, where this is not possible, stored under licence by the licensee who used them. Enforcement of the licensing provisions relies primarily on the programme of inspection of licensees, carried out by the Institute's inspectors. The Institute's Regulatory Service has a complement of four inspectors, one of whom is the Manager of the Service. The Manager reports to one of the Institute's Principal

  2. Modeling generalized interline power-flow controller (GIPFC using 48-pulse voltage source converters

    Directory of Open Access Journals (Sweden)

    Amir Ghorbani

    2018-05-01

    Full Text Available Generalized interline power-flow controller (GIPFC is one of the voltage-source controller (VSC-based flexible AC transmission system (FACTS controllers that can independently regulate the power-flow over each transmission line of a multiline system. This paper presents the modeling and performance analysis of GIPFC based on 48-pulsed voltage-source converters. This paper deals with a cascaded multilevel converter model, which is a 48-pulse (three levels voltage source converter. The voltage source converter described in this paper is a harmonic neutralized, 48-pulse GTO converter. The GIPFC controller is based on d-q orthogonal coordinates. The algorithm is verified using simulations in MATLAB/Simulink environment. Comparisons between unified power flow controller (UPFC and GIPFC are also included. Keywords: Generalized interline power-flow controller (GIPFC, Voltage source converter (VCS, 48-pulse GTO converter

  3. Effects of the airwave in time-domain marine controlled-source electromagnetics

    NARCIS (Netherlands)

    Hunziker, J.W.; Slob, E.C.; Mulder, W.

    2011-01-01

    In marine time-domain controlled-source electromagnetics (CSEM), there are two different acquisition methods: with horizontal sources for fast and simple data acquisition or with vertical sources for minimizing the effects of the airwave. Illustrations of the electric field as a function of space

  4. 49 CFR 230.90 - Draw gear between steam locomotive and tender.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Draw gear between steam locomotive and tender. 230... Steam Locomotives and Tenders Draw Gear and Draft Systems § 230.90 Draw gear between steam locomotive and tender. (a) Maintenance and testing. The draw gear between the steam locomotive and tender...

  5. 49 CFR 230.108 - Steam locomotive leading and trailing trucks.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive leading and trailing trucks. 230... RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.108 Steam locomotive leading...

  6. Sources

    International Nuclear Information System (INIS)

    Duffy, L.P.

    1991-01-01

    This paper discusses the sources of radiation in the narrow perspective of radioactivity and the even narrow perspective of those sources that concern environmental management and restoration activities at DOE facilities, as well as a few related sources. Sources of irritation, Sources of inflammatory jingoism, and Sources of information. First, the sources of irritation fall into three categories: No reliable scientific ombudsman to speak without bias and prejudice for the public good, Technical jargon with unclear definitions exists within the radioactive nomenclature, and Scientific community keeps a low-profile with regard to public information. The next area of personal concern are the sources of inflammation. This include such things as: Plutonium being described as the most dangerous substance known to man, The amount of plutonium required to make a bomb, Talk of transuranic waste containing plutonium and its health affects, TMI-2 and Chernobyl being described as Siamese twins, Inadequate information on low-level disposal sites and current regulatory requirements under 10 CFR 61, Enhanced engineered waste disposal not being presented to the public accurately. Numerous sources of disinformation regarding low level radiation high-level radiation, Elusive nature of the scientific community, The Federal and State Health Agencies resources to address comparative risk, and Regulatory agencies speaking out without the support of the scientific community

  7. Mutually opposing forces during locomotion can eliminate the tradeoff between maneuverability and stability

    Science.gov (United States)

    Cowan, Noah; Sefati, Shahin; Neveln, Izaak; Roth, Eatai; Mitchell, Terence; Snyder, James; Maciver, Malcolm; Fortune, Eric

    A surprising feature of animal locomotion is that organisms typically produce substantial forces in directions other than what is necessary to move the animal through its environment, such as perpendicular to, or counter to, the direction of travel. The effect of these forces has been difficult to observe because they are often mutually opposing and therefore cancel out. Using a combination of robotic physical modeling, computational modeling, and biological experiments, we discovered that these forces serve an important role: to simplify and enhance the control of locomotion. Specifically, we examined a well-suited model system, the glass knifefish Eigenmannia virescens, which produces mutually opposing forces during a hovering behavior. By systematically varying the locomotor parameters of our biomimetic robot, and measuring the resulting forces and kinematics, we demonstrated that the production and differential control of mutually opposing forces is a strategy that generates passive stabilization while simultaneously enhancing maneuverability. Mutually opposing forces during locomotion are widespread across animal taxa, and these results indicate that such forces can eliminate the tradeoff between stability and maneuverability, thereby simplifying robotic and neural control.

  8. A Modified Droop Control Method for Parallel-Connected Current Source Inverters

    DEFF Research Database (Denmark)

    Wei, Baoze; Guerrero, Josep M.; Quintero, Juan Carlos Vasquez

    2016-01-01

    In this paper, a novel control method was proposed for current source inverters under the grid-connected working mode. The control scheme is based on a modified droop control method, with an additional current reference signal that will be generated instead of the voltage reference. Hence......, there is only a current control loop with droop control in the whole control scheme without voltage control loop. So it is very suitable for grid-connected current source inverter which will simplify the design of the control scheme and combine the advantage of droop control. The parallel configuration...... is widely used to acquire high power demand, but the circulating current problem is a key issue that should be considered. In this paper, a simulation based on parallel current source inverters using the proposed control scheme is provided. Simulation results showed that a good circulating current...

  9. Model Predictive Control of Z-source Neutral Point Clamped Inverter

    DEFF Research Database (Denmark)

    Mo, Wei; Loh, Poh Chiang; Blaabjerg, Frede

    2011-01-01

    This paper presents Model Predictive Control (MPC) of Z-source Neutral Point Clamped (NPC) inverter. For illustration, current control of Z-source NPC grid-connected inverter is analyzed and simulated. With MPC’s advantage of easily including system constraints, load current, impedance network...... response are obtained at the same time with a formulated Z-source NPC inverter network model. Operation steady state and transient state simulation results of MPC are going to be presented, which shows good reference tracking ability of this method. It provides new control method for Z-source NPC inverter...

  10. 40 CFR 450.24 - New source performance standards reflecting the best available demonstrated control technology...

    Science.gov (United States)

    2010-07-01

    ... performance standards reflecting the best available demonstrated control technology (NSPS). Any new source... 40 Protection of Environment 29 2010-07-01 2010-07-01 false New source performance standards reflecting the best available demonstrated control technology (NSPS). 450.24 Section 450.24 Protection of...

  11. Analysis and Optimal Condition of the Rear-Sound-Aided Control Source in Active Noise Control

    Directory of Open Access Journals (Sweden)

    Karel Kreuter

    2011-01-01

    Full Text Available An active noise control scenario of simple ducts is considered. The previously suggested technique of using an single loudspeaker and its rear sound to cancel the upstream sound is further examined and compared to the bidirectional solution in order to give theoretical proof of its advantage. Firstly, a model with a new approach for taking damping effects into account is derived based on the electrical transmission line theory. By comparison with the old model, the new approach is validated, and occurring differences are discussed. Moreover, a numerical application with the consideration of damping is implemented for confirmation. The influence of the rear sound strength on the feedback-path system is investigated, and the optimal condition is determined. Finally, it is proven that the proposed source has an advantage of an extended phase lag and a time delay in the feedback-path system by both frequency-response analysis and numerical calculation of the time response.

  12. How phosphorus limitation can control climatic gas sources and sinks

    Science.gov (United States)

    Gypens, Nathalie; Borges, Alberto V.; Ghyoot, Caroline

    2017-04-01

    Since the 1950's, anthropogenic activities severely increased river nutrient loads in European coastal areas. Subsequent implementation of nutrient reduction policies have considerably reduced phosphorus (P) loads from mid-1980's, while nitrogen (N) loads were maintained, inducing a P limitation of phytoplankton growth in many eutrophied coastal areas such as the Southern Bight of the North Sea (SBNS). When dissolved inorganic phosphorous (DIP) is limiting, most phytoplankton organisms are able to indirectly acquire P from dissolved organic P (DOP). We investigate the impact of DOP use on the importance of phytoplankton production and atmospheric fluxes of CO2 and dimethylsulfide (DMS) in the SBNS from 1951 to 2007 using an extended version of the R-MIRO-BIOGAS model. This model includes a description of the ability of phytoplankton organisms to use DOP as a source of P. Results show that primary production can increase up to 70% due to DOP uptake in limiting DIP conditions. Consequently, simulated DMS emissions double while CO2 emissions to the atmosphere decrease, relative to the reference simulation without DOP uptake. At the end of the simulated period (late 2000's), the net direction of air-sea CO2 annual flux, changed from a source to a sink for atmospheric CO2 in response to use of DOP and increase of primary production.

  13. Distributed control system for the National Synchrotron Light Source

    International Nuclear Information System (INIS)

    Batchelor, K.; Culwick, B.B.; Goldstick, J.; Sheehan, J.; Smith, J.

    1979-01-01

    Until recently, accelerator and similar control systems have used modular interface hardware such as CAMAC or DATACON which translated digital computer commands transmitted over some data link into hardware device status and monitoring variables. Such modules possessed little more than local buffering capability in the processing of commands and data. The advent of the micro-processor has made available low cost small computers of significant computational capability. This paper describes how micro-computers including such micro-processors and associated memory, input/output devices and interrupt facilities have been incorporated into a distributed system for the control of the NSLS

  14. Hybrid Locomotive for Energy Savings and Reduced Emissions

    Science.gov (United States)

    2017-08-01

    Norfolk Southern Corporation (NS) and Pennsylvania State University tested several different battery systems in hybrid locomotives. Advanced lithium-ion battery technology was the only kind that displayed the capacity to perform in heavy switching or...

  15. Test requirements of locomotive fuel tank blunt impact tests

    Science.gov (United States)

    2013-10-15

    The Federal Railroad Administrations Office of Research : and Development is conducting research into passenger : locomotive fuel tank crashworthiness. A series of impact tests : are planned to measure fuel tank deformation under two types : of dy...

  16. Review of codes, standards, and regulations for natural gas locomotives.

    Science.gov (United States)

    2014-06-01

    This report identified, collected, and summarized relevant international codes, standards, and regulations with potential : applicability to the use of natural gas as a locomotive fuel. Few international or country-specific codes, standards, and regu...

  17. Outbreaks: Sources of Epidemiological Knowledge in Communicable Disease Control

    NARCIS (Netherlands)

    P.L.J.M. Mertens (Paulus Leonardus Johannes Marie)

    2008-01-01

    textabstractPublic health has been defined as the science and art of disease prevention, prolonging life, and promoting health and well-being through organized community effort for the sanitation of the environment, the control of communicable infections, the organization of medical and nursing

  18. Advanced control for ground source heat pump systems

    Energy Technology Data Exchange (ETDEWEB)

    Hughes, Patrick [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Gehl, Anthony C. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Liu, Xiaobing [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

    2017-09-01

    Ground source heat pumps (GSHP), also known as geothermal heat pumps (GHP), are proven advanced HVAC systems that utilize clean and renewable geothermal energy, as well as the massive thermal storage capacity of the ground, to provide space conditioning and water heating for both residential and commercial buildings. GSHPs have higher energy efficiencies than conventional HVAC systems. It is estimated, if GSHPs achieve a 10% market share in the US, in each year, 0.6 Quad Btu primary energy consumption can be saved and 36 million tons carbon emissions can be avoided (Liu et al. 2017). However, the current market share of GSHPs is less than 1%. The foremost barrier preventing wider adoption of GSHPs is their high installation costs. To enable wider adoption of GSHPs, the costeffectiveness of GSHP applications must be improved.

  19. Neurobiology of Caenorhabditis elegans Locomotion: Where Do We Stand?

    OpenAIRE

    Gjorgjieva, Julijana; Biron, David; Haspel, Gal

    2014-01-01

    Animals use a nervous system for locomotion in some stage of their life cycle. The nematode Caenorhabditis elegans, a major animal model for almost all fields of experimental biology, has long been used for detailed studies of genetic and physiological locomotion mechanisms. Of its 959 somatic cells, 302 are neurons that are identifiable by lineage, location, morphology, and neurochemistry in every adult hermaphrodite. Of those, 75 motoneurons innervate body wall muscles that provide the thru...

  20. Expression of emotion in the kinematics of locomotion.

    Science.gov (United States)

    Barliya, Avi; Omlor, Lars; Giese, Martin A; Berthoz, Alain; Flash, Tamar

    2013-03-01

    Here, we examine how different emotions-happiness, fear, sadness and anger-affect the kinematics of locomotion. We focus on a compact representation of locomotion properties using the intersegmental law of coordination (Borghese et al. in J Physiol 494(3):863-879, 1996), which states that, during the gait cycle of human locomotion, the elevation angles of the thigh, shank and foot do not evolve independently of each other but form a planar pattern of co-variation. This phenomenon is highly robust and has been extensively studied. The orientation of the plane has been correlated with changes in the speed of locomotion and with reduction in energy expenditure as speed increases. An analytical model explaining the conditions underlying the emergence of this plane and predicting its orientation reveals that it suffices to examine the amplitudes of the elevation angles of the different segments along with the phase shifts between them (Barliya et al. in Exp Brain Res 193:371-385, 2009). We thus investigated the influence of different emotions on the parameters directly determining the orientation of the intersegmental plane and on the angular rotation profiles of the leg segments, examining both the effect of changes in walking speed and effects independent of speed. Subjects were professional actors and naïve subjects with no training in acting. As expected, emotions were found to strongly affect the kinematics of locomotion, particularly walking speed. The intersegmental coordination patterns revealed that emotional expression caused additional modifications to the locomotion patterns that could not be explained solely by a change in speed. For all emotions except sadness, the amplitude of thigh elevation angles changed from those in neutral locomotion. The intersegmental plane was also differently oriented, especially during anger. We suggest that, while speed is the dominant variable allowing discrimination between different emotional gaits, emotion can be

  1. Fluid Mechanics of Aquatic Locomotion at Large Reynolds Numbers

    OpenAIRE

    Govardhan, RN; Arakeri, JH

    2011-01-01

    Abstract | There exist a huge range of fish species besides other aquatic organisms like squids and salps that locomote in water at large Reynolds numbers, a regime of flow where inertial forces dominate viscous forces. In the present review, we discuss the fluid mechanics governing the locomotion of such organisms. Most fishes propel themselves by periodic undulatory motions of the body and tail, and the typical classification of their swimming modes is based on the fraction of their body...

  2. Markerless 3D motion capture for animal locomotion studies

    Directory of Open Access Journals (Sweden)

    William Irvin Sellers

    2014-06-01

    Full Text Available Obtaining quantitative data describing the movements of animals is an essential step in understanding their locomotor biology. Outside the laboratory, measuring animal locomotion often relies on video-based approaches and analysis is hampered because of difficulties in calibration and often the limited availability of possible camera positions. It is also usually restricted to two dimensions, which is often an undesirable over-simplification given the essentially three-dimensional nature of many locomotor performances. In this paper we demonstrate a fully three-dimensional approach based on 3D photogrammetric reconstruction using multiple, synchronised video cameras. This approach allows full calibration based on the separation of the individual cameras and will work fully automatically with completely unmarked and undisturbed animals. As such it has the potential to revolutionise work carried out on free-ranging animals in sanctuaries and zoological gardens where ad hoc approaches are essential and access within enclosures often severely restricted. The paper demonstrates the effectiveness of video-based 3D photogrammetry with examples from primates and birds, as well as discussing the current limitations of this technique and illustrating the accuracies that can be obtained. All the software required is open source so this can be a very cost effective approach and provides a methodology of obtaining data in situations where other approaches would be completely ineffective.

  3. Interactions between posture and locomotion: motor patterns in humans walking with bent posture versus erect posture.

    Science.gov (United States)

    Grasso, R; Zago, M; Lacquaniti, F

    2000-01-01

    Human erect locomotion is unique among living primates. Evolution selected specific biomechanical features that make human locomotion mechanically efficient. These features are matched by the motor patterns generated in the CNS. What happens when humans walk with bent postures? Are normal motor patterns of erect locomotion maintained or completely reorganized? Five healthy volunteers walked straight and forward at different speeds in three different postures (regular, knee-flexed, and knee- and trunk-flexed) while their motion, ground reaction forces, and electromyographic (EMG) activity were recorded. The three postures imply large differences in the position of the center of body mass relative to the body segments. The elevation angles of the trunk, pelvis, and lower limb segments relative to the vertical in the sagittal plane, the ground reaction forces and the rectified EMGs were analyzed over the gait cycle. The waveforms of the elevation angles along the gait cycle remained essentially unchanged irrespective of the adopted postures. The first two harmonics of these kinematic waveforms explain >95% of their variance. The phase shift but not the amplitude ratio between the first harmonic of the elevation angle waveforms of adjacent pairs was affected systematically by changes in posture. Thigh, shank, and foot angles covaried close to a plane in all conditions, but the plane orientation was systematically different in bent versus erect locomotion. This was explained by the changes in the temporal coupling among the three segments. For walking speeds >1 m s(-1), the plane orientation of bent locomotion indicates a much lower mechanical efficiency relative to erect locomotion. Ground reaction forces differed prominently in bent versus erect posture displaying characteristics intermediate between those typical of walking and those of running. Mean EMG activity was greater in bent postures for all recorded muscles independent of the functional role. The waveforms

  4. Influence of AC system design on the realisation of tractive efforts by high adhesion locomotives

    Science.gov (United States)

    Spiryagin, Maksym; Wolfs, Peter; Cole, Colin; Stichel, Sebastian; Berg, Mats; Manfred, Plöchl

    2017-08-01

    The main task for heavy haul railway operators is to reduce the cost of exported minerals and enhance the long-term viability of rail transport operations through increasing productivity by running longer and heavier trains. The common opinion is that this is achievable by means of implementation of high adhesion locomotives with advanced AC traction technologies. Modern AC high adhesion locomotives are very complex mechatronic systems and can be designed with two alternative traction topologies of either bogie or individual axle controls. This paper describes a modelling approach for these two types of AC traction systems with the application of an advanced co-simulation methodology, where an electrical system and a traction algorithm are modelled in Matlab/Simulink, and a mechanical system is modelled in a multibody software package. Although the paper concentrates on the analysis of the functioning for these two types of traction control systems, the choice of reference slip values also has an influence on the performance of both systems. All these design variations and issues have been simulated for various adhesion conditions at the wheel-rail interface and their influence on the high traction performance of a locomotive equipped with two three-axle bogies has been discussed.

