Welding robot package; Arc yosetsu robot package

Energy Technology Data Exchange (ETDEWEB)

Nishikawa, S. [Yaskawa Electric Corp., Kitakyushu (Japan)

1998-09-01

For the conventional high-speed welding robot, the welding current was controlled mainly for reducing the spatters during short circuits and for stabilizing the beads by the periodic short circuits. However, an increase of deposition amount in response to the speed is required for the high-speed welding. Large-current low-spatter welding current region control was added. Units were integrated into a package by which the arc length is kept in short without dispersion of arc length for welding without defects such as undercut and unequal beads. In automobile industry, use of aluminum parts is extended for the light weight. The welding is very difficult, and automation is not so progressing in spite of the poor environment. Buckling of welding wire is easy to occur, and supply of wire is obstructed by the deposition of chipped powders on the torch cable, which stay within the contact chip resulting in the deposition. Dislocation of locus is easy to occur at the corner of rectangular pipe during the welding. By improving these troubles, an aluminum MIG welding robot package has been developed. 13 figs.

Algorithm of automatic generation of technology process and process relations of automotive wiring harnesses

Institute of Scientific and Technical Information of China (English)

XU Benzhu; ZHU Jiman; LIU Xiaoping

2012-01-01

Identifying each process and their constraint relations from the complex wiring harness drawings quickly and accurately is the basis for formulating process routes. According to the knowledge of automotive wiring harness and the characteristics of wiring harness components, we established the model of wiring harness graph. Then we research the algorithm of identifying technology processes automatically, finally we describe the relationships between processes by introducing the constraint matrix, which is in or- der to lay a good foundation for harness process planning and production scheduling.

Laser speckle velocimetry for robot manufacturing

Science.gov (United States)

Charrett, Thomas O. H.; Bandari, Yashwanth K.; Michel, Florent; Ding, Jialuo; Williams, Stewart W.; Tatam, Ralph P.

2017-06-01

A non-contact speckle correlation sensor for the measurement of robotic tool speed is presented for use in robotic manufacturing and is capable of measuring the in-plane relative velocities between a robot end-effector and the workpiece or other surface. The sensor performance was assessed in the laboratory with the sensor accuracies found to be better than 0:01 mm/s over a 70 mm/s velocity range. Finally an example of the sensors application to robotic manufacturing is presented where the sensor was applied to tool speed measurement for path planning in the wire and arc additive manufacturing process using a KUKA KR150 L110/2 industrial robot.

Research on the inspection robot for cable tunnel

Science.gov (United States)

Xin, Shihao

2017-03-01

Robot by mechanical obstacle, double end communication, remote control and monitoring software components. The mechanical obstacle part mainly uses the tracked mobile robot mechanism, in order to facilitate the design and installation of the robot, the other auxiliary swing arm; double side communication part used a combination of communication wire communication with wireless communication, great improve the communication range of the robot. When the robot is controlled by far detection range, using wired communication control, on the other hand, using wireless communication; remote control part mainly completes the inspection robot walking, navigation, positioning and identification of cloud platform control. In order to improve the reliability of its operation, the preliminary selection of IPC as the control core the movable body selection program hierarchical structure as a design basis; monitoring software part is the core part of the robot, which has a definite diagnosis Can be instead of manual simple fault judgment, instead the robot as a remote actuators, staff as long as the remote control can be, do not have to body at the scene. Four parts are independent of each other but are related to each other, the realization of the structure of independence and coherence, easy maintenance and coordination work. Robot with real-time positioning function and remote control function, greatly improves the IT operation. Robot remote monitor, to avoid the direct contact with the staff and line, thereby reducing the accident casualties, for the safety of the inspection work has far-reaching significance.

USING RICE BRAN IN LAYING HEN DIETS

Directory of Open Access Journals (Sweden)

H ERSIN SAMLI

2006-10-01

Full Text Available Rice bran is an energy and protein rich ingredient used in poultry feeding. To balance energy and protein requirements. The purpose of this study is to examine the effects of rice bran on performance and egg quality during peak production of a commercial White laying strain of 22 week of age. Dietary treatments were consisted by inclusion of rice bran at 0, 5, 10 and 15% levels. Each treatment had 6 reps in which 12 birds were randomly assigned in wired fl oor battery cages equipped with nipple drinkers and through feeders. Layers accessed to feed and water freely. Lighting regimen was adjusted to 16h light/8h dark. The experiment lasted for 10 weeks. Overall results of the present experiment indicated that rice bran could be included up to 10% without any adverse affect on laying performance, egg quality and digestive organs.

Development of the robot for pressurizer electric heater inspection and repairing

International Nuclear Information System (INIS)

Jung, Seung Ho; Kim, Seung Ho; Su, Yong Chil

1999-01-01

In this study a robot system has been developed for inspection and maintenance of the pressurizer and the rod heaters. The developed robot system consists of four parts: two links, a support frame, a movable gripper, and a controller box. The robot is attached on the support frame, which is attached at the man-way flange of the pressurizer such that the robot is positioned inside pressurizer. To access arbitrary heater, at first two links horizontally rotate, and then the gripper suspended by two steel wires moves up and down by turing wire drum because the rod heaters are located about 8 meters under the robot and are arranged in two circular rows. The robot must be designed under several constraints such as its weight and collision with pressurized wall or spray nozzle because the robot is positioned and moves inside the pressurizer. To verify that the designed robot is free from collision during installation procedure and it can access any desired rod heater, it is simulated by 3-dimensional graphic software (RobCAD). For evaluating stress of the support frame finite element analysis is performed by using the ANSYS code

What do we learn about development from baby robots?

Science.gov (United States)

Oudeyer, Pierre-Yves

2017-01-01

Understanding infant development is one of the great scientific challenges of contemporary science. In addressing this challenge, robots have proven useful as they allow experimenters to model the developing brain and body and understand the processes by which new patterns emerge in sensorimotor, cognitive, and social domains. Robotics also complements traditional experimental methods in psychology and neuroscience, where only a few variables can be studied at the same time. Moreover, work with robots has enabled researchers to systematically explore the role of the body in shaping the development of skill. All told, this work has shed new light on development as a complex dynamical system. WIREs Cogn Sci 2017, 8:e1395. doi: 10.1002/wcs.1395 For further resources related to this article, please visit the WIREs website. © 2016 Wiley Periodicals, Inc.

Specific characteristics of the aviary housing system affect plumage condition, mortality and production in laying hens.

Science.gov (United States)

Heerkens, Jasper L T; Delezie, Evelyne; Kempen, Ine; Zoons, Johan; Ampe, Bart; Rodenburg, T Bas; Tuyttens, Frank A M

2015-09-01

Feather pecking and high mortality levels are significant welfare problems in non-cage housing systems for laying hens. The aim of this study was to identify husbandry-related risk factors for feather damage, mortality, and egg laying performance in laying hens housed in the multi-tier non-cage housing systems known as aviaries. Factors tested included type of system flooring, degree of red mite infestation, and access to free-range areas. Information on housing characteristics, management, and performance in Belgian aviaries (N=47 flocks) were obtained from a questionnaire, farm records, and farm visits. Plumage condition and pecking wounds were scored in 50 randomly selected 60-week-old hens per flock. Associations between plumage condition, wounds, performance, mortality, and possible risk factors were investigated using a linear model with a stepwise model selection procedure. Many flocks exhibited a poor plumage condition and a high prevalence of wounds, with considerable variation between flocks. Better plumage condition was found in wire mesh aviaries (Pfeather cover had lower levels of mortality (Pnest perches. Wire mesh flooring in particular seems to have several health, welfare, and performance benefits in comparison to plastic slats, possibly related to decreased feather pecking, better hygiene, and fewer red mite infestations. This suggests that adjustments to the aviary housing design may further improve laying hen welfare and performance. © 2015 Poultry Science Association Inc.

D2 Delta Robot Structural Design and Kinematics Analysis

Science.gov (United States)

Yang, Xudong; wang, Song; Dong, Yu; Yang, Hai

2017-12-01

In this paper, a new type of Delta robot with only two degrees of freedom is proposed on the basis of multi - degree - of - freedom delta robot. In order to meet our application requirements, we have carried out structural design and analysis of the robot. Through SolidWorks modeling, combined with 3D printing technology to determine the final robot structure. In order to achieve the precise control of the robot, the kinematics analysis of the robot was carried out. The SimMechanics toolbox of MATLAB is used to establish the mechanism model, and the kinematics mathematical model is used to simulate the robot motion control in Matlab environment. Finally, according to the design mechanism, the working space of the robot is drawn by the graphic method, which lays the foundation for the motion control of the subsequent robot.

Intelligent, self-contained robotic hand

Science.gov (United States)

Krutik, Vitaliy; Doo, Burt; Townsend, William T.; Hauptman, Traveler; Crowell, Adam; Zenowich, Brian; Lawson, John

2007-01-30

A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

A Wheel-based Stair-climbing Robot with a Hopping Mechanism

OpenAIRE

Kikuchi, Koki; Bushida, Naoki; Sakaguchi, Keisuke; Chiba, Yasuhiro; Otsuka, Hiroshi; Saito, Yusuke; Hirano, Masamitsu; Kobayashi, Shunya

2010-01-01

We introduced a wheel-based stair-climbing robot with a hopping mechanism for stairclimbing. The robot, consisting of two body parts connected by springs, climbed stairs quickly, softly, and economically by using the vibration of a two-degrees-of-freedom system. In the future, we intend to shorten the required tread length by controlling the wire tension and minimizing the body length to realize a practical stair-climbing robot.

Ethorobotics: A New Approach to Human-Robot Relationship

Directory of Open Access Journals (Sweden)

Ádám Miklósi

2017-06-01

Full Text Available Here we aim to lay the theoretical foundations of human-robot relationship drawing upon insights from disciplines that govern relevant human behaviors: ecology and ethology. We show how the paradox of the so called “uncanny valley hypothesis” can be solved by applying the “niche” concept to social robots, and relying on the natural behavior of humans. Instead of striving to build human-like social robots, engineers should construct robots that are able to maximize their performance in their niche (being optimal for some specific functions, and if they are endowed with appropriate form of social competence then humans will eventually interact with them independent of their embodiment. This new discipline, which we call ethorobotics, could change social robotics, giving a boost to new technical approaches and applications.

Ethorobotics: A New Approach to Human-Robot Relationship

Science.gov (United States)

Miklósi, Ádám; Korondi, Péter; Matellán, Vicente; Gácsi, Márta

2017-01-01

Here we aim to lay the theoretical foundations of human-robot relationship drawing upon insights from disciplines that govern relevant human behaviors: ecology and ethology. We show how the paradox of the so called “uncanny valley hypothesis” can be solved by applying the “niche” concept to social robots, and relying on the natural behavior of humans. Instead of striving to build human-like social robots, engineers should construct robots that are able to maximize their performance in their niche (being optimal for some specific functions), and if they are endowed with appropriate form of social competence then humans will eventually interact with them independent of their embodiment. This new discipline, which we call ethorobotics, could change social robotics, giving a boost to new technical approaches and applications. PMID:28649213

Design and demonstration of a fish robot actuated by a SMA-driven actuation system

Science.gov (United States)

Le, Chan H.; Nguyen, Quang S.; Park, Hoon C.

2010-04-01

This paper presents a concept of a fish robot actuated by an SMA-based actuator. The bending-type actuator system is composed of a 0.1mm diameter SMA wire and a 0.5mm thick glass/epoxy strip. The SMA wire is installed to the bent composite strip. The actuator can produce about 200gf of blocking force and 3.5mm displacement at the center of the glass/epoxy strip. The bending motion of the actuator is converted into the tail-beat motion of a fish robot through a linkage system. The fish robot is evaluated by measuring the tail-beat angle, swimming speed and thrust produced by the fish robot. The tail-beat angle is about 20° and the maximum swimming speed is about 1.6cm/s. The measured thrust is about 0.4gf when the fish robot is operated at 0.9Hz.

Process for anodizing a robotic device

Science.gov (United States)

Townsend, William T [Weston, MA

2011-11-08

A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

Development of the robot for pressurizer electric heater inspection and repairing

International Nuclear Information System (INIS)

Jung, Seung Ho; Kim, Seung Ho; Su, Yong Chil

1998-01-01

In this study a robot system has been developed for inspection and maintenance of the pressurizer and the rod heater. The developed robot system consists of four parts: two links, a support frame, a movable gripper, and a controller box. The robot is attached on the support frame, which is attached at the man-way flange of the pressurizer such that the robot is positioned inside pressurizer. To access arbitrary heater, at first two links horizontally rotate, and then the gripper suspended by two steel wires moves up and down by turing wire drum because the rod heaters are located about 8 meters under the robot and are arranged in two circular rows. The robot must be designed under several constraint such as its weight and collision with pressurizer wall or spray nozzle because the robot is positioned and moves inside the pressurizer. To verify that the designed robot is free from collision during installation procedure and it can access any desired rod heater, it is simulated by 3-dimensional graphic software (RobCAD). For evaluating stress of the support frame finite element analysis is performed by using the ANSYS code. For gripping the rod heater the passive self-locking mechanism is adopted, which is made up three balls and springs. Because the mechanism is very simple, it is very hardly defected than that adopted motor. (author). 11 refs., 8 tabs., 13 figs

A Robot with Complex Facial Expressions

Directory of Open Access Journals (Sweden)

J. Takeno

2009-08-01

Full Text Available The authors believe that the consciousness of humans basically originates from languages and their association-like flow of consciousness, and that feelings are generated accompanying respective languages. We incorporated artificial consciousness into a robot; achieved an association flow of language like flow of consciousness; and developed a robot called Kansei that expresses its feelings according to the associations occurring in the robot. To be able to fully communicate with humans, robots must be able to display complex expressions, such as a sense of being thrilled. We therefore added to the Kansei robot a device to express complex feelings through its facial expressions. The Kansei robot is actually an artificial skull made of aluminum, with servomotors built into it. The face is made of relatively soft polyethylene, which is formed to appear like a human face. Facial expressions are generated using 19 servomotors built into the skull, which pull metal wires attached to the facial “skin” to create expressions. The robot at present is capable of making six basic expressions as well as complex expressions, such as happiness and fear combined.

A study on a wheel-based stair-climbing robot with a hopping mechanism

Science.gov (United States)

Kikuchi, Koki; Sakaguchi, Keisuke; Sudo, Takayuki; Bushida, Naoki; Chiba, Yasuhiro; Asai, Yuji

2008-08-01

In this study, we propose a simple hopping mechanism using the vibration of a two-degree-of-freedom system for a wheel-based stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in the springs and quickly travels using wheels mounted in its lower body. The trajectories of the bodies during hopping change in accordance with the design parameters, such as the reduced mass of the two bodies, the mass ratio between the upper and lower bodies, the spring constant, the control parameters such as the initial contraction of the spring and the wire tension. This property allows the robot to quickly and economically climb up and down stairs, leap over obstacles, and landing softly without complex control. In this paper, the characteristics of hopping motion for the design and control parameters are clarified by both numerical simulations and experiments. Furthermore, using the robot design based on the results the abilities to hop up and down a step, leap over a cable, and land softly are demonstrated.

Central Vehicle Dynamics Control of the Robotic Research Platform ROboMObil

OpenAIRE

Bünte, Tilman; Ho, Lok Man; Satzger, Clemens; Brembeck, Jonathan

2014-01-01

The ROboMObil is DLR’s space-robotics driven by-wire electro-mobile research platform for mechatronic actuators, vehicle dynamics control, human machine interfaces, and autonomous driving (DLR = German Aerospace Center). Due to its four highly integrated identical Wheel Robots it exhibits an extraordinary manoeuvrability even allowing for driving sideward or rotating on the spot. Topics related to vehicle dynamics control are addressed in this article.

A thermo-electro-mechanical simulation model for hot wire cutting of EPS foam

DEFF Research Database (Denmark)

Petkov, Kiril; Hattel, Jesper Henri

2016-01-01

A one-dimensional thermo-electro-mechanical mathematical model describing the effects taking place within a Ni-Cr20% wire used in a hot-wire cutting process for free forming and rapid prototyping of expanded polystyrene (EPS) is investigated and simulated. The model implements and solves three semi...... cutting of EPS in contact with a cutting tool made of an electrically heated metal wire attached to a robot device. The finite difference method is used to solve the coupled equations in the two environments (domains) in which the hot-wire operates, namely air and EPS. The model is calibrated against...... experimentally obtained data. Novel findings are a transient temperature-dependent kerfwidth prediction and a relation between kerfwidth and the cutting angle as measured from the horizontal direction. These are important relations in the aim for higher geometrical accuracy of the hot-wire cutting process. (C...

Modeling and Simulation to Muscle Strength Training of Lower Limbs Rehabilitation Robots

Directory of Open Access Journals (Sweden)

Ke-Yi Wang

2015-01-01

Full Text Available Considering the issues of lower limb rehabilitation robots with single control strategies and poor training types, a training method for improving muscle strength was put forward in this paper. Patients’ muscle strength could be achieved by targeted exercises at the end of rehabilitation. This approach could be realized through programming wires’ force. On the one hand, each wires force was measured by tension sensor and force closed loop control was established to control the value of wires’ force which was acted on trainees. On the other hand, the direction of output force was changed by detecting the trainees’ state of motion and the way of putting load to patient was achieved. Finally, the target of enhancing patients’ muscle strength was realized. Dynamic model was built by means of mechanism and training types of robots. Force closed loop control strategy was established based on training pattern. In view of the characteristics of the redundance and economy of wire control, the process for simple wire's load changes was discussed. In order to confirm the characteristics of robot control system, the controller was simulated in Matlab/Simulink. It was verified that command signal could be traced by control system availably and the load during muscle training would be provided effectively.

Folk-Psychological Interpretation of Human vs. Humanoid Robot Behavior: Exploring the Intentional Stance toward Robots.

Science.gov (United States)

Thellman, Sam; Silvervarg, Annika; Ziemke, Tom

2017-01-01

People rely on shared folk-psychological theories when judging behavior. These theories guide people's social interactions and therefore need to be taken into consideration in the design of robots and other autonomous systems expected to interact socially with people. It is, however, not yet clear to what degree the mechanisms that underlie people's judgments of robot behavior overlap or differ from the case of human or animal behavior. To explore this issue, participants ( N = 90) were exposed to images and verbal descriptions of eight different behaviors exhibited either by a person or a humanoid robot. Participants were asked to rate the intentionality, controllability and desirability of the behaviors, and to judge the plausibility of seven different types of explanations derived from a recently proposed psychological model of lay causal explanation of human behavior. Results indicate: substantially similar judgments of human and robot behavior, both in terms of (1a) ascriptions of intentionality/controllability/desirability and in terms of (1b) plausibility judgments of behavior explanations; (2a) high level of agreement in judgments of robot behavior - (2b) slightly lower but still largely similar to agreement over human behaviors; (3) systematic differences in judgments concerning the plausibility of goals and dispositions as explanations of human vs. humanoid behavior. Taken together, these results suggest that people's intentional stance toward the robot was in this case very similar to their stance toward the human.

Application of thermo-plastic elestomers to electric wires

Energy Technology Data Exchange (ETDEWEB)

Yagyu, Hideki; Watanabe, Kiyoshi

1988-02-15

Thermoplastic elastomer (TPE) is used in only 1% of the total rubber and plastics in electric cable and wire fields. This report describes on the legal regulations, practical applications, and the future problems. Japanese regulation on the power cable is the use of specified materials only, whereas in Europe and USA the function of the material is given a priority. For the communication cable and for the material selection of electronic and household wires, the priority of selection is the function of the material. Merits of TPE in use are the specialty properties unknown in the conventional materials, non-necessity of crosslinking, and the high productivity. PE is mainly used for the communication cable, PE and PVC for sheath. Telefone cord is the biggest outlet of TPE presently. Other applications are found in connection cable between the OA equipments, shield wire, and insulation cables for robots, aeroplanes, and ocean development units, etc.. For more expansion of applications, balance between the flexibility and various properties, water resistance and price should be improved. (7 figs, 3 tabs, 3 refs)

A locust-inspired miniature jumping robot.

Science.gov (United States)

Zaitsev, Valentin; Gvirsman, Omer; Ben Hanan, Uri; Weiss, Avi; Ayali, Amir; Kosa, Gabor

2015-11-25

Unmanned ground vehicles are mostly wheeled, tracked, or legged. These locomotion mechanisms have a limited ability to traverse rough terrain and obstacles that are higher than the robot's center of mass. In order to improve the mobility of small robots it is necessary to expand the variety of their motion gaits. Jumping is one of nature's solutions to the challenge of mobility in difficult terrain. The desert locust is the model for the presented bio-inspired design of a jumping mechanism for a small mobile robot. The basic mechanism is similar to that of the semilunar process in the hind legs of the locust, and is based on the cocking of a torsional spring by wrapping a tendon-like wire around the shaft of a miniature motor. In this study we present the jumping mechanism design, and the manufacturing and performance analysis of two demonstrator prototypes. The most advanced jumping robot demonstrator is power autonomous, weighs 23 gr, and is capable of jumping to a height of 3.35 m, covering a distance of 1.37 m.

Analysis on the Workspace of Six-degrees-of-freedom Industrial Robot Based on AutoCAD

Directory of Open Access Journals (Sweden)

Li Jin-quan

2017-01-01

Full Text Available This research discusses the workspace of the industrial robot with six degrees of freedom(6-DOF based on AutoCAD platform. Based on the analysis of the overall configuration of the robot, this research establishes the kinematic mathematical model of the industrial robot by using DH parameters, and then solves the workspace of the robot consequently. In the AutoCAD, Auto Lisp language program is adopted to simulate the two-dimensional(2D and three-dimensional(3D space of the robot. Software user interface is written by using the dialog box control language of Visual LISP. At last, the research analyzes the trend of the shape and direction of the workspace when the length and angle range of the robot are changed. This research lays the foundation for the design, control and planning of industrial robots.

Embedded SMA wire actuated biomimetic fin: a module for biomimetic underwater propulsion

International Nuclear Information System (INIS)

Wang Zhenlong; Hang Guanrong; Wang Yangwei; Li Jian; Du Wei

2008-01-01

An embedded shape memory alloy (SMA) wire actuated biomimetic fin is presented, and based on this module for biomimetic underwater propulsion, a micro robot fish (146 mm in length, 30 g in weight) and a robot squid (242 mm in length, 360 g in weight) were developed. Fish swim by undulating their body and/or fins. Squid and cuttlefish can also swim by undulating their fins. To simplify engineering modeling, the undulating swimming movement is assumed to be the integration of the movements of many flexible bending segments connected in parallel or in series. According to this idea, a biomimetic fin which can bend flexibly was developed. The musculature of a cuttlefish fin was investigated to aid the design of the biomimetic fin. SMA wires act as 'muscle fibers' to drive the biomimetic fin just like the transverse muscles of the cuttlefish fin. During the bending phase, elastic energy is stored in the elastic substrate and skin, and during the return phase, elastic energy is released to power the return movement. Theorem analysis of the bending angle was performed to estimate the bending performance of the biomimetic fin. Experiments were carried out on single-face fins with latex rubber skin and silicone skin (SF-L and SF-S) to compare the bending angle, return time, elastic energy storage and reliability. Silicone was found to be the better skin. A dual-face fin with silicone skin (DF-S) was tested in water to evaluate the actuating performance and to validate the reliability. Thermal analysis of the SMA temperature was performed to aid the control strategy. The micro robot fish and robot squid employ one and ten DF-S, respectively. Swimming experiments with different actuation frequencies were carried out. The speed and steering radius of the micro robot fish reached 112 mm s −1 and 136 mm, respectively, and the speed and rotary speed of the robot squid reached 40 mm s −1 and 22° s −1 , respectively

Nuclear power plant steam pipes repairing with Tirant 3 Robot system

Energy Technology Data Exchange (ETDEWEB)

Soto, M.; Curiel, M. [Logistica y Acondicionamientos Industriales SAU, Sorolla Center, local 10, Av. de las Cortes Valencianas No. 58, 46015 Valencia (Spain); Lazaro, F. [Revestimientos Anticorrosivos Industriales, S. L. U., Sorolla Center, local 10, Av. de las Cortes Valencianas No. 58, 46015 Valencia (Spain); Arnaldos, A., E-mail: m.soto@lainsa.co [TITANIA Servicios Tecnologicos SL, Sorolla Center, local 10, Av. de las Cortes Valencianas No. 58, 46015 Valencia (Spain)

2010-10-15

The metallization arc spray process is based on the projection of molten metal, supplied by means of different stainless alloys wire, over a surface of carbon steel usually, with the object of serving as protection against erosion-corrosion, increasing resistance to abrasion and detrition. A typical application functions covering the steam pipes inner surface in coal-fired power station and nuclear power plants. The results of this process are spectacular in terms of protection against corrosion and abrasion, but its application has conditioning factors, such as: Severe application conditions for workers. Due to the worker's postural position (usually kneeling) in 32 diameter pipes and working with fireproof clothing and masks with outdoor air supplying, due to fumes, sparks and molten metal particles, radiological contamination, confined space, poor lighting, ... Coating uniformity. As metallization is a manual process, the carried out measurements show small variations in the thickness of the coating, always within the tolerance limits established by the applicable regulations and quality assurance. An increase in the uniformity of the projected coating, increase the resistance and give a better surface protection. For all these reasons, Lainsa has developed the Tirant 3 robot, a worldwide innovative system, for metallization of steam pipes inner surface. Tirant 3 robot is tele operated from outside of the pipe, so that human intervention is reduced to the operations of robot positioning and change of metallization wire. As it is an independent system of the human factor, metallization process performance is significantly increased by reducing rest periods due only to the robot maintenance. Likewise, Tirant 3 system permits to increase resulting coating uniformity and thus its resistance, keeping selected parameters constant (forward speed, rotation speed and inner surface distance) depending on required type and thickness of wire. (Author)

New technique for wiring SSC superconducting sextupole corrector coils

International Nuclear Information System (INIS)

Leon, B.

1985-01-01

There exists in the electronics industry, a technology for the manufacture of printed circuit (PC) boards which is directly transferable into the creation of highly controlled coils, such as the SSC sextupole superconducting corrector coils. This technology, which uses a process of laying down insulated wire in highly controlled patterns has heretofore been confined exclusively to the manufacture of high density printed circuit (PC) boards, possibly due to an ignorance of its utility in the field of precision winding of coils. This ability to fix wires in a well defined location can be used to produce precision wound coils in a very cost-effective manner. These coils may be superior in quality to conventionally made coils. Before describing what can be created with this technology, it is necessary to take a look at this coil winding process, the MULTIWIRE process, and the industry which has utilized this technology

Percutaneous Sacroiliac Screw Placement: A Prospective Randomized Comparison of Robot-assisted Navigation Procedures with a Conventional Technique

Science.gov (United States)

Wang, Jun-Qiang; Wang, Yu; Feng, Yun; Han, Wei; Su, Yong-Gang; Liu, Wen-Yong; Zhang, Wei-Jun; Wu, Xin-Bao; Wang, Man-Yi; Fan, Yu-Bo

2017-01-01

Background: Sacroiliac (SI) screw fixation is a demanding technique, with a high rate of screw malposition due to the complex pelvic anatomy. TiRobot™ is an orthopedic surgery robot which can be used for SI screw fixation. This study aimed to evaluate the accuracy of robot-assisted placement of SI screws compared with a freehand technique. Methods: Thirty patients requiring posterior pelvic ring stabilization were randomized to receive freehand or robot-assisted SI screw fixation, between January 2016 and June 2016 at Beijing Jishuitan Hospital. Forty-five screws were placed at levels S1 and S2. In both methods, the primary end point screw position was assessed and classified using postoperative computed tomography. Fisher's exact probability test was used to analyze the screws’ positions. Secondary end points, such as duration of trajectory planning, surgical time after reduction of the pelvis, insertion time for guide wire, number of guide wire attempts, and radiation exposure without pelvic reduction, were also assessed. Results: Twenty-three screws were placed in the robot-assisted group and 22 screws in the freehand group; no postoperative complications or revisions were reported. The excellent and good rate of screw placement was 100% in the robot-assisted group and 95% in the freehand group. The P value (0.009) showed the same superiority in screw distribution. The fluoroscopy time after pelvic reduction in the robot-assisted group was significantly shorter than that in the freehand group (median [Q1, Q3]: 6.0 [6.0, 9.0] s vs. median [Q1, Q3]: 36.0 [21.5, 48.0] s; χ2 = 13.590, respectively, P < 0.001); no difference in operation time after reduction of the pelvis was noted (χ2 = 1.990, P = 0.158). Time for guide wire insertion was significantly shorter for the robot-assisted group than that for the freehand group (median [Q1, Q3]: 2.0 [2.0, 2.7] min vs. median [Q1, Q3]: 19.0 [15.5, 45.0] min; χ2 = 20.952, respectively, P < 0.001). The number of guide

Effect of surface treatment on mechanical properties of glass fiber/stainless steel wire mesh reinforced epoxy hybrid composites

Energy Technology Data Exchange (ETDEWEB)

N, Karunagaran [S.K.P Engineering College, Tiruvannamalai (India); A, Rajadurai [Anna University, Chennai (India)

2016-06-15

This paper investigates the effect of surface treatment for glass fiber, stainless steel wire mesh on tensile, flexural, inter-laminar shear and impact properties of glass fiber/stainless steel wire mesh reinforced epoxy hybrid composites. The glass fiber fabric is surface treated either by 1 N solution of sulfuric acid or 1 N solution of sodium hydroxide. The stainless steel wire mesh is also surface treated by either electro dissolution or sand blasting. The hybrid composites are fabricated using epoxy resin reinforced with glass fiber and fine stainless steel wire mesh by hand lay-up technique at room temperature. The hybrid composite consisting of acid treated glass fiber and sand blasted stainless steel wire mesh exhibits a good combination of tensile, flexural, inter-laminar shear and impact behavior in comparison with the composites made without any surface treatment. The fine morphological modifications made on the surface of the glass fiber and stainless steel wire mesh enhances the bonding between the resin and reinforcement which inturn improved the tensile, flexural, inter-laminar shear and impact properties.

A Simple Solution for Programming of a Robotic Arm

Directory of Open Access Journals (Sweden)

Bogdan Laurean

2014-12-01

Full Text Available This paper presents a method to actuate, programming and control of a Robotic arm based on a monomobil telescopic planetary gear and a DC motor. Experimental model of robot was designed and manufactured at the Faculty of Engineering from Sibiu, (Patent no. 112418 CI6.B25J 18/02. The DC motor as actuator rotates a reel. The wires on the reel will produce a linear displacement of telescopic modules. The command of the DC motor is realized by a programmable logic controller. The outputs of the programmable logic controller are connected in a "H" bridge. The rotation of the reel in one direction or another has the effect of lengthening or shortening the robotic arm. The value of robotic arm length is monitored by an optical incremental encoder. The value of displacement will correspond to number of steps from an up/down counter.

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

Directory of Open Access Journals (Sweden)

Dorin Copaci

2017-01-01

Full Text Available The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement and the proximal radioulnar articulation (for pronation-supination movement. During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

Science.gov (United States)

Cano, Enrique; Moreno, Luis; Blanco, Dolores

2017-01-01

The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis. PMID:29104424

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators.

Science.gov (United States)

Copaci, Dorin; Cano, Enrique; Moreno, Luis; Blanco, Dolores

2017-01-01

The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.

Quadruped robots for nuclear facilities. Development of cooperative carrying and unloading functions

International Nuclear Information System (INIS)

2016-01-01

As the Fukushima Daiichi Nuclear Power Station (hereafter refers to as 1F) became the high dose environment by the Great East Japan Earthquake, remotely operated robots were required in order to reduce workers' radiation exposure. We developed a quadruped robot to walk the stairs and narrow passages with carrying burdens such as investigation tools. This robot investigated water leakage from vent pipes at underground of 1F unit 2. There are various works towards the decommissioning such as measuring doses of radiation, cutting pipes, connecting wires and more. It is desirable to carry various work tools and to unload them at destinations with remotely operated robots. To this end, we have developed carrying and unloading functions of the robot. In addition, we have developed cooperative carrying functions that two quadruped robots carry and unload a burden which is too long or heavy for individual robot. As a result, it was realized that two robots carried the pipe of 48 kg while getting over a step of 100 mm and unloading it at a destination. (author)

Artificial pheromone for path selection by a foraging swarm of robots.

Science.gov (United States)

Campo, Alexandre; Gutiérrez, Alvaro; Nouyan, Shervin; Pinciroli, Carlo; Longchamp, Valentin; Garnier, Simon; Dorigo, Marco

2010-11-01

Foraging robots involved in a search and retrieval task may create paths to navigate faster in their environment. In this context, a swarm of robots that has found several resources and created different paths may benefit strongly from path selection. Path selection enhances the foraging behavior by allowing the swarm to focus on the most profitable resource with the possibility for unused robots to stop participating in the path maintenance and to switch to another task. In order to achieve path selection, we implement virtual ants that lay artificial pheromone inside a network of robots. Virtual ants are local messages transmitted by robots; they travel along chains of robots and deposit artificial pheromone on the robots that are literally forming the chain and indicating the path. The concentration of artificial pheromone on the robots allows them to decide whether they are part of a selected path. We parameterize the mechanism with a mathematical model and provide an experimental validation using a swarm of 20 real robots. We show that our mechanism favors the selection of the closest resource is able to select a new path if a selected resource becomes unavailable and selects a newly detected and better resource when possible. As robots use very simple messages and behaviors, the system would be particularly well suited for swarms of microrobots with minimal abilities.

Design and Performance Evaluation of Real-time Endovascular Interventional Surgical Robotic System with High Accuracy.

Science.gov (United States)

Wang, Kundong; Chen, Bing; Lu, Qingsheng; Li, Hongbing; Liu, Manhua; Shen, Yu; Xu, Zhuoyan

2018-05-15

Endovascular interventional surgery (EIS) is performed under a high radiation environment at the sacrifice of surgeons' health. This paper introduces a novel endovascular interventional surgical robot that aims to reduce radiation to surgeons and physical stress imposed by lead aprons during fluoroscopic X-ray guided catheter intervention. The unique mechanical structure allowed the surgeon to manipulate the axial and radial motion of the catheter and guide wire. Four catheter manipulators (to manipulate the catheter and guide wire), and a control console which consists of four joysticks, several buttons and two twist switches (to control the catheter manipulators) were presented. The entire robotic system was established on a master-slave control structure through CAN (Controller Area Network) bus communication, meanwhile, the slave side of this robotic system showed highly accurate control over velocity and displacement with PID controlling method. The robotic system was tested and passed in vitro and animal experiments. Through functionality evaluation, the manipulators were able to complete interventional surgical motion both independently and cooperatively. The robotic surgery was performed successfully in an adult female pig and demonstrated the feasibility of superior mesenteric and common iliac artery stent implantation. The entire robotic system met the clinical requirements of EIS. The results show that the system has the ability to imitate the movements of surgeons and to accomplish the axial and radial motions with consistency and high-accuracy. Copyright © 2018 John Wiley & Sons, Ltd.

THE FORMATION OF BIMETALLIC CONNECTION IN WELDER DEPOSITION UNDER LASER WELDING WITH THE FILLER WIRE FEED

Directory of Open Access Journals (Sweden)

A. P. Yelistratov

2017-01-01

Full Text Available The metallurgical and technological features of welding deposition in a robotic unit with a semiconductor laser are analyzed. The prospects of using beam with low energy density in the spot heating for applying metallic layers using filler wire are shown. 

A new technique for wiring SSC superconducting sextupole corrector coils

International Nuclear Information System (INIS)

Leon, B.

1985-01-01

There exists in the electronics industry, a technology for the manufacture of printed circuit (PC) boards which is directly transferable into the creation of highly controlled coils, such as the SSC sextupole superconducting corrector coils. This technology, which uses a process of laying down insulated wire in highly controlled patterns, has heretofore been confined excusively to the manufacture of high density printed circuit (PC) boards, possibly due to an ignorance of its utility in the field of precision winding of coils. This ability to fix wires in a well defined location can be used to produce precision wound coils in a very cost-effective manner. These coils may be superior in quality to conventionally made coils. Before describing what can be created with this technology, it is necessary to take a look at this coil winding process, the MULTIWIRE process, and the industry which has utilized this technology

Low power consumption mini rotary actuator with SMA wires

Science.gov (United States)

Manfredi, Luigi; Huan, Yu; Cuschieri, Alfred

2017-11-01

Shape memory alloys (SMAs) are smart materials widely used as actuators for their high power to weight ratio despite their well-known low energy efficiency and limited mechanical bandwidth. For robotic applications, SMAs exhibit limitations due to high power consumption and limited stroke, varying from 4% to 7% of the total length. Hysteresis, during the contraction and extension cycle, requires a complex control algorithm. On the positive side, the small size and low weight are eminently suited for the design of mini actuators for robotic platforms. This paper describes the design and construction of a light weight and low power consuming mini rotary actuator with on-board contact-less position and force sensors. The design is specifically intended to reduce (i) energy consumption, (ii) dimensions of the sensory system, and (iii) provide a simple control without any need for SMA characterisation. The torque produced is controlled by on-board force sensors. Experiments were performed to investigate the energy consumption and performance (step and sinusoidal angle profiles with a frequency varying from 0.5 to 10 Hz and maximal amplitude of {15}\\circ ). We describe a transient capacitor effect related to the SMA wires during the sinusoidal profile when the active SMA wire is powered and the antagonist one switched-off, resulting in a transient current time varying from 300 to 400 ms.

Nuclear power plant steam pipes repairing with TIRANT 3 robot system

International Nuclear Information System (INIS)

Soto Tomas, Marcelo; Curiel Nieva, Marceliano; Monzo Blasco, Enrique; Rodriguez, Salvador Pineda; Vaquer Perez, Juan I.

