WorldWideScience

Sample records for svoistv osnovnykh tipov

  1. Tip-over Prevention: Adaptive Control Development

    Science.gov (United States)

    2015-05-30

    and tested on an iRobot Packbot and a Segway RMP 440. Experimental results show that the controllers are able to stabilize the robot under a variety...VALIDATION The adaptive roll and pitch controllers, or advanced control, were implemented on both an iRobot Packbot and a Segway RMP 440, each equipped...measure. Threshold for tip-over warning set to 0.38. 1) Segway RMP 440: Figure 5 demonstrates the advanced control active on the Segway RMP440. The

  2. Tip-over Prevention Through Heuristic Reactive Behaviors for Unmanned Ground Vehicles

    Science.gov (United States)

    2014-05-01

    Figure 6, which displays an avatar , shown in Figure 7, that warns the user of a possible tip-over scenario and notifies the user when the reactive...Figure 7. Avatar display in MOCU: (right) stable, (left) warning tip-over 3.1 Tip-Over Detection Verification As described in Section 1, three... Online automatic tipover prevention for mobile manipulators,” in [Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and

  3. Real-World Validation of Three Tipover Algorithms for Mobile Robots

    Science.gov (United States)

    2010-05-01

    5] A. Ghaffari, A. Meghdari, D. Naderi, and S. Eslami, “Tipover stability enhancement of wheeled mobile manipulators using an adaptive neuro - fuzzy ...tipover avoidance system . I. INTRODUCTION A majority of mobile vehicles are concerned with avoiding tipover (also rollover or overturning), and there are...with SPAWAR Systems Center Pacific, San Diego, CA 92152, USA aaron.burmeister@navy.mil Fig. 1. A photograph of the modified PackBot Fido from iRobot

  4. Household furniture tip-over deaths of young children.

    Science.gov (United States)

    Wolf, Barbara C; Harding, Brett E

    2011-07-01

    The potential for the injury or death of a child resulting from the tip-over of a piece of household furniture or a domestic appliance has not been previously well recognized. We reviewed nine accidental deaths of young children that resulted from avoidable residential hazards and/or lapses in supervision of the children by their caregivers. The offending household items included televisions, bedroom dressers, a kitchen stove, and a lounge chair. The causes of death were mechanical asphyxia, blunt trauma, and combined blunt head trauma and asphyxia. All of the deaths could have been prevented by appropriate anchoring of the piece of furniture and/or closer supervision of the child. A thorough multidisciplinary investigation is essential in establishing the cause and manner of death in such cases and in identifying risk factors that may aid in the prevention of future childhood deaths. © 2011 American Academy of Forensic Sciences.

  5. Tip-over prevention through heuristic reactive behaviors for unmanned ground vehicles

    Science.gov (United States)

    Talke, Kurt; Kelley, Leah; Longhini, Patrick; Catron, Garret

    2014-06-01

    Skid-steer teleoperated robots are commonly used by military and civilian crews to perform high-risk, dangerous and critical tasks such as bomb disposal. Their missions are often performed in unstructured environments with irregular terrain, such as inside collapsed buildings or on rough terrain covered with a variety of media, such as sand, brush, mud, rocks and debris. During such missions, it is often impractical if not impossible to send another robot or a human operator to right a toppled robot. As a consequence, a robot tip-over event usually results in mission failure. To make matters more complicated, such robots are often equipped with heavy payloads that raise their centers of mass and hence increase their instability. Should the robot be equipped with a manipulator arm or flippers, it may have a way to self-right. The majority of manipulator arms are not designed for and are likely to be damaged during self-righting procedures, however, which typically have a low success rate. Furthermore, those robots not equipped with manipulator arms or flippers have no self-righting capabilities. Additionally, due to the on-board camera frame of reference, the video feed may cause the robot to appear to be on at level ground, when it actually may be on a slope nearing tip-over. Finally, robot operators are often so focused on the mission at hand they are oblivious to their surroundings, similar to a kid playing a video game. While this may not be an issue in the living room, it is not a good scenario to experience on the battlefield. Our research seeks to remove tip-over monitoring from the already large list of tasks an operator must perform. An autonomous tip-over prevention behavior for a mobile robot with a static payload has been developed, implemented and experimentally validated on two different teleoperated robotic platforms. Suitable for use with both teleoperated and autonomous robots, the prevention behavior uses the force-angle stability measure

  6. Injuries From furniture tip-overs among children and adolescents in the United States, 1990-2007.

    Science.gov (United States)

    Gottesman, Bethany L; McKenzie, Lara B; Conner, Kristen A; Smith, Gary A

    2009-10-01

    To describe the epidemiology of pediatric injuries associated with furniture tip-overs in the United States. Data from the National Electronic Injury Surveillance System were analyzed for patients furniture tip-over-related injury from 1990 through 2007. An estimated 264 200 furniture tip-over-related injuries occurred during the study period, yielding an average of 14 700 injuries annually, or 20.7 per 100 000 population per year. There was a significant increase in the number and rate of these injuries during the 18-year period. Three-quarters of injuries were to children furniture tip-overs are increasing. Pediatricians and caregivers should be aware of this important source of pediatric injury and the strategies for prevention.

  7. The Outcome and Patterns of Traumatic Brain Injury in the Paediatric Population of a Developing Country Secondary to TV Trolley Tip-Over.