  5. A survey report for the biped locomotion model under external force

    International Nuclear Information System (INIS)

    Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.

    1993-10-01

    A mechanical design study of biped locomotion robots is being performed at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. We have developed the simulation software which has capability of obtaining several types of stable motions for straight walking in terms of design tools. In addition, we are studying more complex walking patterns such as turning. However, in order to realize the robustness of walking, it is also necessary for the robot to have a capability of walking under external force as a disturbance which is caused by touching an object and so on. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the biped locomotion model under external force: the WL-12RIII/IV designed and developed at Waseda University. This report includes the machine model, control system, control method and results of walking experiments. (author)

  6. Analysis of emotionality and locomotion in radio-frequency electromagnetic radiation exposed rats.

    Science.gov (United States)

    Narayanan, Sareesh Naduvil; Kumar, Raju Suresh; Paval, Jaijesh; Kedage, Vivekananda; Bhat, M Shankaranarayana; Nayak, Satheesha; Bhat, P Gopalakrishna

    2013-07-01

    In the current study the modulatory role of mobile phone radio-frequency electromagnetic radiation (RF-EMR) on emotionality and locomotion was evaluated in adolescent rats. Male albino Wistar rats (6-8 weeks old) were randomly assigned into the following groups having 12 animals in each group. Group I (Control): they remained in the home cage throughout the experimental period. Group II (Sham exposed): they were exposed to mobile phone in switch-off mode for 28 days, and Group III (RF-EMR exposed): they were exposed to RF-EMR (900 MHz) from an active GSM (Global system for mobile communications) mobile phone with a peak power density of 146.60 μW/cm(2) for 28 days. On 29th day, the animals were tested for emotionality and locomotion. Elevated plus maze (EPM) test revealed that, percentage of entries into the open arm, percentage of time spent on the open arm and distance travelled on the open arm were significantly reduced in the RF-EMR exposed rats. Rearing frequency and grooming frequency were also decreased in the RF-EMR exposed rats. Defecation boli count during the EPM test was more with the RF-EMR group. No statistically significant difference was found in total distance travelled, total arm entries, percentage of closed arm entries and parallelism index in the RF-EMR exposed rats compared to controls. Results indicate that mobile phone radiation could affect the emotionality of rats without affecting the general locomotion.

  7. ENERGY EFFICIENCY OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSION TESTS AT LOCOMOTIVE REPAIR PLANT

    Directory of Open Access Journals (Sweden)

    B. E. Bodnar

    2015-10-01

    Full Text Available Purpose. In difficult economic conditions, cost reduction of electricity consumption for the needs of production is an urgent task for the country’s industrial enterprises. Technical specifications of enterprises, which repair diesel locomotive hydraulic transmission, recommend conducting a certain amount of evaluation and regulatory tests to monitor their condition after repair. Experience shows that a significant portion of hydraulic transmission defects is revealed by bench tests. The advantages of bench tests include the ability to detect defects after repair, ease of maintenance of the hydraulic transmission and relatively low labour intensity for eliminating defects. The quality of these tests results in the transmission resource and its efficiency. Improvement of the technology of plant post-repairs hydraulic tests in order to reduce electricity consumption while testing. Methodology. The possible options for hydraulic transmission test bench improvement were analysed. There was proposed an energy efficiency method for diesel locomotive hydraulic transmission testing in locomotive repair plant environment. This is achieved by installing additional drive motor which receives power from the load generator. Findings. Based on the conducted analysis the necessity of improving the plant stand testing of hydraulic transmission was proved. The variants of the stand modernization were examined. The test stand modernization analysis was conducted. Originality. The possibility of using electric power load generator to power the stand electric drive motor or the additional drive motor was theoretically substantiated. Practical value. A variant of hydraulic transmission test stand based on the mutual load method was proposed. Using this method increases the hydraulic transmission load range and power consumption by stand remains unchanged. The additional drive motor will increase the speed of the input shaft that in its turn wil allow testing in

  8. How animals move: comparative lessons on animal locomotion.

    Science.gov (United States)

    Schaeffer, Paul J; Lindstedt, Stan L

    2013-01-01

    Comparative physiology often provides unique insights in animal structure and function. It is specifically through this lens that we discuss the fundamental properties of skeletal muscle and animal locomotion, incorporating variation in body size and evolved difference among species. For example, muscle frequencies in vivo are highly constrained by body size, which apparently tunes muscle use to maximize recovery of elastic recoil potential energy. Secondary to this constraint, there is an expected linking of skeletal muscle structural and functional properties. Muscle is relatively simple structurally, but by changing proportions of the few muscle components, a diverse range of functional outputs is possible. Thus, there is a consistent and predictable relation between muscle function and myocyte composition that illuminates animal locomotion. When animals move, the mechanical properties of muscle diverge from the static textbook force-velocity relations described by A. V. Hill, as recovery of elastic potential energy together with force and power enhancement with activation during stretch combine to modulate performance. These relations are best understood through the tool of work loops. Also, when animals move, locomotion is often conveniently categorized energetically. Burst locomotion is typified by high-power outputs and short durations while sustained, cyclic, locomotion engages a smaller fraction of the muscle tissue, yielding lower force and power. However, closer examination reveals that rather than a dichotomy, energetics of locomotion is a continuum. There is a remarkably predictable relationship between duration of activity and peak sustainable performance.

  9. Multi-modal locomotion: from animal to application

    International Nuclear Information System (INIS)

    Lock, R J; Burgess, S C; Vaidyanathan, R

    2014-01-01

    The majority of robotic vehicles that can be found today are bound to operations within a single media (i.e. land, air or water). This is very rarely the case when considering locomotive capabilities in natural systems. Utility for small robots often reflects the exact same problem domain as small animals, hence providing numerous avenues for biological inspiration. This paper begins to investigate the various modes of locomotion adopted by different genus groups in multiple media as an initial attempt to determine the compromise in ability adopted by the animals when achieving multi-modal locomotion. A review of current biologically inspired multi-modal robots is also presented. The primary aim of this research is to lay the foundation for a generation of vehicles capable of multi-modal locomotion, allowing ambulatory abilities in more than one media, surpassing current capabilities. By identifying and understanding when natural systems use specific locomotion mechanisms, when they opt for disparate mechanisms for each mode of locomotion rather than using a synergized singular mechanism, and how this affects their capability in each medium, similar combinations can be used as inspiration for future multi-modal biologically inspired robotic platforms. (topical review)

  10. sources

    Directory of Open Access Journals (Sweden)

    Shu-Yin Chiang

    2002-01-01

    Full Text Available In this paper, we study the simplified models of the ATM (Asynchronous Transfer Mode multiplexer network with Bernoulli random traffic sources. Based on the model, the performance measures are analyzed by the different output service schemes.

  11. Modeling posture-dependent leg actuation in sagittal plane locomotion

    International Nuclear Information System (INIS)

    Schmitt, J; Clark, J

    2009-01-01

    The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.

  12. Electric-Pneumatic Actuator: A New Muscle for Locomotion

    Directory of Open Access Journals (Sweden)

    Maziar Ahmad Sharbafi

    2017-10-01

    Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.

  13. Sensory modulation of movement, posture and locomotion.

    Science.gov (United States)

    Saradjian, A H

    2015-11-01

    During voluntary movement, there exists a well known functional sensory attenuation of afferent inputs, which allows us to discriminate between information related to our own movements and those arising from the external environment. This attenuation or 'gating' prevents some signals from interfering with movement elaboration and production. However, there are situations in which certain task-relevant sensory inputs may not be gated. This review begins by identifying the prevalent findings in the literature with specific regard to the somatosensory modality, and reviews the many cases of classical sensory gating phenomenon accompanying voluntary movement and their neural basis. This review also focuses on the newer axes of research that demonstrate that task-specific sensory information may be disinhibited or even facilitated during engagement in voluntary actions. Finally, a particular emphasis will be placed on postural and/or locomotor tasks involving strong somatosensory demands, especially for the setting of the anticipatory postural adjustments observed prior the initiation of locomotion. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

  14. Linking pedestrian flow characteristics with stepping locomotion

    Science.gov (United States)

    Wang, Jiayue; Boltes, Maik; Seyfried, Armin; Zhang, Jun; Ziemer, Verena; Weng, Wenguo

    2018-06-01

    While properties of human traffic flow are described by speed, density and flow, the locomotion of pedestrian is based on steps. To relate characteristics of human locomotor system with properties of human traffic flow, this paper aims to connect gait characteristics like step length, step frequency, swaying amplitude and synchronization with speed and density and thus to build a ground for advanced pedestrian models. For this aim, observational and experimental study on the single-file movement of pedestrians at different densities is conducted. Methods to measure step length, step frequency, swaying amplitude and step synchronization are proposed by means of trajectories of the head. Mathematical models for the relations of step length or frequency and speed are evaluated. The problem how step length and step duration are influenced by factors like body height and density is investigated. It is shown that the effect of body height on step length and step duration changes with density. Furthermore, two different types of step in-phase synchronization between two successive pedestrians are observed and the influence of step synchronization on step length is examined.

  15. Storage of low-level radioactive waste and regulatory control of sealed sources in Finland

    International Nuclear Information System (INIS)

    Rahola, T.; Markkanen, M.

    2006-01-01

    This paper is concentrated on the non nuclear low-level radioactive waste. The cornerstone for maintaining radioactive sources under control in Finland is that all practices involving sources are subject to authorization and all licensing information, including information on each individual source, are entered into a register which is continuously updated based on applications and notifications received from the licenses. Experiences during the past twenty years have shown that source-specific records of sources combined with regular inspections at the places of use have prevented efficiency losing control over sealed radioactive sources. The current capacity in the interim storage for State owned waste is not adequate for all used sealed sources and other small user waste which are currently kept in the possession of the licensees. Thus, expansion of the storage capacity and other options for taking care of the small user waste is under consideration. (N.C.)

  16. [A landscape ecological approach for urban non-point source pollution control].

    Science.gov (United States)

    Guo, Qinghai; Ma, Keming; Zhao, Jingzhu; Yang, Liu; Yin, Chengqing

    2005-05-01

    Urban non-point source pollution is a new problem appeared with the speeding development of urbanization. The particularity of urban land use and the increase of impervious surface area make urban non-point source pollution differ from agricultural non-point source pollution, and more difficult to control. Best Management Practices (BMPs) are the effective practices commonly applied in controlling urban non-point source pollution, mainly adopting local repairing practices to control the pollutants in surface runoff. Because of the close relationship between urban land use patterns and non-point source pollution, it would be rational to combine the landscape ecological planning with local BMPs to control the urban non-point source pollution, which needs, firstly, analyzing and evaluating the influence of landscape structure on water-bodies, pollution sources and pollutant removal processes to define the relationships between landscape spatial pattern and non-point source pollution and to decide the key polluted fields, and secondly, adjusting inherent landscape structures or/and joining new landscape factors to form new landscape pattern, and combining landscape planning and management through applying BMPs into planning to improve urban landscape heterogeneity and to control urban non-point source pollution.

  17. Left–right coordination from simple to extreme conditions during split‐belt locomotion in the chronic spinal adult cat

    Science.gov (United States)

    Desrochers, Étienne; Thibaudier, Yann; Hurteau, Marie‐France; Dambreville, Charline

    2016-01-01

    Key points Coordination between the left and right sides is essential for dynamic stability during locomotion.The immature or neonatal mammalian spinal cord can adjust to differences in speed between the left and right sides during split‐belt locomotion by taking more steps on the fast side.We show that the adult mammalian spinal cord can also adjust its output so that the fast side can take more steps.During split‐belt locomotion, only certain parts of the cycle are modified to adjust left–right coordination, primarily those associated with swing onset.When the fast limb takes more steps than the slow limb, strong left–right interactions persist.Therefore, the adult mammalian spinal cord has a remarkable adaptive capacity for left–right coordination, from simple to extreme conditions. Abstract Although left–right coordination is essential for locomotion, its control is poorly understood, particularly in adult mammals. To investigate the spinal control of left–right coordination, a spinal transection was performed in six adult cats that were then trained to recover hindlimb locomotion. Spinal cats performed tied‐belt locomotion from 0.1 to 1.0 m s−1 and split‐belt locomotion with low to high (1:1.25–10) slow/fast speed ratios. With the left hindlimb stepping at 0.1 m s−1 and the right hindlimb stepping from 0.2 to 1.0 m s−1, 1:1, 1:2, 1:3, 1:4 and 1:5 left–right step relationships could appear. The appearance of 1:2+ relationships was not linearly dependent on the difference in speed between the slow and fast belts. The last step taken by the fast hindlimb displayed longer cycle, stance and swing durations and increased extensor activity, as the slow limb transitioned to swing. During split‐belt locomotion with 1:1, 1:2 and 1:3 relationships, the timing of stance onset of the fast limb relative to the slow limb and placement of both limbs at contact were invariant with increasing slow/fast speed ratios. In contrast, the timing of

  18. Real-time control using open source RTOS

    Science.gov (United States)

    Irwin, Philip C.; Johnson, Richard L., Jr.

    2002-12-01

    Complex telescope systems such as interferometers tend to rely heavily on hard real-time operating systems (RTOS). It has been standard practice at NASA's Jet Propulsion Laboratory (JPL) and many other institutions to use costly commercial RTOSs and hardware. After developing a real-time toolkit for VxWorks on the PowerPC platform (dubbed RTC), the interferometry group at JPL is porting this code to the real-time Application Interface (RTAI), an open source RTOS that is essentially an extension to the Linux kernel. This port has the potential to reduce software and hardware costs for future projects, while increasing the level of performance. The goals of this paper are to briefly describe the RTC toolkit, highlight the successes and pitfalls of porting the toolkit from VxWorks to Linux-RTAI, and to discuss future enhancements that will be implemented as a direct result of this port. The first port of any body of code is always the most difficult since it uncovers the OS-specific calls and forces "red flags" into those portions of the code. For this reason, It has also been a huge benefit that the project chose a generic, platform independent OS extension, ACE, and its CORBA counterpart, TAO. This port of RTC will pave the way for conversions to other environments, the most interesting of which is a non-real-time simulation environment, currently being considered by the Space Interferometry Mission (SIM) and the Terrestrial Planet Finder (TPF) Projects.

  19. Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

    Directory of Open Access Journals (Sweden)

    Filippo Sanfilippo

    2017-03-01

    Full Text Available In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

  20. A wavenumber approach to analysing the active control of plane waves with arrays of secondary sources

    Science.gov (United States)

    Elliott, Stephen J.; Cheer, Jordan; Bhan, Lam; Shi, Chuang; Gan, Woon-Seng

    2018-04-01

    The active control of an incident sound field with an array of secondary sources is a fundamental problem in active control. In this paper the optimal performance of an infinite array of secondary sources in controlling a plane incident sound wave is first considered in free space. An analytic solution for normal incidence plane waves is presented, indicating a clear cut-off frequency for good performance, when the separation distance between the uniformly-spaced sources is equal to a wavelength. The extent of the near field pressure close to the source array is also quantified, since this determines the positions of the error microphones in a practical arrangement. The theory is also extended to oblique incident waves. This result is then compared with numerical simulations of controlling the sound power radiated through an open aperture in a rigid wall, subject to an incident plane wave, using an array of secondary sources in the aperture. In this case the diffraction through the aperture becomes important when its size is compatible with the acoustic wavelength, in which case only a few sources are necessary for good control. When the size of the aperture is large compared to the wavelength, and diffraction is less important but more secondary sources need to be used for good control, the results then become similar to those for the free field problem with an infinite source array.

  1. Source-dependent and source-independent controls on plutonium oxidation state and colloid associations in groundwater.

    Science.gov (United States)

    Buesseler, Ken O; Kaplan, Daniel I; Dai, Minhan; Pike, Steven

    2009-03-01

    Plutonium (Pu) was characterized for its isotopic composition, oxidation states, and association with colloids in groundwater samples near disposal basins in F-Area of the Savannah River Site and compared to similar samples collected six years earlier. Two sources of Pu were identified, the disposal basins, which contained a 24Pu/l39Pu isotopic signature consistent with weapons grade Pu, and 244Cm, a cocontaminant that is a progenitor radionuclide of 24Pu. 24Pu that originated primarily from 244Cm tended to be appreciably more oxidized (Pu(V/VI)), less associated with colloids (approximately 1 kDa - 0.2 microm), and more mobile than 239Pu, as suggested by our prior studies at this site. This is not evidence of isotope fractionation but rather "source-dependent" controls on 240Pu speciation which are processes that are not at equilibrium, i.e., processes that appear kinetically hindered. There were also "source-independent" controls on 239Pu speciation, which are those processes that follow thermodynamic equilibrium with their surroundings. For example, a groundwater pH increase in one well from 4.1 in 1998 to 6.1 in 2004 resulted in an order of magnitude decrease in groundwater 239Pu concentrations. Similarly, the fraction of 239Pu in the reduced Pu(III/IV) and colloidal forms increased systematically with decreases in redox condition in 2004 vs 1998. This research demonstrates the importance of source-dependent and source-independent controls on Pu speciation which would impact Pu mobility during changes in hydrological, chemical, or biological conditions on both seasonal and decadal time scales, and over short spatial scales. This implies more dynamic shifts in Pu speciation, colloids association, and transport in groundwater than commonly believed.