2011-01-01

A typical application functions covering the steam pipes inner surface in coal-fired power station and nuclear power plants. The results of this process are spectacular in terms of protection against corrosion and abrasion, but its application has conditioning factors, such as: Severe application conditions for workers. Due to the postural position (usually kneeling) in small diameter pipes and working with fireproof clothing and masks with outdoor air supplying, due to fumes, sparks and molten metal particles, radiological contamination, confined space, poor lighting... Coating uniformity. As metallization is a manual process, the carried out measurements show small variations in the thickness of the coating, always within the tolerance limits established by the applicable regulations and quality assurance. For all these reasons, Grupo Dominguis has developed the TIRANT 3 robot, a worldwide innovative system, for metallization of steam pipes inner surface. TIRANT 3 robot is teleoperated from outside of the pipe, so that human intervention is reduced to the operations of robot positioning and change of metallization wire. As it is an independent system of the human factor, metallization process performance is significantly increased by reducing rest periods due only to the robot maintenance. Likewise, TIRANT 3 system permits to increase resulting coating uniformity, and thus its resistance, keeping selected parameters constant depending on required type and thickness of wire. TIRANT 3 system has successfully worked in 2010 during the stops refueling of the Units I and II of Laguna Verde nuclear power plant in Mexico. (author)

Design and evaluation of a motor imagery electroencephalogram-controlled robot system

Directory of Open Access Journals (Sweden)

Baoguo Xu

2015-03-01

Full Text Available Brain–computer interface provides a new communication channel to control external device by directly translating the brain activity into commands. In this article, as the foundation of electroencephalogram-based robot-assisted upper limb rehabilitation therapy, we report on designing a brain–computer interface–based online robot control system which is made up of electroencephalogram amplifier, acquisition and experimental platform, feature extraction algorithm based on discrete wavelet transform and autoregressive model, linear discriminant analysis classifier, robot control board, and Rhino XR-1 robot. The performance of the system has been tested by 30 participants, and satisfactory results are achieved with an average error rate of 8.5%. Moreover, the advantage of the feature extraction method was further validated by the Graz data set for brain–computer interface competition 2003, and an error rate of 10.0% was obtained. This method provides a useful way for the research of brain–computer interface system and lays a foundation for brain–computer interface–based robotic upper extremity rehabilitation therapy.

Effect of wire shape on wire array discharge

International Nuclear Information System (INIS)

Shimomura, N.; Tanaka, Y.; Yushita, Y.; Nagata, M.; Teramoto, Y.; Katsuki, S.; Akiyama, H.

2001-01-01

Although considerable investigations have been reported on z-pinches to achieve nuclear fusion, little attention has been given from the point of view of how a wire array consisting of many parallel wires explodes. Instability existing in the wire array discharge has been shown. In this paper, the effect of wire shape in the wire array on unstable behavior of the wire array discharge is represented by numerical analysis. The claws on the wire formed in installation of wire may cause uniform current distribution on wire array. The effect of error of wire diameter in production is computed by Monte Carlo Method. (author)

Effect of wire shape on wire array discharge

Energy Technology Data Exchange (ETDEWEB)

Shimomura, N.; Tanaka, Y.; Yushita, Y.; Nagata, M. [University of Tokushima, Department of Electrical and Electronic Engineering, Tokushima (Japan); Teramoto, Y.; Katsuki, S.; Akiyama, H. [Kumamoto University, Department of Electrical and Computer Engineering, Kumamoto (Japan)

2001-09-01

Although considerable investigations have been reported on z-pinches to achieve nuclear fusion, little attention has been given from the point of view of how a wire array consisting of many parallel wires explodes. Instability existing in the wire array discharge has been shown. In this paper, the effect of wire shape in the wire array on unstable behavior of the wire array discharge is represented by numerical analysis. The claws on the wire formed in installation of wire may cause uniform current distribution on wire array. The effect of error of wire diameter in production is computed by Monte Carlo Method. (author)

A turtle-like swimming robot using a smart soft composite (SSC) structure

International Nuclear Information System (INIS)

Kim, Hyung-Jung; Song, Sung-Hyuk; Ahn, Sung-Hoon

2013-01-01

This paper describes the development of a biomimetic swimming robot based on the locomotion of a marine turtle. To realize the smooth, soft flapping motions of this type of turtle, a novel actuator was also developed, using a smart soft composite (SSC) structure that can generate bending and twisting motions in a simple, lightweight structure. The SSC structure is a composite consisting of an active component to generate the actuation force, a passive component to determine the twisting angle of the structure, and a matrix to combine the components. The motion of such a structure can be designed by specifying the angle between a filament of the scaffold structure and a shape-memory alloy (SMA) wire. The bending and twisting motion of the SSC structure is explained in terms of classical laminate theory, and cross-ply and angled-ply structures were fabricated to evaluate its motion. Finally, the turtle-like motion of a swimming robot was realized by employing a specially designed SSC structure. To mimic the posterior positive twisting angle of a turtle’s flipper during the upstroke, the SMA wire on the upper side was offset, and a positive ply-angled scaffold was used. Likewise, for the anterior negative twisting angle of the flipper during the downstroke, an offset SMA wire on the lower side and a positive ply-angled scaffold were also required. The fabricated flipper’s length is 64.3 mm and it realizes 55 mm bending and 24° twisting. The resulting robot achieved a swimming speed of 22.5 mm s −1 . (paper)

Assessment of Laparoscopic Skills Performance: 2D Versus 3D Vision and Classic Instrument Versus New Hand-Held Robotic Device for Laparoscopy.

Science.gov (United States)

Leite, Mariana; Carvalho, Ana F; Costa, Patrício; Pereira, Ricardo; Moreira, Antonio; Rodrigues, Nuno; Laureano, Sara; Correia-Pinto, Jorge; Vilaça, João L; Leão, Pedro

2016-02-01

Laparoscopic surgery has undeniable advantages, such as reduced postoperative pain, smaller incisions, and faster recovery. However, to improve surgeons' performance, ergonomic adaptations of the laparoscopic instruments and introduction of robotic technology are needed. The aim of this study was to ascertain the influence of a new hand-held robotic device for laparoscopy (HHRDL) and 3D vision on laparoscopic skills performance of 2 different groups, naïve and expert. Each participant performed 3 laparoscopic tasks-Peg transfer, Wire chaser, Knot-in 4 different ways. With random sequencing we assigned the execution order of the tasks based on the first type of visualization and laparoscopic instrument. Time to complete each laparoscopic task was recorded and analyzed with one-way analysis of variance. Eleven experts and 15 naïve participants were included. Three-dimensional video helps the naïve group to get better performance in Peg transfer, Wire chaser 2 hands, and Knot; the new device improved the execution of all laparoscopic tasks (P < .05). For expert group, the 3D video system benefited them in Peg transfer and Wire chaser 1 hand, and the robotic device in Peg transfer, Wire chaser 1 hand, and Wire chaser 2 hands (P < .05). The HHRDL helps the execution of difficult laparoscopic tasks, such as Knot, in the naïve group. Three-dimensional vision makes the laparoscopic performance of the participants without laparoscopic experience easier, unlike those with experience in laparoscopic procedures. © The Author(s) 2015.

An integrated movement capture and control platform applied towards autonomous movements of surgical robots.

Science.gov (United States)

Daluja, Sachin; Golenberg, Lavie; Cao, Alex; Pandya, Abhilash K; Auner, Gregory W; Klein, Michael D

2009-01-01

Robotic surgery has gradually gained acceptance due to its numerous advantages such as tremor filtration, increased dexterity and motion scaling. There remains, however, a significant scope for improvement, especially in the areas of surgeon-robot interface and autonomous procedures. Previous studies have attempted to identify factors affecting a surgeon's performance in a master-slave robotic system by tracking hand movements. These studies relied on conventional optical or magnetic tracking systems, making their use impracticable in the operating room. This study concentrated on building an intrinsic movement capture platform using microcontroller based hardware wired to a surgical robot. Software was developed to enable tracking and analysis of hand movements while surgical tasks were performed. Movement capture was applied towards automated movements of the robotic instruments. By emulating control signals, recorded surgical movements were replayed by the robot's end-effectors. Though this work uses a surgical robot as the platform, the ideas and concepts put forward are applicable to telerobotic systems in general.

Growing and laying performance of Japanese quail fed diet supplemented with different concentrations of acetic acid

Directory of Open Access Journals (Sweden)

Youssef A. Attia

2013-04-01

Full Text Available In order to evaluate the effect of acetic acid on growing and laying performance of Japanese Quail (JQ, 180 15-day-old JQ were divided into 4 groups. During the growing (15-42 days of age and laying (43-84 days of age periods, the groups fed the same basal diets supplemented with 0, 1.5, 3 and 6% of acetic acid. Each diet was fed to five replicates of 9 JQ (3 males:6 females during the growing period. During the laying period, 128 birds were housed in 32 cages (4 birds per cage, 1 male and 3 females, 8 replicates per treatment. Birds were housed in wire cages (46L×43W×20H cm in an open room. Acetic acid supplementation at 3% in the diets significantly increased the growth and laying rate and the Haugh unit score. The liver percentage significantly decreased with acetic acid at 6%. Acetic acid at 3% significantly increased hemoglobin concentrations at 6 weeks of age and increased weight of day old chicks hatched. Acetic acid affected the immune system as manifested by an excess of cellular reactions in the intestine as well as lymphoid hyperplasia in the spleen tissue. Degenerative changes in the covering epithelium of the intestinal villi were noted at the 6% concentration of acetic acid. Hepatocyte vacuolation and fatty changes were also observed at this concentration of treatment. In conclusion, 3% acetic acid may be used as a feed supplement for JQ during the growing and laying period to improve the productive performance.

Fiscal 1997 report on the results of the international standardization R and D. Robot control system; 1997 nendo seika hokokusho kokusai hyojun soseigata kenkyu kaihatsu. Robot seigyo system

Energy Technology Data Exchange (ETDEWEB)

NONE

1998-03-01

R and D of the robot control system was conducted in the following items: 1) integrated open control system, 2) remote control robot manipulation language, 3) human factor robot use built-in LAN system, 4) built-in actuator driver. In 1), there were some problems to be pointed out around the system, but the effectiveness was confirmed as system architecture of each verification item. In 2), development/design were made of RCML(R-Cube Manipulation Language) as a remote robot manipulation language, telecommunication protocol, and the experimental system, and the international standardization was targeted. In 3), the R and D was conducted of the realtime telecommunication protocol which clears the standards for the distributed control required for construction of human factor robot and the advanced realtime micro-controller, ULSI, which is the one that the protocol was made IC. In 4), an intelligent connector for built-in actuator was developed which enables saving of wiring in robot system and plug-in connection. 13 refs., 186 figs., 53 tabs.

Kinect technology for hand tracking control of surgical robots: technical and surgical skill comparison to current robotic masters.

Science.gov (United States)

Kim, Yonjae; Leonard, Simon; Shademan, Azad; Krieger, Axel; Kim, Peter C W

2014-06-01

Current surgical robots are controlled by a mechanical master located away from the patient, tracking surgeon's hands by wire and pulleys or mechanical linkage. Contactless hand tracking for surgical robot control is an attractive alternative, because it can be executed with minimal footprint at the patient's bedside without impairing sterility, while eliminating current disassociation between surgeon and patient. We compared technical and technologic feasibility of contactless hand tracking to the current clinical standard master controllers. A hand-tracking system (Kinect™-based 3Gear), a wire-based mechanical master (Mantis Duo), and a clinical mechanical linkage master (da Vinci) were evaluated for technical parameters with strong clinical relevance: system latency, static noise, robot slave tremor, and controller range. Five experienced surgeons performed a skill comparison study, evaluating the three different master controllers for efficiency and accuracy in peg transfer and pointing tasks. da Vinci had the lowest latency of 89 ms, followed by Mantis with 374 ms and 3Gear with 576 ms. Mantis and da Vinci produced zero static error. 3Gear produced average static error of 0.49 mm. The tremor of the robot used by the 3Gear and Mantis system had a radius of 1.7 mm compared with 0.5 mm for da Vinci. The three master controllers all had similar range. The surgeons took 1.98 times longer to complete the peg transfer task with the 3Gear system compared with Mantis, and 2.72 times longer with Mantis compared with da Vinci (p value 2.1e-9). For the pointer task, surgeons were most accurate with da Vinci with average error of 0.72 mm compared with Mantis's 1.61 mm and 3Gear's 2.41 mm (p value 0.00078). Contactless hand-tracking technology as a surgical master can execute simple surgical tasks. Whereas traditional master controllers outperformed, given that contactless hand-tracking is a first-generation technology, clinical potential is promising and could

Design and fabrication of a three-finger prosthetic hand using SMA muscle wires

Science.gov (United States)

Simone, Filomena; York, Alexander; Seelecke, Stefan

2015-03-01

Bio-inspired hand-like gripper systems based on shape memory alloy (SMA) wire actuation have the potential to enable a number of useful applications in, e.g., the biomedical field or industrial assembly systems. The inherent high energy density makes SMA solutions a natural choice for systems with lightweight, low noise and high force requirements, such as hand prostheses or robotic systems in a human/machine environment. The focus of this research is the development, design and realization of a SMA-actuated prosthetic hand prototype with three fingers. The use of thin wires (100 μm diameter) allows for high cooling rates and therefore fast movement of each finger. Grouping several small wires mechanically in parallel allows for high force actuation. To save space and to allow for a direct transmission of the motion to each finger, the SMA wires are attached directly within each finger, across each phalanx. In this way, the contraction of the wires will allow the movement of the fingers without the use of any additional gears. Within each finger, two different bundles of wires are mounted: protagonist ones that create bending movement and the antagonist ones that enable stretching of each phalanx. The resistance change in the SMA wires is measured during actuation, which allows for monitoring of the wire stroke and potentially the gripping force without the use of additional sensors. The hand is built with modern 3D-printing technologies and its performance while grasping objects of different size and shape is experimentally investigated illustrating the usefulness of the actuator concept.

Optimization of process parameters in welding of dissimilar steels using robot TIG welding

Science.gov (United States)

Navaneeswar Reddy, G.; VenkataRamana, M.

2018-03-01

Robot TIG welding is a modern technique used for joining two work pieces with high precision. Design of Experiments is used to conduct experiments by varying weld parameters like current, wire feed and travelling speed. The welding parameters play important role in joining of dissimilar stainless steel SS 304L and SS430. In this work, influences of welding parameter on Robot TIG Welded specimens are investigated using Response Surface Methodology. The Micro Vickers hardness tests of the weldments are measured. The process parameters are optimized to maximize the hardness of the weldments.

The development of robot system for pressurizer maintenance in NPPs

International Nuclear Information System (INIS)

Kim, Seung Ho; Kim, Chang Hoi; Jung, Seung Ho; Seo, Yong Chil; Lee, Young Kwang; Go, Byung Yung; Lee, Kwang Won; Lee, Sang Ill; Yun, Jong Yeon; Lee, Hyung Soon; Park, Mig Non; Park, Chang Woo; Cheol, Kwon

1999-12-01

The pressurizer that controls the pressure variation of primary coolant system, consists of a vessel, electric heaters and a spray, is one of the safety related equipment in nuclear power plants. Therefore it is required to inspect and maintain it regularly. Because the inside of pressurizer os contaminated by radioactivity, when inspection and repairing it, the radiation exposure of workers is inevitable. In this research two robot system has been developed for inspection and maintenance of the pressurizer for the water filled case and the water sunken case. The one robot system for the water filled case consists of two links, movable gripper using wire string, and support frame for the attachment of robot. The other robot is equipped propeller in order to navigate on the water. It also equipped high performance water resistance camera to make inspection possible. The developed robots are designed under several constraints such as its weight and collision with pressurizer wall. To verify the collision free robot link length and accessibility to the any desired rod heater it is simulated by 3-dimensional graphic simulation software(RobCard). For evaluation stress of the support frame finite element analysis is performed by using the ANSYS code. (author)

Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism

Science.gov (United States)

Wang, Hongbo; Sang, Lingfeng; Hu, Xing; Zhang, Dianfan; Yu, Hongnian

2013-09-01

It is desired to require a walking robot for the elderly and the disabled to have large capacity, high stiffness, stability, etc. However, the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function. Therefore, Improvement of enhancing capacity and functions of the walking robot is an important research issue. According to walking requirements and combining modularization and reconfigurable ideas, a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed. The proposed robot can be used for both a biped and a quadruped walking robot. The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized. The results show that performance of the walking robot is optimal when the circumradius R, r of the upper and lower platform of leg mechanism are 161.7 mm, 57.7 mm, respectively. Based on the optimal results, the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory, and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed, which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process. Besides laying a theoretical foundation for development of the prototype, the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

PEMBELAJARAN LAY UP SHOOT MENGGUNAKAN MEDIA AUDIO VISUAL BASIC LAY UP SHOOT UNTUK MENINGKATKAN HASILBELAJAR LAY UP SHOOT PADA SISWA KELAS VIIIA SMP KANISIUS PATI TAHUN 2013/2014

Directory of Open Access Journals (Sweden)

Frendy Nurochwan Febryanto

2015-01-01

Full Text Available The purpose of this study was to determine the learning lay up shoot using basic audiovisual media shoot lay ups can improve learning outcomes shoot lay ups in class VIIIA Starch Canisius junior year 2013/2014 . This study uses Classroom Action Research ( CAR. The technique of collecting data through observation and assessment of learning outcomes shoot basketball lay up. Data analysis techniques used in this research is descriptive . At the end of the first cycle activity of teachers in teaching basic techniques lay up shoot using audio-visual media reaches 76.19%, whereas at the end of the first cycle of student activity during the learning process lay up shoot using audio-visualmediareaches78.57%. At the end of the second cycle of activity of teachers in teaching basic techniques lay up shoot using audio-visual media reaches 85.71%, whereas at the end of the second cycle of activity of students during the learning process lay up shoot using audio-visual media reaches 92.86%. Based on the results of the study it can be concluded that learning the lay-up shoot using basic audiovisual media shoot lay ups can improve student learning outcomes at Canisius junior class VIIIA Pati year 2013/2014.

Prototyping a robotic dental testing simulator.

Science.gov (United States)

Alemzadeh, K; Hyde, R A; Gao, J

2007-05-01

A parallel robot based on the Stewart platform is being developed to simulate jaw motion and investigate its effect on jaw function to test the wearing away of dental components such as individual teeth, crowns, bridges, full set of dentures, and implant-supported overdentures by controlling chewing motion. The current paper only describes the comparison between an alternative configuration proposed by Xu and the Stewart platform configuration. The Stewart platform was chosen as an ideal structure for simulating human mastication as it is easily assembled, has high rigidity, high load-carrying capacity, and accurate positioning capability. The kinematics and singularities of the Stewart platform have been analysed and software developed to (a) test the control algorithms/strategy of muscle movement for the six degree of freedom of mastication cycle and (b) simulate and observe various design options to be able to make the best judgement in product development. The human replica skull has been analysed and reverse engineered with further simplification before integration with the Stewart platform computer-aided design (CAD) to develop the robotic dental testing simulator. Assembly modelling of the reproduced skull was critically analysed for good occlusion in CAD environment. A pulse-width modulation (PWM) circuit plus interface was built to control position and speed of the chosen actuators. A computer numerical control (CNC) machine and wire-electro-discharge machining (wire EDM) were used to manufacture the critical parts such as lower mandible, upper maxilla, and universal joints.

Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master

Science.gov (United States)

Hwang, Yong-Hoon; Cha, Seung-Woo; Kang, Seok-Rae; Choi, Seung-Bok

2017-04-01

In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled. The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeon with a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, a wire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventional direct-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, for working as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slave robot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in the wire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is able to sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end of slave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who can feel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torque occurred on the end-effector to demonstrate the effectiveness of the proposed system.

Flora robotica -- An Architectural System Combining Living Natural Plants and Distributed Robots

DEFF Research Database (Denmark)

Hamann, Heiko; Divband Soorati, Mohammad; Heinrich, Mary Katherine

2017-01-01

Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a principled foundation towards the design and implementation...... of flora robotica, such as the continuous growth process of architectural artifacts and self-repair of living architecture....

Life Cycle Assessment of Wire + Arc Additive Manufacturing compared to green sand casting and CNC milling in stainless steel

NARCIS (Netherlands)

Bekker, A.C.M.; Verlinden, J.C.

2018-01-01

Wire and Arc Additive Manufacturing (WAAM) is a metal 3D printing technique based on robotic welding. This technique yields potential in decreasing material consumption due to its high material efficiency and freedom of shape. Empirical measurements of WAAM, using a deposition rate of 1 kg/h, were

wire chamber

CERN Multimedia

Proportional multi-wire chamber. Multi-wire detectors contain layers of positively and negatively charged wires enclosed in a chamber full of gas. A charged particle passing through the chamber knocks negatively charged electrons out of atoms in the gas, leaving behind positive ions. The electrons are pulled towards the positively charged wires. They collide with other atoms on the way, producing an avalanche of electrons and ions. The movement of these electrons and ions induces an electric pulse in the wires which is collected by fast electronics. The size of the pulse is proportional to the energy loss of the original particle. Proportional wire chambers allow a much quicker reading than the optical or magnetoscriptive readout wire chambers.

UST-ID robotics: Wireless communication and minimum conductor technology, and end-point tracking technology surveys

International Nuclear Information System (INIS)

Holliday, M.A.

1993-10-01

This report is a technology review of the current state-of-the-art in two technologies applicable to the Underground Storage Tank (UST) program at the Hanford Nuclear Reservation. The first review is of wireless and minimal conductor technologies for in-tank communications. The second review is of advanced concepts for independent tool-point tracking. This study addresses the need to provide wireless transmission media or minimum conductor technology for in-tank communications and robot control. At present, signals are conducted via contacting transmission media, i.e., cables. Replacing wires with radio frequencies or invisible light are commonplace in the communication industry. This technology will be evaluated for its applicability to the needs of robotics. Some of these options are radio signals, leaky coax, infrared, microwave, and optical fiber systems. Although optical fiber systems are contacting transmission media, they will be considered because of their ability to reduce the number of conductors. In this report we will identify, evaluate, and recommend the requirements for wireless and minimum conductor technology to replace the present cable system. The second section is a technology survey of concepts for independent end-point tracking (tracking the position of robot end effectors). The position of the end effector in current industrial robots is determined by computing that position from joint information, which is basically a problem of locating a point in three-dimensional space. Several approaches are presently being used in industrial robotics, including: stereo-triangulation with a theodolite network and electrocamera system, photogrammetry, and multiple-length measurement with laser interferometry and wires. The techniques that will be evaluated in this survey are advanced applications of the aforementioned approaches. These include laser tracking (3-D and 5-D), ultrasonic tracking, vision-guided servoing, and adaptive robotic visual tracking

Wire breakage in SLC wire profile monitors

International Nuclear Information System (INIS)

Field, C.; McCormick, D.; Raimondi, P.; Ross, M.

1998-05-01

Wire scanning beam profile monitors are used at the Stanford Linear Collider (SLC) for emittance preservation control and beam optics optimization. Twenty such scanners have proven most useful for this purpose and have performed a total of 1.5 million scans in the 4 to 6 years since their installation. Most of the essential scanners are equipped with 20 to 40 microm tungsten wires. SLC bunch intensities and sizes often exceed 2 x 10 7 particles/microm 2 (3C/m 2 ). The authors believe that this has caused a number of tungsten wire failures that appear at the ends of the wire, near the wire support points, after a few hundred scans are accumulated. Carbon fibers, also widely used at SLAC, have been substituted in several scanners and have performed well. In this paper, the authors present theories for the wire failure mechanism and techniques learned in reducing the failures

Botsourcing and outsourcing: Robot, British, Chinese, and German workers are for thinking--not feeling--jobs.

Science.gov (United States)

Waytz, Adam; Norton, Michael I

2014-04-01

Technological innovations have produced robots capable of jobs that, until recently, only humans could perform. The present research explores the psychology of "botsourcing"-the replacement of human jobs by robots-while examining how understanding botsourcing can inform the psychology of outsourcing-the replacement of jobs in one country by humans from other countries. We test four related hypotheses across six experiments: (1) Given people's lay theories about the capacities for cognition and emotion for robots and humans, workers will express more discomfort with botsourcing when they consider losing jobs that require emotion versus cognition; (2) people will express more comfort with botsourcing when jobs are framed as requiring cognition versus emotion; (3) people will express more comfort with botsourcing for jobs that do require emotion if robots appear to convey more emotion; and (4) people prefer to outsource cognition- versus emotion-oriented jobs to other humans who are perceived as more versus less robotic. These results have theoretical implications for understanding social cognition about both humans and nonhumans and practical implications for the increasingly botsourced and outsourced economy.

Lay Theories of Creativity

NARCIS (Netherlands)

Ritter, Simone; Rietzschel, Eric; Zedelius, Claire; Müller, Barbara; Schooler, Jonathan

2017-01-01

Creativity is of great appeal and importance to people, and they strive to understand creativity by developing lay theories. Such lay theories about creativity concern, for example, the characteristics of creative persons, such as the ‘mad genius’ idea, or environmental factors that contribute to

Thermosonic wire bonding of IC devices using palladium wire

International Nuclear Information System (INIS)

Shze, J.H.; Poh, M.T.; Tan, R.M.

1996-01-01

The feasibility of replacing gold wire by palladium wire in thermosonic wire bonding of CMOS and bipolar devices are studied in terms of the manufacturability, physical, electrical and assembly performance. The results that palladium wire is a viable option for bonding the bipolar devices but not the CMOS devices

The Maiden Voyage of a Kinematics Robot

Science.gov (United States)

Greenwolfe, Matthew L.

2015-04-01

In a Montessori preschool classroom, students work independently on tasks that absorb their attention in part because the apparatus are carefully designed to make mistakes directly observable and limit exploration to one aspect or dimension. Control of error inheres in the apparatus itself, so that teacher intervention can be minimal.1 Inspired by this example, I created a robotic kinematics apparatus that also shapes the inquiry experience. Students program the robot by drawing kinematic graphs on a computer and then observe its motion. Exploration is at once limited to constant velocity and constant acceleration motion, yet open to complex multi-segment examples difficult to achieve in the lab in other ways. The robot precisely and reliably produces the motion described by the students' graphs, so that the apparatus itself provides immediate visual feedback about whether their understanding is correct as they are free to explore within the hard-coded limits. In particular, the kinematic robot enables hands-on study of multi-segment constant velocity situations, which lays a far stronger foundation for the study of accelerated motion. When correction is anonymous—just between one group of lab partners and their robot—students using the kinematic robot tend to flow right back to work because they view the correction as an integral part of the inquiry learning process. By contrast, when correction occurs by the teacher and/or in public (e.g., returning a graded assignment or pointing out student misconceptions during class), students all too often treat the event as the endpoint to inquiry. Furthermore, quantitative evidence shows a large gain from pre-test to post-test scores using the Test of Understanding Graphs in Kinematics (TUG-K).

Vibration of signal wires in wire detectors under irradiation

International Nuclear Information System (INIS)

Bojko, I.R.; Shelkov, G.A.; Dodonov, V.I.; Ignatenko, M.A.; Nikolenko, M.Yu.

1995-01-01

Radiation-induced vibration of signal wires in wire detectors is found and explained. The phenomenon is based on repulsion of a signal wire with a positive potential and a cloud of positive ions that remains after neutralization of the electron part of the avalanche formed in the course of gas amplification. Vibration with a noticeable amplitude may arise from fluctuations of repulsive forces, which act on the wire and whose sources are numerous ion clusters. A formula is obtained which allows wire oscillations to be estimated for all types of wire detectors. Calculation shows that oscillations of signal wires can be substantial for the coordinate accuracy of a detector working in the limited streamer mode at fluxes over 10 5 particles per second per wire. In the proportional mode an average oscillation amplitude can be as large as 20-30 μm at some detector parameters and external radiation fluxes over 10 5 . The experimental investigations show that the proposed model well describes the main features of the phenomenon. 6 refs., 8 figs

Robustness in laying hens

NARCIS (Netherlands)

Star, L.

2008-01-01

The aim of the project ‘The genetics of robustness in laying hens’ was to investigate nature and regulation of robustness in laying hens under sub-optimal conditions and the possibility to increase robustness by using animal breeding without loss of production. At the start of the project, a robust

Deus ex machina or e-slave? Public perception of healthcare robotics in the German print media.

Science.gov (United States)

Laryionava, Katsiaryna; Gross, Dominik

2012-07-01

The news media plays a central role in providing information regarding new medical technologies and exerts an influence on their social perception, understanding, and assessments. This study, therefore, analyzes how healthcare robotics are portrayed in the German print news media. It examines whether the risks and opportunities of new medical technologies are presented in a balanced manner and investigates whether or not print media coverage of these technologies is affected by science-fiction discourse, in which robots appear mostly as a threat to humans. Ten years of German print media coverage (2000-2010) have been studied by means of systematic, standardized content analysis. Reporting focuses predominantly on beneficial advancements in medical practice and the advantages of robotics for patients, medical staff, and society. The results show that the dominant relationship between robots and humans that is transmitted in print media in medical contexts is positive, with robots mostly portrayed as assistants, colleagues, or even friends. Only a small number of articles report ethical questions and risks. In contrast to science-fiction discourse, the German print media provides a positive picture of robotics to the lay public.

Lay-Offs in The Name of Love

DEFF Research Database (Denmark)

Åkerstrøm Andersen, Niels

2015-01-01

A number of articles have shown that the relationship between organisation and employee has become an intimate relationship. This is indeed the case in Denmark. This article shows how the problem of lay-off is discursively rearticulated in the context of passion as a problem of intimate breaks. Lay......-off becomes a tricky problem of breaking up in a loving way. This article is a semantic analysis of the lay-off semantics in Denmark after the financial crisis, comparing lay-off semantics with the semantics of divorces. Handbooks on lay-offs use divorce metaphors, and particular strategies for divorces can...... be found in advisory tools on the termination of employees. Lay-offs are split in two: a formal lay-off and an intimate break. This creates a number of interesting discursive paradoxes for both managers and employees....

Development and anti-swing control of an automated measurement robot system for multi-stud tensioning machine

International Nuclear Information System (INIS)

Li Haoyuan; Li Meng; Duan Xingguang; Gao Liang; Cui Tengfei; Guo Yanjun

2017-01-01

During nuclear power plant maintenance, the multi-stud tensioning machine is used to perform opening/sealing the cap of the reactor pressure vessel. This process incorporates elongations of 58 studs, whose extension values are monitored in real time by measurement meters. Conventionally, the placements of the meters are performed by human labor, which is time consuming and radioactively hazardous. In this paper, we introduce an automated measurement robot system, consisting of 58 node robots and multiple field bus based distributed control devices, to complete meter placement and data acquisition tasks without human involvement in the hazardous working site. In order to eliminate the swing phenomenon of the wire-driven meter adaptor on the robot distal end, extra-insensitive input shaper is employed for robot motion control, thus saving the overall operation time from traditionally over 10 minutes to less than 22 s. (author)

48 CFR 1371.117 - Lay days.

Science.gov (United States)

2010-10-01

... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Lay days. 1371.117 Section... REGULATIONS ACQUISITIONS INVOLVING SHIP CONSTRUCTION AND SHIP REPAIR Provisions and Clauses 1371.117 Lay days. Insert clause 1352.271-86, Lay Days, in all solicitations and contracts for ship repair. ...

Wire Chamber

CERN Multimedia

Magnetoscriptive readout wire chamber. Multi-wire detectors contain layers of positively and negatively charged wires enclosed in a chamber full of gas. A charged particle passing through the chamber knocks negatively charged electrons out of atoms in the gas, leaving behind positive ions. The electrons are pulled towards the positively charged wires. They collide with other atoms on the way, producing an avalanche of electrons and ions. The movement of these electrons and ions induces an electric pulse in the wires which is collected by fast electronics. The size of the pulse is proportional to the energy loss of the original particle.

Wire chamber

CERN Multimedia

1967-01-01

Magnetoscriptive readout wire chamber.Multi-wire detectors contain layers of positively and negatively charged wires enclosed in a chamber full of gas. A charged particle passing through the chamber knocks negatively charged electrons out of atoms in the gas, leaving behind positive ions. The electrons are pulled towards the positively charged wires. They collide with other atoms on the way, producing an avalanche of electrons and ions. The movement of these electrons and ions induces an electric pulse in the wires which is collected by fast electronics. The size of the pulse is proportional to the energy loss of the original particle.

48 CFR 1252.217-75 - Lay days.

Science.gov (United States)

2010-10-01

... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Lay days. 1252.217-75... SOLICITATION PROVISIONS AND CONTRACT CLAUSES Text of Provisions and Clauses 1252.217-75 Lay days. As prescribed at (TAR) 48 CFR 1217.7001(c) and (e), insert the following clause: Lay Days (OCT 1994) (a) Lay day...

48 CFR 1352.271-86 - Lay days.

Science.gov (United States)

2010-10-01

... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Lay days. 1352.271-86... SOLICITATION PROVISIONS AND CONTRACT CLAUSES Text of Provisions and Clauses 1352.271-86 Lay days. As prescribed in 48 CFR 1371.117, insert the following clause: Lay Days (APR 2010) (a) A lay day is defined as an...

How does the presence of excreta affect the behavior of laying hens on scratch pads?

Science.gov (United States)

Pokharel, B B; Boecker, I; Kwon, I Y; Jeyachanthiran, L; McBride, P; Harlander-Matauschek, A

2018-03-01

Enriched cages for laying hens provide scratch pads for foraging on the wire mesh floors. Apart from foraging on scratch pads, hens also defecate on these pads, causing them to become soiled with excreta. This study was conducted to determine the relative preference of laying hens for foraging on clean (C) scratch pads or scratch pads soiled with excreta (E), and to study the behaviors performed by hens on such pads. A total of 288 laying hens was housed in 16 enriched cages (18 hens/cage), each divided into 2 compartments. On a daily basis, half of the scratch pads (one in each compartment) were removed and cleaned, while the other half were cleaned and then covered with 550 g (0.35 g/cm2) of conspecific excreta. The C and E scratch pads were then put back into the cages in a systematic order to avoid side bias. Feed was delivered automatically onto the scratch pads as a litter substrate. The frequency of visits and the total time spent performing different behaviors on C and E pads were video-recorded [the time of video recording was relative to litter (feed) delivery on the scratch pads] for a total of 10 min/d, 3 times/wk, over a period of 4 weeks. Overall, the allocation of the time budget for different behaviors was found to be-in order of greatest to least amount of time-resting, locomotor behaviors (walking and running), foraging, and dust bathing. Laying hens showed a relative preference for E scratch pads by visiting them more frequently (P = 0.001), and spent more time (P = 0.035) foraging on them, whereas they rested for more time (P hens. Similarly, the longer use of C scratch pads for resting indicates the need for an ideal and clean resting surface in enriched cages.

Lay perspectives on lay health worker roles, boundaries and participation within three UK community-based health promotion projects.

Science.gov (United States)

South, J; Kinsella, K; Meah, A

2012-08-01

This paper examines lay interpretations of lay health worker roles within three UK community-based health promotion projects. It argues that understanding lay health worker roles requires critical analysis of the complex interrelationships between professionals, lay workers and the communities receiving a programme. Findings are presented that are drawn from a qualitative study of lay engagement in public health programme delivery where a key objective was to examine the perspectives of community members with the experience of receiving services delivered by lay health workers. Interviews and focus groups were conducted with 46 programme recipients from three case study projects; a breastfeeding peer support service, a walking for health scheme and a neighbourhood health project. The results show how participants interpreted the function and responsibilities of lay health workers and how those roles provided personalized support and facilitated engagement in group activities. Further insights into community participation processes are provided revealing the potential for active engagement in both formal and informal roles. The paper concludes that social relationships are core to understanding lay health worker programmes and therefore analysis needs to take account of the capacity for community members to move within a spectrum of participation defined by increasing responsibility for others.

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

International Nuclear Information System (INIS)

Geisinger, Joseph W. Ph.D.

2001-01-01

ARM Automation, Inc. is developing a FR-amework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator FR-om these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC(trademark)s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost

Analysis of optimum wire rope configuration for equal unidirectional torsional stiffness for flexible steering shaft

Directory of Open Access Journals (Sweden)

Hussain Najaf

2016-01-01

Full Text Available The design and modeling of Low Stiffness Resilience Shaft (LSRS for the Semi-Active Steering (SAS system using wire ropes is discussed in this paper, along with the static structural torsion test simulation of the wire ropes in order to determine the best possible configuration which serves the purpose of an LSRS. The importance of this study arises due to the unidirectional torsional properties of a wire rope. For an effective operational LSRS, the wire ropes need to have similar angular deflection in both the clockwise and anti-clockwise direction. LSRS, an integral component of the SAS is a flexible shaft that can replace the conventional rigid shaft of the steering system and allows active control to be performed. 3D solid models of the simple strand and the 4 strand wire ropes used in finite element analysis were generated in CAD software SolidWorksTM. The single strand and the different configuration of wire ropes required to function the LSRS effectively were then analyzed using Finite element simulation in ANSYSTM. A single wire rope could not be used because its construction has inconsistency in the torsional stiffness in clockwise and anti-clockwise direction. The single-strand right-direction lay wire rope is found to have 16.05% angular deflection percentage difference in the clockwise and anticlockwise directions which indicates that using a single strand wire rope for the LSRS will cause the vehicle to have a variable response in the clockwise and anti clockwise direction upon turning the steering wheel. Due to this inconsistency, two variations namely Variation 1 and Variation 2 with arrangement of 4 strand wire rope were devised so that the angular deflection percentage difference would be negligible. Simulation results indicated that Variation 1 of the two variations with an angular deflection percentage difference of 0.34% in the clockwise and anti-clockwise direction respectively is best suited for the use in LSRS as it has

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)

Potentialities of robots in major accident situations

International Nuclear Information System (INIS)

Chevallier, M.

2013-01-01

The INTRA group was founded in 1988, 2 years after the Chernobyl accident with the purpose of a cooperation between EDF, Cogema and CEA in order to develop and operate a fleet of robots able to intervene and replace man in a nuclear facility in case of major accident. Now INTRA disposes of 5 types of equipment: first, robots for the inside of buildings (they can overcome 40 cm high obstacles, open doors, go upstairs) they are wire-guided and enjoy a battery life of 6 to 8 hours. Secondly, robots for the open air that are able to move in very degraded grounds, they are remote controlled through radio-waves and their autonomy range nears 5 km. Thirdly, public works vehicles, INTRA has developed an excavator and a dump truck, both are remote controlled, they allow the making of any earth work. Fourthly, INTRA has developed 2 systems of contamination measurement: Skylink and Helinuc. Skylink is a system of 20 radiation monitors that can be dispatched on the contaminated zone, their data is collected through radio waves. Helinuc is a kind of gamma spectrometer that is helicopter-borne and can draw a map of the contamination around the installation. Fifthly, 2 drones are being tested, they will be fitted with radiation monitors. (A.C.)

Influence of the thermal treatment on the stability of partially constrained recovery of NiTi actuator wire

International Nuclear Information System (INIS)

Mertmann, M.; Bracke, A.; Hornbogen, E.