    Science.gov (United States)

    Waqas, Muhammad; Javed, Gohar; Nathani, Karim Rizwan; Ujjan, Badar; Quadri, Syed A; Tahir, Muhammad Zubair

    2018-01-01

    Television (TV) trolley tip-over incidences are common and can cause significant morbidity and mortality in children. This study was aimed at analyzing the pattern and outcomes of head injuries resulting from TV trolley tip-over. We conducted a medical chart review of children with TV trolley tip-over head injuries from January 2009 to April 2016. We collected data on demographics, the mechanism of injury, clinical and radiological features of the injury, and outcomes. Outcomes were measured by means of the Glasgow Outcome Scale (GOS) at 6 months (except in 1 case). A descriptive analysis was carried out using SPSS v19. Twenty-two children were included in the study (median age 23.5 months). Sixteen children were male. Most of the children (n = 16) were aged 12-35 months. The median Glasgow Coma Scale score on admission was 15. The median Rotterdam Score for the patients was 2.0. Common symptoms upon admission were vomiting, irritability, scalp laceration, and bruises. Median length of hospital stay was 3 days. Skull bone fractures were present in 12 children. Other CT findings included contusions, extradural and subdural haematomas, intraventricular haemorrhage, and pneumocranium. Surgical intervention was required in 4 cases. Although most of the patients made a good recovery (GOS = 5), 1 patient developed a mild disability and another died in hospital. TV trolley tip-over is most common in toddlers and can lead to significant head injury and mortality. This can be avoided by parental supervision and adjustments in the household. © 2017 S. Karger AG, Basel.

  8. Tipping Point

    Medline Plus

    Full Text Available ... fall furniture head injury product safety television tipover tv Watch the video in Adobe Flash format. Almost ... accidents involving young children and furniture, appliance and tv tip-overs. The force of a large television ...

  9. Tipping Point

    Medline Plus

    Full Text Available ... appliance child Childproofing CPSC danger death electrical fall furniture head injury product safety television tipover tv Watch ... reports about horrible accidents involving young children and furniture, appliance and tv tip-overs. The force of ...

  10. Tipping Point

    Medline Plus

    Full Text Available ... death electrical fall furniture head injury product safety television tipover tv Watch the video in Adobe Flash ... tv tip-overs. The force of a large television falling from tipping furniture can be staggering. A ...

  11. Tipping Point

    Medline Plus

    Full Text Available ... CPSC danger death electrical fall furniture head injury product safety television tipover tv Watch the video in ... to prevent a tip-over tragedy. Share Post Facebook Twitter Google Plus Reddit Connect with Me:  Visit ...

  12. Infektsionnyy endokardit: etiologiya, patogenez, klinicheskaya kartina (chast' I

    Directory of Open Access Journals (Sweden)

    B S Belov

    2008-01-01

    Full Text Available Dannaya publikatsiya - pervaya iz serii statey, v kotoroy predstavleny sovremennye vozzreniya na infektsionnyy endokardit (IE. Podrobno izlozheny etiologiya, patogenez IE s ukazaniem osnovnykh faktorov riska. Detal'no predstavlena klinicheskaya kartina IE: simptomy, dannye laboratornykh i instrumental'nykh metodov issledovaniya.

  13. Tipping Point

    Medline Plus

    Full Text Available ... Point by CPSC Blogger September 22, 2009 appliance child Childproofing CPSC danger death electrical fall furniture head ... see news reports about horrible accidents involving young children and furniture, appliance and tv tip-overs. The ...

  14. Tipping Point

    Medline Plus

    Full Text Available ... and furniture, appliance and tv tip-overs. The force of a large television falling from tipping furniture ... 50 lb. TV falls with about the same force as child falling from the third story of ...

  15. Home Safety

    Science.gov (United States)

    ... Furniture Tip-Overs filter Water and Drowning Apply Water and Drowning filter Space and Place: (-) Remove Home filter Home Car and Road Apply Car and Road filter Sports and Play Apply Sports and Play filter Type: Activities for ...

  16. Tipping Point

    Medline Plus

    Full Text Available ... 16,000 (mostly young children) were treated in emergency rooms for tip-over related injuries in 2006, ... unaware of the deadly danger of this hidden hazard. Parents should include securing TVs, furniture, and appliances ...

  17. Tipping Point

    Medline Plus

    Full Text Available ... Childproofing CPSC danger death electrical fall furniture head injury product safety television tipover tv Watch the video ... impact can kill a child or cause severe injuries. About 16,000 (mostly young children) were treated ...

  18. Tipping Point

    Medline Plus

    Full Text Available ... 22, 2009 appliance child Childproofing CPSC danger death electrical fall furniture head injury product safety television tipover ... about four times more injuries than from exposed electrical outlets. Unfortunately, many parents are unaware of the ...

  19. Aerial lift fall injuries: a surveillance and evaluation approach for targeting prevention activities.

    Science.gov (United States)

    Pan, Christopher S; Hoskin, Alan; McCann, Michael; Lin, Mei-Li; Fearn, Kevin; Keane, Paul

    2007-01-01

    Work on aerial lift platforms exposes workers to fall hazards. The objective of this study was to identify the most common injury scenarios and determine current research gaps for addressing fall incidents associated with aerial lifts. Three databases were searched: Census of Fatal Occupational Injuries (CFOI), NIOSH Fatality Assessment and Control Evaluation (FACE) reports, and OSHA Incident Investigation Records. The majority of falls/collapses/tipovers were within the height-category of 10-29 feet. Tipovers comprised 44-46% of boom-lift falls and 56-59% of scissor-lift falls. Constructing and repairing activities were most commonly associated with fall/collapse/tipover incidents. CFOI and OSHA/FACE show convergent data, suggesting similar scenarios for aerial lift tipovers. The analysis provides the aerial lift industry information to prioritize their efforts on aerial lift design.

  20. Tipping Point

    Medline Plus

    Full Text Available ... 24 hours a day. For young children whose home is a playground, it’s the best way to prevent a tip-over tragedy. Share Post Facebook Twitter ... Security, and Legal Notice | Accessibility Policy | Open Government @ CPSC | ...

  1. Tipping Point

    Medline Plus

    Full Text Available ... 24 hours a day. For young children whose home is a playground, it’s the best way to prevent a tip-over tragedy. Share Post Facebook Twitter Google Plus Reddit Connect with Me:  Visit other Web ...