  2. National strategies for improving control over orphan sources of ionising radiation

    International Nuclear Information System (INIS)

    Nizamska, M.

    2007-01-01

    Since 1989 Bulgaria started reformation of economy sector. Part of this process is the intensive privatisation, as well as in the sited using radioactive materials for different applications - industry, medicine, agriculture, etc. The quick change of property ownership results in difficulties to identify the assessor of radioactive source or material and finally led to appearance of orphan sources. A orphan source is defined as a source that poses sufficient radiological hazard to warrant regulatory control, but which is not under regulatory control because it has never been so, or because it has been abandoned, lost, misplaced, stolen or otherwise transferred without proper authorisation. A face on these problems, Bulgaria is performing a series of measure to improve the control over orphan sources and to strengthening the control over the nuclear and radioactive materials. The report presents briefly this measures. (author)

  3. Tracing and control of raw materials sourcing for vaccine manufacturers.

    Science.gov (United States)

    Faretra Peysson, Laurence

    2010-05-01

    The control of the raw materials used to manufacture vaccines is mandatory; therefore, a very clear process must be in place to guarantee that raw materials are traced. Those who make products or supplies used in vaccine manufacture (suppliers of culture media, diagnostic tests, etc.) must apply quality systems proving that they adhere to certain standards. ISO certification, Good Manufacturing Practices for production sites and the registration of culture media with a 'Certificate of Suitability' from the European Directorate for the Quality of Medicines and Healthcare are reliable quality systems pertaining to vaccine production. Suppliers must assure that each lot of raw materials used in a product that will be used in vaccine manufacture adheres to the level of safety and traceability required. Incoming materials must be controlled in a single 'Enterprise Resource Planning' system which is used to document important information, such as the assignment of lot number, expiration date, etc. Ingredients for culture media in particular must conform to certain specifications. The specifications that need to be checked vary according to the ingredient, based on the level of risk. The way a raw material is produced is also important, and any aspect relative to cross-contamination, such as the sanitary measures used in producing and storing the raw material must be checked as well. In addition, suppliers can reduce the risk of viral contamination of raw materials by avoiding purchases in countries where a relevant outbreak is currently declared. 2010 The International Association for Biologicals. Published by Elsevier Ltd. All rights reserved.

  4. Development of Remote Control and Interlock System for the PEFP Microwave Ion Source

    International Nuclear Information System (INIS)

    Song, Young Gi; Seol, Kyung Tae; Kwon, Hyeok Jung; Jang, Ji Ho; Cho, Yong Sub

    2011-01-01

    The control system for a microwave ion source as an isolated high voltage device is a main part of the PEFP distributed control system. The system is used to control two sets of microwave ion sources, the remote control and the interlock system. A VME system with an embedded Power PC CPU is used as main computer. The VME system is dedicated to control and monitoring of the ion source operation. An isolated control system has been designed and developed for remote control and monitoring of a microwave generator and various power supplies. As the source is placed on high voltage platform, optical fiber isolation has been used between the serial to optical fiber VME I/O board and the control system on the high voltage platform. These are connected through RS232 serial interface. A fast Ethernet is used to communicate between the microwave ion source control system and other control stations in the PEFP control system. EPICS toolkit is adopted to provide network programming and user interface by using EPICS Channel Access (CA)

  5. The regulatory control of radiation sources in Australia -- The challenges of a federal system

    International Nuclear Information System (INIS)

    Loy, J.; Colgan, P.

    2001-01-01

    The report refers to the challenges that Australia is facing, as a federal nation having a Commonwealth Government and six States and two territories, in establishing appropriate regulatory control of radiation sources. Information on the national inventory of radiation sources and existing regulatory infrastructure, including the system of notification, registration, licensing, inspection and enforcement, is explained in the report. The national provisions for the management of disused sources; the planning, preparedness and response to abnormal events and emergencies; the recovery of control over orphan sources; and education and training; are specifically emphasized. (author)

  6. Timing reference generators and chopper controllers for neutron sources

    International Nuclear Information System (INIS)

    Nelson, R.; Merl, R.; Rose, C.

    2001-01-01

    Due to AC-power-grid frequency fluctuations, the designers for accelerator-based spallation-neutron facilities have worked to optimize the competing and contrasting demands of accelerator and neutron chopper performance. Powerful new simulation techniques have enabled the modeling of the timing systems that integrate chopper controllers and chopper hardware. For the first time, we are able to quantitatively access the tradeoffs between these two constraints and design or upgrade a facility to optimize total system performance. Thus, at LANSCE, we now operate multiple chopper systems and the accelerator as simple slaves to a single master-timing-reference generator. For the SNS we recommend a similar system that is somewhat less tightly coupled to the power grid. (author)

  7. Problems of locomotive wheel wear in fleet replacement

    Directory of Open Access Journals (Sweden)

    L.P. Lingaytis

    2013-08-01

    Full Text Available Purpose. To conduct a research and find out the causes of defects appearing on the wheel thread of freight locomotives 2М62 and SIEMENS ER20CF. Methodology. To find the ways to solve this problem comparing the locomotive designs and their operating conditions. Findings. After examining the nature of the wheel wear the main difference was found: in locomotives of the 2M62 line wears the wheel flange, and in the locomotives SIEMENS ER20CF – the tread surface. After installation on the 2M62 locomotive the lubrication system of flanges their wear rate significantly decreased. On the new freight locomotives SIEMENS ER20CF the flange lubrication systems of the wheel set have been already installed at the factory, however the wheel thread is wearing. As for locomotives 2M62, and on locomotives SIEMENS ER20CF most wear profile skating wheels of the first wheel set. On both locomotive lines the 2М62 and the SIEMENS ER20CF the tread profile of the first wheel set most of all is subject to the wear. After reaching the 170 000 km run, the tread surface of some wheels begins to crumble. There was a suspicion that the reason for crumb formation of the wheel surface may be insufficient or excessive wheel hardness or its chemical composition. In order to confirm or deny this suspicion the following studies were conducted: the examination of the rim surface, the study of the wheel metal hardness and the document analysis of the wheel production and their comparison with the results of wheel hardness measurement. Practical value. The technical condition of locomotives is one of the bases of safety and reliability of the rolling stock. The reduction of the wheel wear significantly reduces the operating costs of railway transport. After study completion it was found that there was no evidence to suggest that the ratio of the wheel-rail hardness could be the cause of the wheel surface crumbling.

  8. EVALUATION OF DYNAMIC INDICATORS OF SIX-AXLE LOCOMOTIVE

    Directory of Open Access Journals (Sweden)

    S. V. Myamlin

    2015-04-01

    Full Text Available Purpose. The paper is devoted to dynamic characteristics evaluation of the locomotive with prospective design and determination the feasibility of its use on the Ukrainian railways. Methodology. The methods of mathematical and computer modeling of the dynamics of railway vehicles, as well as methods for the numerical integration of systems of ordinary nonlinear differential equations were used to solve the problem. Findings. The calculated diagram of a locomotive on three-axle bogies was built to solve the problem, and it is a system of rigid bodies connected by various elements of rheology. The mathematical model of the locomotive movement, allowing studying its spatial vibrations at driving on straight and curved sections of the track with random irregularities in plan and profile was developed with use of this calculated diagram. At compiling the mathematical model took into account both geometric (nonlinearity profile of the wheel roll surface and physical nonlinearity of the system (the work forces of dry friction, nonlinearity characteristics of interaction forces between wheels and rails. The multivariate calculations, which allowed assessing the dynamic qualities of the locomotive at its movement along straight and curved sections of the track, were realized with the use of computer modeling. The smoothness movement indicators of the locomotive in horizontal and vertical planes, frame strength, coefficients of vertical dynamics in the first and second stages of the suspension, the load factor of resistance against the derailment of the wheel from the rail were determined at the period of research. In addition, a comparison of the obtained results with similar characteristics is widely used on the Ukrainian railways in six-axle locomotive TE 116. The influence of speed and technical state of the track on the locomotive traffic safety was determined.Originality. A mathematical model of the spatial movement of a six-axle locomotive with

  9. A Survey of Open-Source UAV Flight Controllers and Flight Simulators

    DEFF Research Database (Denmark)

    Ebeid, Emad Samuel Malki; Skriver, Martin; Terkildsen, Kristian Husum

    2018-01-01

    , which are all tightly linked to the UAV flight controller hardware and software. The lack of standardization of flight controller architectures and the use of proprietary closed-source flight controllers on many UAV platforms, however, complicates this work: solutions developed for one flight controller...... may be difficult to port to another without substantial extra development and testing. Using open-source flight controllers mitigates some of these challenges and enables other researchers to validate and build upon existing research. This paper presents a survey of the publicly available open...

  10. Nonlinear dynamics analysis of the spur gear system for railway locomotive

    Science.gov (United States)

    Wang, Junguo; He, Guangyue; Zhang, Jie; Zhao, Yongxiang; Yao, Yuan

    2017-02-01

    Considering the factors such as the nonlinearity backlash, static transmission error and time-varying meshing stiffness, a three-degree-of-freedom torsional vibration model of spur gear transmission system for a typical locomotive is developed, in which the wheel/rail adhesion torque is considered as uncertain but bounded parameter. Meantime, the Ishikawa method is used for analysis and calculation of the time-varying mesh stiffness of the gear pair in meshing process. With the help of bifurcation diagrams, phase plane diagrams, Poincaré maps, time domain response diagrams and amplitude-frequency spectrums, the effects of the pinion speed and stiffness on the dynamic behavior of gear transmission system for locomotive are investigated in detail by using the numerical integration method. Numerical examples reveal various types of nonlinear phenomena and dynamic evolution mechanism involving one-period responses, multi-periodic responses, bifurcation and chaotic responses. Some research results present useful information to dynamic design and vibration control of the gear transmission system for railway locomotive.

  11. Minimally Actuated Walking: Identifying Core Challenges to Economical Legged Locomotion Reveals Novel Solutions

    Directory of Open Access Journals (Sweden)

    Ryan T Schroeder

    2018-05-01

    Full Text Available Terrestrial organisms adept at locomotion employ strut-like legs for economical and robust movement across the substrate. Although it is relatively easy to observe and analyze details of the solutions these organic systems have arrived at, it is not as easy to identify the problems these movement strategies have solved. As such, it is useful to investigate fundamental challenges that effective legged locomotion overcomes in order to understand why the mechanisms employed by biological systems provide viable solutions to these challenges. Such insight can inform the design and development of legged robots that may eventually match or exceed animal performance. In the context of human walking, we apply control optimization as a design strategy for simple bipedal walking machines with minimal actuation. This approach is used to discuss key facilitators of energetically efficient locomotion in simple bipedal walkers. Furthermore, we extrapolate the approach to a novel application—a theoretical exoskeleton attached to the trunk of a human walker—to demonstrate how coordinated efforts between bipedal actuation and a machine oscillator can potentially alleviate a meaningful portion of energetic exertion associated with leg function during human walking.

  12. Human Locomotion in Hypogravity: From Basic Research to Clinical Applications

    Directory of Open Access Journals (Sweden)

    Francesco Lacquaniti

    2017-11-01

    Full Text Available We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.

  13. Human Locomotion in Hypogravity: From Basic Research to Clinical Applications.

    Science.gov (United States)

    Lacquaniti, Francesco; Ivanenko, Yury P; Sylos-Labini, Francesca; La Scaleia, Valentina; La Scaleia, Barbara; Willems, Patrick A; Zago, Myrka

    2017-01-01

    We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.

  14. The IAEA Regional Training Course on Regulatory Control of Radiation Sources

    International Nuclear Information System (INIS)

    2000-01-01

    Materials of the IAEA Regional Training Course contains 8 presented lectures. Authors deals with regulatory control of radiation sources. The next materials of the IAEA were presented: Organization and implementation of a national regulatory infrastructure governing protection against ionizing radiation and the safety of radiation sources. (IAEA-TECDOC-1067); Safety assessment plants for authorization and inspection of radiation sources (IAEA-TECDOC-1113); Regulatory authority information system RAIS, Version 2.0, Instruction manual

  15. The importance of governmental control of radioactive sources used in industrial applications

    International Nuclear Information System (INIS)

    Anna Firpo Fuerth, Q.F.; Beatriz Souto Ameigenda, Q.F.

    1998-01-01

    Industrial applications of radioactive sources require good management practices dealing with control and registration. In the following case, a special event occurred between two routine inspections: trading. Then a new human factor came into scene: workers with no specific training and knowledge related to radioactive sources. The up going situation triggered emergency procedures. Finally, there were no negative consequences. (author)

  16. General problems associated with the control and safe use of radiation sources (199)

    International Nuclear Information System (INIS)

    Ahmed, J.U.

    1993-01-01

    There are problems at various levels in ensuring safety in the use of radiation sources. A relatively new problem that warrants international action is the smuggling of radioactive material across international borders. An international convention on the control and safe use of radiation sources is essential to provide a universally harmonized mechanism for ensuring safety

  17. 40 CFR 63.2343 - What are my requirements for emission sources not requiring control?

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 12 2010-07-01 2010-07-01 true What are my requirements for emission sources not requiring control? 63.2343 Section 63.2343 Protection of Environment ENVIRONMENTAL PROTECTION... (Non-Gasoline) What This Subpart Covers § 63.2343 What are my requirements for emission sources not...

  18. Mixed Waste Management Facility (MWMF) Old Burial Ground (OBG) source control technology and inventory study

    Energy Technology Data Exchange (ETDEWEB)

    Flach, G.P.; Rehder, T.E.; Kanzleiter, J.P.

    1996-10-02

    This report has been developed to support information needs for wastes buried in the Burial Ground Complex. Information discussed is presented in a total of four individual attachments. The general focus of this report is to collect information on estimated source inventories, leaching studies, source control technologies, and to provide information on modeling parameters and associated data deficiencies.

  19. Mixed Waste Management Facility (MWMF) Old Burial Ground (OBG) source control technology and inventory study

    International Nuclear Information System (INIS)

    Flach, G.P.; Rehder, T.E.; Kanzleiter, J.P.

    1996-01-01

    This report has been developed to support information needs for wastes buried in the Burial Ground Complex. Information discussed is presented in a total of four individual attachments. The general focus of this report is to collect information on estimated source inventories, leaching studies, source control technologies, and to provide information on modeling parameters and associated data deficiencies

  20. An amplitude and phase control system for the TFTR rf heating sources

    International Nuclear Information System (INIS)

    Cutsogeorge, G.

    1989-04-01

    Feedback loops that control the amplitude and phase of the rf heating sources on TFTR are described. The method for providing arc protection is also discussed. Block diagrams and Bode plots are included. 6 figs

  1. Experimental Physics and Industrial Control System (EPICS): Application source/release control for EPICS R3.11.6

    International Nuclear Information System (INIS)

    Zieman, B.; Kraimer, M.

    1994-01-01

    This manual describes a set of tools that can be used to develop software for EPICS based control systems. It provides the following features: Multiple applications; the entire system is composed of an arbitrary number of applications: Source/Release Control; all files created or modified by the applications developers can be put under sccs (a UNIX Source/Release control utility): Multiple Developers; it allows a number of applications developers to work separately during the development phase but combine their applications for system testing and for a production system; Makefiles: makefiles are provided to automatically rebuild various application components. For C and state notation programs, Imagefiles are provided

  2. System design of a large fuel cell hybrid locomotive

    Science.gov (United States)

    Miller, A. R.; Hess, K. S.; Barnes, D. L.; Erickson, T. L.

    Fuel cell power for locomotives combines the environmental benefits of a catenary-electric locomotive with the higher overall energy efficiency and lower infrastructure costs of a diesel-electric. A North American consortium, a public-private partnership, is developing a prototype hydrogen-fueled fuel cell-battery hybrid switcher locomotive for urban and military-base rail applications. Switcher locomotives are used in rail yards for assembling and disassembling trains and moving trains from one point to another. At 127 tonnes (280,000 lb), continuous power of 250 kW from its (proton exchange membrane) PEM fuel cell prime mover, and transient power well in excess of 1 MW, the hybrid locomotive will be the heaviest and most powerful fuel cell land vehicle yet. This fast-paced project calls for completion of the vehicle itself near the end of 2007. Several technical challenges not found in the development of smaller vehicles arise when designing and developing such a large fuel cell vehicle. Weight, center of gravity, packaging, and safety were design factors leading to, among other features, the roof location of the lightweight 350 bar compressed hydrogen storage system. Harsh operating conditions, especially shock loads during coupling to railcars, require component mounting systems capable of absorbing high energy. Vehicle scale-up by increasing mass, density, or power presents new challenges primarily related to issues of system layout, hydrogen storage, heat transfer, and shock loads.