1995-01-01

NiTi shape memory wire may be used for actuation purposes in flexible robotic grippers, which have to be able to handle objects of different size, shape or weight. Therefore it is advantageous to develop an electrically driven shape memory actuator, which may perform any combination of shape change and exerted force within the following limiting boundaries: - free recovery: gripping of a very small and lightweight object, - constrained recovery: gripping of an object with maximum size and weight. Several NiTi actuator wires are fabricated and annealed between 400 and 600 C after cold working in the martensitic state. After prestraining each wire is embedded in a silicone matrix material. The polymer works as a bias spring and is able to store elastic deformation energy. This paper investigates the influence of thermal treatment on the stability of the exerted force between the two boundaries of completely free and constrained recovery, the ''partially constrained recovery''. The stability of recovery strain and stress is measured in a test assembly, in which different modes of partially constrained recovery are simulated. The work is supplemented by dilatometric measurements carried out with each actuator wire before and after the test procedure. (orig.)

Concrete laying laboratory

International Nuclear Information System (INIS)

Bastlova, K.

1986-01-01

The task of the concrete laying laboratory established within a special department for quality control and assurance at the Dukovany nuclear power plant, is to check the composition of concrete mixes produced by the central concrete production plant on the site, and the shipment, laying and processing of concrete. The composition is given of special barite and serpentinite concretes designed for biological shields. The system of checks and of filing the results is briefly described. Esperience is summed up from the operation of the concrete laying laboratory, and conclusions are formulated which should be observed on similar large construction sites. They include the precise definition of the designer's requirements for the quality of concrete, the surface finish of concrete surfaces, the method of concreting specific structures around bushings, increased density reinforcements and various technological elements, and requirements for shipment to poorly accessible or remote places. As for the equipment of the laboratory, it should be completed with an instrument for the analysis of fresh concrete mixes, a large capacity drying kiln, etc. (Z.M.)

Lay Consultations in Heart Failure Symptom Evaluation.

Science.gov (United States)

Reeder, Katherine M; Sims, Jessica L; Ercole, Patrick M; Shetty, Shivan S; Wallendorf, Michael

2017-01-01

Lay consultations can facilitate or impede healthcare. However, little is known about how lay consultations for symptom evaluation affect treatment decision-making. The purpose of this study was to explore the role of lay consultations in symptom evaluation prior to hospitalization among patients with heart failure. Semi-structured interviews were conducted with 60 patients hospitalized for acute decompensated heart failure. Chi-square and Fisher's exact tests, along with logistic regression were used to characterize lay consultations in this sample. A large proportion of patients engaged in lay consultations for symptom evaluation and decision-making before hospitalization. Lay consultants provided attributions and advice and helped make the decision to seek medical care. Men consulted more often with their spouse than women, while women more often consulted with adult children. Findings have implications for optimizing heart failure self-management interventions, improving outcomes, and reducing hospital readmissions.

Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

Science.gov (United States)

Takashima, Kazuto; Sugitani, Kazuhiro; Morimoto, Naohiro; Sakaguchi, Seiya; Noritsugu, Toshiro; Mukai, Toshiharu

2014-12-01

Shape-memory polymer (SMP) can be deformed by applying a small load above its glass transition temperature (Tg). Shape-memory polymer maintains its shape after it has cooled below Tg and returns to a predefined shape when subsequently heated above Tg. The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred times. Based on the change in stiffness of the SMP in relation to the change in temperature, the present study attempts to evaluate the application of the SMP to soft actuators of a robot. In order to control the temperature of the SMP, we developed an SMP sheet with an embedded electrical heating wire. We formed a uniform, thin SMP sheet without air bubbles using a heat press. The SMP sheet with a heating wire can be heated quickly and can be maintained at a constant temperature. Moreover, the effects of the embedded wire on the mechanical properties in bending and tensile tests were small. Then, we applied the SMP sheet with the embedded electrical heating wire to a pneumatic artificial rubber muscle. The enhanced versatility of SMP sheet applications is demonstrated through a series of experiments conducted using a prototype. The initial shape and bending displacement of the pneumatic artificial rubber muscle can be changed by controlling the temperature of the SMP sheet.

Detection of a buried wire with two resistively loaded wire antennas

NARCIS (Netherlands)

Vossen, S.H.J.A.; Tijhuis, A.G.; Lepelaars, E.S.A.M.; Zwamborn, A.P.M.

2002-01-01

The use of two identical straight thin-wire antennas for the detection of a buried wire is analyzed with the aid of numerical calculations. The buried wire is located below an interface between two homogeneous half-spaces. The detection setup, which is formed by a transmitting and a receiving wire,

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

Energy Technology Data Exchange (ETDEWEB)

Joseph W. Geisinger, Ph.D.

2001-07-31

ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

wire chamber

CERN Multimedia

1985-01-01

Multi-wire detectors contain layers of positively and negatively charged wires enclosed in a chamber full of gas. A charged particle passing through the chamber knocks negatively charged electrons out of atoms in the gas, leaving behind positive ions. The electrons are pulled towards the positively charged wires. They collide with other atoms on the way, producing an avalanche of electrons and ions. The movement of these electrons and ions induces an electric pulse in the wires which is collected by fast electronics. The size of the pulse is proportional to the energy loss of the original particle.

Wire chamber

CERN Multimedia

Multi-wire detectors contain layers of positively and negatively charged wires enclosed in a chamber full of gas. A charged particle passing through the chamber knocks negatively charged electrons out of atoms in the gas, leaving behind positive ions. The electrons are pulled towards the positively charged wires. They collide with other atoms on the way, producing an avalanche of electrons and ions. The movement of these electrons and ions induces an electric pulse in the wires which is collected by fast electronics. The size of the pulse is proportional to the energy loss of the original particle.

wire chamber

CERN Multimedia

Multi-wire detectors contain layers of positively and negatively charged wires enclosed in a chamber full of gas. A charged particle passing through the chamber knocks negatively charged electrons out of atoms in the gas, leaving behind positive ions. The electrons are pulled towards the positively charged wires. They collide with other atoms on the way, producing an avalanche of electrons and ions. The movement of these electrons and ions induces an electric pulse in the wires which is collected by fast electronics. The size of the pulse is proportional to the energy loss of the original particle.

Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot

Directory of Open Access Journals (Sweden)

Hong-Chao Zhuang

2017-03-01

Full Text Available Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning strategies are presented for an electrically driven large-load-ratio six-legged robot. First, the configuration and walking gait of the electrically driven large-load-ratio six-legged robot are designed. The higher-stable swing sequences of legs and typical walking modes are respectively obtained. Based on the Denavit–Hartenberg (D–H method, the analyses of the forward and inverse kinematics are implemented. The mathematical models of the articulated rotation angles are respectively established. In view of the buffer device installed at the end of shin to decrease the impact force between the foot and the ground, an initial lift height of the leg is brought into gait planning when the support phase changes into the transfer phase. The mathematical models of foot trajectories are established. Finally, a prototype of the electrically driven large-load-ratio six-legged robot is developed. The experiments of the prototype are carried out regarding the aspects of the walking speed and surmounting obstacle. Then, the reasonableness of gait planning is verified based on the experimental results. The proposed strategies of gait planning lay the foundation for effectively reducing the foot–ground impact force and can provide a reference for other large-load-ratio multi-legged robots.

Wire Array Photovoltaics

Science.gov (United States)

Turner-Evans, Dan

Over the past five years, the cost of solar panels has dropped drastically and, in concert, the number of installed modules has risen exponentially. However, solar electricity is still more than twice as expensive as electricity from a natural gas plant. Fortunately, wire array solar cells have emerged as a promising technology for further lowering the cost of solar. Si wire array solar cells are formed with a unique, low cost growth method and use 100 times less material than conventional Si cells. The wires can be embedded in a transparent, flexible polymer to create a free-standing array that can be rolled up for easy installation in a variety of form factors. Furthermore, by incorporating multijunctions into the wire morphology, higher efficiencies can be achieved while taking advantage of the unique defect relaxation pathways afforded by the 3D wire geometry. The work in this thesis shepherded Si wires from undoped arrays to flexible, functional large area devices and laid the groundwork for multijunction wire array cells. Fabrication techniques were developed to turn intrinsic Si wires into full p-n junctions and the wires were passivated with a-Si:H and a-SiNx:H. Single wire devices yielded open circuit voltages of 600 mV and efficiencies of 9%. The arrays were then embedded in a polymer and contacted with a transparent, flexible, Ni nanoparticle and Ag nanowire top contact. The contact connected >99% of the wires in parallel and yielded flexible, substrate free solar cells featuring hundreds of thousands of wires. Building on the success of the Si wire arrays, GaP was epitaxially grown on the material to create heterostructures for photoelectrochemistry. These cells were limited by low absorption in the GaP due to its indirect bandgap, and poor current collection due to a diffusion length of only 80 nm. However, GaAsP on SiGe offers a superior combination of materials, and wire architectures based on these semiconductors were investigated for multijunction

48 CFR 3052.217-94 - Lay days (USCG).

Science.gov (United States)

2010-10-01

... 48 Federal Acquisition Regulations System 7 2010-10-01 2010-10-01 false Lay days (USCG). 3052.217... CLAUSES Text of Provisions and Clauses 3052.217-94 Lay days (USCG). As prescribed in USCG guidance at (HSAR) 48 CFR 3017.9000(a) and (b), insert the following clause: Lay Days (DEC 2003) (a) Lay day time...

Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

NARCIS (Netherlands)

Leenes, R.E.; Lucivero, F.

2015-01-01

Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

49 CFR 236.74 - Protection of insulated wire; splice in underground wire.

Science.gov (United States)

2010-10-01

... underground wire. 236.74 Section 236.74 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RULES, STANDARDS, AND INSTRUCTIONS GOVERNING... wire; splice in underground wire. Insulated wire shall be protected from mechanical injury. The...

49 CFR 234.241 - Protection of insulated wire; splice in underground wire.

Science.gov (United States)

2010-10-01

... underground wire. 234.241 Section 234.241 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION GRADE CROSSING SIGNAL SYSTEM SAFETY... of insulated wire; splice in underground wire. Insulated wire shall be protected from mechanical...

wire chamber

CERN Multimedia

Was used in ISR (Intersecting Storage Ring) split field magnet experiment. Multi-wire detectors contain layers of positively and negatively charged wires enclosed in a chamber full of gas. A charged particle passing through the chamber knocks negatively charged electrons out of atoms in the gas, leaving behind positive ions. The electrons are pulled towards the positively charged wires. They collide with other atoms on the way, producing an avalanche of electrons and ions. The movement of these electrons and ions induces an electric pulse in the wires which is collected by fast electronics. The size of the pulse is proportional to the energy loss of the original particle.

Bruce Unit 2 lay-up engineering assessment

International Nuclear Information System (INIS)

Iley, D.

1995-01-01

The overall lay-up program initiated as a result of the strategic decision to shut down Bruce A unit 2 is briefly described as an introduction to the engineering assessment of the unit 2 systems. The assessment has identified the need to prepare 67 system and 9 equipment lay-up specifications. A summary of the selected system specifications is described. A complete summary and the specifications and the status of unit 2 systems and equipment required to support lay-up and/or the other three operating units is available on request due to the volume of the information. Some logistical details of the lay-up implementation plans, results, and problems to date demonstrate the complexity of the lay-up requirements for a nuclear unit in a multi-unit CANDU station. (author)

Cultural Robotics: The Culture of Robotics and Robotics in Culture

Directory of Open Access Journals (Sweden)

Hooman Samani

2013-12-01

Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

Friendly network robotics; Friendly network robotics

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

Lay-offs in the Blended Economy

OpenAIRE

Singh J P

2002-01-01

Recent reports suggest that the Government of India is favourably inclined to change policy and enable establishments employing less than 1,000 workers to lay-off employees and undertake retrenchments or closures without prior permission. Corporate lay-offs in the U.S. indicate an ever-increasing trend and do not make a comforting reading. The year 2001 for example, saw the highest number of job cuts in the Fortune 500 companies than in any year ever since the survey of lay-offs were launched...

PS wire chamber

CERN Multimedia

1970-01-01

A wire chamber used at CERN's Proton Synchrotron accelerator in the 1970s. Multi-wire detectors contain layers of positively and negatively charged wires enclosed in a chamber full of gas. A charged particle passing through the chamber knocks negatively charged electrons out of atoms in the gas, leaving behind positive ions. The electrons are pulled towards the positively charged wires. They collide with other atoms on the way, producing an avalanche of electrons and ions. The movement of these electrons and ions induces an electric pulse in the wires which is collected by fast electronics. The size of the pulse is proportional to the energy loss of the original particle.

Robot vision for nuclear advanced robot

International Nuclear Information System (INIS)

Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

1991-01-01

This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

Wire bonding in microelectronics

CERN Document Server

Harman, George G

2010-01-01

Wire Bonding in Microelectronics, Third Edition, has been thoroughly revised to help you meet the challenges of today's small-scale and fine-pitch microelectronics. This authoritative guide covers every aspect of designing, manufacturing, and evaluating wire bonds engineered with cutting-edge techniques. In addition to gaining a full grasp of bonding technology, you'll learn how to create reliable bonds at exceedingly high yields, test wire bonds, solve common bonding problems, implement molecular cleaning methods, and much more. Coverage includes: Ultrasonic bonding systems and technologies, including high-frequency systems Bonding wire metallurgy and characteristics, including copper wire Wire bond testing Gold-aluminum intermetallic compounds and other interface reactions Gold and nickel-based bond pad plating materials and problems Cleaning to improve bondability and reliability Mechanical problems in wire bonding High-yield, fine-pitch, specialized-looping, soft-substrate, and extreme-temperature wire bo...

Impact of the lay-off length on +Gz tolerance.

Science.gov (United States)

Mikuliszyn, Romuald; Kowalski, Wieslaw; Kowalczuk, Krzysztof

2002-07-01

There are many factors affecting pilots' +Gz-tolerance. Recently, attention of the aviation community has been focused on lay-off and it's impact on +Gz-tolerance. Pilots of the Polish Air Force (PAF) have dealt with that problem for several years now. The aim of the study was to provide insight on how lay-off periods with different duration impact +Gz-tolerance. 95 male jet pilots from the PAF participated in the study. Every one had at least two weeks lay-off period (non-medical reasons). Subjects were divided into four groups according to the length of lay-off period (2-4 weeks; 5-13 weeks; 14-26 weeks; 27-154 weeks), All pilots were subjected to a centrifuge exposure in GOR (0.1 G/s) or ROR (1.0 G/s) profiles, depending on the pre-lay-off exposure. Post-lay-off exposures were carried out directly after lay-off. 18 jet pilots without any lay-off constituted the control group. The difference between pre- and post-lay-off G-tolerance limit (-0,93 +/- 0,53) was statistically significant (p<0.01) only for one group, where lay-off period ranged between two and four weeks. No statistically significant differences were found where influence of other factors like total and yearly flight hours, heart rate gain (AHR) or physical activity measured as maximal oxygen intake were considered. 2-4 weeks of lay-off period decreases +Gz tolerance is statistically significant manner. Subsequent increase of lay-off period does not result in mean tolerance changes for group, however in certain individuals critical decrement of +Gz tolerance occurs. Total and last year flying hours, physical fitness does not modify impact of lay-off period on +Gz tolerance.

Performance evaluation of PFBR wire type sodium leak detectors

International Nuclear Information System (INIS)

Vijayakumar, G.; Rajan, K.K.; Nashine, B.K.; Chandramouli, S.; Madhusoodanan, K.; Kalyanasundaram, P.

2011-01-01

Highlights: → Performance evaluation of wire type leak detectors was conducted in LEENA facility by creating sodium leaks. → The lowest leak rate of 214 g/h was detected in 50 min and the highest detection time was 6 h for a leak rate of 222 g/h. → Factors affecting the leak detection time are packing density of thermal insulation, layout of heater, temperature, etc. → Relationship between leak rate and detection time was established and a leak rate of 100 g/h is likely to be detected in 11.1 h. → Contact resistance of leaked sodium increased to 3.5 kilo ohms in 20 h. - Abstract: Wire type leak detectors working on conductivity principle are used for detecting sodium leak in the secondary sodium circuits of fast breeder reactors. It is required to assess the performance of these detectors and confirm that they are meeting the requirements. A test facility by name LEENA was constructed at Indira Gandhi Centre for Atomic Research (IGCAR), Kalpakkam to test the wire type leak detector lay out by simulating different sodium leak rates. This test facility consists of a sodium dump tank, a test vessel, interconnecting pipelines with valves, micro filter and test section with leak simulators. There are three different test sections in the test set up of length 1000 mm each. These test sections simulate piping of Prototype Fast Breeder Reactor (PFBR) secondary circuit and the wire type leak detector layout in full scale. All test sections are provided with leak simulators. A leak simulator consists of a hole of size one mm drilled in the test section and closed with a tapered pin. The tapered pin position in the hole is adjusted by a screw mechanism and there by the annular gap of flow area is varied for getting different leak rates. Various experiments were conducted to evaluate the performance of the leak detectors by creating different sodium leak rates. This paper deals with the details of wire type leak detector layout for the secondary sodium circuit of

Base Information Transport Infrastructure Wired (BITI Wired)

Science.gov (United States)

2016-03-01

2016 Major Automated Information System Annual Report Base Information Transport Infrastructure Wired (BITI Wired) Defense Acquisition Management...Combat Information Transport System program was restructured into two pre-Major Automated Information System (pre-MAIS) components: Information...Major Automated Information System MAIS OE - MAIS Original Estimate MAR – MAIS Annual Report MDA - Milestone Decision Authority MDD - Materiel

Load-Deflection and Friction Properties of PEEK Wires as Alternative Orthodontic Wires.

Science.gov (United States)

Tada, Yoshifumi; Hayakawa, Tohru; Nakamura, Yoshiki

2017-08-09

Polyetheretherketone (PEEK) is now attracting attention as an alternative to metal alloys in the dental field. In the present study, we evaluated the load-deflection characteristics of PEEK wires in addition to their frictional properties. Three types of PEEK wires are used: two sizes of rectangular shape, 0.016 × 0.022 in² and 0.019 × 0.025 in² (19-25PEEK), and rounded shape, diameter 0.016 in (16PEEK). As a control, Ni-Ti orthodontic wire, diameter 0.016 in, was used. The three-point bending properties were evaluated in a modified three-point bending system for orthodontics. The static friction between the orthodontic wire and the bracket was also measured. The load-deflection curves were similar among Ni-Ti and PEEK wires, except for 16PEEK with slot-lid ligation. The bending force of 19-25PEEK wire was comparable with that of Ni-Ti wire. 19-25PEEK showed the highest load at the deflection of 1500 μm ( p 0.05). No significant difference was seen in static friction between all three PEEK wires and Ni-Ti wire ( p > 0.05). It is suggested that 19-25PEEK will be applicable for orthodontic treatment with the use of slot-lid ligation.

Human-Robot Control Strategies for the NASA/DARPA Robonaut

Science.gov (United States)

Diftler, M. A.; Culbert, Chris J.; Ambrose, Robert O.; Huber, E.; Bluethmann, W. J.

2003-01-01

The Robotic Systems Technology Branch at the NASA Johnson Space Center (JSC) is currently developing robot systems to reduce the Extra-Vehicular Activity (EVA) and planetary exploration burden on astronauts. One such system, Robonaut, is capable of interfacing with external Space Station systems that currently have only human interfaces. Robonaut is human scale, anthropomorphic, and designed to approach the dexterity of a space-suited astronaut. Robonaut can perform numerous human rated tasks, including actuating tether hooks, manipulating flexible materials, soldering wires, grasping handrails to move along space station mockups, and mating connectors. More recently, developments in autonomous control and perception for Robonaut have enabled dexterous, real-time man-machine interaction. Robonaut is now capable of acting as a practical autonomous assistant to the human, providing and accepting tools by reacting to body language. A versatile, vision-based algorithm for matching range silhouettes is used for monitoring human activity as well as estimating tool pose.

Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

International Nuclear Information System (INIS)

Takashima, Kazuto; Sugitani, Kazuhiro; Morimoto, Naohiro; Sakaguchi, Seiya; Noritsugu, Toshiro; Mukai, Toshiharu

2014-01-01

Shape-memory polymer (SMP) can be deformed by applying a small load above its glass transition temperature (T g ). Shape-memory polymer maintains its shape after it has cooled below T g and returns to a predefined shape when subsequently heated above T g . The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred times. Based on the change in stiffness of the SMP in relation to the change in temperature, the present study attempts to evaluate the application of the SMP to soft actuators of a robot. In order to control the temperature of the SMP, we developed an SMP sheet with an embedded electrical heating wire. We formed a uniform, thin SMP sheet without air bubbles using a heat press. The SMP sheet with a heating wire can be heated quickly and can be maintained at a constant temperature. Moreover, the effects of the embedded wire on the mechanical properties in bending and tensile tests were small. Then, we applied the SMP sheet with the embedded electrical heating wire to a pneumatic artificial rubber muscle. The enhanced versatility of SMP sheet applications is demonstrated through a series of experiments conducted using a prototype. The initial shape and bending displacement of the pneumatic artificial rubber muscle can be changed by controlling the temperature of the SMP sheet. (paper)

Effects of Octacosanol Extracted from Rice Bran on the Laying Performance, Egg Quality and Blood Metabolites of Laying Hens.

Science.gov (United States)

Peng, Kai; Long, Lei; Wang, Yuxi; Wang, Shunxi

2016-10-01

A 42-d study with 384 Hy-line brown laying hens was conducted to assess the effects of dietary octacosanol supplementation on laying performance, egg quality and blood metabolites of laying hens. Hens were randomly allocated into 4 dietary groups of 8 cages each, which were fed basal diet supplemented with 0 (Control), 9 (OCT9), 18 (OCT18), and 27 (OCT27) mg/kg diet of octacosanol isolated from rice bran, respectively. The experiment was conducted in an environmental controlled house and hens were fed twice daily for ad libitum intake. Laying performance was determined over the 42-d period, and egg quality as well as blood metabolites were estimated on d 21 and d 42. Diets in OCT18 and OCT27 increased (pfeed conversion rate and levels of total cholesterol, triglyceride and low density lipoprotein cholesterol in the serum as compared to those of Control. Feed intake, yolk color, yolk diameter, eggshell thickness and high density lipoprotein cholesterol were similar (p>0.05) among treatments. Results demonstrate that supplementing 18 to 27 mg/kg diet of rice bran octacosanol can improve laying rate and egg quality and reduce blood lipid of laying hens.

Robot-assisted automatic ultrasound calibration.

Science.gov (United States)

Aalamifar, Fereshteh; Cheng, Alexis; Kim, Younsu; Hu, Xiao; Zhang, Haichong K; Guo, Xiaoyu; Boctor, Emad M

2016-10-01

Ultrasound (US) calibration is the process of determining the unknown transformation from a coordinate frame such as the robot's tooltip to the US image frame and is a necessary task for any robotic or tracked US system. US calibration requires submillimeter-range accuracy for most applications, but it is a time-consuming and repetitive task. We provide a new framework for automatic US calibration with robot assistance and without the need for temporal calibration. US calibration based on active echo (AE) phantom was previously proposed, and its superiority over conventional cross-wire phantom-based calibration was shown. In this work, we use AE to guide the robotic arm motion through the process of data collection; we combine the capability of the AE point to localize itself in the frame of the US image with the automatic motion of the robotic arm to provide a framework for calibrating the arm to the US image automatically. We demonstrated the efficacy of the automated method compared to the manual method through experiments. To highlight the necessity of frequent ultrasound calibration, it is demonstrated that the calibration precision changed from 1.67 to 3.20 mm if the data collection is not repeated after a dismounting/mounting of the probe holder. In a large data set experiment, similar reconstruction precision of automatic and manual data collection was observed, while the time was reduced by 58 %. In addition, we compared ten automatic calibrations with ten manual ones, each performed in 15 min, and showed that all the automatic ones could converge in the case of setting the initial matrix as identity, while this was not achieved by manual data sets. Given the same initial matrix, the repeatability of the automatic was [0.46, 0.34, 0.80, 0.47] versus [0.42, 0.51, 0.98, 1.15] mm in the manual case for the US image four corners. The submillimeter accuracy requirement of US calibration makes frequent data collections unavoidable. We proposed an automated

Minimisation of the wire position uncertainties of the new CERN vacuum wire scanner

CERN Document Server

AUTHOR|(CDS)2069346; Barjau Condomines, A

In the next years the luminosity of the LHC will be significantly increased. This will require a much higher accuracy of beam profile measurement than actually achievable by the current wire scanner. The new fast wire scanner is foreseen to measure small emittance beams throughout the LHC injector chain, which demands a wire travelling speed up to 20 ms-1 and position measurement accuracy of the order of a few microns. The vibrations of the mechanical parts of the system, and particularly the vibrations of the thin carbon wire, were identified as the major error sources of wire position uncertainty. Therefore the understanding of the wire vibrations is a high priority for the design and operation of the new device. This document presents the work performed to understand the main causes of the wire vibrations observed in one of the existing wire scanner and the new proposed design.

Applicability of Shape Memory Alloy Wire for an Active, Soft Orthotic

Science.gov (United States)

Stirling, Leia; Yu, Chih-Han; Miller, Jason; Hawkes, Elliot; Wood, Robert; Goldfield, Eugene; Nagpal, Radhika

2011-07-01

Current treatments for gait pathologies associated with neuromuscular disorders may employ a passive, rigid brace. While these provide certain benefits, they can also cause muscle atrophy. In this study, we examined NiTi shape memory alloy (SMA) wires that were annealed into springs to develop an active, soft orthotic (ASO) for the knee. Actively controlled SMA springs may provide variable assistances depending on factors such as when, during the gait cycle, the springs are activated; ongoing muscle activity level; and needs of the wearer. Unlike a passive brace, an active orthotic may provide individualized control, assisting the muscles so that they may be used more appropriately, and possibly leading to a re-education of the neuro-motor system and eventual independence from the orthotic system. A prototype was tested on a suspended, robotic leg to simulate the swing phase of a typical gait. The total deflection generated by the orthotic depended on the knee angle and the total number of actuators triggered, with a max deflection of 35°. While SMA wires have a high energy density, they require a significant amount of power. Furthermore, the loaded SMA spring response times were much longer than the natural frequency of an average gait for the power conditions tested. While the SMA wires are not appropriate for correction of gait pathologies as currently implemented, the ability to have a soft, actuated material could be appropriate for slower timescale applications.

Egg-laying rhythm in Drosophila melanogaster

Indian Academy of Sciences (India)

2008-12-31

Dec 31, 2008 ... production of oocytes to egg-laying on selected sites (Alle- mand 1976b; Yang et al. .... (vii) Is the egg-laying rhythm regulated by hormones? .... were shown to be induced by factors synthesized in the re- productive tract of the ...

Robotics

Science.gov (United States)

Popov, E. P.; Iurevich, E. I.

The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

Theory of wire number scaling in wire-array Z pinches

International Nuclear Information System (INIS)

Desjarlais, M.P.; Marder, B.M.

1999-01-01

Pulsed-power-driven Z pinches, produced by imploding cylindrical arrays of many wires, have generated very high x-ray radiation powers (>200 TW) and energies (2 MJ). Experiments have revealed a steady improvement in Z-pinch performance with increasing wire number at fixed total mass and array radius. The dominant mechanism acting to limit the performance of these devices is believed to be the Rayleigh-Taylor instability which broadens the radially imploding plasma sheath and consequently reduces the peak radiation power. A model is presented which describes an amplification over the two-dimensional Rayleigh-Taylor growth rate brought about by kink-like forces on the individual wires. This amplification factor goes to zero as the number of wires approaches infinity. This model gives results which are in good agreement with the experimental data and provides a scaling for wire-array Z pinches. copyright 1999 American Institute of Physics

Toward a New Conceptualization of The Wire as a Media Object

Directory of Open Access Journals (Sweden)

Jakob Nilsson

2013-03-01

Full Text Available This article sets out, first of all, to systematically debunk arguments that attribute to the serial The Wire a medium specificity of “television,” and second of all, to supply means for new conceptualizations of this kind of serial-drama media object. These matters are treated on the levels of technological materiality, media definitions, form, content, and production. The purpose is to lay the foundation for a more attentive and clear conceptual comprehension of what is approaching or has already begun to arrive: a time in which the initial phase of broadcasting of serial moving-image dramas are either skipped or greatly diminished in importance, and in which they exist mainly in the form of On Demand streaming, or, more interestingly, in the form of DVD or downloaded files.

Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

CERN Document Server

Moreira, António; Lima, Pedro; Montano, Luis; Muñoz-Martinez, Victor

2016-01-01

This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other...

Dual wire welding torch and method

Science.gov (United States)

Diez, Fernando Martinez; Stump, Kevin S.; Ludewig, Howard W.; Kilty, Alan L.; Robinson, Matthew M.; Egland, Keith M.

2009-04-28

A welding torch includes a nozzle with a first welding wire guide configured to orient a first welding wire in a first welding wire orientation, and a second welding wire guide configured to orient a second welding wire in a second welding wire orientation that is non-coplanar and divergent with respect to the first welding wire orientation. A method of welding includes moving a welding torch with respect to a workpiece joint to be welded. During moving the welding torch, a first welding wire is fed through a first welding wire guide defining a first welding wire orientation and a second welding wire is fed through a second welding wire guide defining a second welding wire orientation that is divergent and non-coplanar with respect to the first welding wire orientation.

THERMO-MECHANICALLY PROCESSED ROLLED WIRE FOR HIGH-STRENGTH ON-BOARD WIRE

Directory of Open Access Journals (Sweden)

V. A. Lutsenko

2011-01-01

Full Text Available It is shown that at twisting of wire of diameter 1,83 mm, produced by direct wire drawing of thermomechanically processed rolled wire of diameter 5,5 mm of steel 90, metal stratification is completely eliminated at decrease of carbon, manganese and an additional alloying of chrome.

One century of Kirschner wires and Kirschner wire insertion techniques : A historical review

NARCIS (Netherlands)

Franssen, Bas B. G. M.; Schuurman, Arnold H.; Van der Molen, Aebele Mink; Kon, Moshe

A century ago, in 1909, Martin Kirschner (1879-942) introduced a smooth pin, presently known as the Kirschner wire (K-wire). The K-wire was initiallly used for skeletal traction and is now currently used for many different goals. The development of the K-wire and its insertion devices were mainly

Accuracy and feasibility of frameless stereotactic and robot-assisted CT-based puncture in interventional radiology. A comparative phantom study

International Nuclear Information System (INIS)

Stoffner, R.; Widmann, G.; Bale, R.; Augschoell, C.; Boehler, D.

2009-01-01

Purpose: To compare the accuracy of frameless stereotactic and robot-assisted puncture in vitro based on computed tomography (CT) imaging with a slice thickness of 1, 3, and 5 mm. Materials and Methods: 300 punctures were carried out with help of the Atlas aiming device guided by the optical navigation system Stealth Station TREONplus and 150 punctures were guided by the robotic assistance system Innomotion. Conically shaped rods were punctured with Kirschner wires. The accuracy was evaluated on the basis of control CTs by measuring the Euclidean distance between the wire tip and target and the normal distance between the target and wire. Results: With the Stealth Station a mean Euclidean distance of 1.94±0.912, 2.2±1.136, and 2.74±1.166 mm at a slice thickness of 1, 3 and 5 mm, respectively, was reached. The mean normal distance was 1.64±0.919, 1.84±1.189, and 2.48±1.196 mm, respectively. The Innomotion system resulted in a mean Euclidean distance of 1.69±0.772, 1.91±0.673, and 2.30±0.881 mm, respectively, while the mean normal distance was (1.42±0.78), 1.60±0.733, and 1.98±1.002 mm, respectively. A statistical significance between accuracies with both systems with 1 mm and 3 mm slices could not be detected (p > 0.05). At a slice thickness of 5 mm, the robot was significantly more accurate, but not as accurate as when using thinner slices (p < 0.05). The procedure time is longer for the Innomotion system (∝30 vs. ∝18 min), and the practicability is higher with the Stealth Station. (orig.)

Nuclear Power Plant Steam Pipes repairing with Tirant 3R Robot System

International Nuclear Information System (INIS)

Ruiz-Martinez, Jose-Tomas; Soto-Tomas, Marcelo; Curiel-Nieva, Marceliano; Monzo-Blasco, Enrique; Pineda-Rodriguez, Salvador; Vaquer-Perez, Juan-Ignacio

2012-09-01

The metallization arc spray process is based on the projection of molten metal, supplied by means of different stainless alloys wire, over a surface of carbon steel usually, with the object of serving as protection against flow assisted corrosion (FAC), increasing resistance to abrasion and deteriorations. A typical application functions covering the steam pipes inner surface in Coal-fired power station and Nuclear Power Plants. The results of this process are spectacular in terms of protection against flow assisted corrosion and abrasion, but its application has conditioning factors, such as: Severe application conditions for workers. Due to the worker's postural position (usually kneeling) in 32' diameter pipes and working with fireproof clothing and masks with outdoor air supplying, due to fumes, sparks and molten metal particles, radiological contamination, confined space, poor lighting... Coating uniformity. As metallization is a manual process, the carried out measurements show small variations in the thickness of the coating, always within the tolerance limits established by the applicable regulations and Quality Assurance. An increase in the uniformity of the projected coating, increase the resistance and give a better surface protection. For all these reasons, Lainsa has developed the TIRANT 3 R system, a worldwide innovative system, for metallization of steam pipes inner surface. TIRANT 3 R system is tele-operated from outside of the pipe, so that human intervention is reduced to the operations of robot positioning and change of metallization wire. As it is an independent system of the human factor, metallization process performance is significantly increased by reducing rest periods due only to the robot maintenance. Likewise, TIRANT 3 R system permits to increase resulting coating uniformity and thus its resistance, keeping selected parameters constant (forward speed, rotation speed and inner surface distance) depending on required type and

Modular Robotic Vehicle

Science.gov (United States)

Borroni-Bird, Christopher E. (Inventor); Vitale, Robert L. (Inventor); Lee, Chunhao J. (Inventor); Ambrose, Robert O. (Inventor); Bluethmann, William J. (Inventor); Junkin, Lucien Q. (Inventor); Lutz, Jonathan J. (Inventor); Guo, Raymond (Inventor); Lapp, Anthony Joseph (Inventor); Ridley, Justin S. (Inventor)

2015-01-01

A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode. A bumper may enable docking with another vehicle, with shared control over the eModules of the vehicles.

Cultural Robotics: The Culture of Robotics and Robotics in Culture

OpenAIRE

Hooman Samani; Elham Saadatian; Natalie Pang; Doros Polydorou; Owen Noel Newton Fernando; Ryohei Nakatsu; Jeffrey Tzu Kwan Valino Koh

2013-01-01

In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

Robot Actors, Robot Dramaturgies

DEFF Research Database (Denmark)

Jochum, Elizabeth

This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

Civil Justice: Lay Judges in the EU Countries

Directory of Open Access Journals (Sweden)

Stefan Machura

2016-06-01

Full Text Available Lay judges fulfill important functions for the justice system of a country. In the European Union member states, scholars have analysed the use of lay judges in criminal cases. However, little is known about lay participation in civil justice. The paper introduces commonly cited reasons to have lay judges as well as the principal forms of lay participation and then surveys the EU countries for its implementation in civil cases. Mixed tribunals, involving lay judges under the leadership of a professional judge, are relatively frequent. Several countries have special labour courts or commercial courts with lay members and others have single lay judges, or all-lay judge panels. Roughly a third of the 28 EU member states have no lay participation in civil justice but only three of those have no lay judges in any branch of the courts. Almost all the reasons for including lay decision makers are served somehow by the existing forms, including providing different experiences and perhaps expert knowledge. The article concludes, citing non-EU states and lay participation in criminal and administrative courts as further evidence, that lay judges in one form or another are an element of European legal systems. Los jueces legos cumplen funciones importantes para el sistema de justicia de un país. En los Estados miembro de la Unión Europea, académicos han analizado el uso de jueces legos en casos criminales. Sin embargo, se sabe poco acerca de la participación de los legos en la justicia civil. El artículo presenta las razones que habitualmente se citan para tener jueces legos, así como las formas principales de la participación de legos, para a continuación medir su implementación en casos civiles en los países de la Unión Europea. Son relativamente frecuentes los tribunales mixtos, en los que participan jueces legos, bajo la dirección de un juez profesional. Varios países tienen tribunales laborales especiales o tribunales comerciales con

Kinematic synthesis of adjustable robotic mechanisms

Science.gov (United States)

Chuenchom, Thatchai

1993-01-01

Conventional hard automation, such as a linkage-based or a cam-driven system, provides high speed capability and repeatability but not the flexibility required in many industrial applications. The conventional mechanisms, that are typically single-degree-of-freedom systems, are being increasingly replaced by multi-degree-of-freedom multi-actuators driven by logic controllers. Although this new trend in sophistication provides greatly enhanced flexibility, there are many instances where the flexibility needs are exaggerated and the associated complexity is unnecessary. Traditional mechanism-based hard automation, on the other hand, neither can fulfill multi-task requirements nor are cost-effective mainly due to lack of methods and tools to design-in flexibility. This dissertation attempts to bridge this technological gap by developing Adjustable Robotic Mechanisms (ARM's) or 'programmable mechanisms' as a middle ground between high speed hard automation and expensive serial jointed-arm robots. This research introduces the concept of adjustable robotic mechanisms towards cost-effective manufacturing automation. A generalized analytical synthesis technique has been developed to support the computational design of ARM's that lays the theoretical foundation for synthesis of adjustable mechanisms. The synthesis method developed in this dissertation, called generalized adjustable dyad and triad synthesis, advances the well-known Burmester theory in kinematics to a new level. While this method provides planar solutions, a novel patented scheme is utilized for converting prescribed three-dimensional motion specifications into sets of planar projections. This provides an analytical and a computational tool for designing adjustable mechanisms that satisfy multiple sets of three-dimensional motion specifications. Several design issues were addressed, including adjustable parameter identification, branching defect, and mechanical errors. An efficient mathematical scheme for

Reliability Criteria for Thick Bonding Wire.

Science.gov (United States)

Dagdelen, Turker; Abdel-Rahman, Eihab; Yavuz, Mustafa

2018-04-17

Bonding wire is one of the main interconnection techniques. Thick bonding wire is widely used in power modules and other high power applications. This study examined the case for extending the use of traditional thin wire reliability criteria, namely wire flexure and aspect ratio, to thick wires. Eleven aluminum (Al) and aluminum coated copper (CucorAl) wire samples with diameter 300 μm were tested experimentally. The wire response was measured using a novel non-contact method. High fidelity FEM models of the wire were developed and validated. We found that wire flexure is not correlated to its stress state or fatigue life. On the other hand, aspect ratio is a consistent criterion of thick wire fatigue life. Increasing the wire aspect ratio lowers its critical stress and increases its fatigue life. Moreover, we found that CucorAl wire has superior performance and longer fatigue life than Al wire.