  2. Tipping Point

    Medline Plus

    Full Text Available ... en español Blog About OnSafety CPSC Stands for Safety The Tipping Point Home > 60 Seconds of Safety (Videos) > The Tipping Point The Tipping Point by ... danger death electrical fall furniture head injury product safety television tipover tv Watch the video in Adobe ...

  3. Gravitacijski separatori plin/kapljevina. Dio III.

    Directory of Open Access Journals (Sweden)

    Eduard Beer

    2016-07-01

    Full Text Available Različiti postupci dimenzioniranja mogu se naći u literaturi. Više ih je za standardne tipove separatora. Za specifične izvedbe nema ih mnogo, obično su to postupci u kojima ima mnogo iskustvenih podataka i koje primjenjuju projektne organizacije, koje ih ne objavljuju. Ovdje su dani postupci za osam osnovnih tipova separatora: dva za dvofazne separatore i šest za trofazne. Postupci su dani s primjerima radi lakšeg razumijevanja postupka.

  4. VODENJE GOSTINSKIH OBRATOV

    OpenAIRE

    Plohl, Gregor

    2012-01-01

    V diplomskem delu sem primerjal razlike pri vodenju različnih tipov obratov, kot so domača gostilna, italijanska restavracija in restavracija. Raziskoval sem, ali je vodenje v obratih, katere ciljna skupina so premožnejši odjemalci, bolj specializirano. Na izbranem vzorcu gostinskih obratov sem dokazal, da prihaja do razlik. Vodenje poteka na maksimalno dveh nivojih (vrhovni menedžment podjetja in vodja kuhinje oziroma strežbe), razlike pa se seveda pojavljajo tudi v obratih, kjer imajo na vi...

  5. Forklift safety a practical guide to preventing powered industrial truck incidents and injuries

    CERN Document Server

    Swartz, George

    1999-01-01

    Written for the more than 1.5 million powered industrial truck operators and supervisors in general industry, as well as those in the construction and marine industries, this Second Edition provides an updated guide to training operators in safety and complying with OSHA's 1999 forklift standard. This edition of Forklift Safety includes a new chapter devoted to the new OSHA 1910.178 standard and new information regarding dock safety, narrow aisle trucks, off-dock incidents, tip-over safety, pallet safety, and carbon monoxide.

  6. Structural Sensitivity of Dry Storage Canisters

    Energy Technology Data Exchange (ETDEWEB)

    Klymyshyn, Nicholas A.; Karri, Naveen K.; Adkins, Harold E.; Hanson, Brady D.

    2013-09-27

    This LS-DYNA modeling study evaluated a generic used nuclear fuel vertical dry storage cask system under tip-over, handling drop, and seismic load cases to determine the sensitivity of the canister containment boundary to these loads. The goal was to quantify the expected failure margins to gain insight into what material changes over the extended long-term storage lifetime could have the most influence on the security of the containment boundary. It was determined that the tip-over case offers a strong challenge to the containment boundary, and identifies one significant material knowledge gap, the behavior of welded stainless steel joints under high-strain-rate conditions. High strain rates are expected to increase the material’s effective yield strength and ultimate strength, and may decrease its ductility. Determining and accounting for this behavior could potentially reverse the model prediction of a containment boundary failure at the canister lid weld. It must be emphasized that this predicted containment failure is an artifact of the generic system modeled. Vendor specific designs analyze for cask tip-over and these analyses are reviewed and approved by the Nuclear Regulatory Commission. Another location of sensitivity of the containment boundary is the weld between the base plate and the canister shell. Peak stresses at this location predict plastic strains through the whole thickness of the welded material. This makes the base plate weld an important location for material study. This location is also susceptible to high strain rates, and accurately accounting for the material behavior under these conditions could have a significant effect on the predicted performance of the containment boundary. The handling drop case was largely benign to the containment boundary, with just localized plastic strains predicted on the outer surfaces of wall sections. It would take unusual changes in the handling drop scenario to harm the containment boundary, such as

  7. Intense Laser - Electron Beam Interactions

    Energy Technology Data Exchange (ETDEWEB)

    Cowan, T.; Ditmire, T.; LeSage, G.

    2000-02-25

    Applicants seeking a Certificate of Compliance for an Independent Spent Fuel Storage Installation (ISFSI) cask must evaluate the consequences of a handling accident resulting in a drop or tip-over of the cask onto a concrete storage pad. As a result, analytical modeling approaches that might be used to evaluate the impact of cylindrical containers onto concrete pads are needed. One such approach, described and benchmarked in NUREG/CR-6608,{sup 1} consists of a dynamic finite element analysis using a concrete material model available in DYNA3D{sup 2} and in LS-DYNA,{sup 3} together with a method for post-processing the analysis results to calculate the deceleration of a solid steel billet when subjected to a drop or tip-over onto a concrete storage pad. The analysis approach described in NUREG/CR-6608 gives a good correlation of analysis and test results. The material model used for the concrete in the analyses in NUREG/CR-6608 is, however, somewhat troublesome to use, requiring a number of material constants which are difficult to obtain. Because of this a simpler approach, which adequately evaluates the impact of cylindrical containers onto concrete pads, is sought. Since finite element modeling of metals, and in particular carbon and stainless steel, is routinely and accurately accomplished with a number of finite element codes, the current task involves a literature search for and a discussion of available concrete models used in finite element codes. The goal is to find a balance between a concrete material model with a limited number of required material parameters which are readily obtainable, and a more complex model which is capable of accurately representing the complex behavior of the concrete storage pad under impact conditions. The purpose of this effort is to find the simplest possible way to analytically represent the storage cask deceleration during a cask tip-over or a cask drop onto a concrete storage pad. This report is divided into three sections

  8. Discussion of Available Methods to Support Reviews of Spent Fuel Storage Installation Cask Drop Evaluations

    Energy Technology Data Exchange (ETDEWEB)

    Witte, M.