  3. Two-fluid model for locomotion under self-confinement

    Science.gov (United States)

    Reigh, Shang Yik; Lauga, Eric

    2017-09-01

    The bacterium Helicobacter pylori causes ulcers in the stomach of humans by invading mucus layers protecting epithelial cells. It does so by chemically changing the rheological properties of the mucus from a high-viscosity gel to a low-viscosity solution in which it may self-propel. We develop a two-fluid model for this process of swimming under self-generated confinement. We solve exactly for the flow and the locomotion speed of a spherical swimmer located in a spherically symmetric system of two Newtonian fluids whose boundary moves with the swimmer. We also treat separately the special case of an immobile outer fluid. In all cases, we characterize the flow fields, their spatial decay, and the impact of both the viscosity ratio and the degree of confinement on the locomotion speed of the model swimmer. The spatial decay of the flow retains the same power-law decay as for locomotion in a single fluid but with a decreased magnitude. Independent of the assumption chosen to characterize the impact of confinement on the actuation applied by the swimmer, its locomotion speed always decreases with an increase in the degree of confinement. Our modeling results suggest that a low-viscosity region of at least six times the effective swimmer size is required to lead to swimming with speeds similar to locomotion in an infinite fluid, corresponding to a region of size above ≈25 μ m for Helicobacter pylori.

  4. Procedures for identifying reasonably available control technology for stationary sources of PM-10. Final report

    International Nuclear Information System (INIS)

    Fitzpatrick, M.J.; Ellefson, R.

    1992-09-01

    The guidance document sets forth procedures and identifies sources of information that will assist State and local air pollution control agencies in determining Reasonably Available Control Technology (RACT) for PM-10 (particulate matter having a nominal aerometric diameter of 10 microns or less) emission from existing stationary sources on a case-by-case basis. It provides an annotated bibliography of documents to aid in identifying the activities that cause PM-10 emissions as well as applicable air pollution control measures and their effectiveness in reducing emissions. The most stringent state total particulate matter (PM) emission limits are identified for several categories of PM-10 sources and compared to available emission test data. Finally, guidance is provided on procedures for estimating total capital investment and total annual cost of the control measures which are generally used to control PM-10 emissions

  5. Automatic control system of the PIG ion source for the U-400 cyclotron

    International Nuclear Information System (INIS)

    Kutner, V.B.; Subbotin, V.G.; Sukhov, A.M.; Tretyakov, Y.P.; Fefilov, B.V.; Kasyanov, A.A.; Rybin, V.M.

    1990-01-01

    An automatic control system is described for the multiply charged ion source of the U-400 cyclotron based on CAMAC apparatus and microprocessor controllers. The system allows the automatic tuning of the ion source to the necessary regime, including the automatic start-up of discharge, determination of the necessary parameters of sputtering, and the automatic search for a maximum beam current for given discharge parameters. The system performs the tuning of the ion source to the quasioptimal regime in 10--15 min with up to 5% deviation from the preset parameters. It is possible to stabilize the beam current within 3% using the automatic correction of the discharge regime

  6. Note: Tormenta: An open source Python-powered control software for camera based optical microscopy.

    Science.gov (United States)

    Barabas, Federico M; Masullo, Luciano A; Stefani, Fernando D

    2016-12-01

    Until recently, PC control and synchronization of scientific instruments was only possible through closed-source expensive frameworks like National Instruments' LabVIEW. Nowadays, efficient cost-free alternatives are available in the context of a continuously growing community of open-source software developers. Here, we report on Tormenta, a modular open-source software for the control of camera-based optical microscopes. Tormenta is built on Python, works on multiple operating systems, and includes some key features for fluorescence nanoscopy based on single molecule localization.

  7. Automatic control system for the pig ion source for the U-400 cyclotron

    International Nuclear Information System (INIS)

    Kutner, V.B.; Subbotin, V.G.; Sukhov, A.M.; Tret'yakov, Yu.P.; Fefilov, B.V.

    1989-01-01

    An automatic control system is described for the cyclotron U-400 multiply-charged ion source based on CAMAC apparatus and microprocesor controllers. The system allows the automatic tuning of the ion source to the necessary regime including the automatic start-up of discharge, the obtaining of the necessary parameters of sputtering, the automatic search for a maximum beam current within the given discharge parameters. The system performs tuning the ion source to the quasioptimal regime for 10-15 minutes with up to 5% deviation from the preset parameters. It is possible to stabilize the beam current within 3% using the automatic correction of the discharge regime. 6 refs.; 4 figs

  8. Regularity of the wear control of radioactive sources from the nuclear measurers

    International Nuclear Information System (INIS)

    Ferreira L, M.

    2006-01-01

    The control of radioactive sources in Brazil is regulated by the CNEN (National Comissao of Nuclear Energy). The Laboratory of Descontaminacao of the IPEN (Institute of Energy Y Nuclear Investigations) it offers to the companies that work with nuclear measurers, essays for control of the source wear according to the ISO 9978/1992 through the smear tests Y of leakage. The analyses are taken in alpha Y beta detectors of low bottom radiation with annual detection limits around 1 Bq. Certificates of the accepted analyses by the CNEN for sources that already passed its time of validity assured by the makers, but its continue operational are emitted. The smear test is repeated the whole year, while the leakage test repeats to every two years. A balance of the last two years of the activities of the laboratory shows the regularity of the clients Y the growth of companies specialized in radioprotection with official of radioprotection, credited by the regulatory authority that its act as intermediaries in the process, contacting the clients, gathering the samples next to the proprietors of sources Y hiring our services. Overalls, proves that the inspection activities by part of the regulatory authority are fulfil. In 2004, 192 sources were analyzed by the smear method Y 86 sources by leakage. In 2005, 232 sources were analyzed by the smear method Y 60 sources by leakage. All the leakage tests was made in sources of Americium of oneself Y only client that brings the sources so that they dismantle them to him in the Sources production laboratory of the IPEN. By the quantity Y age of the sources that were analyzed in those two years, it is proven that the number of sources without use conditions (total activity measured by the two added methods smaller than 180Bq) it doesn't arrive to 2%. (Author)

  9. Operational experience of SST1 NBI control system with prototype Ion source

    International Nuclear Information System (INIS)

    Patel, V B; Patel, P J; Singh, N P; Tripathi, V; Thakkar, D; Gupta, L N; Prahlad, V; Sharma, S K; Bandyopadyay, M; Chakraborty, A K; Baruah, U K; Mattoo, S K; Patel, G B; Onali, Raja

    2010-01-01

    This paper presents operational experience of integrated control of the arc-filament and High-voltage power supply of Steady State Tokamak (SST)-1 NBI system using Versa Module Europa (VME) system on prototype Ion source. The control algorithm is implemented on the VxWorks operating system using 'C' language. This paper also describes the operating sequence and controls on power supply system. Discharge and Filament power supplies are controlled in such a way so that necessary discharge current can be available in Ion Source. The discharge current is controlled by manipulating the filament current. Close loop control is implemented on each filament power supply with feedback from Discharge Current to control the overall discharge inside the ion source. Necessary actions for shut OFF and subsequent Turn ON are also taken during breakdowns between the Grids of the ion source. Total numbers of breakdowns are also monitored. Shot is terminated, if the breakdown count is higher than the set value. This control system can be programmed to restart High-voltage power supply within 5mS after breakdown occurs. This control system is capable to handle the all types of dynamics in the system. This paper also presents results of experiment.

  10. National system of notification, authorization and inspection for the control of radiation sources in Ghana

    International Nuclear Information System (INIS)

    Schandorf, C.; Darko, E.O.; Yeboah, J.; Asiamah, S.D.

    2001-01-01

    The Radiation Protection Board (RPB) was established in 1993 in Ghana as the regulatory authority for radiation protection and safety of radiation sources; its functions are prescribed in the 1993 national radiation protection regulation. The report describes how the country's radiation protection and safety infrastructure have been established, including the RPB's organizational structure, with reference in particular to the main activities carried out by both the Regulatory Control Department and the Radiation and Waste Safety Department. It also briefly mentions the existing RPB human resources; the national system of notification, authorization and inspection of radiation sources; the inventory of radiation sources; and the management of disused radiation sources. Finally, the report identifies the two main problem areas regarding the regulatory control of radiation sources in the country. (author)

  11. Two Model-Based Methods for Policy Analyses of Fine Particulate Matter Control in China: Source Apportionment and Source Sensitivity

    Science.gov (United States)

    Li, X.; Zhang, Y.; Zheng, B.; Zhang, Q.; He, K.

    2013-12-01

    Anthropogenic emissions have been controlled in recent years in China to mitigate fine particulate matter (PM2.5) pollution. Recent studies show that sulfate dioxide (SO2)-only control cannot reduce total PM2.5 levels efficiently. Other species such as nitrogen oxide, ammonia, black carbon, and organic carbon may be equally important during particular seasons. Furthermore, each species is emitted from several anthropogenic sectors (e.g., industry, power plant, transportation, residential and agriculture). On the other hand, contribution of one emission sector to PM2.5 represents contributions of all species in this sector. In this work, two model-based methods are used to identify the most influential emission sectors and areas to PM2.5. The first method is the source apportionment (SA) based on the Particulate Source Apportionment Technology (PSAT) available in the Comprehensive Air Quality Model with extensions (CAMx) driven by meteorological predictions of the Weather Research and Forecast (WRF) model. The second method is the source sensitivity (SS) based on an adjoint integration technique (AIT) available in the GEOS-Chem model. The SA method attributes simulated PM2.5 concentrations to each emission group, while the SS method calculates their sensitivity to each emission group, accounting for the non-linear relationship between PM2.5 and its precursors. Despite their differences, the complementary nature of the two methods enables a complete analysis of source-receptor relationships to support emission control policies. Our objectives are to quantify the contributions of each emission group/area to PM2.5 in the receptor areas and to intercompare results from the two methods to gain a comprehensive understanding of the role of emission sources in PM2.5 formation. The results will be compared in terms of the magnitudes and rankings of SS or SA of emitted species and emission groups/areas. GEOS-Chem with AIT is applied over East Asia at a horizontal grid

  12. The impact of the type of operation on the parameters of a shunting diesel locomotive with hybrid power plant

    Directory of Open Access Journals (Sweden)

    Falendysh Anatoliy

    2017-01-01

    Full Text Available In designing a traction vehicle it is necessary to take into account the type of field operation it is meant for. It was found out that during shunting operation a ChME3 diesel locomotive is in idling mode for almost half of its general running time. That is why, the introduction of a less powerful engine along with an energy storage device for shunting operations at a shunting diesel locomotive is appropriate. The calculations were made using a modernized shunting diesel locomotive ChME3 with hybrid transmission of power as an example. The dependences of the general running time of a diesel locomotive on the position of the engine driver controller under performing shunting, transportation and hump operation were given in percentages. For every operation mode there was calculated the optimum power of a diesel-generator plant and the optimum energy capacity of an energy storage system taking into account the above-mentioned dependences. It was found out that due to the introduction of a hybrid drive for the section discussed above and the corresponding mass of a train the aggregate fuel consumption will be reduced by 25% and the efficiency of travel will increase by one third.

  13. Manual and automatic locomotion scoring systems in dairy cows: a review.

    Science.gov (United States)

    Schlageter-Tello, Andrés; Bokkers, Eddie A M; Koerkamp, Peter W G Groot; Van Hertem, Tom; Viazzi, Stefano; Romanini, Carlos E B; Halachmi, Ilan; Bahr, Claudia; Berckmans, Daniël; Lokhorst, Kees

    2014-09-01

    clear definition of a lameness case difficult, and thus affect the validity of ALSSs. MLSSs and ALSSs showed limited validity for hoof lesion detection and pain assessment. The utilization of MLSSs and ALSSs should aim to the prevention and efficient management of conditions that induce impaired locomotion. Long-term studies comparing MLSSs and ALSSs while applying various strategies to detect and control unfavourable conditions leading to impaired locomotion are required to determine the usefulness of MLSSs and ALSSs for securing optimal production and animal welfare in practice. Copyright © 2014 Elsevier B.V. All rights reserved.

  14. Active control of aircraft engine inlet noise using compact sound sources and distributed error sensors

    Science.gov (United States)

    Burdisso, Ricardo (Inventor); Fuller, Chris R. (Inventor); O'Brien, Walter F. (Inventor); Thomas, Russell H. (Inventor); Dungan, Mary E. (Inventor)

    1996-01-01

    An active noise control system using a compact sound source is effective to reduce aircraft engine duct noise. The fan noise from a turbofan engine is controlled using an adaptive filtered-x LMS algorithm. Single multi channel control systems are used to control the fan blade passage frequency (BPF) tone and the BPF tone and the first harmonic of the BPF tone for a plane wave excitation. A multi channel control system is used to control any spinning mode. The multi channel control system to control both fan tones and a high pressure compressor BPF tone simultaneously. In order to make active control of turbofan inlet noise a viable technology, a compact sound source is employed to generate the control field. This control field sound source consists of an array of identical thin, cylindrically curved panels with an inner radius of curvature corresponding to that of the engine inlet. These panels are flush mounted inside the inlet duct and sealed on all edges to prevent leakage around the panel and to minimize the aerodynamic losses created by the addition of the panels. Each panel is driven by one or more piezoelectric force transducers mounted on the surface of the panel. The response of the panel to excitation is maximized when it is driven at its resonance; therefore, the panel is designed such that its fundamental frequency is near the tone to be canceled, typically 2000-4000 Hz.

  15. A musculoskeletal model of human locomotion driven by a low dimensional set of impulsive excitation primitives.

    Science.gov (United States)

    Sartori, Massimo; Gizzi, Leonardo; Lloyd, David G; Farina, Dario

    2013-01-01

    Human locomotion has been described as being generated by an impulsive (burst-like) excitation of groups of musculotendon units, with timing dependent on the biomechanical goal of the task. Despite this view being supported by many experimental observations on specific locomotion tasks, it is still unknown if the same impulsive controller (i.e., a low-dimensional set of time-delayed excitastion primitives) can be used as input drive for large musculoskeletal models across different human locomotion tasks. For this purpose, we extracted, with non-negative matrix factorization, five non-negative factors from a large sample of muscle electromyograms in two healthy subjects during four motor tasks. These included walking, running, sidestepping, and crossover cutting maneuvers. The extracted non-negative factors were then averaged and parameterized to obtain task-generic Gaussian-shaped impulsive excitation curves or primitives. These were used to drive a subject-specific musculoskeletal model of the human lower extremity. Results showed that the same set of five impulsive excitation primitives could be used to predict the dynamics of 34 musculotendon units and the resulting hip, knee and ankle joint moments (i.e., NRMSE = 0.18 ± 0.08, and R (2) = 0.73 ± 0.22 across all tasks and subjects) without substantial loss of accuracy with respect to using experimental electromyograms (i.e., NRMSE = 0.16 ± 0.07, and R (2) = 0.78 ± 0.18 across all tasks and subjects). Results support the hypothesis that biomechanically different motor tasks might share similar neuromuscular control strategies. This might have implications in neurorehabilitation technologies such as human-machine interfaces for the torque-driven, proportional control of powered prostheses and orthoses. In this, device control commands (i.e., predicted joint torque) could be derived without direct experimental data but relying on simple parameterized Gaussian-shaped curves, thus decreasing the input drive

  16. Six-Phase Vehicular Drive with Renewable DC Sources and Hybrid PWM Control of Four Inverters

    DEFF Research Database (Denmark)

    Oleschuk, Valentin; Ermuratskii, Vladimir; Blaabjerg, Frede

    2015-01-01

    The paper presents results of research of quad-inverter-based automotive system with combined scheme of PWM control of inverters, supplied by two renewable dc sources (by fuel cells and by battery). It has been shown, that hybrid switching techniques can be used successfully for control of vehicle...

  17. Active and reactive power control of a current-source PWM-rectifier using space vectors

    Energy Technology Data Exchange (ETDEWEB)

    Salo, M.; Tuusa, H. [Tampere University of Technology (Finland). Department of Electrical Engineering, Power Electronics

    1997-12-31

    In this paper the current-source PWM-rectifier with active and reactive power control is presented. The control system is realized using space vector methods. Also, compensation of the reactive power drawn by the line filter is discussed. Some simulation results are shown. (orig.) 8 refs.

  18. A Novel Coordinated Control of Renewable Energy Sources and Energy Storage System in Islanded Microgrid

    DEFF Research Database (Denmark)

    Gui, Yonghao; Li, Mingshen; Guerrero, Josep M.

    2018-01-01

    A novel coordinated control for energy storage system (ESS) and renewable energy source (RES) units is proposed in islanded AC microgrids without a phase-locked loop system. We use a proportional-resonant control technique for the ESS, which fixes the voltage and frequency of the microgrid...

  19. Economic aspects of advanced coal-fired gas turbine locomotives

    Science.gov (United States)

    Liddle, S. G.; Bonzo, B. B.; Houser, B. C.

    1983-01-01

    Increases in the price of such conventional fuels as Diesel No. 2, as well as advancements in turbine technology, have prompted the present economic assessment of coal-fired gas turbine locomotive engines. A regenerative open cycle internal combustion gas turbine engine may be used, given the development of ceramic hot section components. Otherwise, an external combustion gas turbine engine appears attractive, since although its thermal efficiency is lower than that of a Diesel engine, its fuel is far less expensive. Attention is given to such a powerplant which will use a fluidized bed coal combustor. A life cycle cost analysis yields figures that are approximately half those typical of present locomotive engines.