Reliability Criteria for Thick Bonding Wire

Science.gov (United States)

Yavuz, Mustafa

2018-01-01

Bonding wire is one of the main interconnection techniques. Thick bonding wire is widely used in power modules and other high power applications. This study examined the case for extending the use of traditional thin wire reliability criteria, namely wire flexure and aspect ratio, to thick wires. Eleven aluminum (Al) and aluminum coated copper (CucorAl) wire samples with diameter 300 μm were tested experimentally. The wire response was measured using a novel non-contact method. High fidelity FEM models of the wire were developed and validated. We found that wire flexure is not correlated to its stress state or fatigue life. On the other hand, aspect ratio is a consistent criterion of thick wire fatigue life. Increasing the wire aspect ratio lowers its critical stress and increases its fatigue life. Moreover, we found that CucorAl wire has superior performance and longer fatigue life than Al wire. PMID:29673194

Reliability Criteria for Thick Bonding Wire

Directory of Open Access Journals (Sweden)

Turker Dagdelen

2018-04-01

Full Text Available Bonding wire is one of the main interconnection techniques. Thick bonding wire is widely used in power modules and other high power applications. This study examined the case for extending the use of traditional thin wire reliability criteria, namely wire flexure and aspect ratio, to thick wires. Eleven aluminum (Al and aluminum coated copper (CucorAl wire samples with diameter 300 μm were tested experimentally. The wire response was measured using a novel non-contact method. High fidelity FEM models of the wire were developed and validated. We found that wire flexure is not correlated to its stress state or fatigue life. On the other hand, aspect ratio is a consistent criterion of thick wire fatigue life. Increasing the wire aspect ratio lowers its critical stress and increases its fatigue life. Moreover, we found that CucorAl wire has superior performance and longer fatigue life than Al wire.

1998 wire development workshop proceedings

Energy Technology Data Exchange (ETDEWEB)

NONE

1998-04-01

This report consists of vugraphs of the presentations at the conference. The conference was divided into the following sessions: (1) First Generation Wire Development: Status and Issues; (2) First Generation Wire in Pre-Commercial Prototypes; (3) Second Generation Wire Development: Private Sector Progress and Issues; (4) Second Generation Wire Development: Federal Laboratories; and (5) Fundamental Research Issues for HTS Wire Development.

1998 wire development workshop proceedings

International Nuclear Information System (INIS)

1998-04-01

This report consists of vugraphs of the presentations at the conference. The conference was divided into the following sessions: (1) First Generation Wire Development: Status and Issues; (2) First Generation Wire in Pre-Commercial Prototypes; (3) Second Generation Wire Development: Private Sector Progress and Issues; (4) Second Generation Wire Development: Federal Laboratories; and (5) Fundamental Research Issues for HTS Wire Development

Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

NARCIS (Netherlands)

Coeckelbergh, Mark

2011-01-01

If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

Boiler system lay-up; Avstaellning och konservering av pannanlaeggningar

Energy Technology Data Exchange (ETDEWEB)

Hellman, Mats

2007-04-15

Corrosion in power plant equipment is to a large extent a result of poor lay-up procedures. This applies for all equipment on the water and steam side e.g. condensers, boilers, turbines, heat exchangers etc. In theory, lay-up procedures are quite straightforward. The main objective is to avoid a combination of water and oxygen on the steel surfaces within the system. When using dry lay-up procedure, a totally dry environment is essential. The corrosion of steel cannot take place if there is no humidity; in spite of the abundance of oxygen i.e. air. As an alternative the steam side system can be purged with nitrogen so that no air ingress can take place. When using wet lay-up procedures it is important to achieve an oxygen free environment. Creating a slight over-pressure thus avoiding air in leakage can achieve this. Oxygen scavengers might be used as an alternative. Usually problems of maintaining the above mentioned conditions are rarely of technical art. More likely it is due to a lack of knowledge and commitment or short sighted economical considerations. This report summarises the experiences gathered at several visits at plants and discussions with vendors, users and consultants in the power industry. In addition to that, guidelines from well-reputed organisations, international and domestic, have been studied. In many cases the power plant managers believe they have proper lay-up routines but often the routines just regard long time lay-up. This may be regarded as the most important case. However, a number of shorter plant outages in combination with poor lay-up routines can result in severe damages. There is a consensus that a proper lay-up can only be achieved by plant specific lay-up procedures. Each unit is unique in terms of needs and requirements. In order to have as low corrosion as possible a systematic review to evaluate and revise lay-up procedures is preferred. A high in-house knowledge of the power plant enhances the possibility to maintain the

INVESTIGATIONS ON THE NATURAL EGG LAYING HABITS OF DOMESTIC GEESE

Directory of Open Access Journals (Sweden)

Monika Pandur

2000-06-01

Full Text Available The present study was based on the examination of the natural egg laying habits of domestic geese. The authors studied Grey Landes geese during the summer laying period. On the day of arrival of the birds a TyniTalk II artificial egg was placed in each nest. These eggs contain a microchip which detects and records data on the temperature of the surroundings. The results obtained demonstrate that after laying a certain number of eggs females laying under natural conditions sit on the nest not only when laying new eggs, but also to warm the eggs in it. The time devoted to warming increases with the laying period.

Right wire in orthodontics: a review

OpenAIRE

Ali, Hashim

2015-01-01

Quality of orthodontic wire such as stiffness, hardness, resiliency, elasticity and working range are important determinants of the effectivenes of tooth movement. Commonly used types of orthodontic arch wire:1) stainless steel(ss) wire, 2) conventional nickel- titanium (NiTi)alloy wire,3) improved super elastic NiTi- alloy wire( also called low hysteresis(LH)wire), and titanium molybdenum alloy(TMA) wire.

Application of irradiated wire

International Nuclear Information System (INIS)

Uda, I.; Kozima, K.; Suzuki, S.; Tada, S.; Torisu, S.; Veno, K.

1984-01-01

Rubber insulated wires are still useful for internal wiring in motor vehicles and electrical equipment because of flexibility and toughness. Irradiated cross-linked rubber materials have been successfully introduced for use with fusible link wire and helically coiled cord

Exploratorium: Robots.

Science.gov (United States)

Brand, Judith, Ed.

2002-01-01

This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

Effect of discrete wires on the implosion dynamics of wire array Z pinches

International Nuclear Information System (INIS)

Lebedev, S. V.; Beg, F. N.; Bland, S. N.; Chittenden, J. P.; Dangor, A. E.; Haines, M. G.; Kwek, K. H.; Pikuz, S. A.; Shelkovenko, T. A.

2001-01-01

A phenomenological model of wire array Z-pinch implosions, based on the analysis of experimental data obtained on the mega-ampere generator for plasma implosion experiments (MAGPIE) generator [I. H. Mitchell , Rev. Sci. Instrum. 67, 1533 (1996)], is described. The data show that during the first ∼80% of the implosion the wire cores remain stationary in their initial positions, while the coronal plasma is continuously jetting from the wire cores to the array axis. This phase ends by the formation of gaps in the wire cores, which occurs due to the nonuniformity of the ablation rate along the wires. The final phase of the implosion starting at this time occurs as a rapid snowplow-like implosion of the radially distributed precursor plasma, previously injected in the interior of the array. The density distribution of the precursor plasma, being peaked on the array axis, could be a key factor providing stability of the wire array implosions operating in the regime of discrete wires. The modified ''initial'' conditions for simulations of wire array Z-pinch implosions with one-dimension (1D) and two-dimensions (2D) in the r--z plane, radiation-magnetohydrodynamic (MHD) codes, and a possible scaling to a larger drive current are discussed

Lay-up practices at EDF PWR fleet and future developments

International Nuclear Information System (INIS)

Alos Ramos, O.; Wintergest, M.; De Maria Pablo, S.; Postic, A.; Courtaudiere, J.P.; Fournier, C.; Vialette, R.; Waeber, J.; Couturier, D.; Robillart, P.

2015-01-01

A proper lay-up can only be achieved by plant specific lay-up procedures. The lay-up control practices are necessary to prevent corrosion damage during shut down and are an important part of the life extension of a nuclear power plant. EDF operational experience in this area confirms that damage to plant equipment from improper lay-up procedures is a cause of reduced plant reliability and availability and can increase the corrosion products ingress into the SG during start-up. This article presents the EDF lay-up program and the improvement of lay-up practices. It provides information on the lay-up procedures, best practices and recommendations, operating experience, considerations for different durations of outages; the implementation of a preservation working group, the selection of the systems that will be included in the lay-up program and the material damage characterization in some auxiliary systems. Finally, future developments will be presented, such as the development of a 'convective model' to determine air requirements (humidity, flow rate...) and the drying rate to dry a heat exchanger. (authors)

Wire core reactor for NTP

International Nuclear Information System (INIS)

Harty, R.B.

1991-01-01

The development of the wire core system for Nuclear Thermal Propulsion (NTP) that took place from 1963 to 1965 is discussed. A wire core consists of a fuel wire with spacer wires. It's an annular flow core having a central control rod. There are actually four of these, with beryllium solid reflectors on both ends and all the way around. Much of the information on the concept is given in viewgraph form. Viewgraphs are presented on design details of the wire core, the engine design, engine weight vs. thrust, a technique used to fabricate the wire fuel element, and axial temperature distribution

Lay-friendliness in translated Patient Information Leaflets

DEFF Research Database (Denmark)

Jensen, Matilde Nisbeth; Zethsen, Karen Korning

This paper seeks to empirically explore the claim that translated Danish Patient Information Leaflets (PILs) are less lay-friendly than their English source texts. The last two decades have seen an increased focus on providing patients with lay-friendly, easily understood information, enabling them...... to make informed decisions concerning their health. For this purpose, many new genres have been created, one such genre being the PIL, a mandatory text which in an EU context has to accompany all medication informing patients about dosage, side effects etc. Legally, the PIL genre is required to ensure lay......-friendly information as it must be “written and designed to be clear and understandable, enabling the users to act appropriately” (Article 63(2) of EU Directive 2001/83/EC). Despite the legal requirements and the intensified focus on lay-friendly health communication, many studies have shown that PILs are often...

Robotics

International Nuclear Information System (INIS)

Scheide, A.W.

1983-01-01

This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

Water Desalination with Wires

NARCIS (Netherlands)

Porada, S.; Sales, B.B.; Hamelers, H.V.M.; Biesheuvel, P.M.

2012-01-01

We show the significant potential of water desalination using a novel capacitive wire-based technology in which anode/cathode wire pairs are constructed from coating a thin porous carbon electrode layer on top of electrically conducting rods (or wires). By alternately dipping an array of electrode

Towards plant wires

OpenAIRE

Adamatzky, Andrew

2014-01-01

In experimental laboratory studies we evaluate a possibility of making electrical wires from living plants. In scoping experiments we use lettuce seedlings as a prototype model of a plant wire. We approximate an electrical potential transfer function by applying direct current voltage to the lettuce seedlings and recording output voltage. We analyse oscillation frequencies of the output potential and assess noise immunity of the plant wires. Our findings will be used in future designs of self...

What are lay theories of social class?

Science.gov (United States)

Varnum, Michael E W

2013-01-01

Numerous studies have documented the effects of social class on psychological and behavioral variables. However, lay beliefs about how social class affects these dimensions have not been systematically tested. Studies 1 and 2 assessed lay beliefs about the association between social class and 8 variables (including psychological and behavioral tendencies and cognitive ability). Study 3 assessed lay beliefs about the Big five personality traits and social class, and study 4 reframed the 8 variables from study 1 in opposite terms and yielded similar results. Study 5 contained the variables framed as in both studies 1 and 4, and replicated those results suggesting that framing effects were not responsible for the effects observed. Interestingly, for the most part lay beliefs about social class did not differ as a function of participants' own social class. In general people held relatively accurate and consistent stereotypes about the relationship between social class and well-being, health, intelligence, and neuroticism. In contrast lay beliefs regarding social class and reasoning styles, as well as relational, social, and emotional tendencies were less consistent and coherent. This work suggests that on the whole people's beliefs about social class are not particularly accurate, and further that in some domains there are contradictory stereotypes about the consequences of social class.

Lay health advisers: scoping the role and intervention landscape.

Science.gov (United States)

Carr, Susan M; Lhussier, Monique; Forster, Natalie

2017-01-01

The use of lay health advisers has become an established approach within public health, in particular for impact on health inequalities and engaging socially excluded groups. Evidence on how differences in terms of the multiple role dimensions impact the outcomes of programs is limited. This creates ambiguity for decision makers on which roles should be implemented in different contexts for different needs. This paper applies realist logic to an inquiry to explore the mechanisms that may operate in lay-led intervention models and understand how, why, and in what respect these lead to particular outcomes. It draws on a project focusing on health-related lifestyle advisers and further insights gained from a subsequent related project about outreach with traveler communities. Analysis highlights multiple and potentially interacting aspects of lay health-adviser roles that may influence their success, including characteristics of lay health advisers, characteristics of target populations, purpose or intent of interventions, and how advice is given. A model is proposed from which to examine the contexts and mechanisms of lay health advisers that may impact outcomes, and is subsequently applied to two examples of reported lay health-adviser interventions. The combination of skills and characteristics of lay health advisers must be considered when planning which interventions might be appropriate when targeting specific needs or target populations. Focus only on the peer/layperson distinction may overlook other potentially important skills and mechanisms of action integral to lay health-adviser roles.

Evolution of cementite morphology in pearlitic steel wire during wet wire drawing

DEFF Research Database (Denmark)

Zhang, Xiaodan; Godfrey, Andrew; Hansen, Niels

2010-01-01

The evolution of the cementite phase during wet wire drawing of a pearlitic steel wire has been followed as a function of strain. Particular attention has been given to a quantitative characterization of changes in the alignment and in the dimensions of the cementite phase. Scanning electron...... microscope observations show that cementite plates become increasingly aligned with the wire axis as the drawing strain is increased. Measurements in the transmission electron microscope show that the cementite deforms plastically during wire drawing , with the average thickness of the cementite plates...... decreasing from 19 nm (ε = 0) to 2 nm (ε = 3.7) in correspondence with the reduction in wire diameter. The deformation of the cementite is strongly related to plastic deformation in the ferrite, with coarse slip steps, shear bands and cracks in the cementite plates/particles observed parallel to either {110...

Towards Versatile Robots Through Open Heterogeneous Modular Robots

DEFF Research Database (Denmark)

Lyder, Andreas

arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a modular robot to be a robot consisting of dynamically reconfigurable modules. The goal of this thesis......Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem...... is to increase the versatility and practical usability of modular robots by introducing new conceptual designs. Until now modular robots have been based on a pre-specified set of modules, and thus, their functionality is limited. We propose an open heterogeneous design concept, which allows a modular robot...

Do All Ducks Lay Eggs? The Generic Overgeneralization Effect

Science.gov (United States)

Leslie, Sarah-Jane; Khemlani, Sangeet; Glucksberg, Sam

2011-01-01

Generics are statements such as "tigers are striped" and "ducks lay eggs". They express general, though not universal or exceptionless, claims about kinds (Carlson & Pelletier, 1995). For example, the generic "ducks lay eggs" seems true even though many ducks (e.g. the males) do not lay eggs. The universally quantified version of the statement…

Using wire shaping techniques and holographic optics to optimize deposition characteristics in wire-based laser cladding.

Science.gov (United States)

Goffin, N J; Higginson, R L; Tyrer, J R

2016-12-01

In laser cladding, the potential benefits of wire feeding are considerable. Typical problems with the use of powder, such as gas entrapment, sub-100% material density and low deposition rate are all avoided with the use of wire. However, the use of a powder-based source material is the industry standard, with wire-based deposition generally regarded as an academic curiosity. This is because, although wire-based methods have been shown to be capable of superior quality results, the wire-based process is more difficult to control. In this work, the potential for wire shaping techniques, combined with existing holographic optical element knowledge, is investigated in order to further improve the processing characteristics. Experiments with pre-placed wire showed the ability of shaped wire to provide uniformity of wire melting compared with standard round wire, giving reduced power density requirements and superior control of clad track dilution. When feeding with flat wire, the resulting clad tracks showed a greater level of quality consistency and became less sensitive to alterations in processing conditions. In addition, a 22% increase in deposition rate was achieved. Stacking of multiple layers demonstrated the ability to create fully dense, three-dimensional structures, with directional metallurgical grain growth and uniform chemical structure.

Evolution of cementite morphology in pearlitic steel wire during wet wire drawing

International Nuclear Information System (INIS)

Zhang Xiaodan; Godfrey, Andrew; Hansen, Niels; Huang Xiaoxu; Liu Wei; Liu Qing

2010-01-01

The evolution of the cementite phase during wet wire drawing of a pearlitic steel wire has been followed as a function of strain. Particular attention has been given to a quantitative characterization of changes in the alignment and in the dimensions of the cementite phase. Scanning electron microscope observations show that cementite plates become increasingly aligned with the wire axis as the drawing strain is increased. Measurements in the transmission electron microscope show that the cementite deforms plastically during wire drawing , with the average thickness of the cementite plates decreasing from 19 nm (ε = 0) to 2 nm (ε = 3.7) in correspondence with the reduction in wire diameter. The deformation of the cementite is strongly related to plastic deformation in the ferrite, with coarse slip steps, shear bands and cracks in the cementite plates/particles observed parallel to either {110} α or {112} α slip plane traces in the ferrite.

1 mil gold bond wire study.

Energy Technology Data Exchange (ETDEWEB)

Huff, Johnathon; McLean, Michael B.; Jenkins, Mark W.; Rutherford, Brian Milne

2013-05-01

In microcircuit fabrication, the diameter and length of a bond wire have been shown to both affect the current versus fusing time ratio of a bond wire as well as the gap length of the fused wire. This study investigated the impact of current level on the time-to-open and gap length of 1 mil by 60 mil gold bond wires. During the experiments, constant current was provided for a control set of bond wires for 250ms, 410ms and until the wire fused; non-destructively pull-tested wires for 250ms; and notched wires. The key findings were that as the current increases, the gap length increases and 73% of the bond wires will fuse at 1.8A, and 100% of the wires fuse at 1.9A within 60ms. Due to the limited scope of experiments and limited data analyzed, further investigation is encouraged to confirm these observations.

Corrosion of Wires on Wooden Wire-Bound Packaging Crates

Science.gov (United States)

Samuel L. Zelinka; Stan Lebow

2015-01-01

Wire-bound packaging crates are used by the US Army to transport materials. Because these crates may be exposed to harsh environments, they are dip-treated with a wood preservative (biocide treatment). For many years, zinc-naphthenate was the most commonly used preservative for these packaging crates and few corrosion problems with the wires were observed. Recently,...

Socially intelligent robots: dimensions of human-robot interaction.

Science.gov (United States)

Dautenhahn, Kerstin

2007-04-29

Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

Robonaut 2 - The First Humanoid Robot in Space

Science.gov (United States)

Diftler, M. A.; Radford, N. A.; Mehling, J. S.; Abdallah, M. E.; Bridgwater, L. B.; Sanders, A. M.; Askew, R. S.; Linn, D. M.; Yamokoski, J. D.; Permenter, F. A.;

Opportunities for exercise during pullet rearing, Part II: Long-term effects on bone characteristics of adult laying hens at the end-of-lay.

Science.gov (United States)

Casey-Trott, T M; Korver, D R; Guerin, M T; Sandilands, V; Torrey, S; Widowski, T M

2017-08-01

Osteoporosis in laying hens has been a production and welfare concern for several decades. The objective of this study was to determine whether differing opportunities for exercise during pullet rearing influences long-term bone quality characteristics in end-of-lay hens. A secondary objective was to assess whether differing opportunities for exercise in adult housing systems alters bone quality characteristics in end-of-lay hens. Four flock replicates of 588 Lohmann Selected Leghorn-Lite pullets were reared in either conventional cages (Conv) or an aviary rearing system (Avi) and placed into conventional cages (CC), 30-bird furnished cages (FC-S), or 60-bird furnished cages (FC-L) for adult housing. Wing and leg bones were collected at the end-of-lay to quantify bone composition and strength using quantitative computed tomography and bone breaking strength (BBS). At the end-of-lay, Avi hens had greater total and cortical cross-sectional area (P lay. © The Author 2017. Published by Oxford University Press on behalf of Poultry Science Association.

Robot engineering

Energy Technology Data Exchange (ETDEWEB)

Jung, Seul

2006-02-15

This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

Robot engineering

International Nuclear Information System (INIS)

Jung, Seul

2006-02-01

This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

Forming Refractory Insulation On Copper Wire

Science.gov (United States)

Setlock, J.; Roberts, G.

1995-01-01

Alternative insulating process forms flexible coat of uncured refractory insulating material on copper wire. Coated wire formed into coil or other complex shape. Wire-coating apparatus forms "green" coat on copper wire. After wire coiled, heating converts "green" coat to refractory electrical insulator. When cured to final brittle form, insulating material withstands temperatures above melting temperature of wire. Process used to make coils for motors, solenoids, and other electrical devices to be operated at high temperatures.

Fiscal 1999 achievement report on regional consortium research and development project. Regional consortium research and development in its 3rd year (Research and development of process change accommodating flexible robot technology); 1999 nendo kotei tekiogata flexible robot gijutsu ni kansuru kenkyu kaihatsu seika hokokusho. 3

Energy Technology Data Exchange (ETDEWEB)

NONE

2000-03-01

A prototype force control piston insertion device which does not need jigs is built for use on the assembly line. An extensive reduction in investment for automated facilities is expected to realize because jigs conventionally required for each size are dispensed with. For expanding the scope of force control application, the device is verified for serviceability by use of a 5-axis robot and a visual servo control technique. A combination of vibration control and tracking control is applied to an integrated simulation/experiment environment. For the processing of inner force sensor data, a pseudo contact point monitoring technique is used. A wire type tactile sensor is proposed, which has a flexible-structure moment detector in which a flexible beam like a piano wire is the probe. For the inspection of ICs (integrated circuits), a passive compliance unit and a force control based flexible inserter are fabricated, to be used for a reduction in the number of no-good contacts. Technologies of shock absorption aided by robot terminal device tactile sense and of virtual damper control for shortening the setting time are verified for their validity by use of the IC inspecting inserter. (NEDO)

Wire chambers: Trends and alternatives

Energy Technology Data Exchange (ETDEWEB)

Regler, Meinhard

1992-05-15

The subtitle of this year's Vienna Wire Chamber Conference - 'Recent Trends and Alternative Techniques' - signalled that it covered a wide range of science and technology. While an opening Vienna talk by wire chamber pioneer Georges Charpak many years ago began 'Les funerailles des chambres a fils (the burial of wire chambers)', the contrary feeling this year was that wire chambers are very much alive!.

Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

OpenAIRE

Cheng, Frank Shaopeng

2008-01-01

This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

Review of wire chamber aging

International Nuclear Information System (INIS)

Va'Vra, J.

1986-02-01

This paper makes an overview of the wire chamber aging problems as a function of various chamber design parameters. It emphasizes the chemistry point of view and many examples are drawn from the plasma chemistry field as a guidance for a possible effort in the wire chamber field. The paper emphasizes the necessity of variable tuning, the importance of purity of the wire chamber environment, as well as it provides a practical list of presently known recommendations. In addition, several models of the wire chamber aging are qualitatively discussed. The paper is based on a summary talk given at the Wire Chamber Aging Workshop held at LBL, Berkeley on January 16-17, 1986. Presented also at Wire Chamber Conference, Vienna, February 25-28, 1986. 74 refs., 18 figs., 11 tabs

Design and Voluntary Motion Intention Estimation of a Novel Wearable Full-Body Flexible Exoskeleton Robot

Directory of Open Access Journals (Sweden)

Chunjie Chen

2017-01-01

Full Text Available The wearable full-body exoskeleton robot developed in this study is one application of mobile cyberphysical system (CPS, which is a complex mobile system integrating mechanics, electronics, computer science, and artificial intelligence. Steel wire was used as the flexible transmission medium and a group of special wire-locking structures was designed. Additionally, we designed passive joints for partial joints of the exoskeleton. Finally, we proposed a novel gait phase recognition method for full-body exoskeletons using only joint angular sensors, plantar pressure sensors, and inclination sensors. The method consists of four procedures. Firstly, we classified the three types of main motion patterns: normal walking on the ground, stair-climbing and stair-descending, and sit-to-stand movement. Secondly, we segregated the experimental data into one gait cycle. Thirdly, we divided one gait cycle into eight gait phases. Finally, we built a gait phase recognition model based on k-Nearest Neighbor perception and trained it with the phase-labeled gait data. The experimental result shows that the model has a 98.52% average correct rate of classification of the main motion patterns on the testing set and a 95.32% average correct rate of phase recognition on the testing set. So the exoskeleton robot can achieve human motion intention in real time and coordinate its movement with the wearer.

Wire chambers: Trends and alternatives

International Nuclear Information System (INIS)

Regler, Meinhard

1992-01-01

The subtitle of this year's Vienna Wire Chamber Conference - 'Recent Trends and Alternative Techniques' - signalled that it covered a wide range of science and technology. While an opening Vienna talk by wire chamber pioneer Georges Charpak many years ago began 'Les funerailles des chambres a fils (the burial of wire chambers)', the contrary feeling this year was that wire chambers are very much alive!

Vibrating wire for beam profile scanning

Directory of Open Access Journals (Sweden)

S. G. Arutunian

1999-12-01

Full Text Available A method that measures the transverse profile (emittance of the bunch by detecting radiation arising at the scattering of the bunch on scanning wire is widely used. In this work information about bunch scattering is obtained by measuring the oscillation frequency of the tightened scanning wire. In such a way, the system of radiation (or secondary particles extraction and measurement can be removed. The entire unit consists of a compact fork with tightened wire and a scanning system. Normal oscillation frequency of a wire depends on wire tension, its geometric parameters, and, in a second approximation, its elastic characteristics. Normal oscillations are generated by interaction of an alternating current through the wire with magnetic field of a permanent magnet. In this case, it is suggested that the magnetic field of the accelerator (field of dipole magnets or quadrupole magnets be used for excitation of oscillations. The dependence of oscillation frequency on beam scattering is determined by several factors, including changes of wire tension caused by transverse force of the beam and influence of beam self-field. Preliminary calculations show that the influence of wire heating will dominate. We have studied strain gauges on the basis of vibrating wire from various materials (tungsten, beryl bronze, and niobium zirconium alloys. A scheme of normal oscillation generation by alternating current in autogeneration circuit with automatic frequency adjustment was selected. A special method of wire fixation and elimination of transverse degrees of freedom allows us to achieve relative stability better than 10^{-5} during several days at a relative resolution of 10^{-6}. Experimental results and estimates of wire heating of existing scanners show that the wire heats up to a few hundred grades, which is enough for measurements. The usage of wire of micrometer thickness diminishes the problem of wire thermalization speed during the scanning of the bunch.

Charpak hemispherical wire chamber

CERN Multimedia

1970-01-01

pieces. Mesures are of the largest one. Multi-wire detectors contain layers of positively and negatively charged wires enclosed in a chamber full of gas. A charged particle passing through the chamber knocks negatively charged electrons out of atoms in the gas, leaving behind positive ions. The electrons are pulled towards the positively charged wires. They collide with other atoms on the way, producing an avalanche of electrons and ions. The movement of these electrons and ions induces an electric pulse in the wires which is collected by fast electronics. The size of the pulse is proportional to the energy loss of the original particle.

Electrodeposition of nickel nano wire arrays

International Nuclear Information System (INIS)

Nur Ubaidah Saidin; Kok Kuan Ying; Ng Inn Khuan; Nurazila Mat Zali; Siti Salwa Zainal Abidin

2010-01-01

Synthesis, characterization and assembly of one-dimensional nickel nano wires prepared by template directed electrodeposition are discussed in this paper. Parallel arrays of high aspect ratio nickel nano wires were electrodeposited using electrolytes with different cations and pH. The nano wires were characterized using X-ray diffractometry and scanning electron microscopy. It was found that the orientations of the electro deposited Ni nano wires were governed by the deposition current and the electrolyte conditions. Free standing nickel nano wires can be obtained by dissolving the template. Due to the magnetic nature of the nano wires, magnetic alignment was employed to assemble and position the free standing nano wires in the device structure. (author)

Wire-number effects on high-power annular z-pinches and some characteristics at high wire number

Energy Technology Data Exchange (ETDEWEB)

SANFORD,THOMAS W. L.

2000-05-23

Characteristics of annular wire-array z-pinches as a function of wire number and at high wire number are reviewed. The data, taken primarily using aluminum wires on Saturn are comprehensive. The experiments have provided important insights into the features of wire-array dynamics critical for high x-ray power generation, and have initiated a renaissance in z-pinches when high numbers of wires are used. In this regime, for example, radiation environments characteristic of those encountered during the early pulses required for indirect-drive ICF ignition on the NIF have been produced in hohlraums driven by x-rays from a z-pinch, and are commented on here.

Wire-number effects on high-power annular z-pinches and some characteristics at high wire number

International Nuclear Information System (INIS)

SANFORD, THOMAS W. L.

2000-01-01

Characteristics of annular wire-array z-pinches as a function of wire number and at high wire number are reviewed. The data, taken primarily using aluminum wires on Saturn are comprehensive. The experiments have provided important insights into the features of wire-array dynamics critical for high x-ray power generation, and have initiated a renaissance in z-pinches when high numbers of wires are used. In this regime, for example, radiation environments characteristic of those encountered during the early pulses required for indirect-drive ICF ignition on the NIF have been produced in hohlraums driven by x-rays from a z-pinch, and are commented on here

Diagnostics for exploding wires (abstract)

International Nuclear Information System (INIS)

Moosman, B.; Bystritskii, V.; Wessel, F.J.; Van Drie, A.

1999-01-01

Two diagnostics, capable of imaging fast, high temperature, plasmas were used on exploding wire experiments at UC Irvine. An atmospheric pressure nitrogen laser (λ=337.1 nm) was used to generate simultaneous shadow and shearing interferogram images with a temporal resolution of ∼1 ns and a spatial resolution of 10 μm. An x-ray backlighter imaged the exploding wire 90 degree with respect to the laser and at approximately the same instant in time. The backlighter spatial resolution as determined by geometry and film resolution was 25 μm. Copper wires of diameters (25, 50, and 100 μm) and steel wire d=25 μm were exploded in vacuum (10 -5 Torr) at a maximum current level of 12 kA, by a rectified marx bank at a voltage of 50 kV and a current rise time (quarter period) of 900 ns. Copper wires which were cleaned and then resistively heated under vacuum to incandescence for several hours prior to high current initiation, exhibited greater expansion velocities at peak current than wires which had not been heated prior to discharge. Axial variations on the surface of the wire observed with the laser were found to correlate with bulk axial mass differences from x-ray backlighting. High electron density, measured near the opaque surface of the exploding wire, suggests that much of the current is shunted outward away from the bulk of the wire. copyright 1999 American Institute of Physics

Self-Catalyzed CdTe Wires

Directory of Open Access Journals (Sweden)

Tom Baines

2018-04-01

Full Text Available CdTe wires have been fabricated via a catalyst free method using the industrially scalable physical vapor deposition technique close space sublimation. Wire growth was shown to be highly dependent on surface roughness and deposition pressure, with only low roughness surfaces being capable of producing wires. Growth of wires is highly (111 oriented and is inferred to occur via a vapor-solid-solid growth mechanism, wherein a CdTe seed particle acts to template the growth. Such seed particles are visible as wire caps and have been characterized via energy dispersive X-ray analysis to establish they are single phase CdTe, hence validating the self-catalysation route. Cathodoluminescence analysis demonstrates that CdTe wires exhibited a much lower level of recombination when compared to a planar CdTe film, which is highly beneficial for semiconductor applications.

Evolved Design, Integration, and Test of a Modular, Multi-Link, Spacecraft-Based Robotic Manipulator

Science.gov (United States)

2016-06-01

Input 6 Config,0 80,0,Amp Model Number,DEP-090-09 86,0, Servo Period,4 8a,0,Voltage Sense,2262 92,0,Amp Name,Current 98,0,Function Generator Config...Los Angeles, CA, 2008, pp. 25–29. [3] M. J. Mataric, The Robotics Primer, Cambridge, MA: MIT Press , 2007. [4] K. Shamaei, Y. Che, A. Murali, S...Online]. Available: http://www.harmonicdrive.net/products/ servo -drives/dc-bus/dep. Accessed Apr. 21, 2016. [38] All About Circuits. “Wiring color

Hot-Film and Hot-Wire Anemometry for a Boundary Layer Active Flow Control Test

Science.gov (United States)

Lenahan, Keven C.; Schatzman, David M.; Wilson, Jacob Samuel

2013-01-01

Unsteady active flow control (AFC) has been used experimentally for many years to minimize bluff-body drag. This technology could significantly improve performance of rotorcraft by cleaning up flow separation. It is important, then, that new actuator technologies be studied for application to future vehicles. A boundary layer wind tunnel was constructed with a 1ft-x-3ft test section and unsteady measurement instrumentation to study how AFC manipulates the boundary layer to overcome adverse pressure gradients and flow separation. This unsteady flow control research requires unsteady measurement methods. In order to measure the boundary layer characteristics, both hot-wire and hot-film Constant Temperature Anemometry is used. A hot-wire probe is mounted in the flow to measure velocity while a hot-film array lays on the test surface to measure skin friction. Hot-film sensors are connected to an anemometer, a Wheatstone bridge circuit with an output that corresponds to the dynamic flow response. From this output, the time varying flow field, turbulence, and flow reversal can be characterized. Tuning the anemometers requires a fan test on the hot-film sensors to adjust each output. This is a delicate process as several variables drastically affect the data, including control resistance, signal input, trim, and gain settings.

Generic robot architecture

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

2010-09-21

The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

Practical wiring in SI units

CERN Document Server

Miller, Henry A

2013-01-01

Practical Wiring, Volume 1 is a 13-chapter book that first describes some of the common hand tools used in connection with sheathed wiring. Subsequent chapters discuss the safety in wiring, cables, conductor terminations, insulating sheathed wiring, conductor sizes, and consumer's control equipments. Other chapters center on socket outlets, plugs, lighting subcircuits, lighting accessories, bells, and primary and secondary cells. This book will be very valuable to students involved in this field of interest.

Wire EDM for Refractory Materials

Science.gov (United States)

Zellars, G. R.; Harris, F. E.; Lowell, C. E.; Pollman, W. M.; Rys, V. J.; Wills, R. J.

1982-01-01

In an attempt to reduce fabrication time and costs, Wire Electrical Discharge Machine (Wire EDM) method was investigated as tool for fabricating matched blade roots and disk slots. Eight high-strength nickel-base superalloys were used. Computer-controlled Wire EDM technique provided high quality surfaces with excellent dimensional tolerances. Wire EDM method offers potential for substantial reductions in fabrication costs for "hard to machine" alloys and electrically conductive materials in specific high-precision applications.

Molecular Robots Obeying Asimov's Three Laws of Robotics.

Science.gov (United States)

Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

2017-01-01

Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

Audio wiring guide how to wire the most popular audio and video connectors

CERN Document Server

Hechtman, John

2012-01-01

Whether you're a pro or an amateur, a musician or into multimedia, you can't afford to guess about audio wiring. The Audio Wiring Guide is a comprehensive, easy-to-use guide that explains exactly what you need to know. No matter the size of your wiring project or installation, this handy tool provides you with the essential information you need and the techniques to use it. Using The Audio Wiring Guide is like having an expert at your side. By following the clear, step-by-step directions, you can do professional-level work at a fraction of the cost.

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

Directory of Open Access Journals (Sweden)

Farshad Arvin

2014-07-01

Full Text Available Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

K-wire and tension band wire fixation in treating sternoclavicular joint dislocation

Directory of Open Access Journals (Sweden)

CHEN Qing-yu

2011-02-01

Full Text Available 【Abstract】Objective: To evaluate the feasibility and therapeutic effect of treating sternoclavicular joint dislocation by K-wire and tension band wire fixation, and to improve the safety and stability of this technique. Methods: This study consisted of 9 cases, 6 males and 3 females with the mean age of 25 years (range, 9-62 years. The causes were traffic accident in 7 cases, falling in 1 case and fight in 1 case. The duration from injury to operation was 2 hours to 7 days. There were 5 left dislocations and 4 right dislocations; 8 anterior dislocations and 1 posterior dislocation, including one combined with left scapular fracture and one with left olecranon fracture. Open reduction and internal fixation using K-wires and tension band wires were performed to treat dislocations. Results: All patients were followed up for 6 to 24 months, 10 months on average. According to Rockwood’s rating scale on postoperative sternoclavicular joint, 8 cases achieved excellent outcomes with an average score of 13.88, and the rest case achieved a good outcome with the score of 12. Anatomical reduction was obtained in all cases. There were no such postoperative complications as severe infection, injury to blood vessel and nerve, failure of fixation, etc. Patients were all satisfied with the anatomical reduction and functional recovery. Conclusions: The technique of K-wire and tension band wire fixation is safe, simple, effective, less invasive and has been successfully used in orthopedic surgery. It is effective in treating sternoclavicular joint dislocation though it has some disadvantages. Key words: Sternoclavicular joint; Dislocations; Bone wires; Fracture fixation, internal

A comparison of a 'J' wire and a straight wire in successful antegrade cannulation of the superficial femoral artery

International Nuclear Information System (INIS)

Gay, D.A.T.; Edwards, A.J.; Puckett, M.A.; Roobottom, C.A.

2005-01-01

AIMS: To evaluate the success of two different types of wire in common use in their ability to successfully cannulate the superficial femoral artery (SFA) using antegrade puncture. METHODS: 50 consecutive patients in whom antegrade infra-inguinal intervention was planned, underwent common femoral arterial puncture and then cannulation with either a standard 3 mm 'J' wire or a floppy tipped straight wire (William Cook--Europe). The frequency with which each type of wire entered the SFA or profunda femoris artery without image guidance was recorded. Further analysis was also made of the success of manipulation of the wire into the SFA following profunda cannulation and the use of alternative guide wires. RESULTS: In 19 out of 25 (76%) patients the 'J' wire correctly entered the SFA without image guidance. Only 5 out of 25 (25%) of straight wires entered the SFA with the initial pass (p<0.0001). Following further manipulation with the same wire all except 1 'J' wire was successfully negotiated into the SFA. The same was true for only 9 of the remaining straight wires with 11 patients requiring an alternative guide wire. CONCLUSIONS: When performing antegrade cannulation of the SFA a 'J' wire is more likely to be successful than a straight guide wire

Caenorhabditis elegans Egg-Laying Detection and Behavior Study Using Image Analysis

Directory of Open Access Journals (Sweden)

Palm Megan

2005-01-01

Full Text Available Egg laying is an important phase of the life cycle of the nematode Caenorhabditis elegans (C. elegans. Previous studies examined egg-laying events manually. This paper presents a method for automatic detection of egg-laying onset using deformable template matching and other morphological image analysis techniques. Some behavioral changes surrounding egg-laying events are also studied. The results demonstrate that the computer vision tools and the algorithm developed here can be effectively used to study C. elegans egg-laying behaviors. The algorithm developed is an essential part of a machine-vision system for C. elegans tracking and behavioral analysis.