    2000-03-28

    Applicants seeking a Certificate of Compliance for an Independent Spent Fuel Storage Installation (ISFSI) cask must evaluate the consequences of a handling accident resulting in a drop or tip-over of the cask onto a concrete storage pad. As a result, analytical modeling approaches that might be used to evaluate the impact of cylindrical containers onto concrete pads are needed. One such approach, described and benchmarked in NUREG/CR-6608,{sup 1} consists of a dynamic finite element analysis using a concrete material model available in DYNA3D{sup 2} and in LS-DYNA,{sup 3} together with a method for post-processing the analysis results to calculate the deceleration of a solid steel billet when subjected to a drop or tip-over onto a concrete storage pad. The analysis approach described in NUREG/CR-6608 gives a good correlation of analysis and test results. The material model used for the concrete in the analyses in NUREG/CR-6608 is, however, somewhat troublesome to use, requiring a number of material constants which are difficult to obtain. Because of this a simpler approach, which adequately evaluates the impact of cylindrical containers onto concrete pads, is sought. Since finite element modeling of metals, and in particular carbon and stainless steel, is routinely and accurately accomplished with a number of finite element codes, the current task involves a literature search for and a discussion of available concrete models used in finite element codes. The goal is to find a balance between a concrete material model with a limited number of required material parameters which are readily obtainable, and a more complex model which is capable of accurately representing the complex behavior of the concrete storage pad under impact conditions. The purpose of this effort is to find the simplest possible way to analytically represent the storage cask deceleration during a cask tip-over or a cask drop onto a concrete storage pad. This report is divided into three sections

  9. Flora and Vegetation of the Island of Kalamos (Ionian Sea, Greece – Floristic Analysis and Phytogeographical Aspects

    Directory of Open Access Journals (Sweden)

    Baliousis Evagelos

    2015-12-01

    Full Text Available Na otoku Kalamos smo s floristično raziskavo odkrili 275 novih taksonov na nivoju vrste in nižje ob do sedaj že poznanih 502 taksonih. Za vsak novo odkrit takson predstavljamo lokalno razširjenost in habitatni tip. Taksona Convolvulus pentapetaloides in Malcolmia graeca subsp. hydraea smo na ionskih otokih našli prvič. Nekatere nove najdbe so redki taksoni ali lokalni endemiti, kot so Alkanna corcyrensis, Stachys ionica, Heptaptera colladonioides in so horološko pomembni. Podali smo tudi kratek opis nekaterih vegetacijskih tipov otoka. Rezultati floristične analize in fitogeografskih vidikov kažejo izrazito mediteranski značaj preučevanega rastlinstva.

  10. Deaths in construction related to personnel lifts, 1992-1999.

    Science.gov (United States)

    McCann, Michael

    2003-01-01

    This study examined deaths of construction workers due to personnel lifts (boom-supported and scissor lifts, suspended scaffolds, and crane platforms). Deaths of construction workers for 1992-1999 were examined using data from the Census of Fatal Occupational Injuries, a Bureau of Labor Statistics database. The study identified 339 deaths: 42% from boom-supported lifts; 26% from suspended scaffolds; 19% from scissor lifts; 5% from crane platforms; and 7% from unapproved lifts (e.g., forklift platforms). The main causes of death were falls (36%), collapses/tipovers (29%), and electrocutions (21%). Recommendations include: following OSHA regulations, wearing personal fall protection equipment, adequate maintenance, inspection before use, and training on the model of lift used. Precautions are also needed to prevent contact with overhead power lines. The increasing popularity of boom-supported lifts and scissor lifts, both in construction and other industries, make their safety an important issue.

  11. Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

    Directory of Open Access Journals (Sweden)

    Jesús M. García

    2017-04-01

    Full Text Available Resumen: Este artículo tiene por objetivo describir a Lázaro, el cual es un pequeño robot móvil que posee un brazo diseñado especialmente para propiciar un punto adicional de contacto con el suelo que puede utilizarse para mejorar la estabilidad al vuelco y superar obstáculos. Específicamente, se aborda la descripción de la estructura mecánica así como los componentes electrónicos destinados a percepción, comunicación y control. Posteriormente, se revisan las características de funcionamiento de este robot, en cuanto a su cinemática, arquitectura de control, modos de operación e interface. Finalmente, se hace una descripción de algunas pruebas de funcionamiento. Abstract: This paper aims to describe Lázaro, which is a small mobile robot that has an arm designed especially to provide an additional contact point with the ground that can be used to improve the tipover stability and to overcome obstacles. Specifically, the description of the mechanical structure and electronic components for perception, communication and control is discussed. Subsequently, the operating characteristics of the robot are reviewed in terms of kinematics, control architecture, operating modes and interface. Finally, a description of some performance tests is presented. Palabras clave: Robots móviles, estabilidad al vuelco, control de movimiento, tele-operación, Keywords: Mobile robots, tipover stability, motion control, teleoperation

  12. Narečie postepeno kak leksičeskij kvantifikator

    Directory of Open Access Journals (Sweden)

    Ristić Stana

    2008-01-01

    Full Text Available (ruski V rabote na osnove analiza primerov upotreblenija narečija postepeno vyjavljajutsja ego obščie harakteristiki i opredeljajutsja grammatičesko-semantičeskie uslovija realizacii ego značenija i funkcii. Narečie postepeno otneseno k polnost'ju pragmatičeskim kvantifikatoram partitivno-distributivnogo tipa, pri ëtom ego partitivnost' organizovana v sootvetstvii s kriteriem vremennój linearnosti. Svojstva partitivnosti distributivnosti i sukcessivnosti, vyražennye u narečija postepeno predstavljajut soboj ingerentnuju harakteristiku složnoj situacii, kotoraja zapolnjaet semantičeskuju valentnost' dannogo odnomestnogo predikata. Rasčlenennost' složnoj situacii, kak neobhodimoe uslovie upotreblenija dannogo narečija, možet byt' realizovana v vide predikativnogo soderžanija i / ili v vide soderžanija argumentov predikata. Vozmožnost' zapolnenija semantičeskoj i sintaksičeskoj valentnosti predikata i / ili semantičeskoj valentnosti ego argumentov osuščestvljaetsja na osnove semantičeskih pravil dvuh tipov, kotorymi opredeljaetsja sfera dejstvija netrivial'nyh značenij narečija postepeno i ego grammatičesko-semantičeskaja sočetaemost'. Različnye grammatičesko-semantičeskie uslovija realizacii ego značenija i funkcii vyjavlennye v rabote, predstavleny v prilagaemoj tablice kak varianty osnovnyh tipov, obuslovlennyh obščimi grammatičeskimi imennymi i glagol'nymi kategorijami, takimi, kak množestvennost' / sobiratel'nost', edinstvennoe čislo i nesoveršennyj vid, soveršennyj vid.