  20. Design and Control of Parallel Three Phase Voltage Source Inverters in Low Voltage AC Microgrid

    Directory of Open Access Journals (Sweden)

    El Hassane Margoum

    2017-01-01

    Full Text Available Design and hierarchical control of three phase parallel Voltage Source Inverters are developed in this paper. The control scheme is based on synchronous reference frame and consists of primary and secondary control levels. The primary control consists of the droop control and the virtual output impedance loops. This control level is designed to share the active and reactive power correctly between the connected VSIs in order to avoid the undesired circulating current and overload of the connected VSIs. The secondary control is designed to clear the magnitude and the frequency deviations caused by the primary control. The control structure is validated through dynamics simulations.The obtained results demonstrate the effectiveness of the control structure.

  1. Applying neural networks to control the TFTR neutral beam ion sources

    International Nuclear Information System (INIS)

    Lagin, L.

    1992-01-01

    This paper describes the application of neural networks to the control of the neutral beam long-pulse positive ion source accelerators on the Tokamak Fusion Test Reactor (TFTR) at Princeton University. Neural networks were used to learn how the operators adjust the control setpoints when running these sources. The data sets used to train these networks were derived from a large database containing actual setpoints and power supply waveform calculations for the 1990 run period. The networks learned what the optimum control setpoints should initially be set based uon desired accel voltage and perveance levels. Neural networks were also used to predict the divergence of the ion beam

  2. Design of Programmable LED Controller with a Variable Current Source for 3D Image Display

    Directory of Open Access Journals (Sweden)

    Kyung-Ryang Lee

    2014-12-01

    Full Text Available Conventional fluorescent light sources, as well as incandescent light sources are gradually being replaced by Light Emitting Diodes (LEDs for reducing power consumption in the image display area for multimedia application. An LED light source requires a controller with a low-power operation. In this paper, a low-power technique using adiabatic operation is applied for the implementation of LED controller with a stable constant-current, a low-power and low-heat function. From the simulation result, the power consumption of the proposed LED controller using adiabatic operation was reduced to about 87% in comparison with conventional operation with a constant VDD. The proposed circuit is expected to be an alternative LED controller which is sensitive to external conditions such as heat.

  3. Study on upgrade on nuclear control related open source information website

    International Nuclear Information System (INIS)

    Kim, H. T.; Park, S. S.; Park, W. S.; Choi, Y. M.

    2002-01-01

    The open source information relevant to the nuclear control is regularly collected, analyzed, and published to the three web sites by the Technology Center for Nuclear Control (TCNC) of the Korea Atomic Energy Research Institute (KAERI). These web sites are world-wide, KAERI-wide, and TCNC-wide, respectively. We are to upgrade the KAERI-wide website to the access-controlled world-wide web site with some additional functionality. In this research, the current status of the three nuclear control related open source information websites managed by the TCNC was introduced and methods for upgrading the KAERI-wide open source information website and associated information security technology were reviewed

  4. Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics

    Directory of Open Access Journals (Sweden)

    Viktor GUTAREVICH

    2011-01-01

    Full Text Available The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.

  5. Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics

    OpenAIRE

    Viktor GUTAREVICH

    2011-01-01

    The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.

  6. Biomechanics of the Treadmill Locomotion on the International Space Station

    Science.gov (United States)

    DeWitt, John; Cromwell, R. L.; Ploutz-Snyder, L. L.

    2014-01-01

    Exercise prescriptions completed by International Space Station (ISS) crewmembers are typically based upon evidence obtained during ground-based investigations, with the assumption that the results of long-term training in weightlessness will be similar to that attained in normal gravity. Coupled with this supposition are the assumptions that exercise motions and external loading are also similar between gravitational environments. Normal control of locomotion is dependent upon learning patterns of muscular activation and requires continual monitoring of internal and external sensory input [1]. Internal sensory input includes signals that may be dependent on or independent of gravity. Bernstein hypothesized that movement strategy planning and execution must include the consideration of segmental weights and inertia [2]. Studies of arm movements in microgravity showed that individuals tend to make errors but that compensation strategies result in adaptations, suggesting that control mechanisms must include peripheral information [3-5]. To date, however, there have been no studies examining a gross motor activity such as running in weightlessness other than using microgravity analogs [6-8]. The objective of this evaluation was to collect biomechanical data from crewmembers during treadmill exercise before and during flight. The goal was to determine locomotive biomechanics similarities and differences between normal and weightless environments. The data will be used to optimize future exercise prescriptions. This project addresses the Critical Path Roadmap risks 1 (Accelerated Bone Loss and Fracture Risk) and 11 (Reduced Muscle Mass, Strength, and Endurance). Data were collected from 7 crewmembers before flight and during their ISS missions. Before launch, crewmembers performed a single data collection session at the NASA Johnson Space Center. Three-dimensional motion capture data were collected for 30 s at speeds ranging from 1.5 to 9.5 mph in 0.5 mph increments

  7. The regulatory control over radiation sources: the Brazilian experience and some lessons learned from industrial applications

    International Nuclear Information System (INIS)

    Costa, E.L.C.; Gomes, J.D.R.L.; Gomes, R.S.; Costa, M.L.L.; Thomé, Z.D.; Instituto Militar de Engenharia

    2017-01-01

    This study gives an overview of the activities of the National Commission of Nuclear Energy (CNEN), as the Brazilian nuclear regulatory authority. These activities are described, especially those related to management of orphan sources and radioactive material in scrap metal considering the actions already put into place by CNEN during the licensing and controlling of radioactive sources in the industry and other facilities. In Brazil, there is not yet an effective system for controlling the scrap metal and recycling industry, thus a coordinated approach to achieve a harmonized and effective response with the involvement of third parties is needed, especially the metal industries and ores facilities. These practices call for stringent regulatory control, in order to reduce the occurrence of orphan sources, and consequently, radioactive material appearing in scrap metal. Some challenges of managing the national radiation sources register systems will be discussed, in order to cover effectively all the radiation source history (in a 'from the cradle to the grave' basis), and the dynamic maintenance and update of these data. The main industrial applications considered in this work are those dealing with constant movement of sources all over the country, with geographical issues to be considered in the managing and controlling actions, such as gammagraphy and well-logging. This study aims to identify and promote good practices to prevent inadvertent diversion of radioactive material, taking into account existing international recommendations and some lessons learned in national level. (author)

  8. The regulatory control over radiation sources: the Brazilian experience and some lessons learned from industrial applications

    Energy Technology Data Exchange (ETDEWEB)

    Costa, E.L.C.; Gomes, J.D.R.L.; Gomes, R.S.; Costa, M.L.L.; Thomé, Z.D., E-mail: evaldo@cnen.gov.br, E-mail: jlopes@cnen.gov.br, E-mail: rogeriog@cnen.gov.br, E-mail: mara@cnen.gov.br, E-mail: zielithome@gmail.com [Comissao Nacional de Energia Nuclear (CNEN), Rio de Janeiro, RJ (Brazil). Diretoria de Radioproteção e Segurança Nuclear; Instituto Militar de Engenharia (IME), Rio de Janeiro, RJ (Brazil). Seção de Engenharia Nuclear

    2017-11-01

    This study gives an overview of the activities of the National Commission of Nuclear Energy (CNEN), as the Brazilian nuclear regulatory authority. These activities are described, especially those related to management of orphan sources and radioactive material in scrap metal considering the actions already put into place by CNEN during the licensing and controlling of radioactive sources in the industry and other facilities. In Brazil, there is not yet an effective system for controlling the scrap metal and recycling industry, thus a coordinated approach to achieve a harmonized and effective response with the involvement of third parties is needed, especially the metal industries and ores facilities. These practices call for stringent regulatory control, in order to reduce the occurrence of orphan sources, and consequently, radioactive material appearing in scrap metal. Some challenges of managing the national radiation sources register systems will be discussed, in order to cover effectively all the radiation source history (in a 'from the cradle to the grave' basis), and the dynamic maintenance and update of these data. The main industrial applications considered in this work are those dealing with constant movement of sources all over the country, with geographical issues to be considered in the managing and controlling actions, such as gammagraphy and well-logging. This study aims to identify and promote good practices to prevent inadvertent diversion of radioactive material, taking into account existing international recommendations and some lessons learned in national level. (author)

  9. Summary of dynamic analyses of the advanced neutron source reactor inner control rods

    International Nuclear Information System (INIS)

    Hendrich, W.R.

    1995-08-01

    A summary of the structural dynamic analyses that were instrumental in providing design guidance to the Advanced Neutron source (ANS) inner control element system is presented in this report. The structural analyses and the functional constraints that required certain performance parameters were combined to shape and guide the design effort toward a prediction of successful and reliable control and scram operation to be provided by these inner control rods

  10. Overview of the Spallation Neutron Source Linac Low-Level RF Control System

    CERN Document Server

    Champion, Mark; Doolittle, Lawrence; Kasemir, Kay-Uwe; Ma, Hengjie; Piller, Maurice; Ratti, Alessandro

    2005-01-01

    The design and production of the Spallation Neutron Source Linac Low-Level RF control system is complete, and installation will be finished in Spring 2005. The warm linac beam commissioning run in Fall 2004 was the most extensive test to date of the LLRF control system, with fourteen (of an eventual 96) systems operating simultaneously. In this paper we present an overview of the LLRF control system, the experience in designing, building and installing the system, and operational results.

  11. Single-crate stand-alone CAMAC control system for a negative ion source test facility

    International Nuclear Information System (INIS)

    Juras, R.C.; Ziegler, N.F.

    1979-01-01

    A single-crate CAMAC system was configured to control a negative ion source development facility at ORNL and control software was written for the crate microcomputer. The software uses inputs from a touch panel and a shaft encoder to control the various operating parameters of the test facility and uses the touch panel to display the operating status. Communication to and from the equipment at ion source potential is accomplished over optical fibers from an ORNL-built CAMAC module. A receiver at ion source potential stores the transmitted data and some of these stored values are then used to control discrete parameters of the ion source (i.e., power supply on or off). Other stored values are sent to a multiplexed digital-to-analog converter to provide analog control signals. A transmitter at ion source potential transmits discrete status information and several channels of analog data from an analog-to-digital converter back to the ground-potential receiver where it is stored to be read and displayed by the software

  12. AHP Expert Programme As A Tool For Unsealed Sources Contamination Control Of The Environment

    International Nuclear Information System (INIS)

    Amin, E.T.; Ibrahim, M.S.; Hussein, A.Z.

    2007-01-01

    Unsealed sources of radionuclides are widely used in hot laboratories of medical centers and hospitals which can be easily dispersed and may be taken undue into the body. The presence of radioactive substances inside the human body generates risk of internal intakes of radionuclides and organ's tissue retention. In order to make control for any contamination occurring from unsealed sources, an AHP programme (PC programme) has been developed so that it includes all data of most unsealed sources used in the hot laboratories of nuclear medicine units at hospitals/medical centers. Sequence of questions are retrieved by the programme in relevance to the place address, uses, activity and half life of the unsealed radioisotopes that may cause contamination. The programme will also give information output about the hospital that use the unsealed source and its location which facilitate emergency planning and contamination control to the environment

  13. Chronic low-dose γ-irradiation of Drosophila melanogaster larvae induces gene expression changes and enhances locomotive behavior

    International Nuclear Information System (INIS)

    Kim, Cha Soon; Lee, Byung Sub; Lee, In Kyung; Yang, Kwang Hee; Kim, Ji-Young; Nam, Seon Young; Seong, Ki Moon

    2015-01-01

    Although radiation effects have been extensively studied, the biological effects of low-dose radiation (LDR) are controversial. This study investigates LDR-induced alterations in locomotive behavior and gene expression profiles of Drosophila melanogaster. We measured locomotive behavior using larval pupation height and the rapid iterative negative geotaxis (RING) assay after exposure to 0.1 Gy γ-radiation (dose rate of 16.7 mGy/h). We also observed chronic LDR effects on development (pupation and eclosion rates) and longevity (life span). To identify chronic LDR effects on gene expression, we performed whole-genome expression analysis using gene-expression microarrays, and confirmed the results using quantitative real-time PCR. The pupation height of the LDR-treated group at the first larval instar was significantly higher (∼2-fold increase in PHI value, P < 0.05). The locomotive behavior of LDR-treated male flies (∼3 − 5 weeks of age) was significantly increased by 7.7%, 29% and 138%, respectively (P < 0.01), but pupation and eclosion rates and life spans were not significantly altered. Genome-wide expression analysis identified 344 genes that were differentially expressed in irradiated larvae compared with in control larvae. We identified several genes belonging to larval behavior functional groups such as locomotion (1.1%), oxidation reduction (8.0%), and genes involved in conventional functional groups modulated by irradiation such as defense response (4.9%), and sensory and perception (2.5%). Four candidate genes were confirmed as differentially expressed genes in irradiated larvae using qRT-PCR (>2-fold change). These data suggest that LDR stimulates locomotion-related genes, and these genes can be used as potential markers for LDR. (author)

  14. 49 CFR 230.12 - Movement of non-complying steam locomotives.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of non-complying steam locomotives. 230... General General Inspection Requirements § 230.12 Movement of non-complying steam locomotives. (a) General limitations on movement. A steam locomotive with one or more non-complying conditions may be moved only as a...

  15. 49 CFR 1242.25 - Locomotive servicing facilities (account XX-19-27).

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false Locomotive servicing facilities (account XX-19-27... Structures § 1242.25 Locomotive servicing facilities (account XX-19-27). Separate common expenses according to distribution of common expenses in the following accounts: Locomotive Fuel (XX-51-67 and XX-52-67...

  16. 49 CFR 223.17 - Identification of equipped locomotives, passenger cars and cabooses.

    Science.gov (United States)

    2010-10-01

    ... cars and cabooses. 223.17 Section 223.17 Transportation Other Regulations Relating to Transportation...-LOCOMOTIVES, PASSENGER CARS AND CABOOSES Specific Requirements § 223.17 Identification of equipped locomotives, passenger cars and cabooses. Each locomotive, passenger car and caboose that is fully equipped with glazing...

  17. CHOICE OF THE OPTIMAL PARAMETERS OF MEASURING THE SHAFT ROTATION FREQUENCY OF THE HYDRAULIC TRANSMISSION OF THE LOCOMOTIVE USING MICROCONTROLLER

    Directory of Open Access Journals (Sweden)

    I. V. Zhukovytskyy

    2017-04-01

    Full Text Available Purpose. The article provides for finding solution to the problem of developing and improving the means for measuring tachometric data of the previously created information and measuring system for testing hydraulic locomotive transmission by substantiating the optimal sensor design and signal processing algorithms. At the same time first of all it is necessary to start from the possibility of modifying the already existing test bench for hydraulic locomotive transmissions at the Dnipropetrovsk diesel locomotive repair plant «Promteplovoz». Methodology. In the work, the researchers proposed a methodology for modifying the sensor design and the algorithm for processing its signals. It is grounded on previous developments of tachometric sensor of the optical type on the basis of D-2MMU-2 sensor of the microprocessor automated test bench system of hydraulic locomotive transmission in the locomotive repair plant conditions. Selection of the necessary measurement algorithm and the number of sensor teeth is substantiated by calculating instrumental and methodological errors. Also, the studies aimed at identifying the source of interference in the measurement of rotational speed are described and solution for its elimination has been found. Findings. For the designed rotation speed sensor of the optical type based on the existing D-2MMU-2 sensor, the authors analyzed the dependence of the methodological and instrumental errors. Based on the obtained data more rational variant of the rotation speed calculation algorithm is proposed, and the number of teeth of the sensor disk is justified. Further, the main source of measurement interference was established and a method for improving the hardware of the hydraulic locomotive test bench was proposed. Originality. There were conducted the studies according to the methodological and instrumental errors of the designed rotation speed of sensor. The mechanisms of interference filtering arising from the

  18. Learning and Chaining of Motor Primitives for Goal-directed Locomotion of a Snake-Like Robot with Screw-Drive Units

    DEFF Research Database (Denmark)

    Chatterjee, Sromona; Nachstedt, Timo; Tamosiunaite, Minija

    2015-01-01

    -directed locomotion for the robot. The behavioural primitives of the robot are generated using a reinforcement learning approach called "Policy Improvement with Path Integrals" (PI2). PI2 is numerically simple and has the ability to deal with high-dimensional systems. Here, PI2 is used to learn the robot’s motor...... controls by finding proper locomotion control parameters, like joint angles and screw-drive unit velocities, in a coordinated manner for different goals. Thus, it is able to generate a large repertoire of motor primitives, which are selectively stored to form a primitive library. The learning process...

  19. Controlling radioactive sources. Stronger 'cradle-to-grave' security needed, IAEA says

    International Nuclear Information System (INIS)

    2002-01-01

    This article highlights the IAEA activities in the field of radiation safety and security of radiation sources and other radioactive materials in its Member States. The IAEA has been active in lending its expertise to search out and secure orphaned sources in several countries. Additionally more than 70 States have joined with the IAEA to collect and share information on trafficking incidents and other unauthorized movements of radioactive sources and other radioactive materials. In March 2002 the IAEA Board of Governors approved a multi-faceted Action plan to Combat Nuclear Terrorism that includes upgrading radiation safety and security. One programme is designed to ensure that significant, uncontrolled radioactive sources are brought under regulatory control and properly secured by providing assistance to Member States in their efforts to identify, locate and secure or dispose of orphan sources

  20. Decoding bipedal locomotion from the rat sensorimotor cortex

    Science.gov (United States)

    Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.