The Analysis of the High Speed Wire Drawing Process of High Carbon Steel Wires Under Hydrodynamic Lubrication Conditions

Directory of Open Access Journals (Sweden)

Suliga M.

2015-04-01

Full Text Available In this work the analysis of the wire drawing process in hydrodynamic dies has been done. The drawing process of φ5.5 mm wire rod to the final wire of φ1.7 mm was conducted in 12 passes, in drawing speed range of 5-25 m/s. For final wires of φ1.7 mm the investigation of topography of wire surface, the amount of lubricant on the wire surface and the pressure of lubricant in hydrodynamic dies were determined. Additionally, in the work selected mechanical properties of the wires have been estimated.

Micro intelligence robot

International Nuclear Information System (INIS)

Jeon, Yon Ho

1991-07-01

This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

Towards plant wires.

Science.gov (United States)

Adamatzky, Andrew

2014-08-01

In experimental laboratory studies we evaluate a possibility of making electrical wires from living plants. In scoping experiments we use lettuce seedlings as a prototype model of a plant wire. We approximate an electrical potential transfer function by applying direct current voltage to the lettuce seedlings and recording output voltage. We analyse oscillation frequencies of the output potential and assess noise immunity of the plant wires. Our findings will be used in future designs of self-growing wetware circuits and devices, and integration of plant-based electronic components into future and emergent bio-hybrid systems. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

Early Onset of Laying and Bumblefoot Favor Keel Bone Fractures

Science.gov (United States)

Gebhardt-Henrich, Sabine G.; Fröhlich, Ernst K. F.

2015-01-01

Simple Summary Numerous studies have documented a high prevalence of keel bone fractures in laying hens. In this longitudinal study, 80 white and brown laying hens were regularly checked for keel bone deviations and fractures while egg production was individually monitored. About 62% of the hens had broken keel bones at depopulation. More new fractures occurred during the time when laying rates were highest. Hens with broken keel bones at depopulation had laid their first egg earlier than hens with intact keel bones. All birds with bumblefoot on both feet had a fracture at depopulation. Abstract Numerous studies have demonstrated influences of hybrid, feed, and housing on prevalence of keel bone fractures, but influences of behavior and production on an individual level are less known. In this longitudinal study, 80 white and brown laying hens were regularly checked for keel bone deviations and fractures while egg production was individually monitored using Radio Frequency Identification (RFID) from production until depopulation at 65 weeks of age. These focal birds were kept in eight pens with 20 hens per pen in total. About 62% of the hens had broken keel bones at depopulation. The occurrence of new fractures was temporally linked to egg laying: more new fractures occurred during the time when laying rates were highest. Hens with fractured keel bones at depopulation had laid their first egg earlier than hens with intact keel bones. However, the total number of eggs was neither correlated with the onset of egg laying nor with keel bone fractures. All birds with bumblefoot on both feet had a fracture at depopulation. Hens stayed in the nest for a longer time during egg laying during the ten days after the fracture than during the ten days before the fracture. In conclusion, a relationship between laying rates and keel bone fractures seems likely. PMID:26633520

Modelling of industrial robot in LabView Robotics

Science.gov (United States)

Banas, W.; Cwikła, G.; Foit, K.; Gwiazda, A.; Monica, Z.; Sekala, A.

2017-08-01

Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

Adaptive Robotic Systems Design in University of Applied Sciences

Directory of Open Access Journals (Sweden)

Gunsing Jos

2016-01-01

Full Text Available In the industry for highly specialized machine building (small series with high variety and high complexity and in healthcare a demand for adaptive robotics is rapidly coming up. Technically skilled people are not always available in sufficient numbers. A lot of know how with respect to the required technologies is available but successful adaptive robotic system designs are still rare. In our research at the university of applied sciences we incorporate new available technologies in our education courses by way of research projects; in these projects students will investigate the application possibilities of new technologies together with companies and teachers. Thus we are able to transfer knowledge to the students including an innovation oriented attitude and skills. Last years we developed several industrial binpicking applications for logistics and machining-factories with different types of 3D vision. Also force feedback gripping has been developed including slip sensing. Especially for healthcare robotics we developed a so-called twisted wire actuator, which is very compact in combination with an underactuated gripper, manufactured in one piece in polyurethane. We work both on modeling and testing the functions of these designs but we work also on complete demonstrator systems. Since the amount of disciplines involved in complex product and machine design increases rapidly we pay a lot of attention with respect to systems engineering methods. Apart from the classical engineering disciplines like mechanical, electrical, software and mechatronics engineering, especially for adaptive robotics more and more disciplines like industrial product design, communication … multimedia design and of course physics and even art are to be involved depending on the specific application to be designed. Design tools like V-model, agile/scrum and design-approaches to obtain the best set of requirements are being implemented in the engineering studies from

Towards Sociable Robots

DEFF Research Database (Denmark)

Ngo, Trung Dung

This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

Energy Technology Data Exchange (ETDEWEB)

Van den Brandt, M. [Office for Science and Technology, Embassy of the Kingdom of the Netherlands, Washington (United States)

2009-09-15

This brief article addresses the EATR robot (Energetically Autonomous Tactical Robot) that was developed by Cyclone Power and uses biomass as primary source of energy for propulsion. [Dutch] Een kort artikel over de door Cyclone Power ontwikkelde EATR-robot (Energetically Autonomous Tactical Robot) die voor de voortdrijving biomassa gebruikt als primaire energiebron.

Robot Futures

DEFF Research Database (Denmark)

Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

Soft Robotics Week

CERN Document Server

Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

2017-01-01

This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

Towards Versatile Robots Through Open Heterogeneous Modular Robots

OpenAIRE

Lyder, Andreas

2010-01-01

Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a ...

Robotic architectures

CSIR Research Space (South Africa)

Mtshali, M

2010-01-01

Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

An Analysis of the Lay Participation To Vocation Promotion in Vietnam

Directory of Open Access Journals (Sweden)

Thuy Thi Bich Pham

2017-05-01

Full Text Available From the dawn of Vatican Council II, lay Catholics have been encouraged to actively participate to the life and mission of the Church. Many lay faithful have responded to this call and dispensed their service in various church ministries. However, many other lay men and wo men have not demonstrated a visible participation, especially in the mission of promoting priestly and religious vocations. In its attempt to advocate for a more active collaboration of Vietnamese lay people in vocation promotion, this paper will accomplis h three goals. It will stress once again that lay Christians in Vietnam need to share the responsibility entrusted to each by the Church in encouraging vocations. The paper then argues that lay presence in this ministry enhances its dynamic and effectivene ss. It finally explores ways lay faithful can employ to raise awareness in youth of the call to priesthood and religious life in their context and culture. As such, the study hopes to inspire all baptized to extend their participatory presence in vocation promotion with zeal and confidence.

Investigation of method for Stainless Steel Welding Wire as a Replacement for Arc Wire Comsumables

Directory of Open Access Journals (Sweden)

Koiprasert, H.

2005-01-01

Full Text Available Arc spraying as a coating method is being employed in various industrial applications as a part of maintenance service, and also as a surface engineering technique for many machine parts and components. The major cost in producing the arc spray coating is, however, based on the cost of the arc wire comsumables. This project was carried out to investigate the use of the commercially-available gas metal arc welding wire (GMAW wire as a cheaper alternative to the special-purpose arc wire comsumables. The wire material chosen for this early study is the 316L stainless steel, due to its popularity in many applications as a built-up coating for worn parts. The physical properties of the coatings produced from the two sets of 316L stainless steel wire were determined to be different in the percentage of porosity and the oxide content. The mechanical properties, including the tensile bond strength and the wear rate of the coatings produced from the two types of sprayed wire, were also different. This will, in turn, result in a slight difference in the performance of thecoatings.

Welding wire pressure sensor assembly

Science.gov (United States)

Morris, Timothy B. (Inventor); Milly, Peter F., Sr. (Inventor); White, J. Kevin (Inventor)

1994-01-01

The present invention relates to a device which is used to monitor the position of a filler wire relative to a base material being welded as the filler wire is added to a welding pool. The device is applicable to automated welding systems wherein nonconsumable electrode arc welding processes are utilized in conjunction with a filler wire which is added to a weld pool created by the electrode arc. The invention senses pressure deviations from a predetermined pressure between the filler wire and the base material, and provides electrical signals responsive to the deviations for actuating control mechanisms in an automatic welding apparatus so as to minimize the pressure deviation and to prevent disengagement of the contact between the filler wire and the base material.

Soft Robotics.

Science.gov (United States)

Whitesides, George M

2018-04-09

This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Multifilament Cable Wire versus Conventional Wire for Sternal Closure in Patients Undergoing Major Cardiac Surgery

Directory of Open Access Journals (Sweden)

You Na Oh

2015-08-01

Full Text Available Background: Stainless steel wiring remains the most popular technique for primary sternal closure. Recently, a multifilament cable wiring system (Pioneer Surgical Technology Inc., Marquette, MI, USA was introduced for sternal closure and has gained wide acceptance due to its superior resistance to tension. We aimed to compare conventional steel wiring to multifilament cable fixation for sternal closure in patients undergoing major cardiac surgery. Methods: Data were collected retrospectively on 1,354 patients who underwent sternal closure after major cardiac surgery, using either the multifilament cable wiring system or conventional steel wires between January 2009 and October 2010. The surgical outcomes of these two groups of patients were compared using propensity score matching based on 18 baseline patient characteristics. Results: Propensity score matching yielded 392 pairs of patients in the two groups whose baseline profiles showed no significant differences. No significant differences between the two groups were observed in the rates of early mortality (2.0% vs. 1.3%, p=0.578, major wound complications requiring reconstruction (1.3% vs. 1.3%, p＞0.99, minor wound complications (3.6% vs. 2.0%, p=0.279, or mediastinitis (0.8% vs. 1.0%, p=1.00. Patients in the multifilament cable group had fewer sternal bleeding events than those in the conventional wire group, but this tendency was not statistically significant (4.3% vs. 7.4%, p=0.068. Conclusion: The surgical outcomes of sternal closure using multifilament cable wires were comparable to those observed when conventional steel wires were used. Therefore, the multifilament cable wiring system may be considered a viable option for sternal closure in patients undergoing major cardiac surgery.

Multifilament Cable Wire versus Conventional Wire for Sternal Closure in Patients Undergoing Major Cardiac Surgery.

Science.gov (United States)

Oh, You Na; Ha, Keong Jun; Kim, Joon Bum; Jung, Sung-Ho; Choo, Suk Jung; Chung, Cheol Hyun; Lee, Jae Won

2015-08-01

Stainless steel wiring remains the most popular technique for primary sternal closure. Recently, a multifilament cable wiring system (Pioneer Surgical Technology Inc., Marquette, MI, USA) was introduced for sternal closure and has gained wide acceptance due to its superior resistance to tension. We aimed to compare conventional steel wiring to multifilament cable fixation for sternal closure in patients undergoing major cardiac surgery. Data were collected retrospectively on 1,354 patients who underwent sternal closure after major cardiac surgery, using either the multifilament cable wiring system or conventional steel wires between January 2009 and October 2010. The surgical outcomes of these two groups of patients were compared using propensity score matching based on 18 baseline patient characteristics. Propensity score matching yielded 392 pairs of patients in the two groups whose baseline profiles showed no significant differences. No significant differences between the two groups were observed in the rates of early mortality (2.0% vs. 1.3%, p=0.578), major wound complications requiring reconstruction (1.3% vs. 1.3%, p>0.99), minor wound complications (3.6% vs. 2.0%, p=0.279), or mediastinitis (0.8% vs. 1.0%, p=1.00). Patients in the multifilament cable group had fewer sternal bleeding events than those in the conventional wire group, but this tendency was not statistically significant (4.3% vs. 7.4%, p=0.068). The surgical outcomes of sternal closure using multifilament cable wires were comparable to those observed when conventional steel wires were used. Therefore, the multifilament cable wiring system may be considered a viable option for sternal closure in patients undergoing major cardiac surgery.

Development of a running robot in super high speed tube. Aiming at realization of in-tube inspection for primary cooler and so forth of nuclear reactor

International Nuclear Information System (INIS)

Kato, Shigeo

2000-01-01

Authors have carried out a study on an in-tube running robot in living body on a base of laying stretching of bellows at a means of running by thinking application of in-tube inspection in living body such as large and small bowels. As a result, an in-tube running robot with about 20 mm in inner diameter capable of running in soft small bowel as well as in hard running tube was developed successfully. After an accident of the Tsuruga nuclear power plant, inspection of a large diameter tube with 76 mm in inner diameter was found to be much important, to begin development of an in-tube running robot for 50 mm class diameter tube. As a result, an in-tube running robot capable of enough holding a micro video camera with about 20 g in mass and showing 4.6 N in tension at more than ten times higher speed of 248 mm/s in no loading state, could be made in trial. Here was reported on a foothold realizable on an in-tube running robot for the 76 mm class large diameter tube to be investigated in future. (G.K.)

Clinical bending of nickel titanium wires

Directory of Open Access Journals (Sweden)

Stephen Chain

2015-01-01

Full Text Available Since the evolution and the involvement of Nickel Titanium wires in the field of Orthodontics. The treatment plan has evolved with the use of low force Nickel Titanium wires. Because of their high springback, low stiffness, they are the key initial wires in leveling and alignment but have poor formability. Since poor formability limits its ability to create variable arch forms thus; limits the form of treatment. We have devised a method to bend the Nickel Titanium wires to help in our inventory but also customized the wire according to the treatment.

Energy Deposition in a Septum Wire

CERN Document Server

Ferioli, G; Knaus, P; Koopman, J; CERN. Geneva. SPS and LHC Division

2001-01-01

The present note describes a machine development (MD) aimed to confirm experimentally the need for protection of the extraction wire septum ZS in SPS long straight section LSS6 during LHC operation. Single wires identical to the ones mounted on the extraction septum were fixed on a fast wire scanner and put into the beam path. The beam heated the wire until it broke after a measured number of turns. The maximum single shot intensity the septum wires could withstand was thus calculated and compared with simulation results.

Exploiting Child-Robot Aesthetic Interaction for a Social Robot

OpenAIRE

Lee, Jae-Joon; Kim, Dae-Won; Kang, Bo-Yeong

2012-01-01

A social robot interacts and communicates with humans by using the embodied knowledge gained from interactions with its social environment. In recent years, emotion has emerged as a popular concept for designing social robots. Several studies on social robots reported an increase in robot sociability through emotional imitative interactions between the robot and humans. In this paper conventional emotional interactions are extended by exploiting the aesthetic theories that the sociability of ...

Feasibility studies on the direct wire readout on wire scanners in electron accelerators

International Nuclear Information System (INIS)

Markert, Michael

2010-10-01

This bachelor thesis deals essentially with the signal processing of a so-called wire scanner, a special monitor, which comes to application in the beam diagnostics of particle accelerators. In this direct wire readout the voltage signal, which is induced by the particle beam in the measurement wire of the wire scanner, shall be directly read out. The aim of this thesis is to show fundamental considerations and perform studies, which study, whether and how in the future by means of a suited data transmission as well as readout electronics conclusion on the most important parameters of the beam, like position and profile, are possible. The measurement system presented here is divided in three main components: Signal measurement, signal preparation, and signal stretching. A suited test facility was developed and is presented in detail, in which then all components, like for instance the transmission cables, the wire-scanner fork, and the developed measurement circuit, are studied, which are of importance for a faultless signal transmission and presentation. Extensive measurements on the single components, as well as calculations for the signal transmission on and in the wire scanner were performed, whereby a good agreement could be found. Thereafter a comparison and a selection of the component used in this project were made. Furthermore improvement proposals, new constructions, and outlooks are presented, which could be of importance in further works.

An interconnecting bus power optimization method combining interconnect wire spacing with wire ordering

International Nuclear Information System (INIS)

Zhu Zhang-Ming; Hao Bao-Tian; En Yun-Fei; Yang Yin-Tang; Li Yue-Jin

2011-01-01

On-chip interconnect buses consume tens of percents of dynamic power in a nanometer scale integrated circuit and they will consume more power with the rapid scaling down of technology size and continuously rising clock frequency, therefore it is meaningful to lower the interconnecting bus power in design. In this paper, a simple yet accurate interconnect parasitic capacitance model is presented first and then, based on this model, a novel interconnecting bus optimization method is proposed. Wire spacing is a process for spacing wires for minimum dynamic power, while wire ordering is a process that searches for wire orders that maximally enhance it. The method, i.e., combining wire spacing with wire ordering, focuses on bus dynamic power optimization with a consideration of bus performance requirements. The optimization method is verified based on various nanometer technology parameters, showing that with 50% slack of routing space, 25.71% and 32.65% of power can be saved on average by the proposed optimization method for a global bus and an intermediate bus, respectively, under a 65-nm technology node, compared with 21.78% and 27.68% of power saved on average by uniform spacing technology. The proposed method is especially suitable for computer-aided design of nanometer scale on-chip buses. (interdisciplinary physics and related areas of science and technology)

The effect of composition feed mixtures on curve of hens laying intensity

Directory of Open Access Journals (Sweden)

Emil Mareček

2005-01-01

Full Text Available The experiment was done in the experimental station ÚKZÚZ Havlíčkův Brod. There were four experimental groups (N1, N2, N3, N4 of laying hens and weekly laying intensity was observed. Hybrid ISA BROWN was used in the experiment, 405 hens in each group. The laying intensity was observed from the start of laying for 44 weeks. During laying four different diets were fed to laying hens (N1 – control group with fish meal, N2 – control group containing only of plant protein sources, N3 – experimental group with higher content of rapeseed, N4 – experimental group containing treated rapeseed. Yang model was used for the evaluation of laying curves and we found following parameters of the curves:Yang model N1: y = 97.28 * e – 0.004 * t / [1 + e – 2.054 (t – 2.549]\tR2 = 0.97Yang model N2: y = 98.29 * e – 0.006 * t / [1 + e – 2.071 (t – 2.668]\tR2 = 0.96Yang model N3: y = 98.49 * e – 0.005 * t / [1 + e – 1.856 (t – 2.568]\tR2 = 0.97Yang model N4: y = 98.55 * e – 0.005 * t / [1 + e – 2.251 (t – 2.615].\tR2 = 0.97The results document that experimental treatments had small effect on the parameters of laying curves. It means that rapeseed had only small effect on the laying intensity and also the elimination of animal protein from the diet for laying hens had not effect on laying intensity. On the base of our results we estimated the standard equation for evaluation of laying curve:Yang model: y = 98.15 * e – 0.005 * t / [1 + e – 2.058 (t – 2.601].\tR2 = 0.99This equation can be used as standard for evaluation of laying intensity after experimental treatments or for evaluation of laying intensity of different hybrids.

Wire Scanner Motion Control Card

CERN Document Server

Forde, S E

2006-01-01

Scientists require a certain beam quality produced by the accelerator rings at CERN. The discovery potential of LHC is given by the reachable luminosity at its interaction points. The luminosity is maximized by minimizing the beam size. Therefore an accurate beam size measurement is required for optimizing the luminosity. The wire scanner performs very accurate profile measurements, but as it can not be used at full intensity in the LHC ring, it is used for calibrating other profile monitors. As the current wire scanner system, which is used in the present CERN accelerators, has not been made for the required specification of the LHC, a new design of a wire scanner motion control card is part of the LHC wire scanner project. The main functions of this card are to control the wire scanner motion and to acquire the position of the wire. In case of further upgrades at a later stage, it is required to allow an easy update of the firmware, hence the programmable features of FPGAs will be used for this purpose. The...

Reporting of Randomized Trials in Common Cancers in the Lay Media.

Science.gov (United States)

Ribnikar, Domen; Goldvaser, Hadar; Ocana, Alberto; Templeton, Arnoud J; Seruga, Bostjan; Amir, Eitan

2018-01-01

Limited data exist about the role of the lay media in the dissemination of results of randomized controlled trials (RCTs) in common cancers. Completed phase III RCTs evaluating new drugs in common cancers between January 2005 and October 2016 were identified from ClinicalTrials.gov. Lay media reporting was identified by searching LexisNexis Academic. Scientific reporting was defined as presentation at an academic conference or publication in full. Associations between reporting in the lay media before scientific reporting and study design and sponsorship were evaluated using logistic regression. Of 180 RCTs identified, 52% were reported in the lay media and in 27%, lay media reporting occurred before scientific reporting with an increasing trend over time (p = 0.009). Reporting in the lay media before scientific reporting was associated with positive results (OR: 2.10, p = 0.04), targeted therapy compared to chemotherapy (OR: 4.75, p = 0.006), immunotherapy compared to chemotherapy (OR: 7.60, p = 0.02), and prostate cancer compared to breast cancer (OR: 3.25, p = 0.02). Over a quarter of all RCTs in common cancers are reported in the lay media before they are reported scientifically with an increasing proportion over time. Positive trials, studies in prostate cancer, and trials of immunotherapy are associated with early reporting in the lay media. © 2017 S. Karger AG, Basel.

K-wire and tension band wire fixation in treating sternoclavicular joint dislocation.

Science.gov (United States)

Chen, Qing-yu; Cheng, Shao-wen; Wang, Wei; Lin, Zhong-qin; Zhang, Wei; Kou, Dong-quan; Shen, Yue; Ying, Xiao-zhou; Cheng, Xiao-jie; Lv, Chuan-zhu; Peng, Lei

2011-02-01

To evaluate the feasibility and therapeutic effect of treating sternoclavicular joint dislocation by K-wire and tension band wire fixation, and to improve the safety and stability of this technique. This study consisted of 9 cases, 6 males and 3 females with the mean age of 25 years (range, 9-62 years). The causes were traffic accident in 7 cases, falling in 1 case and fight in 1 case. The duration from injury to operation was 2 hours to 7 days. There were 5 left dislocations and 4 right dislocations; 8 anterior dislocations and 1 posterior dislocation, including one combined with left scapular fracture and one with left olecranon fracture. Open reduction and internal fixation using K-wires and tension band wires were performed to treat dislocations. All patients were followed up for 6 to 24 months, 10 months on average. According to Rockwood's rating scale on postoperative sternoclavicular joint, 8 cases achieved excellent outcomes with an average score of 13.88, and the rest case achieved a good outcome with the score of 12. Anatomical reduction was obtained in all cases. There were no such postoperative complications as severe infection, injury to blood vessel and nerve, failure of fixation, etc. Patients were all satisfied with the anatomical reduction and functional recovery. The technique of K-wire and tension band wire fixation is safe, simple, effective, less invasive and has been successfully used in orthopedic surgery. It is effective in treating sternoclavicular joint dislocation though it has some disadvantages.

Evolutionary robotics

Indian Academy of Sciences (India)

In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

Science.gov (United States)

Fong, Terry

2017-01-01

For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

Pharmaceutical policy and the lay public

DEFF Research Database (Denmark)

Traulsen, Janine Marie; Almarsdóttir, Anna Birna

2005-01-01

Almost every national and supranational health policy document accords high importance to the need to listen to and 'empower' patients. The relationship between pharmaceutical policy and the lay public is not direct but mediated by several actors, including health care workers, patient organisati......Almost every national and supranational health policy document accords high importance to the need to listen to and 'empower' patients. The relationship between pharmaceutical policy and the lay public is not direct but mediated by several actors, including health care workers, patient...... organisations, industry and, most recently, the media. Although the overall aim of health and pharmaceutical policy is to address the needs of all citizens, there are only a few, well organised groups who are actually consulted and involved in the policymaking process, often with the support of the industry....... The reasons for this lack of citizen involvement in health and pharmaceutical policymaking are many, for example: there is no consensus about what public involvement means; there is a predominance of special interest groups with narrow, specific agendas; not all decision makers welcome lay participation...

Diabetes self-management education: acceptability of using trained lay educators.

Science.gov (United States)

Mandalia, P K; Stone, M A; Davies, M J; Khunti, K; Carey, M E

2014-11-01

The use of lay people to deliver education programmes for people with chronic conditions is a potential method of addressing healthcare staff capacity and increasing the cost efficiency of delivering education. This qualitative substudy is embedded within an equivalence trial (2008-2011 including development stage). In the qualitative substudy, we aimed to elicit the views of key stakeholders (patients, educators) about using lay people to deliver education to people recently diagnosed with type 2 diabetes, alongside a healthcare professional educator with an equal role. In this way, we sought to explore perceptions about acceptability and also contribute to understanding the reasons underlying positive or negative quantitative findings from main trial. We conducted 27 telephone interviews with a purposive sample of patients, lay educators and healthcare professional educators involved in the main trial. Thematic analysis of transcribed data was underpinned by the constant comparative approach and structured using Framework methodology. Overall, the data suggested that the use of lay educators was acceptable to educators and patients. Perceived difference in knowledge levels between lay and healthcare professional educators did not appear to have an impact on perceived acceptability or the effectiveness of the education received. Additional themes explored were related to peer status of educators and feasibility. Some concerns were raised about lay educators with diabetes, transferring personal issues and about the impact of healthcare professional time taken up by mentoring and supporting lay educators. Positive perceptions about the use of lay educators support the positive quantitative findings from the main trial. Acceptability is an important consideration in relation to implementation of the model of delivery studied. Concerns raised within the interviews should be considered in the design of training for lay educators. ISRCTN 99350009. Published by the BMJ

75 FR 60480 - In the Matter of Certain Bulk Welding Wire Containers and Components Thereof and Welding Wire...

Science.gov (United States)

2010-09-30

... Welding Wire Containers and Components Thereof and Welding Wire; Notice of Commission Determination To... within the United States after importation of certain bulk welding wire containers, components thereof, and welding wire by reason of infringement of certain claims of United States Patent Nos. 6,260,781; 6...

Medullary bone and humeral breaking strength in laying hens

International Nuclear Information System (INIS)

Fleming, R.H.; McCormack, H.A.; McTeir, L.; Whitehead, C.C.

1998-01-01

To test the hypothesis that large amounts of medullary bone in the humeral diaphysis may increase breaking strength, various parameters of bone quality and quantity were examined in two large flocks of hens near end of lay. We conclude that the amount of medullary bone in the humerus of hens during the laying period influences bone strength. This medullary bone may not have any intrinsic strength, but may act by contributing to the fracture resistance of the surrounding cortical bone. Using a quantitative, low dose, radiographic technique, we can predict, from early in the laying period, those birds which will develop large amounts of medullary bone in their humeri by the end of the laying period. The formation of medullary bone in the humeral diaphysis is not at the expense of the surrounding radiographed cortical bone

ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

Directory of Open Access Journals (Sweden)

Hidetsugu Suto

2013-12-01

Full Text Available A novel concept of media education called “robot literacy” is proposed. Here, robot literacy refers to the means of forming an appropriate relationship with intelligent robots. It can be considered a kind of media literacy. People who were born after the Internet age can be considered “digital natives” who have new morals and values and behave differently than previous generations in Internet societies. This can cause various problems among different generations. Thus, the necessity of media literacy education is increasing. Internet technologies, as well as robotics technologies are growing rapidly, and people who are born after the “home robot age,” whom the author calls “robot natives,” will be expected to have a certain degree of “robot literacy.” In this paper, the concept of robot literacy is defined and an approach to robot literacy education is discussed.

Plasma chemistry in wire chambers

International Nuclear Information System (INIS)

Wise, J.

1990-05-01

The phenomenology of wire chamber aging is discussed and fundamentals of proportional counters are presented. Free-radical polymerization and plasma polymerization are discussed. The chemistry of wire aging is reviewed. Similarities between wire chamber plasma (>1 atm dc-discharge) and low-pressure rf-discharge plasmas, which have been more widely studied, are suggested. Construction and use of a system to allow study of the plasma reactions occurring in wire chambers is reported. A proportional tube irradiated by an 55 Fe source is used as a model wire chamber. Condensable species in the proportional tube effluent are concentrated in a cryotrap and analyzed by gas chromatography/mass spectrometry. Several different wire chamber gases (methane, argon/methane, ethane, argon/ethane, propane, argon/isobutane) are tested and their reaction products qualitatively identified. For all gases tested except those containing methane, use of hygroscopic filters to remove trace water and oxygen contaminants from the gas resulted in an increase in the average molecular weight of the products, consistent with results from low-pressure rf-discharge plasmas. It is suggested that because water and oxygen inhibit polymer growth in the gas phase that they may also reduce polymer deposition in proportional tubes and therefore retard wire aging processes. Mechanistic implications of the plasma reactions of hydrocarbons with oxygen are suggested. Unresolved issues in this work and proposals for further study are discussed

Robotic buildings(s)

NARCIS (Netherlands)

Bier, H.H.

2014-01-01

Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

Gregarious nesting - An anti-predator response in laying hens

DEFF Research Database (Denmark)

Riber, Anja Brinch

2012-01-01

Gregarious nesting can be defined as a behaviour that occurs when a laying hen (Gallus gallus domesticus) given the choice between an occupied and an unoccupied nest site chooses the occupied nest site. It occurs frequently in flocks of laying hens kept under commercial conditions, contrasting...... the behaviour displayed by feral hens that isolate themselves from the flock during nesting activities. What motivates laying hens to perform gregarious nesting is unknown. One possibility is that gregarious nesting is an anti-predator response to the risk of nest predation emerging from behavioural flexibility...

Cloud Robotics Platforms

Directory of Open Access Journals (Sweden)

Busra Koken

2015-01-01

Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

Distributed Robotics Education

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2011-01-01

Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distribu......Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept...... to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity...

Modeling and simulation of the fluid flow in wire electrochemical machining with rotating tool (wire ECM)

Science.gov (United States)

Klocke, F.; Herrig, T.; Zeis, M.; Klink, A.

2017-10-01

Combining the working principle of electrochemical machining (ECM) with a universal rotating tool, like a wire, could manage lots of challenges of the classical ECM sinking process. Such a wire-ECM process could be able to machine flexible and efficient 2.5-dimensional geometries like fir tree slots in turbine discs. Nowadays, established manufacturing technologies for slotting turbine discs are broaching and wire electrical discharge machining (wire EDM). Nevertheless, high requirements on surface integrity of turbine parts need cost intensive process development and - in case of wire-EDM - trim cuts to reduce the heat affected rim zone. Due to the process specific advantages, ECM is an attractive alternative manufacturing technology and is getting more and more relevant for sinking applications within the last few years. But ECM is also opposed with high costs for process development and complex electrolyte flow devices. In the past, few studies dealt with the development of a wire ECM process to meet these challenges. However, previous concepts of wire ECM were only suitable for micro machining applications. Due to insufficient flushing concepts the application of the process for machining macro geometries failed. Therefore, this paper presents the modeling and simulation of a new flushing approach for process assessment. The suitability of a rotating structured wire electrode in combination with an axial flushing for electrodes with high aspect ratios is investigated and discussed.

Laying the keel

Energy Technology Data Exchange (ETDEWEB)

Southworth, Brian

1989-12-15

The start of construction of the 87-kilometre US Superconducting Supercollider (SSC) was celebrated in Dallas at the beginning of October with a Texas-style meeting on SSC physics and experiments. Chris Quigg described it as 'laying the keel of a new vessel of discovery'. The vessel is scheduled to make its maiden voyage with 20 TeV (20,000 GeV) proton beams in 1998.

10 CFR 904.11 - Lay off of energy.

Science.gov (United States)

2010-01-01

... 10 Energy 4 2010-01-01 2010-01-01 false Lay off of energy. 904.11 Section 904.11 Energy DEPARTMENT OF ENERGY GENERAL REGULATIONS FOR THE CHARGES FOR THE SALE OF POWER FROM THE BOULDER CANYON PROJECT Power Marketing § 904.11 Lay off of energy. (a) If any Contractor determines that it is temporarily...

Empolder and application of LiveWire program

International Nuclear Information System (INIS)

Zhang Bo; Li Jing; Wang Xiaoming

2007-01-01

LiveWire is a specific module of Netscape Web server to actualize CGI function; through LiveWire application program one can create dynamic web page on web site. This article introduces how to write LiveWire application code, have to compile, debug and manage LiveWire application programs, and how to apply LiveWire application program on Netscape Web server to create a dynamic web page. (authors)

Control of flow past a circular cylinder via a spanwise surface wire: effect of the wire scale

Energy Technology Data Exchange (ETDEWEB)

Ekmekci, Alis [University of Toronto Institute for Aerospace Studies, Toronto, ON (Canada); Rockwell, Donald [Lehigh University, Department of Mechanical Engineering, Bethlehem, PA (United States)

2011-09-15

Flow phenomena induced by a single spanwise wire on the surface of a circular cylinder are investigated via a cinema technique of particle image velocimetry (PIV). The primary aim of this investigation is to assess the effect of the wire scale. To this end, consideration is given to wires with different diameters that are 0.5, 1.2, and 2.9% of the cylinder diameter. The Reynolds number has a subcritical value of 10,000. Compared to the thickness of the unperturbed boundary layer developing around the cylinder between 5 and 75 from the forward stagnation point, the former two wires have smaller scales and the latter has a larger scale. Two angular locations of the wire, defined with respect to the forward stagnation point of the cylinder, are found to be critical. When the wire is located at these critical angles, either the most significant extension or the contraction of the time-mean separation bubble occurs in the near wake. These critical angles depend on the wire scale: the smaller the wire, the larger the critical angle. The small-scale and large-scale wires that have diameters of 1.2 and 2.9% of the cylinder diameter induce bistable shear-layer oscillations between different separation modes when placed at their respective critical angles corresponding to maximum extension of the near-wake bubble. These oscillations have irregular time intervals that are much longer than the time scale associated with the classical Karman instability. Moreover, the large-scale wire can either significantly attenuate or intensify the Karman mode of vortex shedding at the critical states; in contrast, the small-scale wires do not notably alter the strength of the Karman instability. (orig.)

Robot Mechanisms

CERN Document Server

Lenarcic, Jadran; Stanišić, Michael M

2013-01-01

This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

Preliminary Single-Phase Mixing Test using Wire Mesh System in a wire-wrapped 37-rod Bundle

International Nuclear Information System (INIS)

Bae, Hwang; Kim, Hyungmo; Lee, Dong Won; Choi, Hae Seob; Choi, Sun Rock; Chang, Seokkyu; Kim, Seok; Euh, Dongjin; Lee, Hyeongyeon

2014-01-01

In this paper, preliminary tests of the wire-mesh sensor are introduced before measuring of mixing coefficient in the wire-wrapped 37-pin fuel assembly for a sodium-cooled fast reactor. Through this preliminary test, it was confirmed that city water can be used as a tracer for demineralized water as a base. A simple test was performed to evaluate the characteristics of a wire mesh with of a short pipe shape. The conductivity of de-mineralized water and city water is linearly increased for the limited temperature ranges as the temperature is increased. The reliability of the wire mesh sensor was estimated based on the averages and standard deviations of the plane image using the cross points. A wire mesh sensor is suitable to apply to a single-phase flow measurement for a mixture with de-mineralized water and city water. A wire mesh sensor and system have been traditionally used to measure the void fraction of a two-phase flow field with gas and liquid. Recently, Ylonen et al. successfully designed and commissioned a measurement system for a single-phase flow using a wire mesh sensor

Robots de servicio

Directory of Open Access Journals (Sweden)

Rafael Aracil

2008-04-01

Full Text Available Resumen: El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año 2000 las áreas de aplicación de los Robots de Servicios, que se pueden dividir en dos grandes grupos: 1 sectores productivos no manufactureros tales como edificación, agricultura, naval, minería, medicina, etc. y 2 sectores de servicios propiamente dichos: asistencia personal, limpieza, vigilancia, educación, entretenimiento, etc. En este trabajo se hace una breve revisión de los principales conceptos y aplicaciones de los robots de servicio. Palabras clave: Robots de servicio, robots autónomos, robots de exteriores, robots de educación y entretenimiento, robots caminantes y escaladores, robots humanoides

Filigree Robotics

DEFF Research Database (Denmark)

Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

2016-01-01

Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

Energy Technology Data Exchange (ETDEWEB)

Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

1999-05-15

Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

Selection of rational technical solutions in designing a robotized assembly complex

International Nuclear Information System (INIS)

Petrov, B.M.; Rasulbekov, R.I.

1984-01-01

One of the methods permitting a more objective approach to decision making in design is the method of ordered search which, in combination with the methods of expert estimate was used in designing the robotized assembly-finishing complex for automobile tires. The assembly-finishing complex consists of a number of functionally independent parts, i.e., modules provided with manipulators and mutually connected by a transport system with intermediate storage. The modified method of ordered search, examined in the present work, was therefore used for each module separately, and not for the complex as a whole. We will examine the main principles of our approach to the selection of design solutions for the example of a module for laying on the bottom-cushion cords

Robotics education

International Nuclear Information System (INIS)

Benton, O.

1984-01-01

Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now

submitter Dynamical Models of a Wire Scanner

CERN Document Server

Barjau, Ana; Dehning, Bernd

2016-01-01

The accuracy of the beam profile measurements achievable by the current wire scanners at CERN is limited by the vibrations of their mechanical parts. In particular, the vibrations of the carbon wire represent the major source of wire position uncertainty which limits the beam profile measurement accuracy. In the coming years, due to the Large Hadron Collider (LHC) luminosity upgrade, a wire traveling speed up to 20 $m s^{−1}$ and a position measurement accuracy of the order of 1 μm will be required. A new wire scanner design based on the understanding of the wire vibration origin is therefore needed. We present the models developed to understand the main causes of the wire vibrations observed in an existing wire scanner. The development and tuning of those models are based on measurements and tests performed on that CERN proton synchrotron (PS) scanner. The final model for the (wire + fork) system has six degrees-of-freedom (DOF). The wire equations contain three different excitation terms: inertia...

47 CFR 32.2321 - Customer premises wiring.

Science.gov (United States)

2010-10-01

... 47 Telecommunication 2 2010-10-01 2010-10-01 false Customer premises wiring. 32.2321 Section 32... Customer premises wiring. (a) This account shall include all amounts transferred from the former Account 232, Station Connections, inside wiring subclass. (b) Embedded Customer Premises Wiring is that...