  13. Biodynamics model for operator head injury in stand-up lift trucks.

    Science.gov (United States)

    Zoghi-Moghadam, Mohamad; Sadegh, Ali; Watkins, Charles B; Dunlap, Dan

    2008-08-01

    Biodynamics and injury potential of operators in stand-up rider lift truck accidents have been investigated with a special focus on head injury. An anthropomorphic test device (ATD) model was used as an operator surrogate in computer simulations of off-the-dock (OTD) and tip-over (TO) accidents. The biomechanical model representing the ATD was developed based on rigid body segments, and then combined with a rigid body truck model in the accident simulations. The operator compartment of the truck model was enclosed with a rear door. The computed kinematics are in agreement with the results of previous experimental testing. A 2D finite element model of the head was created to compute head impact decelerations in the sagittal plane. Values of the head injury criterion for the TO cases were computed from the model and shown to compare favourably with experimental values. The results advance the state of knowledge concerning injury potential in TO and OTD accidents and simulation models for such accidents.

  14. Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device.

    Science.gov (United States)

    Wang, Hongwu; Tsai, Chung-Ying; Jeannis, Hervens; Chung, Cheng-Shiu; Kelleher, Annmarie; Grindle, Garrett G; Cooper, Rory A

    2014-01-01

    The ability of people with disabilities to live in their homes and communities with maximal independence often hinges, at least in part, on their ability to transfer or be transferred by an assistant. Because of limited resources and the expense of personal care, robotic transfer assistance devices will likely be in great demand. An easy-to-use system for assisting with transfers, attachable to electrical powered wheelchairs (EPWs) and readily transportable, could have a significant positive effect on the quality of life of people with disabilities. We investigated the stability of our newly developed Strong Arm, which is attached and integrated with an EPW to assist with transfers. The stability of the system was analyzed and verified by experiments applying different loads and using different system configurations. The model predicted the distributions of the system's center of mass very well compared with the experimental results. When real transfers were conducted with 50 and 75 kg loads and an 83.25 kg dummy, the current Strong Arm could transfer all weights safely without tip-over. Our modeling accurately predicts the stability of the system and is suitable for developing better control algorithms to enhance the safety of the device.

  15. Bacterial Diseases of Bananas and Enset: Current State of Knowledge and Integrated Approaches Toward Sustainable Management

    Directory of Open Access Journals (Sweden)

    Guy Blomme

    2017-07-01

    Full Text Available Bacterial diseases of bananas and enset have not received, until recently, an equal amount of attention compared to other major threats to banana production such as the fungal diseases black leaf streak (Mycosphaerella fijiensis and Fusarium wilt (Fusarium oxysporum f. sp. cubense. However, bacteria cause significant impacts on bananas globally and management practices are not always well known or adopted by farmers. Bacterial diseases in bananas and enset can be divided into three groups: (1 Ralstonia-associated diseases (Moko/Bugtok disease caused by Ralstonia solanacearum and banana blood disease caused by R. syzygii subsp. celebesensis; (2 Xanthomonas wilt of banana and enset, caused by Xanthomonas campestris pv. musacearum and (3 Erwinia-associated diseases (bacterial head rot or tip-over disease Erwinia carotovora ssp. carotovora and E. chrysanthemi, bacterial rhizome and pseudostem wet rot (Dickeya paradisiaca formerly E. chrysanthemi pv. paradisiaca. Other bacterial diseases of less widespread importance include: bacterial wilt of abaca, Javanese vascular wilt and bacterial fingertip rot (probably caused by Ralstonia spp., unconfirmed. This review describes global distribution, symptoms, pathogenic diversity, epidemiology and the state of the art for sustainable disease management of the major bacterial wilts currently affecting banana and enset.

  16. Bacterial Diseases of Bananas and Enset: Current State of Knowledge and Integrated Approaches Toward Sustainable Management.

    Science.gov (United States)

    Blomme, Guy; Dita, Miguel; Jacobsen, Kim Sarah; Pérez Vicente, Luis; Molina, Agustin; Ocimati, Walter; Poussier, Stephane; Prior, Philippe

    2017-01-01

    Bacterial diseases of bananas and enset have not received, until recently, an equal amount of attention compared to other major threats to banana production such as the fungal diseases black leaf streak (Mycosphaerella fijiensis) and Fusarium wilt (Fusarium oxysporum f. sp. cubense). However, bacteria cause significant impacts on bananas globally and management practices are not always well known or adopted by farmers. Bacterial diseases in bananas and enset can be divided into three groups: (1) Ralstonia-associated diseases (Moko/Bugtok disease caused by Ralstonia solanacearum and banana blood disease caused by R. syzygii subsp. celebesensis); (2) Xanthomonas wilt of banana and enset, caused by Xanthomonas campestris pv. musacearum and (3) Erwinia-associated diseases (bacterial head rot or tip-over disease Erwinia carotovora ssp. carotovora and E. chrysanthemi), bacterial rhizome and pseudostem wet rot (Dickeya paradisiaca formerly E. chrysanthemi pv. paradisiaca). Other bacterial diseases of less widespread importance include: bacterial wilt of abaca, Javanese vascular wilt and bacterial fingertip rot (probably caused by Ralstonia spp., unconfirmed). This review describes global distribution, symptoms, pathogenic diversity, epidemiology and the state of the art for sustainable disease management of the major bacterial wilts currently affecting banana and enset.