    2015-10-01

    Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower limb movement from the motor cortex has received comparatively little attention. Here, we performed experiments to identify the type and amount of information that can be decoded from neuronal ensemble activity in the hindlimb area of the rat motor cortex during bipedal locomotor tasks. Approach. Rats were trained to stand, step on a treadmill, walk overground and climb staircases in a bipedal posture. To impose this gait, the rats were secured in a robotic interface that provided support against the direction of gravity and in the mediolateral direction, but behaved transparently in the forward direction. After completion of training, rats were chronically implanted with a micro-wire array spanning the left hindlimb motor cortex to record single and multi-unit activity, and bipolar electrodes into 10 muscles of the right hindlimb to monitor electromyographic signals. Whole-body kinematics, muscle activity, and neural signals were simultaneously recorded during execution of the trained tasks over multiple days of testing. Hindlimb kinematics, muscle activity, gait phases, and locomotor tasks were decoded using offline classification algorithms. Main results. We found that the stance and swing phases of gait and the locomotor tasks were detected with accuracies as robust as 90% in all rats. Decoded hindlimb kinematics and muscle activity exhibited a larger variability across rats and tasks. Significance. Our study shows that the rodent motor cortex contains useful information for lower limb neuroprosthetic development. However, brain-machine interfaces estimating gait phases or locomotor behaviors, instead of continuous variables such as limb joint positions or speeds

  1. Mechatronics by Analogy and Application to Legged Locomotion

    Science.gov (United States)

    Ragusila, Victor

    determined, the original mechanism is optimized such that its dynamic behaviour is analogous. It is shown that, if this analogy is achieved, the control system designed based on the simpler mechanisms can be directly implemented to the more complex system, and their dynamic behaviours are close enough for the system performance to be effectively the same. Finally it is shown that, for the employed objective of fast legged locomotion, the proposed methodology achieves a better design than Reduction-by-Feedback, a competing methodology that uses control layers to simplify the dynamics of the system.

  2. Power Controllability of Three-phase Converter with Unbalanced AC Source

    DEFF Research Database (Denmark)

    Ma, Ke; Liserre, Marco; Blaabjerg, Frede

    2013-01-01

    Three-phase DC-AC power converters suffer from power oscillation and overcurrentt problems in case of unbalanced AC source voltage that can be caused by grid/generator faults. Existing solutions to handle these problems are properly selecting and controlling the positive and negative sequence...... currents. In this work a new series of control strategies which utilize the zero-sequence components are proposed to enhance the power control ability under this adverse conditions. It is concluded that by introducing proper zero sequence current controls and corresponding circuit configurations, the power...... converter can enable more flexible control targets, achieving better performances in the delivered power and load current when suffering from unbalanced AC sources....

  3. Preparation method and quality control of multigamma volume sources with different matrices.

    Science.gov (United States)

    Listkowska, A; Lech, E; Saganowski, P; Tymiński, Z; Dziel, T; Cacko, D; Ziemek, T; Kołakowska, E; Broda, R

    2018-04-01

    The aim of the work was to develop new radioactive standard sources based on epoxy resins. The optimal proportions of the components and the homogeneity of the matrices were determined. The activity of multigamma sources prepared in Marinelli beakers was determined with reference to the National Standard of Radionuclides Activity in Poland. The difference of radionuclides activity values determined using calibrated gamma spectrometer and the activity of standard solutions used are in most cases significantly lower than measurement uncertainty limits. Sources production method and quality control procedure have been developed. Copyright © 2017 Elsevier Ltd. All rights reserved.

  4. Energetic Extremes in Aquatic Locomotion by Coral Reef Fishes

    Science.gov (United States)

    Fulton, Christopher J.; Johansen, Jacob L.; Steffensen, John F.

    2013-01-01

    Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s−1) while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting), streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed. PMID:23326566

  5. Energetic extremes in aquatic locomotion by coral reef fishes.

    Directory of Open Access Journals (Sweden)

    Christopher J Fulton

    Full Text Available Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s(-1 while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting, streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed.

  6. Designing presence for real locomotion in immersive virtual environments

    DEFF Research Database (Denmark)

    Turchet, Luca

    2015-01-01

    This paper describes a framework for designing systems for real locomotion in virtual environments (VEs) in order to achieve an intense sense of presence. The main outcome of the present research is a list of design features that the virtual reality technology should have in order to achieve...

  7. A light-weight, yet powerful diesel locomotive from Vossloh

    Energy Technology Data Exchange (ETDEWEB)

    Marti, Mariano [Vossloh Rail Vehicles, Albuixech/Valencia (Spain)

    2013-05-15

    The EUROLIGHT is an eight-wheeled diesel-electric locomotive developed by Vossloh Rail Vehicles for interoperable rail traffic. With its low axle load of less than 20 tonnes, it can be deployed flexibly on both main lines and secondary ones.

  8. Using Computational and Mechanical Models to Study Animal Locomotion

    Science.gov (United States)

    Miller, Laura A.; Goldman, Daniel I.; Hedrick, Tyson L.; Tytell, Eric D.; Wang, Z. Jane; Yen, Jeannette; Alben, Silas

    2012-01-01

    Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms’ performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locomotion that is characterized by the interactions of fluids, substrates, and structures. Despite the large body of recent work in this area, the application of mathematical and numerical methods to improve our understanding of organisms in the context of their environment and physiology has remained relatively unexplored. Nature has evolved a wide variety of fascinating mechanisms of locomotion that exploit the properties of complex materials and fluids, but only recently are the mathematical, computational, and robotic tools available to rigorously compare the relative advantages and disadvantages of different methods of locomotion in variable environments. Similarly, advances in computational physiology have only recently allowed investigators to explore how changes at the molecular, cellular, and tissue levels might lead to changes in performance at the organismal level. In this article, we highlight recent examples of how computational, mathematical, and experimental tools can be combined to ultimately answer the questions posed in one of the grand challenges in organismal biology: “Integrating living and physical systems.” PMID:22988026

  9. MTU locomotive drive systems for EU emissions stage IIIB

    Energy Technology Data Exchange (ETDEWEB)

    Wintruff, Ingo [MTU Friedrichshafen GmbH, Friedrichshafen (Germany)

    2011-05-15

    Emissions limits for diesel locomotives within the European Union are regulated by EU Non-road Directive 97/68/EC which places restrictions on the pollutants NOx, particulate, CO and HC. MTU has developed suitable diesel engines for EU Emissions stage IIIB. (orig.)

  10. Energy Efficiency of Robot Locomotion Increases Proportional to Weight

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian; Støy, Kasper

    2011-01-01

    The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in un- known terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et. la [3...

  11. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion II

    Science.gov (United States)

    Lee, Scott

    2015-01-01

    In the second paper of this series, the effect of transverse femoral stresses due to locomotion in theropod dinosaurs of different sizes was examined for the case of an unchanging leg geometry. Students are invariably thrilled to learn about theropod dinosaurs, and this activity applies the concepts of torque and stress to the issue of theropod…

  12. Energy Efficiency of Robot Locomotion Increases Proportional to Weight

    DEFF Research Database (Denmark)

    Larsen, J. C.; Stoy, K.

    2011-01-01

    The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et al. [1...

  13. Small-scale soft-bodied robot with multimodal locomotion

    Science.gov (United States)

    Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

    2018-02-01

    Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

  14. Locomotion and basicranial anatomy in primates and marsupials.

    Science.gov (United States)

    Villamil, Catalina I

    2017-10-01

    There is ongoing debate in paleoanthropology about whether and how the anatomy of the cranium, and especially the cranial base, is evolving in response to locomotor and postural changes. However, the majority of studies focus on two-dimensional data, which fails to capture the complexity of cranial anatomy. This study tests whether three-dimensional cranial base anatomy is linked to locomotion or to other factors in primates (n = 473) and marsupials (n = 231). Results indicate that although there is a small effect of locomotion on cranial base anatomy in primates, this is not the case in marsupials. Instead, facial anatomy likely drives variation in cranial base anatomy in both primates and marsupials, with additional roles for body size and brain size. Although some changes to foramen magnum position and orientation are phylogenetically useful among the hominoids, they do not necessarily reflect locomotion or positional behavior. The interplay between locomotion, posture, and facial anatomy in primates requires further investigation. Copyright © 2017 Elsevier Ltd. All rights reserved.

  15. Decoding bipedal locomotion from the rat sensorimotor cortex

    NARCIS (Netherlands)

    Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.

    2015-01-01

    Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower

  16. Information Support of Optimal Control of Modes of Electric Systems with Renewable Energy Sources

    Directory of Open Access Journals (Sweden)

    Michalina Gryniewicz-Jaworska

    2017-12-01

    Full Text Available To provide necessary quality of electric energy and reliable supply and reduce environmental contamination as a result of energy units operation, renewable sources of energy (RSE, in particular solar electric stations (SES, wind electric stations (WES and small hydropower stations (SHES are intensively developed. The paper considers the conditions of optimality of renewable sources of energy (RSE functioning in electric systems, controllability of which is limited by the impact of non-stable weather conditions. The influence of control system information support on the efficiency of RSE usage is shown.

  17. An Open Source Rapid Computer Aided Control System Design Toolchain Using Scilab, Scicos and RTAI Linux

    Science.gov (United States)

    Bouchpan-Lerust-Juéry, L.

    2007-08-01

    Current and next generation on-board computer systems tend to implement real-time embedded control applications (e.g. Attitude and Orbit Control Subsystem (AOCS), Packet Utililization Standard (PUS), spacecraft autonomy . . . ) which must meet high standards of Reliability and Predictability as well as Safety. All these requirements require a considerable amount of effort and cost for Space Sofware Industry. This paper, in a first part, presents a free Open Source integrated solution to develop RTAI applications from analysis, design, simulation and direct implementation using code generation based on Open Source and in its second part summarises this suggested approach, its results and the conclusion for further work.

  18. Regulatory control of radiation sources and radioactive materials in the Czech Republic

    International Nuclear Information System (INIS)

    Drabova, D.; Prouza, Z.

    2001-01-01

    The paper describes legal and regulatory provisions for radiation protection and safe use of sources of ionizing radiation in the Czech Republic with special emphasis on aspects of bringing activities under regulatory control and releasing them from it. It covers the development of a new legal framework, the work of the regulatory body, an overview of sources in use and provisions to achieve effective regulatory control of facilities and releases of radioactive material into the environment. Also, it describes reported unusual events with a proposed scheme for their classification and evaluation. (author)

  19. Control of emissions from stationary combustion sources: Pollutant detection and behavior in the atmosphere

    International Nuclear Information System (INIS)

    Licht, W.; Engel, A.J.; Slater, S.M.

    1979-01-01

    Stationary combustion resources continue to be significant sources of NOx and SOx pollutants in the ambient atmosphere. This volume considers four problem areas: (1) control of emissions from stationary combustion sources, particularly SOx and NOx (2) pollutant behavior in the atmosphere (3) advances in air pollution analysis and (4) air quality management. Topics of interest include carbon slurries for sulfur dioxide abatement, mass transfer in the Kellogg-Weir air quality control system, oxidation/inhibition of sulfite ion in aqueous solution, some micrometeorological methods of measuring dry deposition rates, Spanish moss as an indicator of airborne metal contamination, and air quality impacts from future electric power generation in Texas

  20. Parsing pyrogenic polycyclic aromatic hydrocarbons: forensic chemistry, receptor models, and source control policy.

    Science.gov (United States)

    O'Reilly, Kirk T; Pietari, Jaana; Boehm, Paul D

    2014-04-01

    A realistic understanding of contaminant sources is required to set appropriate control policy. Forensic chemical methods can be powerful tools in source characterization and identification, but they require a multiple-lines-of-evidence approach. Atmospheric receptor models, such as the US Environmental Protection Agency (USEPA)'s chemical mass balance (CMB), are increasingly being used to evaluate sources of pyrogenic polycyclic aromatic hydrocarbons (PAHs) in sediments. This paper describes the assumptions underlying receptor models and discusses challenges in complying with these assumptions in practice. Given the variability within, and the similarity among, pyrogenic PAH source types, model outputs are sensitive to specific inputs, and parsing among some source types may not be possible. Although still useful for identifying potential sources, the technical specialist applying these methods must describe both the results and their inherent uncertainties in a way that is understandable to nontechnical policy makers. The authors present an example case study concerning an investigation of a class of parking-lot sealers as a significant source of PAHs in urban sediment. Principal component analysis is used to evaluate published CMB model inputs and outputs. Targeted analyses of 2 areas where bans have been implemented are included. The results do not support the claim that parking-lot sealers are a significant source of PAHs in urban sediments. © 2013 SETAC.

  1. Regulatory control and challenges in Medical facilities using ionising radiation sources

    International Nuclear Information System (INIS)

    Agarwal, S.P.

    2008-01-01

    Medical facilities utilising ionising radiation sources for diagnostic and treatment of cancer are regulated under the provisions of Atomic Energy (Radiation Protection) Rules, 2004 promulgated under the Atomic Energy Act 1962. The Competent Authority for the enforcement of the rules is Chairman, Atomic Energy Regulatory Board (AERB). Practice specific codes are issued by AERB for medical facilities such as Radiotherapy, Nuclear Medicine and Radiology. Regulatory process for control of medical facilities covers the entire life cycle of the radiation sources in three stages viz pre-Iicensing, during useful life and decommissioning and disposal. Pre-Iicensing requirements include use of type approved sources and equipment, approval of design layout of the facility and installation, exclusive (safe and secure) source storage facility when the equipment is not in use, radiation (area/individual) monitoring devices, qualified, trained and certified manpower, emergency response plans and commitment from the licensee for the safe disposal of disused/decayed sources. Compliance to these requirements makes the applicant eligible to obtain license from AERB for the operation of the medical facility. During the use of radiation sources, specific prior approval of the Competent Authority is required in respect of every source replacement, sale, transfer, transport, import and export. Further, all licensees are required to send the periodic safety Status reports to AERB as well as reporting of any off normal events. AERB conducts inspection of the facilities to ensure compliance with the safety requirements during operation of the facility. Violation of safety norms by licensee attracts enforcement action which includes suspension, modification or withdrawal of licensee for operation of the facility. Upon completion of the useful life of the source, the licensee decommissions the facility and returns the source to the original supplier. For returning the source, prior

  2. Licensing authority's control of radiation sources and nuclear materials in Brazil

    International Nuclear Information System (INIS)

    Binns, D.A.C.

    2002-01-01

    Full text: The Brazilian Nuclear Energy Commission is the national licensing authority and among its responsibilities is the control of nuclear materials and radiation sources. This control is carried out in three different ways: 1) Control of the import and export of nuclear materials and radiation sources. To be able to import or export any nuclear material or radiation source, the user has to have an explicit permission of the licensing authority. This is controlled by electronic means in which the user has to fill a special form found on the licensing authority's home page, where he has to fill in his name, license number, license number of his radiation protection officer and data of the material to be imported or exported. These data are checked with a data base that contains all the information of the licensed users and qualified personnel before authorization is emitted. The airport authorities have already installed x-ray machines to check all baggages entering or leaving the country. 2) Transport and transfer permit for radiation sources. In order to transport and/or transfer radiations sources and nuclear materials within the country, the user(s) have to submit an application to the licensing authority. The user(s) fill out an application form where he fills in his company's name, licensing I.D., radiation protection officer's name and I.D and identification of the sources involved. These information are checked with the licensing operations data before the operations is permitted. 3) Inspections and radiation monitoring systems. Routine and regulatory inspections are continuously carried out where the user's radiation sources and nuclear materials inventory are checked. Also the physical security and protection of these materials are verified. The installation of monitoring systems is an item that is being discussed with the airport authorities so as to increase the possibilities of detecting any illegal transport of these materials. (author)

  3. Plans for a Collaboratively Developed Distributed Control System for the Spallation Neutron Source

    International Nuclear Information System (INIS)

    DeVan, W.R.; Gurd, D.P.; Hammonds, J.; Lewis, S.A.; Smith, J.D.

    1999-01-01

    The Spallation Neutron Source (SNS) is an accelerator-based pulsed neutron source to be built in Oak Ridge, Tennessee. The facility has five major sections - a ''front end'' consisting of a 65 keV H - ion source followed by a 2.5 MeV RFQ; a 1 GeV linac; a storage ring; a 1MW spallation neutron target (upgradeable to 2 MW); the conventional facilities to support these machines and a suite of neutron scattering instruments to exploit them. These components will be designed and implemented by five collaborating institutions: Lawrence Berkeley National Laboratory (Front End), Los Alamos National Laboratory (Linac); Brookhaven National Laboratory (Storage Ring); Argonne National Laboratory (Instruments); and Oak Ridge National Laboratory (Neutron Source and Conventional Facilities). It is proposed to implement a fully integrated control system for all aspects of this complex. The system will be developed collaboratively, with some degree of local autonomy for distributed systems, but centralized accountability. Technical integration will be based upon the widely-used EPICS control system toolkit, and a complete set of hardware and software standards. The scope of the integrated control system includes site-wide timing and synchronization, networking and machine protection. This paper discusses the technical and organizational issues of planning a large control system to be developed collaboratively at five different institutions, the approaches being taken to address those issues, as well as some of the particular technical challenges for the SNS control system

  4. Effective Stimulus Parameters for Directed Locomotion in Madagascar Hissing Cockroach Biobot.

    Directory of Open Access Journals (Sweden)

    Jonathan C Erickson

    Full Text Available Swarms of insects instrumented with wireless electronic backpacks have previously been proposed for potential use in search and rescue operations. Before deploying such biobot swarms, an effective long-term neural-electric stimulus interface must be established, and the locomotion response to various stimuli quantified. To this end, we studied a variety of pulse types (mono- vs. bipolar; voltage- vs. current-controlled and shapes (amplitude, frequency, duration to parameters that are most effective for evoking locomotion along a desired path in the Madagascar hissing cockroach (G. portentosa in response to antennal and cercal stimulation. We identified bipolar, 2 V, 50 Hz, 0.5 s voltage controlled pulses as being optimal for evoking forward motion and turns in the expected contraversive direction without habituation in ≈50% of test subjects, a substantial increase over ≈10% success rates previously reported. Larger amplitudes for voltage (1-4 V and current (50-150 μA pulses generally evoked larger forward walking (15.6-25.6 cm; 3.9-5.6 cm/s but smaller concomitant turning responses (149 to 80.0 deg; 62.8 to 41.2 deg/s. Thus, the radius of curvature of the initial turn-then-run locomotor response (≈10-25 cm could be controlled in a graded manner by varying the stimulus amplitude. These findings could be used to help optimize stimulus protocols for swarms of cockroach biobots navigating unknown terrain.