Robot Aesthetics

DEFF Research Database (Denmark)

Jochum, Elizabeth Ann; Putnam, Lance Jonathan

This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

Magnetic domain propagation in Pt/Co/Pt micro wires with engineered coercivity gradients along and across the wire

Energy Technology Data Exchange (ETDEWEB)

Jarosz, A., E-mail: arctgh@ifmpan.poznan.pl [Institute of Molecular Physics, Polish Academy of Sciences, ul. M. Smoluchowskiego 17, 60-179 Poznań (Poland); Gaul, A. [Department of Physics and Center for Interdisciplinary Nanostructure Science and Technology (CINSaT), University of Kassel, Heinrich-Plett-Str. 40, D-34132 Kassel (Germany); Urbaniak, M. [Institute of Molecular Physics, Polish Academy of Sciences, ul. M. Smoluchowskiego 17, 60-179 Poznań (Poland); Ehresmann, A. [Department of Physics and Center for Interdisciplinary Nanostructure Science and Technology (CINSaT), University of Kassel, Heinrich-Plett-Str. 40, D-34132 Kassel (Germany); Stobiecki, F. [Institute of Molecular Physics, Polish Academy of Sciences, ul. M. Smoluchowskiego 17, 60-179 Poznań (Poland)

2017-08-01

Highlights: • Electron lithography and ion bombardment were used to modify the Co/Pt micro-wires. • Two-dimensional perpendicular magnetic anisotropy gradient was engineered. • Engineered anisotropy gradient allowed to control domain wall positions in the wires. • Simulations confirm the influence of defects on a remanent state of the wires. - Abstract: Pt(15 nm)/[Co(0.6 nm)/Pt(1.5 nm)]{sub 4} multilayers with perpendicular magnetic anisotropy were patterned into several-micrometer wide wires by electron-beam lithography. Bombarding the wires with He{sup +} ions with a fluence gradient along the wire results in a spatial gradient of switching fields that allows a controllable positioning of domain walls. The influence of the reduced anisotropy near the wire edges causes a remanent state in which the reversal close to the long edges precedes that in the middle of the wires. Experiments using Kerr microscopy prove this effect and micromagnetic simulations corroborate that a decrease of the anisotropy at the edges is responsible for the effect.

Sensitive and simple method for measuring wire tensions

International Nuclear Information System (INIS)

Atac, M.; Mishina, M.

1982-08-01

Measuring tension of wires in drift chambers and multiwire proportional chambers after construction is an important process because sometimes wires get loose after soldering, crimping or glueing. One needs to sort out wires which have tensions below a required minimum value to prevent electrostatic instabilities. There have been several methods reported on this subject in which the wires were excited either with sinusoidal current under magnetic field or with sinusoidal voltage electrostatically coupled to the wire, searching for a resonating frequency with which the wires vibrate mechanically. Then the vibration is detected either visually, optically or with magnetic pick-up directly touching the wires. Any of these is only applicable to the usual multiwire chamber which has open access to the wire plane. They also need fairly large excitation currents to induce a detectable vibration to the wires. Here we report a very simple method that can be used for any type of wire chamber or proportional tube system for measuring wire tension. Only a very small current is required for the wire excitation to obtain a large enough signal because it detects the induced emf voltage across a wire. A sine-wave oscillator and a digital voltmeter are sufficient devices aside from a permanent magnet to provide the magnetic field around the wire. A useful application of this method to a large system is suggested

Robots: l'embarras de richesses [:survey of robots available

International Nuclear Information System (INIS)

Meieran, H.; Brittain, K.; Sturkey, R.

1989-01-01

A survey of robots available for use in the nuclear industry is presented. Two new categories of mobile robots have been introduced since the last survey (April 1987): pipe crawlers and underwater robots. The number of robots available has risen to double what it was two years ago and four times what it was in 1986. (U.K.)

Robots Social Embodiment in Autonomous Mobile Robotics

Directory of Open Access Journals (Sweden)

Brian Duffy

2008-11-01

Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

Robotic intelligence kernel

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID

2009-11-17

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

Perception of altered smile esthetics among Moroccan professionals and lay people.

Science.gov (United States)

Ousehal, L; Aghoutan, H; Chemlali, S; Anssari, I Filali; Talic, N

2016-10-01

To evaluate and compare the impact of altered smile characteristics on the perception of smile esthetics between Moroccan dentists and lay people. Thirty-four digital smile photographs displaying alterations in crown length and width, lateral incisor gingival margin position, gingival exposition, midline diastema, and upper midline deviation were presented to a sample of 30 dentists and 30 lay people. The ratings were assessed with a visual analog scale. Compared to that of lay people, Moroccan dentists' evaluation of the gingival smile was more critical when the decrease in central incisor crown length was 2.5 mm ( p  lay people similarly evaluated irregularities in the incisor gingival margin position. Increases in the midline diastema were judged critically by both Moroccan dentists and lay people. In this sample, Moroccan dentists evaluate smile esthetic alterations more critically than Moroccan lay people. This difference in perception of smile discrepancies must be taken into account during the finishing phases of orthodontic treatment and restoration of the anterior teeth in Moroccan patients.

Perception of Saudi dentists and lay people to altered smile esthetics.

Science.gov (United States)

Talic, Nabeel; Alomar, Samar; Almaidhan, Asma

2013-01-01

To evaluate and compare the perceptions of Saudi dentists and lay people to altered smile features. Thirty-six digital smile photographs with altered features were used. Altered features included the following: crown length, width, gingival level of the lateral incisors, gingival display, midline diastema, and upper midline shift. The photographs were presented to a sample of 30 dentists and 30 lay people with equal gender distribution. Each participant rated each picture with a visual analogue scale, which ranged from 0 (very unattractive) to 100 (very attractive). Dentists were more critical than lay people when evaluating symmetrical crown length discrepancies. Compared to lay people, Saudi dentists gave lower ratings to a crown length discrepancy of >2 mm (P 1 mm (P lay people towards alterations in the gingival level of the lateral incisors or towards a space between the central incisors. No significant sex difference was seen across the groups. In this sample, Saudi dentists gave significantly lower attractiveness scores to crown length and crown width discrepancies, midline deviations, and changes in gingiva to lip distance compared to Saudi lay people.

Mountain Plains Learning Experience Guide: Electrical Wiring. Course: Electrical Wiring Rough-In.

Science.gov (United States)

Arneson, R.; And Others

One of two individualized courses included in an electrical wiring curriculum, this course covers electrical installations that are generally hidden within the structure. The course is comprised of four units: (1) Outlet and Switch Boxes, (2) Wiring, (3) Service Entrance, and (4) Signal and Low Voltage Systems. Each unit begins with a Unit…

An Intelligent Robot Programing

Energy Technology Data Exchange (ETDEWEB)

Hong, Seong Yong

2012-01-15

This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

An Intelligent Robot Programing

International Nuclear Information System (INIS)

Hong, Seong Yong

2012-01-01

This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

Nest sharing under semi-natural conditions in laying hens

DEFF Research Database (Denmark)

Riber, Anja Brinch

2012-01-01

problems to laying hens, and egg production may also be negatively affected. Understanding what causes this difference in nest location selection may provide solutions to the problems associated with simultaneous nest sharing. The aims were to investigate whether a commercial strain of laying hens normally...... daily of each nest with regard to number of eggs, position, and materials used. On five mornings nesting behaviour was observed. Nest sharing occurred on all but the first 5 days of egg-laying. The majority of hens (n = 14) chose to visit an occupied nest at least once, but no hens exclusively used...

49 CFR 393.28 - Wiring systems.

Science.gov (United States)

2010-10-01

... 49 Transportation 5 2010-10-01 2010-10-01 false Wiring systems. 393.28 Section 393.28 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY... NECESSARY FOR SAFE OPERATION Lamps, Reflective Devices, and Electrical Wiring § 393.28 Wiring systems...

Neuro-robotics from brain machine interfaces to rehabilitation robotics

CERN Document Server

Artemiadis

2014-01-01

Neuro-robotics is one of the most multidisciplinary fields of the last decades, fusing information and knowledge from neuroscience, engineering and computer science. This book focuses on the results from the strategic alliance between Neuroscience and Robotics that help the scientific community to better understand the brain as well as design robotic devices and algorithms for interfacing humans and robots. The first part of the book introduces the idea of neuro-robotics, by presenting state-of-the-art bio-inspired devices. The second part of the book focuses on human-machine interfaces for pe

SPECIFIC FEATURES OF TECHNOLOGY OF MANUFACTURING A ZINC-COATED TUB WIRE FOR MUZZLE (BOTTLE’ HOOD WIRE

Directory of Open Access Journals (Sweden)

D. B. Zuev

2016-01-01

Full Text Available The paper presents the main technical specifications of galvanized low carbon wire for muzzles (bottle’hood wire, consistent with the exploitation requirements to the wire in the manufacture and use of muzzles. The main criteria when selecting the steel grade and upon selection of the technological processes are given. 

Pacemaker wires

International Nuclear Information System (INIS)

Fransson, S.G.

1993-01-01

Evaluation of pacemaker wires were performed by comparing Advanced Multiple Beam Equalization Radiography (AMBER) with conventional chest radiography. The scanning equalization technique of the AMBER unit makes it superior to conventional technique in the depiction of different structures in the mediastinum or in the pleural sinuses. So far motion artifacts have not been considered clinically important. The longer exposure time, however, may impair the assessment of pacemaker wires. The motion artifact described may not only make adequate evaluation impossible but may even give a false impression of a lead fracture. The difference between the two systems was significant. (orig.)

Cloud Robotics Model

OpenAIRE

Mester, Gyula

2015-01-01

Cloud Robotics was born from the merger of service robotics and cloud technologies. It allows robots to benefit from the powerful computational, storage, and communications resources of modern data centres. Cloud robotics allows robots to take advantage of the rapid increase in data transfer rates to offload tasks without hard real time requirements. Cloud Robotics has rapidly gained momentum with initiatives by companies such as Google, Willow Garage and Gostai as well as more than a dozen a...

Space Robotics Challenge

Data.gov (United States)

National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...

Are Sex Robots as Bad as Killing Robots

OpenAIRE

Richardson, Kathleen

2016-01-01

In 2015 the Campaign Against Sex Robots was launched to draw attention to the technological production of new kinds of objects: sex robots of women and children. The campaign was launched shortly after the Future of Life Institute published an online petition: “Autonomous Weapons: An Open Letter From AI and Robotics Researchers” which was signed by leading luminaries in the field of AI and Robotics. In response to the Campaign, an academic at Oxford University opened an ethics thread “Are sex...

Inhomogeneous wire explosion in water

International Nuclear Information System (INIS)

Hwangbo, C.K.; Kong, H.J.; Lee, S.S.

1980-01-01

Inhomogeneous processes are observed in underwater copper wire explosion induced by a condensed capacitor discharge. The wire used is 0.1 mm in diameter and 10 mm long, and the capacitor of 2 μF is charged to 5 KV. A N 2 laser is used for the diagnostic of spatial extension of exploding copper vapour. The photographs obtained in this experiment show unambiguously the inhomogeneous explosion along the exploding wire. The quenching of plasma by the surrounding water inhibits the expansion of the vapour. It is believed the observed inhomogeneous explosion along the wire is located and localized around Goronkin's striae, which was first reported by Goronkin and discussed by Froengel as a pre-breakdown phenomenon. (author)

Digestibility of organic processed feed ingredients in laying hens

OpenAIRE

van Krimpen, M.M.; van Diepen, J.T.M; Reuvekamp, B.F.J.; van Harn, J.

2011-01-01

In two experiments, digestibility and nutritive value for laying hens of organically-grown feed raw materials was assessed. Digestibility and metabolisable energy content of the products differed considerably compared to those listed in the CVB Feedstuff Table. Laying hens, organic feed raw materials, digestibility, nutritive value

Effect of dietary threonine on laying performance and intestinal immunity of laying hens fed low-crude-protein diets during the peak production period.

Science.gov (United States)

Azzam, M M M; Dong, X Y; Zou, X T

2017-10-01

Threonine (Thr) may be a limiting amino acid for laying hens fed diets with lowered protein level. An experiment was conducted to examine laying performance, and the intestinal immune function of laying hens provided diets varying in digestible Thr levels. Lohmann Brown laying hens (n = 480), 28 weeks of age, were allocated to six dietary treatments, each of which included five replicates of 16 hens. Dietary crude protein (CP) 16.18% diet was offered as the positive control diet. L-Thr was added to the negative diet (14.16% CP) by 0, 1.0, 2.0, 3.0 and 4.0 g/kg, corresponding 0.44%, 0.43%, 0.49%, 0.57%, 0.66% and 0.74% digestible Thr. At 40 weeks, a reduction in CP level decreased laying performance (p hens fed 0.66% Thr showed the lowest value (p feed conversion ratio (FCR). Serum level of uric acid showed the lowest values (p hens fed the low-CP diet compared with hens fed CP (16.18%) and hens fed 0.57-0.66%. Expressions of ileal MUC2 mRNA maximized (p hens during the peak production period. Journal of Animal Physiology and Animal Nutrition © 2016 Blackwell Verlag GmbH.

Multi-robot control interface

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

2011-12-06

Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

HTS Wire Development Workshop: Proceedings

Energy Technology Data Exchange (ETDEWEB)

1994-07-01

The 1994 High-Temperature Superconducting Wire Development Workshop was held on February 16--17 at the St. Petersburg Hilton and Towers in St. Petersburg, Florida. The meeting was hosted by Florida Power Corporation and sponsored by the US Department of Energy`s Superconductivity Program for Electric Power Systems. The meeting focused on recent high-temperature superconducting wire development activities in the Department of Energy`s Superconductivity Systems program. The meeting opened with a general discussion on the needs and benefits of superconductivity from a utility perspective, the US global competitiveness position, and an outlook on the overall prospects of wire development. The meeting then focused on four important technology areas: Wire characterization: issues and needs; technology for overcoming barriers: weak links and flux pinning; manufacturing issues for long wire lengths; and physical properties of HTS coils. Following in-depth presentations, working groups were formed in each technology area to discuss the most important current research and development issues. The working groups identified research areas that have the potential for greatly enhancing the wire development effort. These areas are discussed in the summary reports from each of the working groups. This document is a compilation of the workshop proceedings including all general session presentations and summary reports from the working groups.

Si Wire-Array Solar Cells

Science.gov (United States)

Boettcher, Shannon

2010-03-01

Micron-scale Si wire arrays are three-dimensional photovoltaic absorbers that enable orthogonalization of light absorption and carrier collection and hence allow for the utilization of relatively impure Si in efficient solar cell designs. The wire arrays are grown by a vapor-liquid-solid-catalyzed process on a crystalline (111) Si wafer lithographically patterned with an array of metal catalyst particles. Following growth, such arrays can be embedded in polymethyldisiloxane (PDMS) and then peeled from the template growth substrate. The result is an unusual photovoltaic material: a flexible, bendable, wafer-thickness crystalline Si absorber. In this paper I will describe: 1. the growth of high-quality Si wires with controllable doping and the evaluation of their photovoltaic energy-conversion performance using a test electrolyte that forms a rectifying conformal semiconductor-liquid contact 2. the observation of enhanced absorption in wire arrays exceeding the conventional light trapping limits for planar Si cells of equivalent material thickness and 3. single-wire and large-area solid-state Si wire-array solar cell results obtained to date with directions for future cell designs based on optical and device physics. In collaboration with Michael Kelzenberg, Morgan Putnam, Joshua Spurgeon, Daniel Turner-Evans, Emily Warren, Nathan Lewis, and Harry Atwater, California Institute of Technology.

Mechanical behavior of M-Wire and conventional NiTi wire used to manufacture rotary endodontic instruments.

Science.gov (United States)

Pereira, Erika S J; Gomes, Renata O; Leroy, Agnès M F; Singh, Rupinderpal; Peters, Ove A; Bahia, Maria G A; Buono, Vicente T L

2013-12-01

Comparison of physical and mechanical properties of one conventional and a new NiTi wire, which had received an additional thermomechanical treatment. Specimens of both conventional (NiTi) and the new type of wire, called M-Wire (MW), were subjected to tensile and three-point bending tests, Vickers microhardness measurements, and to rotating-bending fatigue tests at a strain-controlled level of 6%. Fracture surfaces were observed by scanning electron microscopy and the non-deformed microstructures by transmission electron microscopy. The thermomechanical treatment applied to produce the M-Wire apparently increased the tensile strength and Vickers microhardness of the material, but its apparent Young modulus was smaller than that of conventionally treated NiTi. The three-point bending tests showed a higher flexibility for MW which also exhibited a significantly higher number of cycles to failure. M-Wire presented mechanical properties that can render endodontic instruments more flexible and fatigue resistant than those made with conventionally processed NiTi wires. Copyright © 2013 Academy of Dental Materials. Published by Elsevier Ltd. All rights reserved.

Comparison of Analysis, Simulation, and Measurement of Wire-to-Wire Crosstalk. Part 2

Science.gov (United States)

Bradley, Arthur T.; Yavoich, Brian James; Hodson, Shane M.; Godley, Franklin

2010-01-01

In this investigation, we compare crosstalk analysis, simulation, and measurement results for electrically short configurations. Methods include hand calculations, PSPICE simulations, Microstripes transient field solver, and empirical measurement. In total, four representative physical configurations are examined, including a single wire over a ground plane, a twisted pair over a ground plane, generator plus receptor wires inside a cylindrical conduit, and a single receptor wire inside a cylindrical conduit. Part 1 addresses the first two cases, and Part 2 addresses the final two. Agreement between the analysis methods and test data is shown to be very good.

Comparison of Analysis, Simulation, and Measurement of Wire-to-Wire Crosstalk. Part 1

Science.gov (United States)

Bradley, Arthur T.; Yavoich, Brian James; Hodson, Shame M.; Godley, Richard Franklin

2010-01-01

In this investigation, we compare crosstalk analysis, simulation, and measurement results for electrically short configurations. Methods include hand calculations, PSPICE simulations, Microstripes transient field solver, and empirical measurement. In total, four representative physical configurations are examined, including a single wire over a ground plane, a twisted pair over a ground plane, generator plus receptor wires inside a cylindrical conduit, and a single receptor wire inside a cylindrical conduit. Part 1 addresses the first two cases, and Part 2 addresses the final two. Agreement between the analysis, simulation, and test data is shown to be very good.

Getting "Wired" for McLuhan's Cyberculture.

Science.gov (United States)

McMurdo, George

1995-01-01

Examines the introduction of the computing magazine, "Wired", into the United Kingdom's (UK) market. Presents conversations with the founder and editorial staff of the UK edition, and discusses the accessibility of "Wired" via the World Wide Web. Describes 10 articles from United States "Wired" back-issues and…

Ignition and spread of electrical wire fires

OpenAIRE

Huang, Xinyan

2012-01-01

Ignition of electrical wires by external heating is investigated in order to gain a better understanding of the initiation of electrical-wire fires. An ignition-to- spread model is developed to systematically explain ignition and the following transition to spread. The model predicts that for a higher-conductance wire it is more difficult to achieve ignition and the weak flame may extinguish during the transition phase because of a large conductive heat loss along the wire core. Wires with tw...

Phosphorus in antique iron music wire.

Science.gov (United States)

Goodway, M

1987-05-22

Harpsichords and other wire-strung musical instruments were made with longer strings about the beginning of the 17th century. This change required stronger music wire. Although these changes coincided with the introduction of the first mass-produced steel (iron alloyed with carbon), carbon was not found in samples of antique iron harpsichord wire. The wire contained an amount of phosphorus sufficient to have impeded its conversion to steel, and may have been drawn from iron rejected for this purpose. The method used to select pig iron for wire drawing ensured the highest possible phosphorus content at a time when its presence in iron was unsuspected. Phosphorus as an alloying element has had the reputation for making steel brittle when worked cold. Nevertheless, in replicating the antique wire, it was found that lowcarbon iron that contained 0.16 percent phosphorus was easily drawn to appropriate gauges and strengths for restringing antique harpsichords.

Electro-mechanics of drift tube wires

International Nuclear Information System (INIS)

Milburn, R.H.

1997-01-01

The position and stability of the sense wires in very long drift tubes are affected by both gravitational and electrostatic forces, as well as by the wire tension. For a tube to be used as an element of a high-resolution detector all these forces and their effects must be understood in appropriately precise detail. In addition, the quality control procedures applied during manufacture and detector installation must be adequate to ensure that the internal wire positions remain within tolerances. It may be instructive to practitioners to review the simple theory of a taut wire in the presence of anisotropic gravitational and electrostatic fields to illustrate the conditions for stability, the equilibrium wire displacement from straightness, and the effect of the fields on the mechanical vibration frequencies. These last may be used to monitor the wire configuration externally. A number of practical formulae result and these are applied to illustrative examples. (orig.)

Robotics

Energy Technology Data Exchange (ETDEWEB)

Lorino, P; Altwegg, J M

1985-05-01

This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

Safety evaluation of phytosterols in laying hens: effects on laying performance, clinical blood parameters, and organ development.

Science.gov (United States)

Shi, S R; Shen, Y R; Chang, L L; Zhou, C J; Bo, Z; Wang, Z Y; Tong, H B; Zou, J M

2014-03-01

Phytosterols are intended for use as a novel food ingredient with plasma cholesterol-lowering activity. Although phytosterols are naturally present in the normal diet, daily consumption is insufficient to ensure plasma cholesterol-lowering levels. Therefore, phytosterols may be added to the diets to achieve the desired cholesterol-lowering activity. A subchronic laying hen safety study was conducted to examine if high-dose phytosterols could affect the safety of hens. Three hundred sixty 21-wk-old Hy-Line Brown laying hens were randomly assigned to 5 groups with 6 replicates of 12 birds each; after 3 wk, birds were fed diets supplemented with 0, 20, 80, 400, and 800 mg/kg of phytosterols for 12 wk. Throughout the study, clinical observations and laying performance were measured. At the end of the study, birds were subjected to a full postmortem examination: blood samples were taken for clinical pathology, selected organs were weighed, and specified tissues were taken for subsequent histological examination. No treatment-related changes that were considered to be of toxicological significance were observed. Therefore, a nominal phytosterol concentration of 800 mg/kg was considered to be the no-observed-adverse-effect level.

The emotional wellbeing of lay HIV counselling and testing ...

African Journals Online (AJOL)

Lay counsellors are expected to educate clients about HIV/AIDS, advocate behaviour change, convey test results and support those infected and affected to cope with the emotional and social challenges associated with HIV/AIDS. This research focuses on the emotional wellbeing of lay HCT counsellors because this ...

FPGA for Robotic Applications: from Android/Humanoid Robots to Artificial Men

Directory of Open Access Journals (Sweden)

Tole Sutikno

2011-12-01

Full Text Available Researches on home robots have been increasing enormously. There has always existed a continuous research effort on problems of anthropomorphic robots which is now called humanoid robots. Currently, robotics has evolved to the point that different branches have reached a remarkable level of maturity, that neural network and fuzzy logic are the main artificial intelligence as intelligent control on the robotics. Despite all this progress, while aiming at accomplishing work-tasks originally charged only to humans, robotic science has perhaps quite naturally turned into the attempt to create artificial men. It is true that artificial men or android humanoid robots open certainly very broad prospects. This “robot” may be viewed as a personal helper, and it will be called a home-robot, or personal robot. This is main reason why the two special sections are issued in the TELKOMNIKA sequentially.

Teaching Joint-Level Robot Programming with a New Robotics Software Tool

Directory of Open Access Journals (Sweden)

Fernando Gonzalez

2017-12-01

Full Text Available With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot’s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.

Lansce Wire Scanning Diagnostics Device Mechanical Design

International Nuclear Information System (INIS)

Rodriguez Esparza, Sergio; Batygin, Yuri K.; Gilpatrick, John D.; Gruchalla, Michael E.; Maestas, Alfred J.; Pillai, Chandra; Raybun, Joseph L.; Sattler, F.D.; Sedillo, James Daniel; Smith, Brian G.

2011-01-01

The Accelerator Operations and Technology Division at Los Alamos National Laboratory operates a linear particle accelerator which utilizes 110 wire scanning diagnostics devices to gain position and intensity information of the proton beam. In the upcoming LANSCE improvements, 51 of these wire scanners are to be replaced with a new design, up-to-date technology and off-the-shelf components. This document outlines the requirements for the mechanical design of the LANSCE wire scanner and presents the recently developed linac wire scanner prototype. Additionally, this document presents the design modifications that have been implemented into the fabrication and assembly of this first linac wire scanner prototype. Also, this document will present the design for the second, third, and fourth wire scanner prototypes being developed. Prototypes 2 and 3 belong to a different section of the particle accelerator and therefore have slightly different design specifications. Prototype 4 is a modification of a previously used wire scanner in our facility. Lastly, the paper concludes with a plan for future work on the wire scanner development.

Lansce Wire Scanning Diagnostics Device Mechanical Design

Energy Technology Data Exchange (ETDEWEB)

Rodriguez Esparza, Sergio [Los Alamos National Laboratory; Batygin, Yuri K. [Los Alamos National Laboratory; Gilpatrick, John D. [Los Alamos National Laboratory; Gruchalla, Michael E. [Los Alamos National Laboratory; Maestas, Alfred J. [Los Alamos National Laboratory; Pillai, Chandra [Los Alamos National Laboratory; Raybun, Joseph L. [Los Alamos National Laboratory; Sattler, F. D. [Los Alamos National Laboratory; Sedillo, James Daniel [Los Alamos National Laboratory; Smith, Brian G. [Los Alamos National Laboratory

2011-01-01

The Accelerator Operations & Technology Division at Los Alamos National Laboratory operates a linear particle accelerator which utilizes 110 wire scanning diagnostics devices to gain position and intensity information of the proton beam. In the upcoming LANSCE improvements, 51 of these wire scanners are to be replaced with a new design, up-to-date technology and off-the-shelf components. This document outlines the requirements for the mechanical design of the LANSCE wire scanner and presents the recently developed linac wire scanner prototype. Additionally, this document presents the design modifications that have been implemented into the fabrication and assembly of this first linac wire scanner prototype. Also, this document will present the design for the second, third, and fourth wire scanner prototypes being developed. Prototypes 2 and 3 belong to a different section of the particle accelerator and therefore have slightly different design specifications. Prototype 4 is a modification of a previously used wire scanner in our facility. Lastly, the paper concludes with a plan for future work on the wire scanner development.

Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

DEFF Research Database (Denmark)

Jensen, Lars Christian; Fischer, Kerstin; Suvei, Stefan-Daniel

2017-01-01

In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care-O-bot, ...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots....

Commercial and Industrial Wiring.

Science.gov (United States)

Kaltwasser, Stan; Flowers, Gary

This module is the third in a series of three wiring publications, includes additional technical knowledge and applications required for job entry in the commercial and industrial wiring trade. The module contains 15 instructional units that cover the following topics: blueprint reading and load calculations; tools and equipment; service;…

Robotics Potential Fields

Directory of Open Access Journals (Sweden)

Jordi Lucero

2009-01-01

Full Text Available This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.

Growing Fixed With Age: Lay Theories of Malleability Are Target Age-Specific.

Science.gov (United States)

Neel, Rebecca; Lassetter, Bethany

2015-11-01

Beliefs about whether people can change ("lay theories" of malleability) are known to have wide-ranging effects on social motivation, cognition, and judgment. Yet rather than holding an overarching belief that people can or cannot change, perceivers may hold independent beliefs about whether different people are malleable-that is, lay theories may be target-specific. Seven studies demonstrate that lay theories are target-specific with respect to age: Perceivers hold distinct, uncorrelated lay theories of people at different ages, and younger targets are considered to be more malleable than older targets. Both forms of target-specificity are consequential, as target age-specific lay theories predict policy support for learning-based senior services and the rehabilitation of old and young drug users. The implications of target age-specific lay theories for a number of psychological processes, the social psychology of aging, and theoretical frameworks of malleability beliefs are discussed. © 2015 by the Society for Personality and Social Psychology, Inc.

Wire alignment system for ATF LINAC

International Nuclear Information System (INIS)

Hayano, H.; Takeda, S.; Matsumoto, H.; Matsui, T.

1994-01-01

A wire based alignment system is adopted to make less than 40μm precision alignment for injector linac of Accelerator Test Facility (ATF). The system consists of two stretched SUS wires, pickup coils and active mover stages. The position of pickup coils in a mount which will be installed into LINAC stages is set to the calculated wire position prior to installation. All of LINAC stages are then moved to keep the calculated position by the active mover. The test results of wire position detection in a long term are described. (author)

Nickel contaminated titanium weld wire study

International Nuclear Information System (INIS)

Coffin, G.R.; Sumstine, R.L.

1979-01-01

Attachment of thermocouples to fuel rod welding problems at Exxon Nuclear Company and INEL prompted an investigation study of the titanium filler wire material. It was found that the titanium filler wire was contaminated with nickel which was jacketed on the wire prior to the drawing process at the manufacturers. A method was developed to 100% inspect all filler wire for future welding application. This method not only indicates the presence of nickel contamination but indicates quantity of contamination. The process is capable of high speed inspection necessary for various high speed manufacturing processes

Californium Recovery from Palladium Wire

Energy Technology Data Exchange (ETDEWEB)

Burns, Jon D. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

2014-08-01

The recovery of ²⁵²Cf from palladium-²⁵²Cf cermet wires was investigated to determine the feasibility of implementing it into the cermet wire production operation at Oak Ridge National Laboratory’s Radiochemical Engineering Development Center. The dissolution of Pd wire in 8 M HNO₃ and trace amounts of HCl was studied at both ambient and elevated temperatures. These studies showed that it took days to dissolve the wire at ambient temperature and only 2 hours at 60°C. Adjusting the ratio of the volume of solvent to the mass of the wire segment showed little change in the kinetics of dissolution, which ranged from 0.176 mL/mg down to 0.019 mL/mg. A successful chromatographic separation of ¹⁵³Gd, a surrogate for ²⁵²Cf, from Pd was demonstrated using AG 50x8 cation exchange resin with a bed volume of 0.5 mL and an internal diameter of 0.8 cm.

Healthcare Robotics

OpenAIRE

Riek, Laurel D.

2017-01-01

Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial that both the research and industrial communities work together to establish a strong evidence-base for healthcare robotics, and surmount likely adoption barriers. This article presents a broad contextualization of robots in healthcare by identifying key sta...

Wire number dependence of the implosion dynamics, stagnation, and radiation output of tungsten wire arrays at Z driver

Energy Technology Data Exchange (ETDEWEB)

Mazarakis, Michael G.; Stygar, William A.; Sinars, Daniel B.; Cuneo, Michael E.; Nash, Thomas J.; Chandler, Gordon A.; Keith Matzen, M.; Porter, John L.; Struve, Kenneth W.; McDaniel, Dillon H. [Sandia National Laboratories, P.O. Box 5800, Albuquerque, New Mexico 87185 (United States); Deeney, Christopher E. [National Nuclear Security Administration, Washington, D.C. 20585 (United States); Douglas, Melissa R. [Los Alamos National Laboratory, Los Alamos, New Mexico 87545 (United States); Chittenden, Jerry [Imperial College, London, SW and 2BW (United Kingdom)

2011-11-15

We report results of the experimental campaign, which studied the initiation, implosion dynamics, and radiation yield of tungsten wire arrays as a function of the wire number. The wire array dimensions and mass were those of interest for the Z-pinch driven Inertial Confinement Fusion (ICF) program. An optimization study of the x-ray emitted peak power, rise time, and full width at half maximum was effectuated by varying the wire number while keeping the total array mass constant and equal to {approx}5.8 mg. The driver utilized was the {approx}20-MA Z accelerator before refurbishment in its usual short pulse mode of 100 ns. We studied single arrays of 20-mm diameter and 1-cm height. The smaller wire number studied was 30 and the largest 600. It appears that 600 is the highest achievable wire number with present day's technology. Radial and axial diagnostics were utilized including crystal monochromatic x-ray backlighter. An optimum wire number of {approx}375 was observed which was very close to the routinely utilized 300 for the ICF program in Sandia.

Wire number dependence of the implosion dynamics, stagnation, and radiation output of tungsten wire arrays at Z driver

International Nuclear Information System (INIS)

Mazarakis, Michael G.; Stygar, William A.; Sinars, Daniel B.; Cuneo, Michael E.; Nash, Thomas J.; Chandler, Gordon A.; Keith Matzen, M.; Porter, John L.; Struve, Kenneth W.; McDaniel, Dillon H.; Deeney, Christopher E.; Douglas, Melissa R.; Chittenden, Jerry

2011-01-01

We report results of the experimental campaign, which studied the initiation, implosion dynamics, and radiation yield of tungsten wire arrays as a function of the wire number. The wire array dimensions and mass were those of interest for the Z-pinch driven Inertial Confinement Fusion (ICF) program. An optimization study of the x-ray emitted peak power, rise time, and full width at half maximum was effectuated by varying the wire number while keeping the total array mass constant and equal to ∼5.8 mg. The driver utilized was the ∼20-MA Z accelerator before refurbishment in its usual short pulse mode of 100 ns. We studied single arrays of 20-mm diameter and 1-cm height. The smaller wire number studied was 30 and the largest 600. It appears that 600 is the highest achievable wire number with present day's technology. Radial and axial diagnostics were utilized including crystal monochromatic x-ray backlighter. An optimum wire number of ∼375 was observed which was very close to the routinely utilized 300 for the ICF program in Sandia.

29 CFR 18.701 - Opinion testimony by lay witnesses.

Science.gov (United States)

2010-07-01

... 29 Labor 1 2010-07-01 2010-07-01 true Opinion testimony by lay witnesses. 18.701 Section 18.701 Labor Office of the Secretary of Labor RULES OF PRACTICE AND PROCEDURE FOR ADMINISTRATIVE HEARINGS... Opinion testimony by lay witnesses. If the witness is not testifying as an expert, the witness' testimony...

RIPE [robot independent programming environment]: A robot independent programming environment

International Nuclear Information System (INIS)

Miller, D.J.; Lennox, R.C.

1990-01-01

Remote manual operations in radiation environments are typically performed very slowly. Sensor-based computer-controlled robots hold great promise for increasing the speed and safety of remote operations; however, the programming of robotic systems has proven to be expensive and difficult. Generalized approaches to robot programming that reuse available software modules and employ programming languages which are independent of the specific robotic and sensory devices being used are needed to speed software development and increase overall system reliability. This paper discusses the robot independent programming environment (RIPE) developed at Sandia National Laboratories (SNL). The RIPE is an object-oriented approach to robot system architectures; it is a software environment that facilitates rapid design and implementation of complex robot systems for diverse applications. An architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models applications using software objects. These objects are designed to support model-based automated programming of robotic and machining devices, real-time sensor-based control, error handling, and robust communication

Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

Science.gov (United States)

Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

2017-01-01

Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

Recent advances in robotics

International Nuclear Information System (INIS)

Beni, G.; Hackwood, S.

1984-01-01

Featuring 10 contributions, this volume offers a state-of-the-art report on robotic science and technology. It covers robots in modern industry, robotic control to help the disabled, kinematics and dynamics, six-legged walking robots, a vector analysis of robot manipulators, tactile sensing in robots, and more

High-performance, stretchable, wire-shaped supercapacitors.

Science.gov (United States)

Chen, Tao; Hao, Rui; Peng, Huisheng; Dai, Liming

2015-01-07

A general approach toward extremely stretchable and highly conductive electrodes was developed. The method involves wrapping a continuous carbon nanotube (CNT) thin film around pre-stretched elastic wires, from which high-performance, stretchable wire-shaped supercapacitors were fabricated. The supercapacitors were made by twisting two such CNT-wrapped elastic wires, pre-coated with poly(vinyl alcohol)/H3PO4 hydrogel, as the electrolyte and separator. The resultant wire-shaped supercapacitors exhibited an extremely high elasticity of up to 350% strain with a high device capacitance up to 30.7 F g(-1), which is two times that of the state-of-the-art stretchable supercapacitor under only 100% strain. The wire-shaped structure facilitated the integration of multiple supercapacitors into a single wire device to meet specific energy and power needs for various potential applications. These supercapacitors can be repeatedly stretched from 0 to 200% strain for hundreds of cycles with no change in performance, thus outperforming all the reported state-of-the-art stretchable electronics. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood

Science.gov (United States)

Kazakoff, Elizabeth R.; Bers, Marina Umaschi

2014-01-01

This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…

Genetic analysis of feather pecking behavior in laying hens

NARCIS (Netherlands)

Buitenhuis, A.J.

2003-01-01

This thesis describes the genetic analysis of feather pecking behavior in laying hens. Feather pecking (FP) is a major welfare problem in laying hens.In the European

[Mechanics analysis of fracture of orthodontic wires].

Science.gov (United States)

Wang, Yeping; Sun, Xiaoye; Zhang, Longqi

2003-03-01

Fracture problem of orthodontic wires was discussed in this paper. The calculation formulae of bending stress and tensile stress were obtained. All main factors that affect bending stress and tensile stress of orthodontic wires were analyzed and discussed. It was concluded that the main causes of fracture of orthodontic wires were fatigue and static disruption. Some improving proposals for preventing fracture of orthodontic wires were put forward.

Lunar Module Wiring Design Considerations and Failure Modes

Science.gov (United States)

Interbartolo, Michael

2009-01-01

This slide presentation reviews the considerations for the design of wiring for the Lunar Module. Included are a review of the choice of conductors and insulations, the wire splicing (i.e., crimping, and soldering), the wire connectors, and the fabrication of the wire harnesses. The problems in fabrication include the wires being the wrong length, the damage due to the sharp edges, the requried use of temproary protective covers and inadequate training. The problems in the wire harness installation include damge from sharp eges, work on adjacent harnesses, connector damage, and breaking wires. Engineering suggestions from the Apollo-era in reference to the conductors that are reviewed include: the use of plated conductors, and the use of alloys for stronger wiring. In refernce to insulation, the suggestions from Apollo era include the use of polymer tape-wrap wire insulation due to the light weight, however, other types of modern insulation might be more cost-effective. In reference to wire splices and terminal boards the suggestions from the Apollo Era include the use of crimp splices as superior to solder splices, joining multiple wire to a common point using modular plug-ins might be more reliable, but are heavier than crimp splicing. For connectors, the lessons from the Apollo era indicate that a rear environmental seal that does not require additional potting is preferred, and pins should be crimped or welded to the incoming wires and be removable from the rear of the connector.

Superconducting wire for the T-15 toroidal magnet

International Nuclear Information System (INIS)

Klimenko, E.Yu.; Kruglov, V.S.; Martovetskij, N.N.