  17. Analysis of recreational off-road vehicle accidents resulting in spinal cord injury.

    Science.gov (United States)

    Maynard, F M; Krasnick, R

    1988-01-01

    Twelve cases of spinal cord injury (SCI) resulting from recreational off-road vehicle (ORV) accidents seen during a three-year period at a spinal cord injury center were analyzed using structured interviews and record reviews. Seven accidents involved three-wheel all-terrain vehicles (ATVs), one involved a four-wheel ATV, and four involved two-wheel trailbikes. The analysis of accident victim characteristics showed that all age groups are at risk, and that most victims were young adult men vehicle drivers with experience and wearing helmets. Spinal injury levels were cervical, three; thoracic, three; and thoracolumbar, six. Categorized accident hazard patterns were loss of control, six; tipover, four; and hidden obstacle, two. Contributing causative factors to the accident occurrence were poor driver judgment, seven, and vehicle instability, eight. Speeding was the most frequent primary cause of ORV accidents. We discuss vehicle and driver performance characteristics as they relate to risk of accident occurrence. The frequency of ORV accidents as an etiology of traumatic SCI at our center was 8%, compared to 8% for diving accidents and 11% for motorcycle accidents. We recommend, in view of the high risk of severe injury, widespread public education about ORV accident prevention.

  18. Naval Waste Package Design Sensitivity

    Energy Technology Data Exchange (ETDEWEB)

    T. Schmitt

    2006-12-13

    The purpose of this calculation is to determine the sensitivity of the structural response of the Naval waste packages to varying inner cavity dimensions when subjected to a comer drop and tip-over from elevated surface. This calculation will also determine the sensitivity of the structural response of the Naval waste packages to the upper bound of the naval canister masses. The scope of this document is limited to reporting the calculation results in terms of through-wall stress intensities in the outer corrosion barrier. This calculation is intended for use in support of the preliminary design activities for the license application design of the Naval waste package. It examines the effects of small changes between the naval canister and the inner vessel, and in these dimensions, the Naval Long waste package and Naval Short waste package are similar. Therefore, only the Naval Long waste package is used in this calculation and is based on the proposed potential designs presented by the drawings and sketches in References 2.1.10 to 2.1.17 and 2.1.20. All conclusions are valid for both the Naval Long and Naval Short waste packages.

  19. The Effect of Terrain Inclination on Performance and the Stability Region of Two-Wheeled Mobile Robots

    Directory of Open Access Journals (Sweden)

    Zareena Kausar

    2012-11-01

    Full Text Available Two-wheeled mobile robots (TWMRs have a capability of avoiding the tip-over problem on inclined terrain by adjusting the centre of mass position of the robot body. The effects of terrain inclination on the robot performance are studied to exploit this capability. Prior to the real-time implementation of position control, an estimation of the stability region of the TWMR is essential for safe operation. A numerical method to estimate the stability region is applied and the effects of inclined surfaces on the performance and stability region of the robot are investigated. The dynamics of a TWMR is modelled on a general uneven terrain and reduced for cases of inclined and horizontal flat terrain. A full state feedback (FSFB controller is designed based on optimal gains with speed tracking on a horizontal flat terrain. The performance and stability regions are simulated for the robot on a horizontal flat and inclined terrain with the same controller. The results endorse a variation in equilibrium points and a reduction in stability region for robot motion on inclined terrain.

  20. Bacterial Diseases of Bananas and Enset: Current State of Knowledge and Integrated Approaches Toward Sustainable Management

    Science.gov (United States)

    Blomme, Guy; Dita, Miguel; Jacobsen, Kim Sarah; Pérez Vicente, Luis; Molina, Agustin; Ocimati, Walter; Poussier, Stephane; Prior, Philippe

    2017-01-01

    Bacterial diseases of bananas and enset have not received, until recently, an equal amount of attention compared to other major threats to banana production such as the fungal diseases black leaf streak (Mycosphaerella fijiensis) and Fusarium wilt (Fusarium oxysporum f. sp. cubense). However, bacteria cause significant impacts on bananas globally and management practices are not always well known or adopted by farmers. Bacterial diseases in bananas and enset can be divided into three groups: (1) Ralstonia-associated diseases (Moko/Bugtok disease caused by Ralstonia solanacearum and banana blood disease caused by R. syzygii subsp. celebesensis); (2) Xanthomonas wilt of banana and enset, caused by Xanthomonas campestris pv. musacearum and (3) Erwinia-associated diseases (bacterial head rot or tip-over disease Erwinia carotovora ssp. carotovora and E. chrysanthemi), bacterial rhizome and pseudostem wet rot (Dickeya paradisiaca formerly E. chrysanthemi pv. paradisiaca). Other bacterial diseases of less widespread importance include: bacterial wilt of abaca, Javanese vascular wilt and bacterial fingertip rot (probably caused by Ralstonia spp., unconfirmed). This review describes global distribution, symptoms, pathogenic diversity, epidemiology and the state of the art for sustainable disease management of the major bacterial wilts currently affecting banana and enset. PMID:28785275

  1. Balance Analysis of the Mobile Anthropomimetic Robot Under Disturbances – ZMP Approach

    Directory of Open Access Journals (Sweden)

    Vesna Antoska

    2013-04-01

    Full Text Available Throughout the history of technological progress, attempts have been made to build a machine that looks and behaves like humans. This paper presents a semi-anthropomimetic robot. The robot structure consists of a human-like upper body mounted on a mobile platform (mobile base, cart. The robot uses the three-wheeled mobile platform with two driving wheels and one passive (caster wheel. The configuration and model of the upper body are represented as an anthropomimetic, compliant robot with antagonistically coupled drives. Robust control is evaluated in order to ensure stability of the robot position. The aim of this work is not the synthesis of control, but rather the examination of the limits of the adopted robot control strategy and the robot behaviour under disturbances (analysis of tip-over stability. The paper analyses both disturbances from the cart motion and external disturbances due to interaction with the environment (external impulse and long term external force. In order to analyse the balance of the robot and to avoid tipping over, different situations are tested and the appropriate dimensions of the cart are estimated (relying on the ZMP calculation.