  5. Control of trafficking of radioactive sources/substances on European Community eastern border

    International Nuclear Information System (INIS)

    Lovjagina, Irina; Graveris, Visvaldis

    2008-01-01

    Full text: Taking into account Latvia geographical location, historical core stones (the dissolution of Soviet Union, join to European Community) and increasing of the international terrorism treats, control fissile and non-fissile radioactive material become one of high priorities. During past 2 years active work and practical exercise with representative from Ministry of Defense, Police, and Custom etc. on control of trafficking of such materials were performed and Operational Manual for Control on Radioactive Materials for Customs and Policy officers is issued. All land borders check points with Russian Federation and Byelorussian, all harbors and airports were equipped with a gamma/ neutrons or gamma control portals. To control unwanted material traffic within the country, as well as to ensure the recycled scrap metal is source-free use of monitoring portals and additional portable detectors in the past years strictly increased. Cases with alarm levels, when gamma dose rate exceeds more than 1.5 times the background level, are subject to reporting and analyzing by Radiation Safety Centre (RDC) experts (24 hours on duty). Consultative phone service for inhabitants is maintained; guidelines and working procedures within Authority and other Institutions involving were developed and implemented. As a result, in 2007 RDC has got 612 reports from the border. In 83% cases this was relevant to the trains, in 17%- to the trucks. Mostly enhanced activity was due to potassium compounds in fertilizers (85%), due to ceramics (4%), abrasives (2.5%), and refractory materials (3%). Controlling scrap metal there were revealed two sources in 2007 - one Sr-90 calibration source and other Cs-137 orphan source (origin unknown). The presence of radioactive sources in scrap in the past 3 years has been represented by Co-60, Cs-137 and Sr-90 sources, parts of statically electricity neutralizers, Ra-226. Several times NORM industries polluted materials were from scrap excluded

  6. Force analysis of the advanced neutron source control rod drive latch mechanism

    International Nuclear Information System (INIS)

    Damiano, B.

    1989-01-01

    The Advanced Neutron Source reactor (ANS), a proposed Department of Energy research reactor currently undergoing conceptual design at the Oak Ridge National Laboratory (ORNL), will generate a thermal neutron flux approximating 10 30 M -2 emdash S -1 . The compact core necessary to produce this flux provides little space for the shim safety control rods, which are located in the central annulus of the core. Without proper control rod drive design, the control rod drive magnets (which hold the control rod latch in a ready-to-scram position) may be unable to support the required load due to their restricted size. This paper describes the force analysis performed on the control rod latch mechanism to determine the fraction of control rod weight transferred to the drive magnet. This information will be useful during latch, control rod drive and magnet design. 5 refs., 12 figs

  7. Regulatory control and safety of radiation and radioactive sources in Bangladesh

    International Nuclear Information System (INIS)

    Mollah, A.S.

    2001-01-01

    The application of ionizing radiation and radioactive sources in different fields such as, medicine, industry, agriculture, research and teaching is constantly increasing in Bangladesh. Any system enacted to control exposure to ionizing radiation has as primary objective the protection of health of people against the deleterious effects of radiation. Establishing the appropriate level of radiological protection and safety of radiation sources used in practice or intervention attains this objective. The regulatory program governing the safe use of radioactive and radiation sources in Bangladesh is based on the legislation enacted as Nuclear Safety and Radiation Control (NSRC) Act-93 and NSRC Rules-97 and its implementation by the competent authority. The radiation control infrastructures and procedure are described as well as their functioning for the implementation of relevant activities such as licensing, regular inspection, personal dose monitoring, emergency preparedness, etc. The issue of security of radiation source is dealt in close relation with the preparation and use of the inventory of all radiation sources in the country

  8. Spark-protected ion-source control and monitoring system at 1.5 MV

    International Nuclear Information System (INIS)

    Bogaty, J.M.; Zolecki, R.

    1981-01-01

    The Heavy Ion Fusion Program at Argonne National Laboratory utilizes a 1.5-MV Xe ion preaccelerator. Reliable beam transport requires accurate measurements and precise control of various ion-source parameters. This paper discusses the use of a multiplexed fiberoptic data-transmission system and low-cost digital stepper motors for control functions. Techniques are discussed which allow TTL and CMOS semiconductor curcuits to survive the destructive sparks which can occur in the 1.5-MV preaccelerator

  9. Control and reception of out of use radioactive sources at the CDTN/CNEN, Minas Gerais, Brazil

    International Nuclear Information System (INIS)

    Reis, Luiz C.A.; Guzella, Marcia F.R.; Seles, Sandro R.N.; Cuccia, Valeria

    2011-01-01

    For reception of the received sources and for accomplish with CNEN regulations and IAEA recommendations, the CDTN have implanted a system for receiving those sources and all the procedures for effective control and recovering of information. The CDTN posses a source deposit, a data bank for the inventory and also a Laboratory for Treatment of Sealed Sources

  10. Variable speed wind turbine generator system with current controlled voltage source inverter

    International Nuclear Information System (INIS)

    Muyeen, S.M.; Al-Durra, Ahmed; Tamura, J.

    2011-01-01

    highlights: → Current controlled voltage source inverter scheme for wind power application. → Low voltage ride through of wind farm. → Variable speed wind turbine driven permanent magnet synchronous generator-operation and control. -- Abstract: The present popular trend of wind power generation is to use variable speed wind turbine (VSWT) driving a doubly fed induction generator (DFIG), wound field synchronous generator (WFSG) or permanent magnet synchronous generator (PMSG). Among them, stability analyses of DFIG type of VSWT have already been reported in many literatures. However, transient stability and low voltage ride through (LVRT) characteristics analyses for synchronous generator type of VSWT is not sufficient enough. This paper focuses on detailed LVRT characteristic analysis of variable speed wind turbine driving a PMSG (VSWT-PMSG) with current controlled voltage source inverter (CC-VSI). Modeling and suitable control strategies for overall system are developed to augment the low voltage ride through capability of variable speed wind generator, considering recent wind farm grid code. Both symmetrical and unsymmetrical faults are analyzed as network disturbances in this paper. The permanent fault due to unsuccessful reclosing of circuit breakers is taken into consideration, which is a salient feature of this study. Moreover, the dynamic characteristic is analyzed using real wind speed data measured in Hokkaido Island, Japan. The proposed control scheme is simulated by using the standard power system simulation package PSCAD/EMTDC and results are verified by comparing that of voltage controlled voltage source inverter scheme available in power system literature.

  11. Variable speed wind turbine generator system with current controlled voltage source inverter

    Energy Technology Data Exchange (ETDEWEB)

    Muyeen, S.M., E-mail: muyeen0809@yahoo.co [Dept. of Electrical Engineering, Petroleum Institute, P.O. Box 2533, Abu Dhabi (United Arab Emirates); Al-Durra, Ahmed [Dept. of Electrical Engineering, The Petroleum Institute, P.O. Box 2533, Abu Dhabi (United Arab Emirates); Tamura, J. [Dept. of EEE, Kitami Institute of Technology, 165 Koen-cho, Kitami 090-8507 (Japan)

    2011-07-15

    highlights: {yields} Current controlled voltage source inverter scheme for wind power application. {yields} Low voltage ride through of wind farm. {yields} Variable speed wind turbine driven permanent magnet synchronous generator-operation and control. -- Abstract: The present popular trend of wind power generation is to use variable speed wind turbine (VSWT) driving a doubly fed induction generator (DFIG), wound field synchronous generator (WFSG) or permanent magnet synchronous generator (PMSG). Among them, stability analyses of DFIG type of VSWT have already been reported in many literatures. However, transient stability and low voltage ride through (LVRT) characteristics analyses for synchronous generator type of VSWT is not sufficient enough. This paper focuses on detailed LVRT characteristic analysis of variable speed wind turbine driving a PMSG (VSWT-PMSG) with current controlled voltage source inverter (CC-VSI). Modeling and suitable control strategies for overall system are developed to augment the low voltage ride through capability of variable speed wind generator, considering recent wind farm grid code. Both symmetrical and unsymmetrical faults are analyzed as network disturbances in this paper. The permanent fault due to unsuccessful reclosing of circuit breakers is taken into consideration, which is a salient feature of this study. Moreover, the dynamic characteristic is analyzed using real wind speed data measured in Hokkaido Island, Japan. The proposed control scheme is simulated by using the standard power system simulation package PSCAD/EMTDC and results are verified by comparing that of voltage controlled voltage source inverter scheme available in power system literature.

  12. Reproduction of nearby sources by imposing true interaural differences on a sound field control approach

    DEFF Research Database (Denmark)

    Badajoz, Javier; Chang, Ji-ho; Agerkvist, Finn T.

    2015-01-01

    In anechoic conditions, the Interaural Level Difference (ILD) is the most significant auditory cue to judge the distance to a sound source located within 1 m of the listener's head. This is due to the unique characteristics of a point source in its near field, which result in exceptionally high...... as Pressure Matching (PM), and a binaural control technique. While PM aims at reproducing the incident sound field, the objective of the binaural control technique is to ensure a correct reproduction of interaural differences. The combination of these two approaches gives rise to the following features: (i......, distance dependent ILDs. When reproducing the sound field of sources located near the head with line or circular arrays of loudspeakers, the reproduced ILDs are generally lower than expected, due to physical limitations. This study presents an approach that combines a sound field reproduction method, known...

  13. Knowledge and use of the internet as a source of controlled substances.

    Science.gov (United States)

    M Gordon, Susan; Forman, Robert F; Siatkowski, Candis

    2006-04-01

    Despite growing evidence that the internet is a source of controlled substances for nonmedical use, there is a lack of information about who is using it to obtain these drugs. One hundred adult drug-dependent inpatients in a private residential treatment program participated in a semistructured interview regarding how they obtained their drugs. Twenty-nine percent reported knowledge of the internet as a source of drugs, and 11% reported that they had used the internet to either buy drugs or locate a drug dealer. The results of this preliminary study suggest that the internet has become a source of controlled substances for some addicted individuals. Considerations for future research and clinical practice are described.

  14. Passivity-Based Control applied to DC hybrid power source using fuel cell and supercapacitors

    Energy Technology Data Exchange (ETDEWEB)

    Ayad, M.Y.; Wack, M.; Laghrouche, S. [SeT, UTBM, Belfort (cedex) 90010 (France); Becherif, M. [SeT, UTBM, Belfort (cedex) 90010 (France); FC-Lab, UTBM, Belfort (cedex) 90010 (France); Henni, A. [Alstom Power System, Energy Management Business, Alstom (France); Aboubou, A. [LMSE Laboratory, Biskra University, 07000 (Algeria)

    2010-07-15

    Nowadays, energy management becomes an absolute necessity. To reduce systems consumption, the idea is to recover energy when it is possible and to reuse it when the system is in need. Energy can be saved in peak power unit (electric double layer capacitors called supercapacitors). Those latter can absorb or supply power peaks. This paper deals with the conception of hybrid power sources using fuel cell as main source, a DC link and supercapacitors as transient power source. The whole system is modeled in state space equations. The energy management is reached using Passivity-Based Control (PBC). PBC is a very powerful nonlinear technique dealing with important system information like the system's total energy. Stability proof and simulation results are given. In this proposed control laws only few measurement are needed (two or three depending on the presented solutions one or two). (author)

  15. The application of controlled source audio frequency magnetotelluric method to prospecting for uranium and gold

    International Nuclear Information System (INIS)

    Guan Taiping

    1992-01-01

    The controlled source audio frequency magnetotelluric method is a new geophysical method which is rapid, effective and economical and can be used for studying the structural pattern of underground strata (rock bodies). This method provides the basis for the determination of the deeper part and structures within the unconformity-related uranium deposit in North China Platform and the result of application is optimal

  16. SOURCE CHARACTERIZATION AND CONTROL TECHNOLOGY ASSESSMENT OF METHYLENE CHLORIDE EMISSIONS FROM EASTMAN KODAK COMPANY, ROCHESTER, NY

    Science.gov (United States)

    The report gives results of an assessment of potential control technologies for methylene chloride (also known as dichloromethane or DCM) emission sources at Eastman Kodak Company's Kodak Park facility in Rochester, NY. DCM is a solvent used by Kodak in the manufacture of cellulo...

  17. Mine Waste Technology Program. In Situ Source Control Of Acid Generation Using Sulfate-Reducing Bacteria

    Science.gov (United States)

    This report summarizes the results of the Mine Waste Technology Program (MWTP) Activity III, Project 3, In Situ Source Control of Acid Generation Using Sulfate-Reducing Bacteria, funded by the U.S. Environmental Protection Agency (EPA) and jointly administered by EPA and the U.S....

  18. A green paper on the regulation and control of sources of ionizing radiation

    International Nuclear Information System (INIS)

    1990-01-01

    This publication reviews the evidences that sources of ionizing radiation are potentially hazardous to the public and the environment unless appropriate measures are taken to regulate and control their possession, use and the ultimate disposal. The current regulations, subject to some amendments are described and the impacts likely to result from the amendments are discussed. 9 tabs

  19. Sensitivity of the near-surface vertical electric field land Controlled-Source Electromagnetic monitoring

    NARCIS (Netherlands)

    Schaller, A.M.; Hunziker, J.W.; Streich, R.; Drijkoningen, G.G.

    2014-01-01

    We investigate potential benefits of measuring the vertical electric field component in addition to the routinely measured horizontal electric field components in onshore time-lapse controlled-source electromagnetics. Synthetic electromagnetic data based on a model of the Schoonebeek onshore oil

  20. Modified source of a fast neutral atom beam with a controlled energy

    International Nuclear Information System (INIS)

    Gostev, V.A.; Elakhovskij, D.V.; Khakhaev, A.D.

    1980-01-01

    A source of a metastable helium atom beam with a controlled energy based on a phenomenon of resonant ion neutralization on the surface of a solid body is described. The neutral particle energy control is carried out by changing ion velocities before their transformation into metastable atoms. The results of experiments with a modified construction of atomic beam source are stated. These experiments were conducted to find the possibilities to control velocities of atoms in a flow as well as to elucidate the peculiarities of operation of a collimator-converter of this construction. Dependences of a halfwidth of the ion velocity distribution function on the ion source parameters have been investigated. The possibility for particle energy control in a collimated flow of fast neutral. atoms has been experimentally shown, it is also shown that a mean value of atom energy in a beam coincides with a value of mean energy of ions from which atoms are produced by the resonant neutralization method; the construction of the source provides the possibility to realize the method of ''overtaking beams'' for neutral atoms and as a result of this to give a possibility for studying atom-atom collisions in a wide energy range at relatively high densities of flows

  1. The foundation of computer based closed radionuclide sources turnover control system in Moscow city region

    International Nuclear Information System (INIS)

    Gusev, A.E.; Kozlov, A.A.; Lavrov, K.N.; Sobolev, I.A.

    1998-01-01

    This paper concerns the problem of Closed Radionuclide Sources (CRS) automated account and control in Moscow city and Moscow region. Information relations structure between authorities and enterprises is shown. Special computer oriented system of CRS turnover monitoring is used for this purposes. Its possibilities and numeric characteristics of database are mentioned. This system benefit and application aspects are discussed in detail. (author)

  2. Impedance-based Analysis of DC Link Control in Voltage Source Rectifiers

    DEFF Research Database (Denmark)

    Lu, Dapeng; Wang, Xiongfei; Blaabjerg, Frede

    2018-01-01

    This paper analyzes the dynamics influences of the outer dc link control in the voltage source rectifiers based on the impedance model. The ac-dc interactions are firstly presented by means of full order small signal model in dq frame, which shows the input voltage and load condition are the two...

  3. Sources and mitigation of interharmonics in back-to-back controllable drives

    DEFF Research Database (Denmark)

    Soltani, Hamid; Loh, Poh Chiang; Blaabjerg, Frede

    2014-01-01

    for the sources, leading to undistorted grid currents, which are growingly important as more drives are tied to the grid. It is shown that in the case of back-to-back controllable drives it is possible to reduce the input current interharmonic distortion caused by motor current imbalance....

  4. External Carbon Source Addition as a Means to Control an Activated Sludge Nutrient Removal Process

    DEFF Research Database (Denmark)

    Isaacs, Steven Howard; Henze, Mogens; Søeberg, Henrik

    1994-01-01

    In alternating type activated sludge nutrient removal processes, the denitrification rate can be limited by the availability of readily-degradable carbon substrate. A control strategy is proposed by which an easily metabolizable COD source is added directly to that point in the process at which d...