1987-01-01

Main characteristics of a wire designed for the T-15 toroidal superconducting magnet production are given. The wire with circulation cooling is a twist of 11 niobium-tin wires 1.5 mm in diameter, joined electrolytically by two copper tubes with 3 mm inside diameter. The wire is capable to carry 10 kA current in the 8.5 T induction field. Wire features and structures promote to receive high structural current density in winding: diffuseness of superconducting-to-normal transition increases wire stability, screw symmetry od a current-carrying core provides wire resistance to pulse longitudinal field effect at plasma current disruption, low bronze thermal conductivity in a twist increases stability to outside pulse perturbations

Carbon wire chamber at sub-atmospheric pressure

Energy Technology Data Exchange (ETDEWEB)

Charles, G., E-mail: charlesg@ipno.in2p3.fr; Audouin, L., E-mail: audouin@ipno.in2p3.fr; Bettane, J.; Dupre, R.; Genolini, B.; Hammoudi, N.; Imre, M.; Le Ven, V.; Maroni, A.; Mathon, B.; Nguyen Trung, T.; Rauly, E.

2017-05-21

Present in many experiments, wire and drift chambers have been used in a large variety of shapes and configurations during the last decades. Nevertheless, their readout elements has not evolved much: tungsten, sometimes gold-plated or aluminum, wires. By taking advantage of the developments in the manufacture of conducting carbon fiber, we could obtain interesting improvements for wire detectors. In this article, we present recent tests and simulations using carbon fibers to readout signal in place of traditional tungsten wires. Unlike metallic wires, their low weight guaranties a reduced quantity of material in the active area.

Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

Directory of Open Access Journals (Sweden)

Mazen Ghandour

2017-06-01

Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding

The importance of carbon nanotube wire density, structural uniformity, and purity for fabricating homogeneous carbon nanotube-copper wire composites by copper electrodeposition

Science.gov (United States)

Sundaram, Rajyashree; Yamada, Takeo; Hata, Kenji; Sekiguchi, Atsuko

2018-04-01

We present the influence of density, structural regularity, and purity of carbon nanotube wires (CNTWs) used as Cu electrodeposition templates on fabricating homogeneous high-electrical performance CNT-Cu wires lighter than Cu. We show that low-density CNTWs (wires) with regular macro- and microstructures and high CNT content (>90 wt %) are essential for making homogeneous CNT-Cu wires. These homogeneous CNT-Cu wires show a continuous Cu matrix with evenly mixed nanotubes of high volume fractions (˜45 vol %) throughout the wire-length. Consequently, the composite wires show densities ˜5.1 g/cm3 (33% lower than Cu) and electrical conductivities ˜6.1 × 104 S/cm (>100 × CNTW conductivity). However, composite wires from templates with higher densities or structural inconsistencies are non-uniform with discontinuous Cu matrices and poor CNT/Cu mixing. These non-uniform CNT-Cu wires show conductivities 2-6 times lower than the homogeneous composite wires.

Robots and lattice automata

CERN Document Server

Adamatzky, Andrew

2015-01-01

The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are...

Robot vision

International Nuclear Information System (INIS)

Hall, E.L.

1984-01-01

Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential

Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

CERN Document Server

Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

2012-01-01

Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...

Robot Wars: US Empire and geopolitics in the robotic age

Science.gov (United States)

Shaw, Ian GR

2017-01-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605

Sodium levels in the diets of semi-heavy laying hens reared in a hot climate after peak lay

Directory of Open Access Journals (Sweden)

A. S. A. Assunção

2017-03-01

Full Text Available The objective of this study was to estimate the sodium (Na requirements of semi-heavy laying hens reared in a hot climate after peak lay. A total of 120 Hisex Brown hens, 48 weeks of age, were used. The birds were allocated in a completely randomized design consisting of five treatments, six replicates and four animals per experimental unit. The experimental diets were formulated with corn and soybean meal and the treatments consisted of five levels of sodium (0.12, 0.17, 0.22, 0.27 and 0.32% derived from common salt. The following parameters were evaluated: feed intake (g, egg production (%, egg weight (g, egg mass (g, feed conversion (kg per kilogram of eggs and per dozen eggs, specific gravity (g/cm3, shell thickness (mm, egg components including egg yolk (g and %, albumin (g and % and shell (g and %, viability (%, and variation in body weight (g of the birds. There was no effect (P>0.05 of sodium levels on egg yolk weight (g or albumin percentage. A decreasing linear effect (P<0.01 was observed for feed intake, which decreased with increasing sodium level in the diet. A quadratic effect (P<0.05 was found for egg production, egg weight, feed conversion per kilogram of eggs and dozen eggs, albumin and shell weight, specific gravity, shell thickness, and percentage of shell and egg yolk. A sodium level higher than 0.27% negatively influenced egg components and zootechnical performance of the birds. The inclusion of 0.20% sodium in the diet after peak lay is recommended for semi-heavy laying hens reared in a hot climate to increase egg quality and productive performance.

Pre-wired systems prove their worth.

Science.gov (United States)

2012-03-01

The 'new generation' of modular wiring systems from Apex Wiring Solutions have been specified for two of the world's foremost teaching hospitals - the Royal London and St Bartholomew's Hospital, as part of a pounds sterling 1 billion redevelopment project, to cut electrical installation times, reduce on-site waste, and provide a pre-wired, factory-tested, power and lighting system. HEJ reports.

Robotic vision system for random bin picking with dual-arm robots

Directory of Open Access Journals (Sweden)

Kang Sangseung

2016-01-01

Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

Modular Robotic Wearable

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2009-01-01

In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....

Marine Robot Autonomy

CERN Document Server

2013-01-01

Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

Industrial Robots.

Science.gov (United States)

Reed, Dean; Harden, Thomas K.

Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

Modern wiring practice

CERN Document Server

Steward, W E

2012-01-01

Continuously in print since 1952, Modern Wiring Practice has now been fully revised to provide an up-to-date source of reference to building services design and installation in the 21st century. This compact and practical guide addresses wiring systems design and electrical installation together in one volume, creating a comprehensive overview of the whole process for contractors and architects, as well as electricians and other installation engineers. Best practice is incorporated throughout, combining theory and practice with clear and accessible explanation, all

Domain observations of Fe and Co based amorphous wires

International Nuclear Information System (INIS)

Takajo, M.; Yamasaki, J.

1993-01-01

Domain observations were made on Fe and Co based amorphous magnetic wires that exhibit a large Barkhausen discontinuity during flux reversal. Domain patterns observed on the wire surface were compared with those found on a polished section through the center of the wire. It was confirmed that the Fe based wire consists of a shell and core region as previously proposed, however, there is a third region between them. This fairly thick transition region made up of domains at an angle of about 45 degree to the wire axis clearly lacking the closure domains of the previous model. The Co based wire does not have a clear core and shell domain structure. The center of the wire had a classic domain structure expected of uniaxial anisotropy with the easy axis normal to the wire axis. When a model for the residual stress quenched-in during cooling of large Fe bars is applied to the wire, the expected anisotropy is consistent with the domain patterns in the Fe based wire, however, shape anisotropy still plays a dominant role in defining the wire core in the Co based wire

Social Robots

DEFF Research Database (Denmark)

Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us as indiv......Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

Non-manufacturing applications of robotics

International Nuclear Information System (INIS)

Dauchez, P.

2000-12-01

This book presents the different non-manufacturing sectors of activity where robotics can have useful or necessary applications: underwater robotics, agriculture robotics, road work robotics, nuclear robotics, medical-surgery robotics, aids to disabled people, entertainment robotics. Service robotics has been voluntarily excluded because this developing sector is not mature yet. (J.S.)

Automatic reel controls filler wire in welding machines

Science.gov (United States)

Millett, A. V.

1966-01-01

Automatic reel on automatic welding equipment takes up slack in the reel-fed filler wire when welding operation is terminated. The reel maintains constant, adjustable tension on the wire during the welding operation and rewinds the wire from the wire feed unit when the welding is completed.

Case report of misdiagnosis of Avian Colibacillosis in laying Birds ...

African Journals Online (AJOL)

Two freshly dead 27 weeks old Issa brown laying birds from a population of about 3000 birds with history of blindness, greenish-whitish diarrhoea, symptomatic diagnosis of coccidiosis, treatment failure, reduced egg lay and increased mortality was presented for postmortem examination and diagnosis. Postmortem ...

Method of preparing composite superconducting wire

International Nuclear Information System (INIS)

Verhoeven, J. D.; Finnemore, D. K.; Gibson, E. D.; Ostenson, J. E.; Schmidt, F. A.

1985-01-01

An improved method of preparing composite multifilament superconducting wire of Nb 3 Sn in a copper matrix which eliminates the necessity of coating the drawn wire with tin. A generalized cylindrical billet of an alloy of copper containing at least 15 weight percent niobium, present in the copper as discrete, randomly distributed and oriented dendritic-shaped particles, is provided with at least one longitudinal opening which is filled with tin to form a composite drawing rod. The drawing rod is then drawn to form a ductile composite multifilament wire containing a filament of tin. The ductile wire containing the tin can then be wound into magnet coils or other devices before heating to diffuse the tin through the wire to react with the niobium forming Nb 3 Sn. Also described is an improved method for making large billets of the copper-niobium alloy by consumable-arc casting

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.

Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots

Science.gov (United States)

2010-04-01

you are performing the low crawl 4.25 5.00 Drive the robot while you are negotiating the hill 6.00 5.00 Drive the robot while you are climbing the... stairs 4.67 5.00 Drive the robot while you are walking 5.70 5.27 HMD It was fairly doable. 1 When you’re looking through the lens, it’s not...Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots by Elizabeth S. Redden, Rodger A. Pettitt

Coupled dynamic analysis of subsea pipe laying operations

Energy Technology Data Exchange (ETDEWEB)

Silva, Danilo Machado Lawinscky da; Jacob, Breno Pinheiro [Coordenacao dos Programas de Pos-graduacao de Engenharia (COPPE/UFRJ), Rio de Janeiro, RJ (Brazil). Programa de Engenharia Civil. Lab. of Computational Methods and Offshore Systems

2009-12-19

It is recognized that deep water offshore oil exploitation activities requires the use of sophisticated computational tools to predict the behavior of floating offshore systems under the action of environmental loads. These computational tools should be able to perform coupled dynamic analyses, considering the non-linear interaction of the hydrodynamic behavior of the platform with the structural/hydrodynamic behavior of the mooring lines and risers, represented by Finite Element models. The use of such a sophisticated computational tool becomes mandatory not only for the design of production platforms, but also for the simulation of offshore installation operations. For instance, in the installation of submarine pipelines, the wall thickness design may not be governed by the pressure containment requirements of the pipeline during the operation, but by the installation process, specifically the combined action of bending, tension and hydrostatic pressure acting on the pipeline, that is also submitted to the motions of the lay barge. Therefore, the objective of this work is to present the results of numerical simulations of S-lay installation procedures using a computational tool that performs dynamic analysis coupling the structural behavior of the pipe with the hydrodynamic behavior of the vessel motions under environmental conditions. This tool rigorously considers the contact between the pipeline and its supports (lay barge, stinger, seabed). The results are compared to traditional pipe laying simulations based on RAO motions. (author)

FE modeling of Cu wire bond process and reliability

NARCIS (Netherlands)

Yuan, C.A.; Weltevreden, E.R.; Akker, P. van den; Kregting, R.; Vreugd, J. de; Zhang, G.Q.

2011-01-01

Copper based wire bonding technology is widely accepted by electronic packaging industry due to the world-wide cost reduction actions (compared to gold wire bond). However, the mechanical characterization of copper wire differs from the gold wire; hence the new wire bond process setting and new bond

Monitoring and evaluation of wire mesh forming life

Science.gov (United States)

Enemuoh, Emmanuel U.; Zhao, Ping; Kadlec, Alec

2018-03-01

Forming tables are used with stainless steel wire mesh conveyor belts to produce variety of products. The forming tables will typically run continuously for several days, with some hours of scheduled downtime for maintenance, cleaning and part replacement after several weeks of operation. The wire mesh conveyor belts show large variation in their remaining life due to associated variations in their nominal thicknesses. Currently the industry is dependent on seasoned operators to determine the replacement time for the wire mesh formers. The drawback of this approach is inconsistency in judgements made by different operators and lack of data knowledge that can be used to develop decision making system that will be more consistent with wire mesh life prediction and replacement time. In this study, diagnostic measurements about the health of wire mesh former is investigated and developed. The wire mesh quality characteristics considered are thermal measurement, tension property, gage thickness, and wire mesh wear. The results show that real time thermal sensor and wear measurements would provide suitable data for the estimation of wire mesh failure, therefore, can be used as a diagnostic parameter for developing structural health monitoring (SHM) system for stainless steel wire mesh formers.

Human-Robot Interaction

Science.gov (United States)

Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

2015-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

Communal egg-laying in reptiles and amphibians: evolutionary patterns and hypotheses.

Science.gov (United States)

Doody, J Sean; Freedberg, Steve; Keogh, J Scott

2009-09-01

Communal egg-laying is widespread among animals, occurring in insects, mollusks, fish, amphibians, reptiles, and birds, just to name a few. While some benefits of communal egg-laying may be pervasive (e.g., it saves time and energy and may ensure the survival of mothers and their offspring), the remarkable diversity in the life histories of the animals that exhibit this behavior presents a great challenge to discovering any general explanation. Reptiles and amphibians offer ideal systems for investigating communal egg-laying because they generally lack parental care--a simplification that brings nest site choice behavior into sharp focus. We exhaustively reviewed the published literature for data on communal egg-laying in reptiles and amphibians. Our analysis demonstrates that the behavior is much more common than previously recognized (occurring in 481 spp.), especially among lizards (N = 255 spp.), where the behavior has evolved multiple times. Our conceptual review strongly suggests that different forces may be driving the evolution and maintenance of communal egg-laying in different taxa. Using a game theory approach, we demonstrate how a stable equilibrium may occur between solitary and communal layers, thus allowing both strategies to co-exist in some populations, and we discuss factors that may influence these proportions. We conclude by outlining future research directions for determining the proximate and ultimate causes of communal egg-laying.

Testing the Link Between Empathy and Lay Theories of Happiness.

Science.gov (United States)

Tullett, Alexa M; Plaks, Jason E

2016-09-20

Happiness is a topic that ignites both considerable interest and considerable disagreement. Thus far, however, there has been little attempt to characterize people's lay theories about happiness or explore their consequences. We examined whether individual differences in lay theories of happiness would predict empathy. In Studies 1a and 1b, we validated the Lay Theories of Happiness Scale (LTHS), which includes three dimensions: flexibility, controllability, and locus. In Study 2, higher dispositional empathy was predicted by the belief that happiness is flexible, controllable, and internal. In Studies 3 and 4, higher empathy toward a specific target was predicted by the belief that happiness is flexible, uncontrollable, and external In conjunction, Studies 2, 3, and 4 provide evidence that trait and state empathy are separable and can have opposing relationships with people's lay theories. Overall, these findings highlight generalized beliefs that may guide empathic reactions to the unhappiness of others. © 2016 by the Society for Personality and Social Psychology, Inc.

Next generation light robotic

DEFF Research Database (Denmark)

Villangca, Mark Jayson; Palima, Darwin; Banas, Andrew Rafael

2017-01-01

-assisted surgery imbibes surgeons with superhuman abilities and gives the expression “surgical precision” a whole new meaning. Still in its infancy, much remains to be done to improve human-robot collaboration both in realizing robots that can operate safely with humans and in training personnel that can work......Conventional robotics provides machines and robots that can replace and surpass human performance in repetitive, difficult, and even dangerous tasks at industrial assembly lines, hazardous environments, or even at remote planets. A new class of robotic systems no longer aims to replace humans...... with so-called automatons but, rather, to create robots that can work alongside human operators. These new robots are intended to collaborate with humans—extending their abilities—from assisting workers on the factory floor to rehabilitating patients in their homes. In medical robotics, robot...

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

Directory of Open Access Journals (Sweden)

Kristel Knaepen

Full Text Available In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support. Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

Science.gov (United States)

Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

2015-01-01

In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

Electric wiring domestic

CERN Document Server

Coker, A J

1992-01-01

Electric Wiring: Domestic, Tenth Edition, is a clear and reliable guide to the practical aspects of domestic electric wiring. Intended for electrical contractors, installation engineers, wiremen and students, its aim is to provide essential up to date information on modern methods and materials in a simple, clear, and concise manner. The main changes in this edition are those necessary to bring the work into line with the 16th Edition of the Regulations for Electrical Installations issued by the Institution of Electrical Engineers. The book begins by introducing the basic features of domestic

Roles and Self-Reconfigurable Robots

DEFF Research Database (Denmark)

Dvinge, Nicolai; Schultz, Ulrik Pagh; Christensen, David Johan

2007-01-01

A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape......., significantly simplifying the task of programming self-reconfigurable robots. Our language fully supports programming the ATRON self-reconfigurable robot, and has been used to implement several controllers running both on the physical modules and in simulation.......A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape....... Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular...

Robot Teachers

DEFF Research Database (Denmark)

Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni

The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...

Accelerating Robot Development through Integral Analysis of Human-Robot Interaction

NARCIS (Netherlands)

Kooijmans, T.; Kanda, T.; Bartneck, C.; Ishiguro, H.; Hagita, N.

2007-01-01

The development of interactive robots is a complicated process, involving a plethora of psychological, technical, and contextual influences. To design a robot capable of operating "intelligently" in everyday situations, one needs a profound understanding of human-robot interaction (HRI). We propose

Micro Wire-Drawing: Experiments And Modelling

International Nuclear Information System (INIS)

Berti, G. A.; Monti, M.; Bietresato, M.; D'Angelo, L.

2007-01-01

In the paper, the authors propose to adopt the micro wire-drawing as a key for investigating models of micro forming processes. The reasons of this choice arose in the fact that this process can be considered a quasi-stationary process where tribological conditions at the interface between the material and the die can be assumed to be constant during the whole deformation. Two different materials have been investigated: i) a low-carbon steel and, ii) a nonferrous metal (copper). The micro hardness and tensile tests performed on each drawn wire show a thin hardened layer (more evident then in macro wires) on the external surface of the wire and hardening decreases rapidly from the surface layer to the center. For the copper wire this effect is reduced and traditional material constitutive model seems to be adequate to predict experimentation. For the low-carbon steel a modified constitutive material model has been proposed and implemented in a FE code giving a better agreement with the experiments

Micro Robotics Lab

Data.gov (United States)

Federal Laboratory Consortium — Our research is focused on the challenges of engineering robotic systems down to sub-millimeter size scales. We work both on small mobile robots (robotic insects for...

Seeded perturbations in wire array Z-Pinches

International Nuclear Information System (INIS)

Robinson, Allen Conrad; Fedin, Dmitry; Kantsyrev, Victor Leonidovich; Wunsch, Scott Edward; Oliver, Bryan Velten; Lebedev, Sergey V.; Coverdale, Christine Anne; Ouart, Nicholas D.; LePell, Paul David; Safronova, Alla S.; Shrestha, I.; McKenney, John Lee; Ampleford, David J.; Rapley, J.; Bott, S.C.; Palmer, J.B.A.; Sotnikov, Vladimir Isaakovich; Bland, Simon Nicholas; Ivanov, Vladimir V.; Chittenden, Jeremy Paul; Jones, B.; Garasi, Christopher Joseph; Hall, Gareth Neville; Yilmaz, M. Faith; Mehlhorn, Thomas Alan; Deeney, Christopher; Pokala, S.; Nalajala, V.

2005-01-01

Controlled seeding of perturbations is employed to study the evolution of wire array z-pinch implosion instabilities which strongly impact x-ray production when the 3D plasma stagnates on axis. Wires modulated in radius exhibit locally enhanced magnetic field and imploding bubble formation at discontinuities in wire radius due to the perturbed current path. Wires coated with localized spectroscopic dopants are used to track turbulent material flow. Experiments and MHD modeling offer insight into the behavior of z-pinch instabilities.

Utilization of sunflower seed in laying hen rations

Directory of Open Access Journals (Sweden)

Tsuzuki ET

2003-01-01

Full Text Available The objective of this trial was to evaluate the effect of sunflower seed inclusion (0, 1.4, 2.8, 4.2 and 5.6% in a laying hen diet containing corn, soybean meal, wheat meal and soybean oil as main ingredients on performance and egg quality. The evaluated variables were daily feed intake, average egg weight, feed conversion (kg.kg-1 and kg.dz-1, eggshell percentage, yolk color and Haugh unit. One hundred and sixty 25 week-old Lohmann laying hens were used in a completely randomized design with five treatments and four replications of eight birds per experimental unit. Four periods of 28 days were evaluated during 112 days. The inclusion of sunflower seed in the diet had no effect on production parameters during the experimental period. Thus, can be concluded that sunflower seed might be used at concentrations up to 5.6% in laying hen diets without affecting performance and egg quality.

Robot fish bio-inspired fishlike underwater robots

CERN Document Server

Li, Zheng; Youcef-Toumi, Kamal; Alvarado, Pablo

2015-01-01

This book provides a comprehensive coverage on robot fish including design, modeling and optimization, control, autonomous control and applications. It gathers contributions by the leading researchers in the area. Readers will find the book very useful for designing and building robot fish, not only in theory but also in practice. Moreover, the book discusses various important issues for future research and development, including design methodology, control methodology, and autonomous control strategy. This book is intended for researchers and graduate students in the fields of robotics, ocean engineering and related areas.

Lay theories of smoking and young adult nonsmokers' and smokers' smoking expectations.

Science.gov (United States)

Fitz, Caroline C; Kaufman, Annette; Moore, Philip J

2015-04-01

This study investigated the relationship between lay theories of cigarette smoking and expectations to smoke. An incremental lay theory of smoking entails the belief that smoking behavior can change; an entity theory entails the belief that smoking behavior cannot change. Undergraduate nonsmokers and smokers completed a survey that assessed lay theories of smoking and smoking expectations. Results demonstrated that lay theories of smoking were differentially associated with smoking expectations for nonsmokers and smokers: stronger incremental beliefs were associated with greater expectations of trying smoking for nonsmokers but lower expectations of becoming a regular smoker for smokers. Implications for interventions are discussed. © The Author(s) 2013.

Robotics in endoscopy.

Science.gov (United States)

Klibansky, David; Rothstein, Richard I

2012-09-01

The increasing complexity of intralumenal and emerging translumenal endoscopic procedures has created an opportunity to apply robotics in endoscopy. Computer-assisted or direct-drive robotic technology allows the triangulation of flexible tools through telemanipulation. The creation of new flexible operative platforms, along with other emerging technology such as nanobots and steerable capsules, can be transformational for endoscopic procedures. In this review, we cover some background information on the use of robotics in surgery and endoscopy, and review the emerging literature on platforms, capsules, and mini-robotic units. The development of techniques in advanced intralumenal endoscopy (endoscopic mucosal resection and endoscopic submucosal dissection) and translumenal endoscopic procedures (NOTES) has generated a number of novel platforms, flexible tools, and devices that can apply robotic principles to endoscopy. The development of a fully flexible endoscopic surgical toolkit will enable increasingly advanced procedures to be performed through natural orifices. The application of platforms and new flexible tools to the areas of advanced endoscopy and NOTES heralds the opportunity to employ useful robotic technology. Following the examples of the utility of robotics from the field of laparoscopic surgery, we can anticipate the emerging role of robotic technology in endoscopy.

29 CFR 1926.404 - Wiring design and protection.

Science.gov (United States)

2010-07-01

.... Receptacles on a two-wire, single-phase portable or vehicle-mounted generator rated not more than 5kW, where the circuit conductors of the generator are insulated from the generator frame and all other grounded... wiring shall be grounded: (i) Three-wire DC systems. All 3-wire DC systems shall have their neutral...

Analytical verification of requirements for safe and timely lay-down of ...

African Journals Online (AJOL)

Analytical verification of requirements for safe and timely lay-down of an offshore slay pipeline abandonment head during some pipe-lay stops: a case study of Forcados Yokri integrated pipeline project in Nigerian shallow offshore.

Acoustic Emission from Elevator Wire Ropes During Tensile Testing

Science.gov (United States)

Bai, Wenjie; Chai, Mengyu; Li, Lichan; Li, Yongquan; Duan, Quan

The acoustic emission (AE) technique was used to monitor the tensile testing process for two kinds of elevator wire ropes in our work. The AE signals from wire breaks were obtained and analyzed by AE parameters and waveforms. The results showed that AE technique can be a useful tool to monitor wire break phenomenon of wire ropes and effectively capture information of wire break signal. The relationship between AE signal characteristics and wire breaks is investigated and it is found that the most effective acoustic signal discriminators are amplitude and absolute energy. Moreover, the wire break signal of two kinds of ropes is a type of burst signal and it is believed that the waveform and spectrum can be applied to analyze the AE wire break signals.

Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

Directory of Open Access Journals (Sweden)

Addythia Saphala

2015-10-01

Full Text Available Robotic Operation System (ROS is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR, which  can  be  considered  as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM.

Superconducting wires and methods of making thereof

Energy Technology Data Exchange (ETDEWEB)

Xu, Xingchen; Sumption, Michael D.; Peng, Xuan

2018-03-13

Disclosed herein are superconducting wires. The superconducting wires can comprise a metallic matrix and at least one continuous subelement embedded in the matrix. Each subelement can comprise a non-superconducting core, a superconducting layer coaxially disposed around the non-superconducting core, and a barrier layer coaxially disposed around the superconducting layer. The superconducting layer can comprise a plurality of Nb.sub.3Sn grains stabilized by metal oxide particulates disposed therein. The Nb.sub.3Sn grains can have an average grain size of from 5 nm to 90 nm (for example, from 15 nm to 30 nm). The superconducting wire can have a high-field critical current density (J.sub.c) of at least 5,000 A/mm.sup.2 at a temperature of 4.2 K in a magnetic field of 12 T. Also described are superconducting wire precursors that can be heat treated to prepare superconducting wires, as well as methods of making superconducting wires.

Impedance Characterisation of the SPS Wire Scanner

CERN Document Server

AUTHOR|(CDS)2091911; Prof. Sillanpää, Mika

As a beam diagnostic tool, the SPS wire scanner interacts with the proton bunches traversing the vacuum pipes of the Super Proton Synchrotron particle accelerator. Following the interaction, the bunches decelerate or experience momentum kicks off-axis and couple energy to the cavity walls, resonances and to the diagnostic tool, the scanning wire. The beam coupling impedance and, in particular, the beam induced heating of the wire motivate the characterisation and redesign of the SPS wire scanner. In this thesis, we characterise RF-wise the low frequency modes of the SPS wire scanner. These have the highest contribution to the impedance. We measure the cavity modes in terms of resonance frequency and quality factor by traditional measurement techniques and data analysis. We carry out a 4-port measurement to evaluate the beam coupling to the scanning wire, that yields the spectral heating power. If combined with the simulations, one is able to extract the beam coupling impedance and deduce the spectral dissipa...

Phosphorus requirement in laying hens

NARCIS (Netherlands)

Lambert, W.; Krimpen, van M.M.; Star, L.

2014-01-01

It was hypothesized that P supply by feed in alternative housing systems can be lowered without negative effects on bone quality and production performance. Therefore, the objectives of the current study were 1) to update the retainable phosphorus (rP) needs of two modern laying hen breeds from 36

Body of Knowledge (BOK) for Copper Wire Bonds

Science.gov (United States)

Rutkowski, E.; Sampson, M. J.

2015-01-01

Copper wire bonds have replaced gold wire bonds in the majority of commercial semiconductor devices for the latest technology nodes. Although economics has been the driving mechanism to lower semiconductor packaging costs for a savings of about 20% by replacing gold wire bonds with copper, copper also has materials property advantages over gold. When compared to gold, copper has approximately: 25% lower electrical resistivity, 30% higher thermal conductivity, 75% higher tensile strength and 45% higher modulus of elasticity. Copper wire bonds on aluminum bond pads are also more mechanically robust over time and elevated temperature due to the slower intermetallic formation rate - approximately 1/100th that of the gold to aluminum intermetallic formation rate. However, there are significant tradeoffs with copper wire bonding - copper has twice the hardness of gold which results in a narrower bonding manufacturing process window and requires that the semiconductor companies design more mechanically rigid bonding pads to prevent cratering to both the bond pad and underlying chip structure. Furthermore, copper is significantly more prone to corrosion issues. The semiconductor packaging industry has responded to this corrosion concern by creating a palladium coated copper bonding wire, which is more corrosion resistant than pure copper bonding wire. Also, the selection of the device molding compound is critical because use of environmentally friendly green compounds can result in internal CTE (Coefficient of Thermal Expansion) mismatches with the copper wire bonds that can eventually lead to device failures during thermal cycling. Despite the difficult problems associated with the changeover to copper bonding wire, there are billions of copper wire bonded devices delivered annually to customers. It is noteworthy that Texas Instruments announced in October of 2014 that they are shipping microcircuits containing copper wire bonds for safety critical automotive applications

Evaluation of a well-established task-shifting initiative: the lay counselor cadre in Botswana.

Science.gov (United States)

Ledikwe, Jenny H; Kejelepula, Mable; Maupo, Kabelo; Sebetso, Siwulani; Thekiso, Mothwana; Smith, Monica; Mbayi, Bagele; Houghton, Nankie; Thankane, Kabo; O'Malley, Gabrielle; Semo, Bazghina-Werq

2013-01-01

Evidence supports the implementation of task shifting to address health worker shortages that are common in resource-limited settings. However, there is need to learn from established programs to identify ways to achieve the strongest, most sustainable impact. This study examined the Botswana lay counselor cadre, a task shifting initiative, to explore effectiveness and contribution to the health workforce. This evaluation used multiple methods, including a desk review, a national lay counselor survey (n = 385; response = 94%), in-depth interviews (n = 79), lay counselors focus group discussions (n = 7), lay counselors observations (n = 25), and client exit interviews (n = 47). Interview and focus group data indicate that lay counselors contribute to essentially all HIV-related programs in Botswana and they conduct the majority of HIV tests and related counseling at public health facilities throughout the country. Interviews showed that the lay counselor cadre is making the workload of more skilled health workers more manageable and increasing HIV acceptance in communities. The average score on a work-related knowledge test was 74.5%. However for 3 questions, less than half answered correctly. During observations, lay counselors demonstrated average competence for most skills assessed and clients (97.9%) were satisfied with services received. From the survey, lay counselors generally reported being comfortable with their duties; however, some reported clinical duties that extended beyond their training and mandate. Multiple factors affecting the performance of the lay counselors were identified, including insufficient resources, such as private counseling space and HIV test kits; and technical, administrative, and supervisory support. Lay counselors are fulfilling an important role in Botswana's healthcare system, serving as the entry point into HIV care, support, and treatment services. For this and other similar task shifting initiatives

Numerical modelling of ozone production in a wire-cylinder corona discharge and comparison with a wire-plate corona discharge

International Nuclear Information System (INIS)

Wang Pengxiang; Chen Junhong

2009-01-01

The effect of electrode configuration on ozone production in the direct-current corona discharge of dry and humid air is studied by a numerical model that combines the electron distribution in the corona plasma, plasma chemistry and transport phenomena. Two electrode configurations are considered: wire-cylinder discharge with air flowing along the wire axis and wire-plate discharge with air flowing transverse to the wire. The ozone distributions in both types of discharges are compared. For both electrode configurations, the ozone production rate is higher in the negative corona than in the positive corona and it decreases with an increase in relative humidity. More importantly, the detailed ozone distribution in the neighbourhood of the discharge wire, together with the ozone kinetics, reveals the possible difference in the ozone production from the two discharges. With the same operating conditions and sufficiently short flow residence time, the ozone production rate is nearly the same for both electrode configurations. When the flow residence time is longer than the characteristic time for homogeneous ozone destruction, the net ozone production is higher in the wire-cylinder discharge than in the wire-plate discharge due to relatively less ozone destruction.

Numerical modelling of ozone production in a wire-cylinder corona discharge and comparison with a wire-plate corona discharge

Science.gov (United States)

Wang, Pengxiang; Chen, Junhong

2009-02-01

The effect of electrode configuration on ozone production in the direct-current corona discharge of dry and humid air is studied by a numerical model that combines the electron distribution in the corona plasma, plasma chemistry and transport phenomena. Two electrode configurations are considered: wire-cylinder discharge with air flowing along the wire axis and wire-plate discharge with air flowing transverse to the wire. The ozone distributions in both types of discharges are compared. For both electrode configurations, the ozone production rate is higher in the negative corona than in the positive corona and it decreases with an increase in relative humidity. More importantly, the detailed ozone distribution in the neighbourhood of the discharge wire, together with the ozone kinetics, reveals the possible difference in the ozone production from the two discharges. With the same operating conditions and sufficiently short flow residence time, the ozone production rate is nearly the same for both electrode configurations. When the flow residence time is longer than the characteristic time for homogeneous ozone destruction, the net ozone production is higher in the wire-cylinder discharge than in the wire-plate discharge due to relatively less ozone destruction.

Presentation robot Advee

Czech Academy of Sciences Publication Activity Database

Krejsa, Jiří; Věchet, Stanislav; Hrbáček, J.; Ripel, T.; Ondroušek, V.; Hrbáček, R.; Schreiber, P.

2012-01-01

Roč. 18, 5/6 (2012), s. 307-322 ISSN 1802-1484 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * human - robot interface * localization Subject RIV: JD - Computer Applications, Robot ics

Performance and economy of production of laying hens fed graded ...

African Journals Online (AJOL)

Experiments were carried out to evaluate the performance of laying hens fed fermented wild cocoyam corm (FWCC) as a partial replacement for maize. Two hundred and forty (240) Nera black laying birds were randomly allocated to four experimental diets formulated on 0, 10, 20 and 30% FWCC as graded replacement ...

Robotic surgery update.

Science.gov (United States)

Jacobsen, G; Elli, F; Horgan, S

2004-08-01

Minimally invasive surgical techniques have revolutionized the field of surgery. Telesurgical manipulators (robots) and new information technologies strive to improve upon currently available minimally invasive techniques and create new possibilities. A retrospective review of all robotic cases at a single academic medical center from August 2000 until November 2002 was conducted. A comprehensive literature evaluation on robotic surgical technology was also performed. Robotic technology is safely and effectively being applied at our institution. Robotic and information technologies have improved upon minimally invasive surgical techniques and created new opportunities not attainable in open surgery. Robotic technology offers many benefits over traditional minimal access techniques and has been proven safe and effective. Further research is needed to better define the optimal application of this technology. Credentialing and educational requirements also need to be delineated.

Robot-laser system

International Nuclear Information System (INIS)

Akeel, H.A.

1987-01-01

A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved

Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction

Directory of Open Access Journals (Sweden)

Aimi S. Ghazali

2018-06-01

Full Text Available The growing interest in social robotics makes it relevant to examine the potential of robots as persuasive agents and, more specifically, to examine how robot characteristics influence the way people experience such interactions and comply with the persuasive attempts by robots. The purpose of this research is to identify how the (ostensible gender and the facial characteristics of a robot influence the extent to which people trust it and the psychological reactance they experience from its persuasive attempts. This paper reports a laboratory study where SociBot™, a robot capable of displaying different faces and dynamic social cues, delivered persuasive messages to participants while playing a game. In-game choice behavior was logged, and trust and reactance toward the advisor were measured using questionnaires. Results show that a robotic advisor with upturned eyebrows and lips (features that people tend to trust more in humans is more persuasive, evokes more trust, and less psychological reactance compared to one displaying eyebrows pointing down and lips curled downwards at the edges (facial characteristics typically not trusted in humans. Gender of the robot did not affect trust, but participants experienced higher psychological reactance when interacting with a robot of the opposite gender. Remarkably, mediation analysis showed that liking of the robot fully mediates the influence of facial characteristics on trusting beliefs and psychological reactance. Also, psychological reactance was a strong and reliable predictor of trusting beliefs but not of trusting behavior. These results suggest robots that are intended to influence human behavior should be designed to have facial characteristics we trust in humans and could be personalized to have the same gender as the user. Furthermore, personalization and adaptation techniques designed to make people like the robot more may help ensure they will also trust the robot.

Robotic seeding

DEFF Research Database (Denmark)

Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn

2017-01-01

Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....

Fabrication of tungsten wire needles

International Nuclear Information System (INIS)

Roder, A.

1983-02-01

Fine point needles for field emissoin are conventionally produced by electrolytically or chemically etching tungsten wire. Points formed in this manner have a typical tip radius of about 0.5 microns and a cone angle of some 30 degrees. The construction of needle matrix detector chambers has created a need for tungsten needles whose specifications are: 20 mil tungsten wire, 1.5 inch total length, 3 mm-long taper (resulting in a cone angle of about 5 degrees), and 25 micron-radius point (similar to that found on sewing needles). In the process described here for producing such needles, tungsten wire, immersed in a NaOH solution and in the presence of an electrode, is connected first to an ac voltage and then to a dc supply, to form a taper and a point on the end of the wire immersed in the solution. The process parameters described here are for needles that will meet the above specifications. Possible variations will be discussed under each approprite heading

An Adaptive Robot Game

DEFF Research Database (Denmark)

Hansen, Søren Tranberg; Svenstrup, Mikael; Dalgaard, Lars

2010-01-01

The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal is to im......The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal...... is to improve the mental and physical state of the user by playing a physical game with the robot. Ideally, a robot game should be simple to learn but difficult to master, providing an appropriate degree of challenge for players with different skills. In order to achieve that, the robot should be able to adapt...

Facilitating Programming of Vision-Equipped Robots through Robotic Skills and Projection Mapping

DEFF Research Database (Denmark)

Andersen, Rasmus Skovgaard

The field of collaborative industrial robots is currently developing fast both in the industry and in the scientific community. Companies such as Rethink Robotics and Universal Robots are redefining the concept of an industrial robot and entire new markets and use cases are becoming relevant for ...

The emotional wellbeing of lay HIV counselling and testing counsellors.

Science.gov (United States)

Visser, Maretha; Mabota, Princess

2015-01-01

The HIV testing, treatment and care programme of the South African public healthcare system depends on HIV counselling and testing (HCT) that is primarily delivered by lay counsellors. Lay counsellors are expected to educate clients about HIV/AIDS, advocate behaviour change, convey test results and support those infected and affected to cope with the emotional and social challenges associated with HIV/AIDS. This research focuses on the emotional wellbeing of lay HCT counsellors because this influences the quality of services they provide. A mixed methods approach was used. The emotional wellbeing, level of burnout, depression and coping style of 50 lay HCT counsellors working at the City of Tshwane clinics were assessed. Additionally, five focus group discussions were conducted. The results showed that HCT counsellors reported average emotional wellbeing, high levels of emotional exhaustion and depression. They had a sense of personal accomplishment and positive coping skills. The results revealed that they may have difficulty dealing with clients' emotional distress without adequate training and supervision. This creates a dilemma for service delivery. In the light of the important role they play in service delivery, the role of the lay HCT counsellor needs to be reconsidered. HCT should develop as a profession with specific training and supervision to develop their emotional competencies to conduct effective counselling sessions.