  2. Injuries Associated With Strollers and Carriers Among Children in the United States, 1990 to 2010.

    Science.gov (United States)

    Fowler, Erica; Kobe, Christopher; Roberts, Kristin J; Collins, Christy L; McKenzie, Lara B

    To describe the incidence, rate, and characteristics of injuries associated with strollers and carriers among young children in the United States. A retrospective analysis was conducted using data from the National Electronic Injury Surveillance System for children 5 years of age and younger treated in emergency departments (1990-2010), who sustained an injury associated with a stroller or carrier. An estimated 360,937 (95% confidence interval: 294,279-427,594) children aged 5 years or younger were treated in emergency departments for stroller- or carrier-related injuries, an average of 17,187 annually. Overall, the rate of stroller- and carrier-related injuries decreased significantly during the study period. Regarding stroller-related injuries, patients were most commonly male (52.4%) and younger than 1 year of age (42.0%); the head (43.0%) and face (31.0%) were most commonly injured. The most common diagnoses were soft tissue injuries (39.4%) and traumatic brain injuries/concussions (24.6%). Similarly, for carrier-related injuries, patients were most commonly male (52.5%) and younger than 1 year of age (89.0%); the head (61.5%) and face (24.7%) were most commonly injured. The most common diagnoses were soft tissue injuries (48.1%) and traumatic brain injuries/concussions (34.9%). Carrier-related injuries resulted in more hospitalizations (6.5%) than stroller-related injuries (2.4%). Stroller- and carrier-related injuries, specifically those resulting from falls from the product or tip-overs, are important sources of injury for children 5 years of age and younger. Although injuries over the 21-year study period decreased overall, the considerable number of injuries annually shows the need to further reduce the potential for injury associated with these ubiquitous products. Copyright © 2016 Academic Pediatric Association. Published by Elsevier Inc. All rights reserved.

  3. Dynamic stability of forklift trucks in cornering situations: parametrical analysis using a driving simulator

    Science.gov (United States)

    Lemerle, P.; Höppner, O.; Rebelle, J.

    2011-10-01

    This paper describes the examination of the vehicle dynamics and stability of four-wheeled forklift trucks (FLTs) in cornering situations. Cornering at excessive speed is one major reason for fatal accidents with forklifts caused by lateral tipover. In order to increase the lateral stability of this kind of working machinery, the influence of certain important design properties has been studied using an appropriate vehicle simulation model and a driving simulator. The simulation model is based on a multi-body system approach and includes submodels for the propulsion system and the tyres. The driving behaviour of the operator has not been modelled. Instead, a driving simulator has been built up and a real human driver was employed for ensuring adequate and realistic model input. As there have not been any suitable standardised test manoeuvres available for FLTs, a new driving test has been developed to assess the lateral stability. This test resembles the well-known J turn/Fishhook turn, but includes a more dynamic counter-steering action. Furthermore, the dimensions of the test track are defined. Therefore, the test is better adapted to the driving dynamics of forklifts and reflects the real driver behaviour more closely. Finally, a parametrical study has been performed, examining the influence of certain important technical properties of the truck such as the maximum speed, the position of centre of gravity, rear axle design features and tyre properties. The results of this study may lead to a better understanding of the vehicle dynamics of forklifts and facilitate goal-oriented design improvements.

  4. Določitev območij poselitve v Sloveniji po vodnogospodarskih vidikih

    Directory of Open Access Journals (Sweden)

    Leon Gosar

    2004-01-01

    Full Text Available Uveljavitev pravnega reda Evropske unije prinaša obsežno strokovno delo tudi v vodno gospodarstvo. Na vodilno, Okvirno direktivo o vodah (WFD se navezujejo številne druge. Izpolnjevanje določil Direktive o ravnanju z odpadnimi komunalnimi vodami (UWWTD in Direktive o celovitem preprečevanju in omejevanju onesnaževanja (IPPCD bo tudi v Sloveniji zahtevalo znatne investicije. Področje komunalnih voda na operativni ravni ureja občina, država pa mora izpolnjevati prevzete državne obveznosti do EU. Pravočasno doseganje ciljev zahteva koordinacijo aktivnosti, temelječo na strokovnih podlagah. V UWWTD je eden osnovnih parametrov aglomeracija kot zaokroženo območje tako zgoščene poselitve, da zanj veljajo posebna določila in dinamika iz direktive. Merilo zgoščenosti je število prebivalcev na hektar. Za Slovenijo so bili izdelani najprimernejša mreža eno-hektarskih kvadratnih celic in trije tipi celic poselitve. Območje posamezne aglomeracije sestavljajo celice dveh najgostejših tipov poselitve, ki se stikajo. Površina aglomeracij je mnogo manjša od površine naselij iz RPE, zato so skupne slovenske obveznosti iz direktiv manjše, kar pokaže tudi strokovna podlaga za nacionalni program zbiranja in čiščenja odpadnih komunalnih in padavinskih voda. Izdelane aglomeracije so osnovni element načrtovanja in ukrepanja tudi za druga vodnogospodarska načrtovanja (npr. proti poplavni ukrepi, lahko pa si bi jih uporabilo tudi za programe komunalnega opremljanja in druga razvojna načrtovanja v prostoru.