  5. Harmonic analysis of electric locomotive and traction power system based on wavelet singular entropy

    Science.gov (United States)

    Dun, Xiaohong

    2018-05-01

    With the rapid development of high-speed railway and heavy-haul transport, the locomotive and traction power system has become the main harmonic source of China's power grid. In response to this phenomenon, the system's power quality issues need timely monitoring, assessment and governance. Wavelet singular entropy is an organic combination of wavelet transform, singular value decomposition and information entropy theory, which combines the unique advantages of the three in signal processing: the time-frequency local characteristics of wavelet transform, singular value decomposition explores the basic modal characteristics of data, and information entropy quantifies the feature data. Based on the theory of singular value decomposition, the wavelet coefficient matrix after wavelet transform is decomposed into a series of singular values that can reflect the basic characteristics of the original coefficient matrix. Then the statistical properties of information entropy are used to analyze the uncertainty of the singular value set, so as to give a definite measurement of the complexity of the original signal. It can be said that wavelet entropy has a good application prospect in fault detection, classification and protection. The mat lab simulation shows that the use of wavelet singular entropy on the locomotive and traction power system harmonic analysis is effective.

  6. Locomotion of a bioinspired flyer powered by one pair of pitching foils

    Science.gov (United States)

    Zhang, Xiang; He, Guowei; Wang, Shizhao; Zhang, Xing

    2018-01-01

    We numerically investigate the flight dynamics and aerodynamics of a two-dimensional model for the jellyfishlike ornithopter recently devised by Ristroph and Childress [L. Ristroph and S. Childress, J. R. Soc. Interface 11, 20130992 (2014), 10.1098/rsif.2013.0992]. This simplified model is composed of two rigid thin foils which are forced to pitch in antiphase fashion. The Navier-Stokes equations for the fluid and the dynamics equations for the flyer are solved together in the simulations. We first consider the constrained-flying condition where the flyer model is only allowed to move in the vertical direction. The influences of the control parameters on the hovering performance are studied. With the variations in parameter values, three different locomotion states, i.e., ascending, descending, and approximate hovering, are identified. The wake structures corresponding to these three locomotion states are explored. It is found that the approximate hovering state cannot persist due to the occurrence of wake symmetry breaking after long-time simulation. We then consider the free-flying condition where the motions in three degrees of freedom are allowed. We study the postural stability of a flyer, with its center of gravity located at the geometric center. The responses of the flyer at different locomotion states to physical and numerical perturbations are examined. Our results show that the ascending state is recoverable after the perturbation. The descending state is irrecoverable after the perturbation and a mixed fluttering and tumbling motion which resembles that of a falling card emerges. The approximate hovering state is also irrecoverable and it eventually transits to the ascending state after the perturbation. The research sheds light on the lift-producing mechanism and stability of the flyer and the results are helpful in guiding the design and optimization of the jellyfishlike flying machine.

  7. Modeling locomotion of a soft-bodied arthropod using inverse dynamics

    International Nuclear Information System (INIS)

    Saunders, Frank; Trimmer, Barry A; Rife, Jason

    2011-01-01

    Most bio-inspired robots have been based on animals with jointed, stiff skeletons. There is now an increasing interest in mimicking the robust performance of animals in natural environments by incorporating compliant materials into the locomotory system. However, the mechanics of moving, highly conformable structures are particularly difficult to predict. This paper proposes a planar, extensible-link model for the soft-bodied tobacco hornworm caterpillar, Manduca sexta, to provide insight for biologists and engineers studying locomotion by highly deformable animals and caterpillar-like robots. Using inverse dynamics to process experimentally acquired point-tracking data, ground reaction forces and internal forces were determined for a crawling caterpillar. Computed ground reaction forces were compared to experimental data to validate the model. The results show that a system of linked extendable joints can faithfully describe the general form and magnitude of the contact forces produced by a crawling caterpillar. Furthermore, the model can be used to compute internal forces that cannot be measured experimentally. It is predicted that between different body segments in stance phase the body is mostly kept in tension and that compression only occurs during the swing phase when the prolegs release their grip. This finding supports a recently proposed mechanism for locomotion by soft animals in which the substrate transfers compressive forces from one part of the body to another (the environmental skeleton) thereby minimizing the need for hydrostatic stiffening. The model also provides a new means to characterize and test control strategies used in caterpillar crawling and soft robot locomotion.

  8. The use of pelvic fins for benthic locomotion during foraging behavior in Potamotrygon motoro (Chondrichthyes: Potamotrygonidae

    Directory of Open Access Journals (Sweden)

    Akemi Shibuya

    2015-06-01

    Full Text Available Synchronized bipedal movements of the pelvic fins provide propulsion (punting during displacement on the substrate in batoids with benthic locomotion. In skates (Rajidae this mechanism is mainly generated by the crural cartilages. Although lacking these anatomical structures, some stingray species show modifications of their pelvic fins to aid in benthic locomotion. This study describes the use of the pelvic fins for locomotory performance and body re-orientation in the freshwater stingray Potamotrygon motoro (Müller & Henle, 1841 during foraging. Pelvic fin movements of juvenile individuals of P. motoro were recorded in ventral view by a high-speed camera at 250-500 fields/s-1. Potamotrygon motoro presented synchronous, alternating and unilateral movements of the pelvic fins, similar to those reported in skates. Synchronous movements were employed during straightforward motion for pushing the body off the substrate as well as for strike feeding, whereas unilateral movements were used to maneuver the body to the right or left during both locomotion and prey capture. Alternating movements of the pelvic fins are similar to bipedal movements in terrestrial and semi-aquatic tetrapods. The pelvic fins showed coordinated movements during feeding even when stationary, indicating that they have an important function in maintaining body posture (station holding during prey capture and manipulation. The use of pelvic fins during prey stalking may be advantageous because it results in less substrate disturbance when compared to movements generated by pectoral fin undulation. The range of pelvic fin movements indicates more complex control and coordination of the pelvic radial muscles.

  9. An optimal control problem by controlling heat source of the surface of tissue

    OpenAIRE

    Dhar, 1Rikhiya; Dhar, Ranajit; Dhar, Piyanka

    2013-01-01

    A distributed optimal control problem for a system described by bio-heat equation for a homogeneous plane tissue is analytically investigated such that a desired temperature of the tissue at a particular point of location of tumour in hyperthermia can be attained at the end of a total time of operation of the process due to induced microwave on the surface of the tissue which is taken as control. Here the temperature of the tissue along the length of the tissue at different times of operation...

  10. Microfocus x-ray imaging of traceable pointlike {sup 22}Na sources for quality control

    Energy Technology Data Exchange (ETDEWEB)

    Hasegawa, T.; Oda, K.; Sato, Y.; Ito, H.; Masuda, S.; Yamada, T.; Matsumoto, M.; Murayama, H.; Takei, H. [Allied Health Sciences, Kitasato University Kitasato 1-15-1, Minami-ku, Sagamihara-shi, Kanagawa 252-0373 (Japan); Positron Medical Center, Tokyo Metropolitan Institute of Gerontology Sakaecho 35-2, Itabashi-ku, Tokyo 173-0015 (Japan); Advanced Industrial Science and Technology (AIST) Central 2, Umezono 1-1-1, Tsukuba-shi, Ibaraki 305-8568 (Japan); Kanagawa Industrial Technology Center (KITC) Shimoimazumi 705-1, Ebina-shi, Kanagawa 243-0435 (Japan); Japan Radioisotope Association (JRIA) Komagome 2-28-45, Bunkyo-ku, Tokyo 113-8941 (Japan); Molecular Imaging Center, National Institute of Radiological Sciences Anagawa 4-9-1, Inage, Chiba 263-8555 (Japan); Graduate School of Medical Sciences, Kitasato University Kitasato 1-15-1, Minami-ku, Sagamihara-shi, Kanagawa 252-0373 (Japan)

    2012-07-15

    Purpose: The purpose of this study is to propose a microfocus x-ray imaging technique for observing the internal structure of small radioactive sources and evaluating geometrical errors quantitatively, and to apply this technique to traceable pointlike {sup 22}Na sources, which were designed for positron emission tomography calibration, for the purpose of quality control of the pointlike sources. Methods: A microfocus x-ray imaging system with a focus size of 0.001 mm was used to obtain projection x-ray images and x-ray CT images of five pointlike source samples, which were manufactured during 2009-2012. The obtained projection and tomographic images were used to observe the internal structure and evaluate geometrical errors quantitatively. Monte Carlo simulation was used to evaluate the effect of possible geometrical errors on the intensity and uniformity of 0.511 MeV annihilation photon pairs emitted from the sources. Results: Geometrical errors were evaluated with sufficient precision using projection x-ray images. CT images were used for observing the internal structure intuitively. As a result, four of the five examined samples were within the tolerance to maintain the total uncertainty below {+-}0.5%, given the source radioactivity; however, one sample was found to be defective. Conclusions: This quality control procedure is crucial and offers an important basis for using the pointlike {sup 22}Na source as a basic calibration tool. The microfocus x-ray imaging approach is a promising technique for visual and quantitative evaluation of the internal geometry of small radioactive sources.

  11. Implementing gait pattern control and transition for legged locomotion

    International Nuclear Information System (INIS)

    Yang, Zhijun; Karamanoglu, Mehmet; Rocha, Marlon V; França, Felipe M G; Lima, Priscila M V

    2014-01-01

    In this work, a generalised central pattern generator (CPG) model is formulated to generate a full range of gait patterns for a hexapod insect. To this end, a recurrent neuronal network module, as the building block for rhythmic patterns, is proposed to extend the concept of oscillatory building blocks (OBB) for constructing a CPG model. The model is able to make transitions between different gait patterns by simply adjusting one model parameter. Simulation results are further presented to show the effectiveness and performance of the CPG network

  12. Restoring voluntary control of locomotion after paralyzing spinal cord injury

    NARCIS (Netherlands)

    van den Brand, Rubia; Heutschi, Janine; Barraud, Quentin; DiGiovanna, Jack; Bartholdi, Kay; Huerlimann, Michèle; Friedli, Lucia; Vollenweider, Isabel; Moraud, Eduardo Martin; Duis, Simone; Dominici, Nadia; Micera, Silvestro; Musienko, Pavel; Courtine, Grégoire

    2012-01-01

    Half of human spinal cord injuries lead to chronic paralysis. Here, we introduce an electrochemical neuroprosthesis and a robotic postural interface designed to encourage supraspinally mediated movements in rats with paralyzing lesions. Despite the interruption of direct supraspinal pathways, the

  13. Standards and the design of the advanced photon source control system

    International Nuclear Information System (INIS)

    McDowell, W.P.; Knott, M.J.; Lenkszus, F.R.

    1992-01-01

    The Advanced Photon Source (APS), now under construction at Argonne National Laboratory (ANL), is a 7 GeV positron storage ring dedicated to research facilities using synchrotron radiation. This ring, along with its injection accelerators is to be controlled and monitored with a single, flexible, and expandable control system. This paper will cover the present status of the APS control system as well as discuss the design decisions which led us to use industrial standards and collaborations with other laboratories whenever possible to develop a control system. It will explain the APS control system and illustrate how the use of standards has allowed APS to design a control system whose implementation addresses these issues. (J.P.N.)

  14. Status of the Advanced Photon Source and its accelerator control system

    International Nuclear Information System (INIS)

    McDowell, W.; Knott, M.; Kraimer, K.M.

    1993-01-01

    This paper presents the current status of the Advanced Photon Source (APS), its control system and the Experimental Physics and Industrial Control System (EPICS) tools being used to implement this control system. The status of the physical plant and each of the accelerators as well as detailed descriptions of the software tools used to build the accelerator control system are presented. The control system uses high-performance graphic workstations and the X-windows graphical user interface (GUI) at the operator interface level. It connects to VME/VXI-based microprocessors at the field level using TCP/IP protocols over high-performance networks. This strategy assures the flexibility and expansibility of the control system. A defined interface between the system components will allow the system to evolve with the direct addition of future, improved equipment and new capabilities

  15. Multi-sources model and control algorithm of an energy management system for light electric vehicles

    International Nuclear Information System (INIS)

    Hannan, M.A.; Azidin, F.A.; Mohamed, A.

    2012-01-01

    Highlights: ► An energy management system (EMS) is developed for a scooter under normal and heavy power load conditions. ► The battery, FC, SC, EMS, DC machine and vehicle dynamics are modeled and designed for the system. ► State-based logic control algorithms provide an efficient and feasible multi-source EMS for light electric vehicles. ► Vehicle’s speed and power are closely matched with the ECE-47 driving cycle under normal and heavy load conditions. ► Sources of energy changeover occurred at 50% of the battery state of charge level in heavy load conditions. - Abstract: This paper presents the multi-sources energy models and ruled based feedback control algorithm of an energy management system (EMS) for light electric vehicle (LEV), i.e., scooters. The multiple sources of energy, such as a battery, fuel cell (FC) and super-capacitor (SC), EMS and power controller, DC machine and vehicle dynamics are designed and modeled using MATLAB/SIMULINK. The developed control strategies continuously support the EMS of the multiple sources of energy for a scooter under normal and heavy power load conditions. The performance of the proposed system is analyzed and compared with that of the ECE-47 test drive cycle in terms of vehicle speed and load power. The results show that the designed vehicle’s speed and load power closely match those of the ECE-47 test driving cycle under normal and heavy load conditions. This study’s results suggest that the proposed control algorithm provides an efficient and feasible EMS for LEV.

  16. Augmenting Locomotion in an Anthropomorphic System

    Directory of Open Access Journals (Sweden)

    Derek Wight

    2005-02-01

    Full Text Available A powered orthosis has applications ranging from assisting the elderly to augmenting astronauts. An assistive control scheme is developed that uses the force from a slave actuator to augment the force of a master actuator. This can be used to augment a closed-loop control scheme applied to the master actuator. Initially, actuator augmentation is explored both theoretically and experimentally using a simple mechanical system. The control scheme is then applied to a scale model of human lower limbs on a stationary bicycle to investigate the feasibility of a powered orthosis using pneumatic muscle actuators.

  17. Untethered Recyclable Tubular Actuators with Versatile Locomotion for Soft Continuum Robots.

    Science.gov (United States)

    Qian, Xiaojie; Chen, Qiaomei; Yang, Yang; Xu, Yanshuang; Li, Zhen; Wang, Zhenhua; Wu, Yahe; Wei, Yen; Ji, Yan

    2018-05-27

    Stimuli-responsive materials offer a distinguished platform to build tether-free compact soft robots, which can combine sensing and actuation without a linked power supply. In the past, tubular soft robots have to be made by multiple components with various internal channels or complex cavities assembled together. Moreover, robust processing, complex locomotion, simple structure, and easy recyclability represent major challenges in this area. Here, it is shown that those challenges can be tackled by liquid crystalline elastomers with allyl sulfide functional groups. The light-controlled exchange reaction between allyl sulfide groups allows flexible processing of tubular soft robots/actuators, which does not need any assisting materials. Complex locomotion demonstrated here includes reversible simultaneous bending and elongation; reversible diameter expansion; and omnidirectional bending via remote infrared light control. Different modes of actuation can be programmed into the same tube without the routine assembly of multiple tubes as used in the past. In addition, the exchange reaction also makes it possible to use the same single tube repeatedly to perform different functions by erasing and reprogramming. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  18. A brain-machine-muscle interface for restoring hindlimb locomotion after complete spinal transection in rats.

    Directory of Open Access Journals (Sweden)

    Monzurul Alam

    Full Text Available A brain-machine interface (BMI is a neuroprosthetic device that can restore motor function of individuals with paralysis. Although the feasibility of BMI control of upper-limb neuroprostheses has been demonstrated, a BMI for the restoration of lower-limb motor functions has not yet been developed. The objective of this study was to determine if gait-related information can be captured from neural activity recorded from the primary motor cortex of rats, and if this neural information can be used to stimulate paralysed hindlimb muscles after complete spinal cord transection. Neural activity was recorded from the hindlimb area of the primary motor cortex of six female Sprague Dawley rats during treadmill locomotion before and after mid-thoracic transection. Before spinal transection there was a strong association between neural activity and the step cycle. This association decreased after spinal transection. However, the locomotive state (standing vs. walking could still be successfully decoded from neural recordings made after spinal transection. A novel BMI device was developed that processed this neural information in real-time and used it to control electrical stimulation of paralysed hindlimb muscles. This system was able to elicit hindlimb muscle contractions that mimicked forelimb stepping. We propose this lower-limb BMI as a future neuroprosthesis for human paraplegics.

  19. A Survey on Open-Source Flight Control Platforms of Unmanned Aerial Vehicle

    DEFF Research Database (Denmark)

    Ebeid, Emad Samuel Malki; Skriver, Martin; Jin, Jie

    2017-01-01

    Recently, Unmanned Aerial Vehicle (UAV), so-called drones, have gotten a lot of attention in academic research and commercial applications due to their simple structure, ease of operations and low-cost hardware components. Flight controller, embedded electronics component, represents the core part...... of the drone. It aims at performing the main operations of the drone (e.g., autonomous control and navigation). There are various types of flight controllers and each of them has its own characteristics and features. This paper presents an extensive survey on the publicly available open-source flight...

  20. Spectrometer control subsystem with high level functionality for use at the National Synchrotron Light Source

    International Nuclear Information System (INIS)

    Alberi, J.L.; Stubblefield, F.W.

    1980-11-01

    We have developed a subsystem capable of controlling stepping motors in a wide variety of vuv and x-ray spectrometers to be used at the National Sychrotron Light Source. The subsystem is capable of controlling up to 15 motors with encoder readback and ramped acceleration/deceleration. Both absolute and incremental encoders may be used in any mixture. Function commands to the subsystem are communicated via ASCII characters over an asynchronous serial link in a well-defined protocol in decipherable English. Thus the unit can be controlled via write statements in a high-level language. Details of hardware implementation will be presented