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

Auto-Gopher: A Wire-Line Rotary-Hammer Ultrasonic Drill

Science.gov (United States)

Badescu, Mircea; Sherrit, Stewart; Bao, Xiaogi; Bar-Cohen, Yoseph; Chen, Beck

2011-01-01

Developing technologies that would enable NASA to sample rock, soil, and ice by coring, drilling or abrading at a significant depth is of great importance for a large number of in-situ exploration missions as well as for earth applications. Proven techniques to sample Mars subsurface will be critical for future NASA astrobiology missions that will search for records of past and present life on the planet, as well as, the search for water and other resources. A deep corer, called Auto-Gopher, is currently being developed as a joint effort of the JPL's NDEAA laboratory and Honeybee Robotics Corp. The Auto-Gopher is a wire-line rotary-hammer drill that combines rock breaking by hammering using an ultrasonic actuator and cuttings removal by rotating a fluted bit. The hammering mechanism is based on the Ultrasonic/Sonic Drill/Corer (USDC) that has been developed as an adaptable tool for many of drilling and coring applications. The USDC uses an intermediate free-flying mass to transform the high frequency vibrations of the horn tip into a sonic hammering of a drill bit. The USDC concept was used in a previous task to develop an Ultrasonic/Sonic Ice Gopher. The lessons learned from testing the ice gopher were implemented into the design of the Auto-Gopher by inducing a rotary motion onto the fluted coring bit. A wire-line version of such a system would allow penetration of significant depth without a large increase in mass. A laboratory version of the corer was developed in the NDEAA lab to determine the design and drive parameters of the integrated system. The design configuration lab version of the design and fabrication and preliminary testing results are presented in this paper

Advanced mechanics in robotic systems

CERN Document Server

Nava Rodríguez, Nestor Eduardo

2011-01-01

Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

External wire-frame fixation of digital skin grafts: a non-invasive alternative to the K-wire insertion method.

Science.gov (United States)

Huang, Chenyu; Ogawa, Rei; Hyakusoku, Hiko

2014-08-01

The current skin graft fixation methods for digits, including the Kirschner wire insertion technique, can be limited by inadequate or excessive fixation and complications such as infection or secondary injuries. Therefore, the external wire-frame fixation method was invented and used for skin grafting of digits. This study aimed to investigate external wire-frame fixation of digital skin grafts as a non-invasive alternative to the K-wire insertion method. In 2005-2012, 15 patients with burn scar contractures on the hand digits received a skin graft that was then fixed with an external wire frame. The intra-operative time needed to make the wire frame, the postoperative time to frame and suture removal, the graft survival rate, the effect of contracture release and the complications were recorded. In all cases, the contracture release was 100%. The complete graft survival rate was 98.6%. Four patients had epithelial necrosis in wire-frame fixation is simple, minimally invasive and a custom-made technique for skin grafting of the fingers. It was designed for its potential benefits and the decreased risk it poses to patients with scar contractures on their fingers. It can be implemented in three phases of grafting, does not affect the epiphyseal line or subsequent finger growth and is suitable for children with multi-digit involvement. Copyright © 2013 Elsevier Ltd and ISBI. All rights reserved.

Design and Implementation of Fire Extinguisher Robot with Robotic Arm

Directory of Open Access Journals (Sweden)

Memon Abdul Waris

2018-01-01

Full Text Available Robot is a device, which performs human task or behave like a human-being. It needs expertise skills and complex programming to design. For designing a fire fighter robot, many sensors and motors were used. User firstly send robot to an affected area, to get live image of the field with the help of mobile camera via Wi-Fi using IP camera application to laptop. If any signs of fire shown in image, user direct robot in that particular direction for confirmation. Fire sensor and temperature sensor detects and measures the reading, after confirmation robot sprinkle water on affected field. During extinguish process if any obstacle comes in between the prototype and the affected area the ultrasonic sensor detects the obstacle, in response the robotic arm moves to pick and place that obstacle to another location for clearing the path. Meanwhile if any poisonous gas is present, the gas sensor detects and indicates by making alarm.

The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

Science.gov (United States)

Arnold, Thomas; Scheutz, Matthias

2017-06-01

Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.

Haematology and serum biochemistry of laying hens fed red pepper ...

African Journals Online (AJOL)

The hematology and serum biochemistry of ISA brown laying hens fed red pepper (Capsicum annum. L.) as feed additive in their diet was studied. Sixty (60) laying birds (in their 32nd week) were randomly allotted to four different dietary treatments with graded levels of red pepper (Capsicum annum. L.) as additive.

Formation of plasma around wire fragments created by electrically exploded copper wire

International Nuclear Information System (INIS)

Taylor, Michael J.

2002-01-01

The physical processes occurring during the electrical explosion of metallic conductors has attracted interest for many years. Applications include circuit breakers, segmented lightning divertor strips for aircraft radomes, disruption of metallic shaped charge jets, plasma armatures for electromagnetic railguns and plasma generators for electrothermal-chemical guns. Recent work has cited the phenomenology of the fragmentation processes, particularly the development of a plasma around the lower resistance condensed fragments. An understanding of both the fragmentation process and the development of the accompanying formation of plasma is essential for the optimization of devices that utilize either of these phenomena. With the use of x-radiography and fast photography, this paper explores the wire explosion process, in particular the relationship between the fragmentation, plasma development and resistance rise that occurs during this period. A hypothesis is put forward to account for the development of plasma around the condensed wire fragments. Experimental parameters used in this study are defined. Wires studied were typically copper, with a diameter of 1 mm and length in excess of 150 mm. Circuit inductance used were from 26 to 800 μH. This relatively high circuit inductance gave circuit rise times less than 180 MA s -1 , slow with respect to many other exploding wire studies. Discharge duration ranged from 0.8 to 10 ms. (author)

Ferromagnetic artificial pinning centers in multifilamentary superconducting wires

International Nuclear Information System (INIS)

Wang, J.Q.; Rizzo, N.D.; Prober, D.E.

1997-01-01

The authors fabricated multifilamentary NbTi wires with ferromagnetic (FM) artificial pinning centers (APCs) to enhance the critical current density (J c ) in magnetic fields. They used a bundle and draw technique to process the APC wires with either Ni or Fe as the pinning centers. Both wires produced higher J c in the high field range (5-9 T) than previous non-magnetic APC wires similarly processed, even though the authors have not yet optimized pin percentage. Using a magnetometer they found that the pins remained ferromagnetic for the wires with maximum J c . However, they did observe a substantial loss of FM material for the wires where the pin diameter approached 3 nm. Thus, they expect further enhancement of J c with better pin quality

Ultrahigh-strength submicron-sized metallic glass wires

International Nuclear Information System (INIS)

Wang, Y.B.; Lee, C.C.; Yi, J.; An, X.H.; Pan, M.X.; Xie, K.Y.; Liao, X.Z.; Cairney, J.M.; Ringer, S.P.; Wang, W.H.

2014-01-01

In situ deformation experiments were performed in a transmission electron microscope to investigate the mechanical properties of submicron-sized Pd 40 Cu 30 Ni 10 P 20 metallic glass (MG) wires. Results show that the submicron-sized MG wires exhibit intrinsic ultrahigh tensile strength of ∼2.8 GPa, which is nearly twice as high as that in their bulk counterpart, and ∼5% elastic strain approaching the elastic limits. The tensile strength, engineering strain at failure and deformation mode of the submicron-sized MG wires depend on the diameter of the wires

Diamond wire cutting of heat exchangers

International Nuclear Information System (INIS)

Beckman, T.R.; Bjerler, J.

1991-01-01

With the change-out of equipment at nuclear power plants comes large quantities of low level contaminated metallic waste. Of particular concern are large heat exchangers, preheaters and steam generators. These bulky items consume huge volumes of burial space. The need for volume reduction and recycling of these metals has created new demands for 'how' to cut heat exchangers into useful sizes for decontamination, melting or compaction. This paper reviews the cutting solution provided by a diamond wire system, with particular regard for cutting of a Ringhals Preheater Bundle at Studsvik Nuclear in 1989. The background of diamond wire sawing is discussed and basic components of wire sawing are explained. Other examples of wire cutting decommissioned components are also given. (author)

Robot-assisted general surgery.

Science.gov (United States)

Hazey, Jeffrey W; Melvin, W Scott

2004-06-01

With the initiation of laparoscopic techniques in general surgery, we have seen a significant expansion of minimally invasive techniques in the last 16 years. More recently, robotic-assisted laparoscopy has moved into the general surgeon's armamentarium to address some of the shortcomings of laparoscopic surgery. AESOP (Computer Motion, Goleta, CA) addressed the issue of visualization as a robotic camera holder. With the introduction of the ZEUS robotic surgical system (Computer Motion), the ability to remotely operate laparoscopic instruments became a reality. US Food and Drug Administration approval in July 2000 of the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA) further defined the ability of a robotic-assist device to address limitations in laparoscopy. This includes a significant improvement in instrument dexterity, dampening of natural hand tremors, three-dimensional visualization, ergonomics, and camera stability. As experience with robotic technology increased and its applications to advanced laparoscopic procedures have become more understood, more procedures have been performed with robotic assistance. Numerous studies have shown equivalent or improved patient outcomes when robotic-assist devices are used. Initially, robotic-assisted laparoscopic cholecystectomy was deemed safe, and now robotics has been shown to be safe in foregut procedures, including Nissen fundoplication, Heller myotomy, gastric banding procedures, and Roux-en-Y gastric bypass. These techniques have been extrapolated to solid-organ procedures (splenectomy, adrenalectomy, and pancreatic surgery) as well as robotic-assisted laparoscopic colectomy. In this chapter, we review the evolution of robotic technology and its applications in general surgical procedures.

Turtle mimetic soft robot with two swimming gaits.

Science.gov (United States)

Song, Sung-Hyuk; Kim, Min-Soo; Rodrigue, Hugo; Lee, Jang-Yeob; Shim, Jae-Eul; Kim, Min-Cheol; Chu, Won-Shik; Ahn, Sung-Hoon

2016-05-04

This paper presents a biomimetic turtle flipper actuator consisting of a shape memory alloy composite structure for implementation in a turtle-inspired autonomous underwater vehicle. Based on the analysis of the Chelonia mydas, the flipper actuator was divided into three segments containing a scaffold structure fabricated using a 3D printer. According to the filament stacking sequence of the scaffold structure in the actuator, different actuating motions can be realized and three different types of scaffold structures were proposed to replicate the motion of the different segments of the flipper of the Chelonia mydas. This flipper actuator can mimic the continuous deformation of the forelimb of Chelonia mydas which could not be realized in previous motor based robot. This actuator can also produce two distinct motions that correspond to the two different swimming gaits of the Chelonia mydas, which are the routine and vigorous swimming gaits, by changing the applied current sequence of the SMA wires embedded in the flipper actuator. The generated thrust and the swimming efficiency in each swimming gait of the flipper actuator were measured and the results show that the vigorous gait has a higher thrust but a relatively lower swimming efficiency than the routine gait. The flipper actuator was implemented in a biomimetic turtle robot, and its average swimming speed in the routine and vigorous gaits were measured with the vigorous gait being capable of reaching a maximum speed of 11.5 mm s(-1).

The status of commercial and developmental HTS wires

Energy Technology Data Exchange (ETDEWEB)

Masur, L.J.; Buczek, D.; Harley, E.; Kodenkandath, T.; Li, X.; Lynch, J.; Nguyen, N.; Rupich, M.; Schoop, U.; Scudiere, J.; Siegal, E.; Thieme, C.; Verebelyi, D.; Zhang, W.; Kellers, J

2003-10-15

This paper provides an update on the development, performance and application of first and second generation high temperature superconductor (HTS) wires fabricated at American Superconductor (AMSC). First generation, multifilamentary composite wire is available commercially today in different viable product forms. This conductor carries 140 x the current of copper of the same cross-section, and is robust enough to stand tough industrial requirements. Second generation HTS wires, having a coated conductor composite architecture, are under development today and achieved substantial progress recently. AMSC's first generation wire will continue as the workhorse of the industry for the next 3-4 years while AMSC's second generation coated conductor wire is on track to be reproducible, uniform, scalable, and low cost. This paper provides a product differentiation with a view on the application of HTS wire in the electric power sector. Basic engineering data is reviewed that shall aid the engineer in the selection of the HTS wire product.

Wired to freedom

DEFF Research Database (Denmark)

Jepsen, Kim Sune Karrasch; Bertilsson, Margareta

2017-01-01

dimension of life science through a notion of public politics adopted from the political theory of John Dewey. We show how cochlear implantation engages different social imaginaries on the collective and individual levels and we suggest that users share an imaginary of being “wired to freedom” that involves...... new access to social life, continuous communicative challenges, common practices, and experiences. In looking at their lives as “wired to freedom,” we hope to promote a wider spectrum of civic participation in the benefit of future life science developments within and beyond the field of Cochlear...

Grasping in Robotics

CERN Document Server

2013-01-01

Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

Designing Emotionally Expressive Robots

DEFF Research Database (Denmark)

Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

2017-01-01

Socially assistive agents, be it virtual avatars or robots, need to engage in social interactions with humans and express their internal emotional states, goals, and desires. In this work, we conducted a comparative study to investigate how humans perceive emotional cues expressed by humanoid...... robots through five communication modalities (face, head, body, voice, locomotion) and examined whether the degree of a robot's human-like embodiment affects this perception. In an online survey, we asked people to identify emotions communicated by Pepper -a highly human-like robot and Hobbit – a robot...... for robots....

Heat Transfer Analysis in Wire Bundles for Aerospace Vehicles

Science.gov (United States)

Rickman, S. L.; Iamello, C. J.

2016-01-01

Design of wiring for aerospace vehicles relies on an understanding of "ampacity" which refers to the current carrying capacity of wires, either, individually or in wire bundles. Designers rely on standards to derate allowable current flow to prevent exceedance of wire temperature limits due to resistive heat dissipation within the wires or wire bundles. These standards often add considerable margin and are based on empirical data. Commercial providers are taking an aggressive approach to wire sizing which challenges the conventional wisdom of the established standards. Thermal modelling of wire bundles may offer significant mass reduction in a system if the technique can be generalized to produce reliable temperature predictions for arbitrary bundle configurations. Thermal analysis has been applied to the problem of wire bundles wherein any or all of the wires within the bundle may carry current. Wire bundles present analytical challenges because the heat transfer path from conductors internal to the bundle is tortuous, relying on internal radiation and thermal interface conductance to move the heat from within the bundle to the external jacket where it can be carried away by convective and radiative heat transfer. The problem is further complicated by the dependence of wire electrical resistivity on temperature. Reduced heat transfer out of the bundle leads to higher conductor temperatures and, hence, increased resistive heat dissipation. Development of a generalized wire bundle thermal model is presented and compared with test data. The steady state heat balance for a single wire is derived and extended to the bundle configuration. The generalized model includes the effects of temperature varying resistance, internal radiation and thermal interface conductance, external radiation and temperature varying convective relief from the free surface. The sensitivity of the response to uncertainties in key model parameters is explored using Monte Carlo analysis.

Thermosonic wire bonding of gold wire onto copper pad using the saturated interfacial phenomena

Science.gov (United States)

Jeng, Yeau-Ren; Aoh, Jong-Hing; Wang, Chang-Ming

2001-12-01

Copper has been used to replace conventional aluminium interconnection to improve the performance of deep submicron integrated circuits. This study used the saturated interfacial phenomena found in thermosonic ball bonding of gold wire onto aluminium pad to investigate thermosonic ball bonding of gold wire onto copper pad. The effects of preheat temperatures and ultrasonic powers on the bonding force were investigated by using a thermosonic bonding machine and a shear tester. This work shows that under proper preheat temperatures, the bonding force of thermosonic wire bonding can be explained based on interfacial microcontact phenomena such as energy intensity, interfacial temperature and real contact area. It is clearly shown that as the energy intensity is increased, the shear force increases, reaches a maximum, and then decreases. After saturation, i.e. the establishment of maximum atomic bonding, any type of additional energy input will damage the bonding, decreasing the shear force. If the preheat temperature is not within the proper range, the interfacial saturation phenomenon does not exist. For a preload of 0.5 N and a welding time of 15 ms in thermosonic wire bonding of gold wire onto copper pads, a maximum shear force of about 0.33 N is found where the interfacial energy intensity equals 1.8×106 J m-2 for preheat temperatures of 150°C and 170°C. Moreover, the corresponding optimal ultrasonic power is about 110 units.

Lay off: the experience of women and men in Iceland's financial sector.

Science.gov (United States)

Snorradóttir, Asta; Rafnsdottir, Gudbjörg Linda; Tómasson, Kristinn; Vilhjálmsson, Rúnar

2014-01-01

To analyze gender differences in levels of psychological distress, financial strain, lay off experiences and job search activity among unemployed and re-employed individuals who were laid-off due to the collapse of the financial sector in Iceland in 2008. The study is based on questionnaires distributed to 759 former financial sector employees; 426 responses were received giving a 62.6% response rate. The groups of unemployed and re-employed woman and men are compared using separate multivariate binary models to control for mediating factors. The analysis reveals gender differences in demographic factors and jobs held prior to lay-off. More women than men were psychologically or finically distressed and claimed being shocked by the lay-off. A higher proportion of men than women were re-employed at the time of this study. The main difference between those re-employed and unemployed was lower financial strain among those re-employed for both men and women in this sample. The study does not support the traditional view of men having more difficulties in the lay-off process than women. This calls for a rethinking regarding gender in lay-off and unemployment. A gender-based analysis is needed when considering the ramifications of losing a job and job search activity in the lay-off process.

Teleoperation for learning by demonstration

DEFF Research Database (Denmark)

Kukliński, Kamil; Fischer, Kerstin; Marhenke, Ilka

2014-01-01

Learning by demonstration is a useful technique to augment a robot's behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data...... glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors....

Development of wire wrapping technology for FBR fuel pin

International Nuclear Information System (INIS)

Nogami, Tetsuya; Seki, Nobuo; Sawayama, Takeo; Ishibashi, Takashi

1991-01-01

For the FBR fuel assembly, the spacer wire is adopted to maintain the space between fuel pins. The developments have been carried out to achieve automatically wire wrapping with high precision. Based on the fundamental technology developed through the mock-up test operation, Joyo 'MK-I', fuel pin fabrication was started using partially mechanized wire wrapping machine in 1973. In 1978, an automated wire wrapping machine for Joyo 'MK-II' was developed by the adoption of some improvements for the wire inserting system to end plug hole and the precision of wire pitch. On the bases of these experiences, fully automated wire wrapping machine for 'Monju' fuel pin was installed at Plutonium Fuel Production Facility (PFPF) in 1987. (author)

Wire scanner software and firmware issues

International Nuclear Information System (INIS)

Gilpatrick, John Doug

2008-01-01

The Los Alamos Neutron Science Center facility presently has 110 slow wire scanning profile measurement instruments located along its various beam lines. These wire scanners were developed and have been operating for at least 30 years. While the wire scanners solved many problems to operate and have served the facility well they have increasingly suffered from several problems or limitations, such as maintenance and reliability problems, antiquated components, slow data acquisition, and etc. In order to refurbish these devices, these wire scanners will be replaced with newer versions. The replacement will consist of a completely new beam line actuator, new cables, new electronics and brand new software and firmware. This note describes the functions and modes of operation that LabVIEW VI software on the real time controller and FPGA LabVIEW firmware will be required. It will be especially interesting to understand the overall architecture of these LabVIEW VIs. While this note will endeavor to describe all of the requirements and issues for the wire scanners, undoubtedly, there will be missing details that will be added as time progresses.

In search of the cancer candidate: can lay epidemiology help?

Science.gov (United States)

Macdonald, Sara; Watt, Graham; Macleod, Una

2013-05-01

First published in 1991, the ideas embedded in 'Lay epidemiology and the prevention paradox' offered a novel and rational explanation for the lay public's failure to fully engage with the lifestyle messages offered by health educators. During the course of a large ethnographic study in South Wales, Davison and colleagues described the emergence of what they termed the coronary candidate. Candidacy provides a 'cultural mechanism' that facilitates the estimation of risk for coronary heart disease. The model has rarely been applied to other major illnesses. This article presents findings from a study that sought to explore the lay epidemiology model, candidacy and cancer. In a series of in-depth individual interviews, members of the lay public discussed their ideas about cancer, and what emerged was an explanatory hierarchy to account for cancer events. Yet the random and unpredictable nature of cancer was emphasised as well as a general reluctance to accept the idea of cancer candidacy. © 2012 The Authors. Sociology of Health & Illness © 2012 Foundation for the Sociology of Health & Illness/Blackwell Publishing Ltd.

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).

Effects of phyto-oestrogen quercetin on productive performance, hormones, reproductive organs and apoptotic genes in laying hens.

Science.gov (United States)

Yang, J X; Chaudhry, M T; Yao, J Y; Wang, S N; Zhou, B; Wang, M; Han, C Y; You, Y; Li, Y

2018-04-01

Quercetin, a polyphenolic flavonoid with diverse biological activities including anti-inflammatory and antiviral, inhibits lipid peroxidation, prevents oxidative injury and cell death. The purpose of the research was to investigate the effect of quercetin on productive performance, reproductive organs, hormones and apoptotic genes in laying hens between 37 and 45 weeks of age, because of the structure and oestrogenic activities similar to 17β-oestradiol. The trial was conducted using 240 Hessian laying hens (37 weeks old), housed in wire cages with two hens in each cage. These hens were randomly allotted to four treatments with six replicates, 10 hens in each replicate and fed with diets containing quercetin as 0, 0.2, 0.4 and 0.6 g/kg feed for 8 weeks. The results showed that dietary quercetin significantly increased (p feed-egg ratio was decreased (p  .05) on average egg weight and average daily feed intake. Compared with control, secretion of hormones, oestradiol (E 2 ) , progesterone (P4), follicle-stimulating hormone (FSH), luteinizing hormone (LH), insulin-like growth factors-1 (IGF-1) and growth hormone (GH), was found to be significantly higher (p  .05) by quercetin, whereas magnum index, isthmus index, magnum length, isthmus length and follicle numbers were significantly increased (p < .05) with quercetin supplementation. Additionally, expression of apoptotic genes was significantly (p < .05) up-regulated or down-regulated by quercetin. These results indicated that quercetin improved productive performance, and its mechanism may be due to the oestrogen-like activities of quercetin. © 2017 Blackwell Verlag GmbH.

Technical innovation: Wire guided ductography

International Nuclear Information System (INIS)

Aslam, Muhammad Ovais; Ramadan, Salwa; Al-Adwani, Muneera

2012-01-01

To introduce an easy and improved technique for performing ductography using inexpensive easily available intravenous cannula. Guide wire: Prolene/Surgipro 3-0 (Polypropylene mono filament non-absorbable surgical suture). A plastic 26 G intravenous cannula. Disposable syringe 2 ml. Non-ionic contrast (low density like Omnipaque 240 mg I/I). The guide wire (Prolene 3-0) is introduced into the orifice of the duct heaving discharge and 26 G intravenous plastic cannula is then passed over the guide wire. The cannula is advanced in the duct over guide wire by spinning around it. When the cannula is in place the guide wire is removed. Any air bubbles present in the hub of the cannula can be displaced by filling the hub from bottom upwards with needle attached to contrast filled syringe. 0.2–0.4 ml non-ionic contrast is gently injected. Injection is stopped if the patient has pain or burning. Magnified cranio-caudal view is obtained with cannula tapped in place and gentle compression is applied with the patient sitting. If duct filling is satisfactory a 90* lateral view is obtained. A successful adaptation of the technique for performing ductography is presented. The materials required for the technique are easily available in most radiology departments and are inexpensive, thus making the procedure comfortable for the patient and radiologist with considerable cost effectiveness.

Lay Worker Health Literacy: A Concept Analysis and Operational Definition.

Science.gov (United States)

Cadman, Kathleen Paco

2017-10-01

The concept of lay worker health literacy is created by concurrently analyzing and synthesizing two intersecting concepts, lay workers and health literacy. Articulation of this unique intersection is the result of implementing a simplified Wilson's Concept Analysis Procedure. This process incorporates the following components: a) selecting a concept, b) determining the aims/purposes of analysis, c) identifying all uses of the concept, d) determining defining attributes, e) identifying a model case, f) identifying borderline, related, contrary, and illegitimate cases, g) identifying antecedents and consequences, and h) defining empirical referents. Furthermore, as current literature provides no operational definition for lay worker health literacy, one is created to contribute cohesion to the concept. © 2017 Wiley Periodicals, Inc.

Advancing the Strategic Messages Affecting Robot Trust Effect: The Dynamic of User- and Robot-Generated Content on Human-Robot Trust and Interaction Outcomes.

Science.gov (United States)

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

Human-robot interaction (HRI) will soon transform and shift the communication landscape such that people exchange messages with robots. However, successful HRI requires people to trust robots, and, in turn, the trust affects the interaction. Although prior research has examined the determinants of human-robot trust (HRT) during HRI, no research has examined the messages that people received before interacting with robots and their effect on HRT. We conceptualize these messages as SMART (Strategic Messages Affecting Robot Trust). Moreover, we posit that SMART can ultimately affect actual HRI outcomes (i.e., robot evaluations, robot credibility, participant mood) by affording the persuasive influences from user-generated content (UGC) on participatory Web sites. In Study 1, participants were assigned to one of two conditions (UGC/control) in an original experiment of HRT. Compared with the control (descriptive information only), results showed that UGC moderated the correlation between HRT and interaction outcomes in a positive direction (average Δr = +0.39) for robots as media and robots as tools. In Study 2, we explored the effect of robot-generated content but did not find similar moderation effects. These findings point to an important empirical potential to employ SMART in future robot deployment.

Next-generation robotic surgery--from the aspect of surgical robots developed by industry.

Science.gov (United States)

Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

2015-02-01

At present, much of the research conducted worldwide focuses on extending the ability of surgical robots. One approach is to extend robotic dexterity. For instance, accessibility and dexterity of the surgical instruments remains the largest issue for reduced port surgery such as single port surgery or natural orifice surgery. To solve this problem, a great deal of research is currently conducted in the field of robotics. Enhancing the surgeon's perception is an approach that uses advanced sensor technology. The real-time data acquired through the robotic system combined with the data stored in the robot (such as the robot's location) provide a major advantage. This paper aims at introducing state-of-the-art products and pre-market products in this technological advancement, namely the robotic challenge in extending dexterity and hopefully providing the path to robotic surgery in the near future.

Humanlike Robots - The Upcoming Revolution in Robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-01-01

Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

Humanlike robots: the upcoming revolution in robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-08-01

Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

Inverse kinematic solution for near-simple robots and its application to robot calibration

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion.

Science.gov (United States)

Marras, Stefano; Porfiri, Maurizio

2012-08-07

The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its 'engineered' member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a 'dummy'. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot-animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.

Metallurgical investigation of wire breakage of tyre bead grade

Directory of Open Access Journals (Sweden)

Piyas Palit

2015-10-01

Full Text Available Tyre bead grade wire is used for tyre making application. The wire is used as reinforcement inside the polymer of tyre. The wire is available in different size/section such as 1.6–0.80 mm thin Cu coated wire. During tyre making operation at tyre manufacturer company, wire failed frequently. In this present study, different broken/defective wire samples were collected from wire mill for detailed investigation of the defect. The natures of the defects were localized and similar in nature. The fracture surface was of finger nail type. Crow feet like defects including button like surface abnormalities were also observed on the broken wire samples. The defect was studied at different directions under microscope. Different advanced metallographic techniques have been used for detail investigation. The analysis revealed that, white layer of surface martensite was formed and it caused the final breakage of wire. In this present study we have also discussed about the possible reason for the formation of such kind of surface martensite (hard-phase.

The Involvement of the Lay Faithful in Consecratio Mundi

Directory of Open Access Journals (Sweden)

Elżbieta Osewska

2017-11-01

Full Text Available The term consecratio mundi , despite its introduction to theology already before the Second Vatican Council, still sparks a lot of discussion and controversy. In this article we will address the issue of the sanctification of the world by lay people in accordance with the Church teaching. First, consecratio mundi will be presented as a specific mission of the lay faithful, then the article will present the basic planes of their involvement.

IEE wiring regulations explained and illustrated

CERN Document Server

Scaddan, Brian

2013-01-01

The IEE Wiring Regulations Explained and Illustrated, Second Edition discusses the recommendations of the IEE Regulations for the Electrical Equipment of Buildings for the safe selection or erection of wiring installations. The book emphasizes earthing, bonding, protection, and circuit design of electrical wirings. The text reviews the fundamental requirements for safety, earthing systems, the earth fault loop impedance, and supplementary bonding. The book also describes the different types of protection, such as protection against mechanical damage, overcurrent, under voltage (which prevents

Micro robot bible

International Nuclear Information System (INIS)

Yoon, Jin Yeong

2000-08-01

This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

Micro robot bible

Energy Technology Data Exchange (ETDEWEB)

Yoon, Jin Yeong

2000-08-15

This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

Robots at Work

OpenAIRE

Graetz, Georg; Michaels, Guy

2015-01-01

Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...

To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot

Directory of Open Access Journals (Sweden)

Nicole Mirnig

2017-05-01

Full Text Available We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in interaction with a faulty robot. The study was based on our previous research on robot errors where we detected typical error situations and the resulting social signals of our participants during social human–robot interaction. In contrast to our previous work, where we studied video material in which robot errors occurred unintentionally, in the herein reported user study, we purposefully elicited robot errors to further explore the human interaction partners’ social signals following a robot error. Our participants interacted with a human-like NAO, and the robot either performed faulty or free from error. First, the robot asked the participants a set of predefined questions and then it asked them to complete a couple of LEGO building tasks. After the interaction, we asked the participants to rate the robot’s anthropomorphism, likability, and perceived intelligence. We also interviewed the participants on their opinion about the interaction. Additionally, we video-coded the social signals the participants showed during their interaction with the robot as well as the answers they provided the robot with. Our results show that participants liked the faulty robot significantly better than the robot that interacted flawlessly. We did not find significant differences in people’s ratings of the robot’s anthropomorphism and perceived intelligence. The qualitative data confirmed the questionnaire results in showing that although the participants recognized the robot’s mistakes, they did not necessarily reject the erroneous robot. The annotations of the video data further showed that gaze shifts (e.g., from an object to the robot or vice versa and laughter are typical reactions to unexpected robot behavior

ROILA : RObot Interaction LAnguage

NARCIS (Netherlands)

Mubin, O.

2011-01-01

The number of robots in our society is increasing rapidly. The number of service robots that interact with everyday people already outnumbers industrial robots. The easiest way to communicate with these service robots, such as Roomba or Nao, would be natural speech. However, the limitations

Lay involvement in the analysis of qualitative data in health services research: a descriptive study.

Science.gov (United States)

Garfield, S; Jheeta, S; Husson, F; Jacklin, A; Bischler, A; Norton, C; Franklin, B D

2016-01-01

There is a consensus that patients and the public should be involved in research in a meaningful way. However, to date, lay people have been mostly involved in developing research ideas and commenting on patient information.We previously published a paper describing our experience with lay partners conducting observations in a study of how patients in hospital are involved with their medicines. In a later part of the same study, lay partners were also involved in analysing interviews that a researcher had conducted with patients, carers and healthcare professionals about patient and carer involvement with medicines in hospital. We therefore wanted to build on our previous paper and report on our experiences with lay partners helping to conduct data analysis. We therefore interviewed the lay members and researchers involved in the analysis to find out their views.Both lay members and researchers reported that lay partners added value to the study by bringing their own perspectives and identifying further areas for the researcher to look for in the interviews. In this way researchers and lay partners were able to work together to produce a richer analysis than would have been possible from either alone. Background It is recognised that involving lay people in research in a meaningful rather than tokenistic way is both important and challenging. In this paper, we contribute to this debate by describing our experiences of lay involvement in data analysis. Methods We conducted semi-structured interviews with the lay partners and researchers involved in qualitative data analysis in a wider study of inpatient involvement in medication safety. The interviews were transcribed verbatim and coded using open thematic analysis. Results We interviewed three lay partners and the three researchers involved. These interviews demonstrated that the lay members added value to the analysis by bringing their own perspectives; these were systematically integrated into the analysis by the

Evidence for robots.

Science.gov (United States)

Shenoy, Ravikiran; Nathwani, Dinesh

2017-01-01

Robots have been successfully used in commercial industry and have enabled humans to perform tasks which are repetitive, dangerous and requiring extreme force. Their role has evolved and now includes many aspects of surgery to improve safety and precision. Orthopaedic surgery is largely performed on bones which are rigid immobile structures which can easily be performed by robots with great precision. Robots have been designed for use in orthopaedic surgery including joint arthroplasty and spine surgery. Experimental studies have been published evaluating the role of robots in arthroscopy and trauma surgery. In this article, we will review the incorporation of robots in orthopaedic surgery looking into the evidence in their use. © The Authors, published by EDP Sciences, 2017.

Wiring Damage Analyses for STS OV-103

Science.gov (United States)

Thomas, Walter, III

2006-01-01

This study investigated the Shuttle Program s belief that Space Transportation System (STS) wiring damage occurrences are random, that is, a constant occurrence rate. Using Problem Reporting and Corrective Action (PRACA)-derived data for STS Space Shuttle OV-103, wiring damage was observed to increase over the vehicle s life. Causal factors could include wiring physical deterioration, maintenance and inspection induced damage, and inspection process changes resulting in more damage events being reported. Induced damage effects cannot be resolved with existent data. Growth analysis (using Crow-AMSAA, or CA) resolved maintenance/inspection effects (e.g., heightened awareness) on all wire damages and indicated an overall increase since Challenger Return-to-Flight (RTF). An increasing failure or occurrence rate per flight cycle was seen for each wire damage mode; these (individual) rates were not affected by inspection process effects, within statistical error.

Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

Directory of Open Access Journals (Sweden)

Francisco J. Rodríguez-Lera

2018-03-01

Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.

1st Iberian Robotics Conference

CERN Document Server

Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics

2014-01-01

This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...

Safety evaluation of zinc methionine in laying hens: Effects on laying performance, clinical blood parameters, organ development, and histopathology.

Science.gov (United States)

Chen, N N; Liu, B; Xiong, P W; Guo, Y; He, J N; Hou, C C; Ma, L X; Yu, D Y

2018-04-01

The study was conducted to investigate whether high-dose zinc methionine (Zn-Met) affected the safety of laying hens, including laying performance, hematological parameters, serum chemical parameters, organ index, and histopathology. A total of 540 20-week-old Hy-Line White laying hens was randomly allocated to 6 groups with 6 replicates of 15 birds each. Birds were fed diets supplemented with 0 (control), 70, 140, 350, 700, or 1,400 mg Zn/kg diet as Zn-Met. The experiment lasted for 8 wk after a 2-week acclimation period. Results showed that dietary supplementation with 70 or 140 mg Zn/kg diet as Zn-Met significantly increased average daily egg mass (ADEM), laying rate (LR), and feed conversion ratio (FCR) (P hens fed with 0, 350, or 700 mg Zn/kg as Zn-Met (P > 0.05); hens administered 1,400 mg Zn/kg showed a significant increase in BSER and remarkable decreases in ADEM, LR, and FCR (P hens receiving 0, 70, 140, 350, or 700 mg Zn/kg as Zn-Met in serum chemical parameters (P > 0.05); supplementation with 1,400 mg Zn/kg as Zn-Met remarkably elevated the concentrations of serum total bilirubin (TBILI), glucose (GLU), uric acid (UA), and creatinine (CRE) (P hens administered 0, 70, 140, 350, or 700 mg Zn/kg as Zn-Met, while significant histological lesions were observed in the heart, liver, lung, and kidney tissues of hens receiving 1,400 mg Zn/kg as Zn-Met. No significant differences were detected in hematological parameters or organ index (P > 0.05). In conclusion, a nominal Zn concentration of 700 mg/kg as Zn-Met is considered to be no-observed-adverse-effect level following daily administration to hens for 56 days.

Investigation of ball bond integrity for 0.8 mil (20 microns) diameter gold bonding wire on low k die in wire bonding technology

Science.gov (United States)

Kudtarkar, Santosh Anil

Microelectronics technology has been undergoing continuous scaling to accommodate customer driven demand for smaller, faster and cheaper products. This demand has been satisfied by using novel materials, design techniques and processes. This results in challenges for the chip connection technology and also the package technology. The focus of this research endeavor was restricted to wire bond interconnect technology using gold bonding wires. Wire bond technology is often regarded as a simple first level interconnection technique. In reality, however, this is a complex process that requires a thorough understanding of the interactions between the design, material and process variables, and their impact on the reliability of the bond formed during this process. This research endeavor primarily focused on low diameter, 0.8 mil thick (20 mum) diameter gold bonding wire. Within the scope of this research, the integrity of the ball bond formed by 1.0 mil (25 mum) and 0.8 mil (20 mum) diameter wires was compared. This was followed by the evaluation of bonds formed on bond pads having doped SiO2 (low k) as underlying structures. In addition, the effect of varying the percentage of the wire dopant, palladium and bonding process parameters (bonding force, bond time, ultrasonic energy) for 0.8 mil (20 mum) bonding wire was also evaluated. Finally, a degradation empirical model was developed to understand the decrease in the wire strength. This research effort helped to develop a fundamental understanding of the various factors affecting the reliability of a ball bond from a design (low diameter bonding wire), material (low k and bonding wire dopants), and process (wire bonding process parameters) perspective for a first level interconnection technique, namely wire bonding. The significance of this research endeavor was the systematic investigation of the ball bonds formed using 0.8 mil (20 microm) gold bonding wire within the wire bonding arena. This research addressed low k

Infectious Bronchitis Vaccination Protocols for Laying Hens

Directory of Open Access Journals (Sweden)

A. Sulaiman

2011-12-01

Full Text Available A research was conducted to investigate the effects of vaccination protocols for Infectious Bronchitis (IB on egg production, egg quality, and IB antibody titres of laying hens. Different initial vaccination (Control, VicS eye, VicS spray, VicS water, A3 eye, A3 spray, and A3 water for IB were administered to day-old Isa Brown hens. Half the hens were revaccinated regularly during lay whereas the other hens were not vaccinated. Results showed that initial vaccination treatment had significant effects on hen day egg production and egg quality of egg weight, shell reflectivity, shell breaking strength, shell thickness, albumen height, Haugh Units, and IB antibody titre levels, but had no effect on percentage of shell and yolk colour. Egg weight and shell reflectivity were less favourable in the control hens. In contrast, shell breaking strength and shell thickness were highest for the group that initially received A3 vaccine in water. However, regular revaccination had some deleterious effects on egg production and egg quality. There were no significant effects of revaccination on IB antibody titres. It is concluded that there was little advantage in regularly revaccinating laying hens for IB virus, since they had received appropriate initial vaccination.

Pretinning Nickel-Plated Wire Shields