  5. Mestne zelene površine kot izhodišče načrtovanja hidroenergetskih in urbanih ureditev: primer obsavskega prostora v Mestni občini Ljubljana

    Directory of Open Access Journals (Sweden)

    Aleš Mlakar

    2008-01-01

    Full Text Available Prispevek predstavlja krajinsko in urbanistično zasnovo obsavskega prostora in severnega bežigrajskega kraka v Ljubljani. Osredotočen je na predstavitev metodoloških in vsebinskih izhodišč priprave zasnove ter urejanja mestnih zelenih površin širšega območja obsavskega prostora, ki kot vezni člen ter hkrati samostojna prostorska in funkcionalna celota predstavljajo izhodišče načrtovanja hidroenergetskih in urbanih ureditev. Izpostavljena je nuja prepoznavanja in reševanja stvarnih prostorskonačrtovalnih problemov, oblikovanja jasnih ciljev in konceptov, soočanja različnih prostorskih sistemov in interesov ter smiselnost oblikovanja alternativnih razvojnih scenarijev. Eno najpomembnejših izhodišč predlagane zasnove je celovito oblikovanje javnega odprtega prostora in zelenih površin. Urbanistična rešitev temelji na programsko močni, prepoznavni in členjeni Dunajski cesti, ki se jo preoblikuje v javni prostor sodobne mestne vpadnice, z jasnim zaključkom in hkrati s postopnim, okoliški morfologiji prilagojenim iztekom v obsavski prostor. To območje ima zaradi naravnih značilnosti, ohranjene kulturne krajine in dobre dostopnosti velike možnosti za razvoj prostočasnih dejavnosti. Predlagana rešitev izhaja iz izhodišča, da verige hidroelektrarn ne gre jemati le kot objekta z negativnimi vplivi na okolje, temveč tudi kot razvojno priložnost – dejansko uresničitev rekreacijskega območja vzdolž Save in način sanacije degradacij v prostoru. Predlagane so celovite prostorske ureditve vzdolž obsavskega prostora, kot del hidroenergetskih ureditev, posebna pozornost pa je namenjena aktivnemu oblikovanju različnih tipov brežin.

  6. Ars saturae: misli o satiri in njenih obrazih. Uvodnik v tematski sklop „o satiri“

    Directory of Open Access Journals (Sweden)

    Nataša Golob

    2011-12-01

    Evropski in slovenski okvir – izkušnje niso tako vsaksebi, da ne bi prepoznali večnih in vesoljnih zakonov človekovega dejanja in nehanja. Vendar: ali se še kdaj spomnimo na Pudelbal Feliksa Antona Deva (1732–1786, kjer je prek pustnega, maškeradnega plesa na pahljačo vseh mogočih tipov prižebljal ljubljansko »purgarijo« v literarni ringaraja, tako da je začetno lahkotno šopirjenje izzvenelo v nelahkotni antitezi o sprenevedanju, večnem laganju in podobnih značajskih odličnostih. Obolos baročnemu času je jezikovno bogastvo, kopičenje satirično-parodičnih oznak, ki jih je Dev nalepil paradirajočim osebkom na odru, iz katerih dehti moralna sprijenost. To je satira o malih dušah. In še brezkončni izvir, namreč briljantno pletenje Ivana Cankarja in mnogoobraznih satiričnih motivov, v dobršni meri izvirajočih iz politične odvisnosti in narodno-zavedne neurejenosti, tako da je v resnici »kostanj posebne sorte«, ki so se mu v različnih tonalitetah pridružila najboljša peresa prve polovice 20. stoletja. Cankarjevo satiropisje je veljalo »zlasti farizeju, hlapcu, dogmatiku, renegatu,« pravi Franc Zadravec, »maske snema z vsakršnih duhovnih in moralnih spak nekdanjih in sedanjih časov.«7 Satirik je po definiciji svojega početja brezkompromisni opazovalec človekovih dejanj. Izhodišče za tematske prispevke v tej številki Ars et humanitas je dalo polju satire, satiričnega, satirikov itd. odprte poti. Kakršno koli je že naše vsakdanje delo, vsi smo se s temi temami srečavali v raznih konceptualnih in oblikovnih izrazih in pri razrešitvi vprašanja največkrat ni zadoščal pogled samo ene stroke. To povezovanje disciplin je temeljna lastnost te revije, ki goji načelo medkulturnih in interdisciplinarnih perspektiv, zato so bili prispevki dolžni spoštovati le nosilno besedo »satira«.

  7. Failure points in the PKI architecture / Точки отказа в PKI архитектуре / Tačke otkaza u PKI arhitekturi

    Directory of Open Access Journals (Sweden)

    Radomir I. Prodanović

    2017-07-01

    татьи, и так как речь идет о значительно сложных инфраструктурах, в данной работе представлен лишь общий обзор главных потенциальных точек отказа, без подробного объяснения характеристик по каждому отдельному виду внедрения архитектуры. В статье исследуются общие характеристики PKI архитектур, на основании которых трактуется значение возможных отказов и предлагаются мероприятия по предупреждению и преодолению данного рода проблемы. / Tokom poslednjih 20 godina PKI arhitektura našla je široku primenu, posebno u oblastima koje su zahtevale uspostavljanje sigurnosne infrastrukture. S obzirom na to da se koristi radi sigurnosti jasno je da je njen nesmetan rad jedan od osnovnix zahteva koji se postavlja pri njenoj implementaciji, a već samim uvidom u brojne tipove arhitektura i različite implementacije uviđa se njena kompleksnost. Zbog toga je razmatranje potencijalnih tačaka otkaza od velike važnosti. Kako se radi o vrlo složenim infrastrukturama, ovaj rad daće samo osnovni pregled tačaka koje mogu biti tačke otkaza, bez detalja koji su karakteristični za pojedine primene i tipove implementacija.Tražiće se zajedničke karakteristike PKI arhitektura i na njima objašnjavati značaj otkaza koji se mogu desiti, a tamo gde je moguće biće navedeni i predlozi za njihovo prevazilaženje.