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Sample records for 241-c-106 manipulator retrieval

  1. Interim safety equipment list for 241-C-106 waste retrieval, project W-320

    SciTech Connect

    Conner, J.C.

    1996-01-25

    The purpose of this supporting document is to provide safety classifications for systems, structures, and components of the Tank 241-C-106 Waste Retrieval Sluicing System (WRSS) and to document the methodology used to develop these safety classifications. The WRSS requires two transfer lines, one to carry sluiced waste slurry to tank 241-AY-102 and the other to return supernatant to tank 241-C-106; pumps in each tank; sluicers to direct the supernatant stream inside tank 241-C-106; a slurry distributor in tank 241-AY-102; heating, ventilation, and air conditioning for tank 241-C-106; and instrumentation and control devices.

  2. Tank 241-C-106 waste retrieval sluicing system process control plan

    SciTech Connect

    Carothers, K.G.

    1998-07-25

    Project W-320 has installed the Waste Retrieval Sluicing System at the 200 East Area on the Hanford Site to retrieve the sludge from single-shell tank 241-C-106 and transfer it into double-shell tank 241-AY-102. Operation of the WRSS process will resolve the high-heat safety issue for tank 241-C-106 and demonstrate a technology for the retrieval of single-shell tank wastes. This process control plan coordinates the technical operating requirements (primarily mass transfer, temperature, and flammable gas) for the sluicing operation and provides overall technical guidance for the retrieval activity.

  3. Safety Evaluation of Phase 1 retrieval of 241-C-106 for closure [SEC 1 & 2

    SciTech Connect

    GRAMS, W.H.

    2003-04-30

    This report documents a Hazard and Operability Analysis (HAZOP) for using project W-320 sluicing equipment to dissolve the soluble material in the sludge followed by transfer of the liquid waste in single-shell tank 241-C-106. Provides an analysis of the retrieval activities, hazardous conditions, and allocated controls as they related to the safety basis.

  4. Fire hazard analysis for Project W-320 Tank 241-C-106 waste retrieval

    SciTech Connect

    Conner, J.C.

    1995-09-12

    This Fire Hazards Analysis (FHA) for Project W-320, `Tank 241-C-106 Waste Retrieval` addresses fire hazards or fire related concerns in accordance with DOE 5480.7A (DOE 1998), resulting from or related to the processes and equipment to be installed or modified under Project W-320 to ensure that there are no undue fire hazards to site personnel and the public; the potential for the occurrence of a fire is minimized, process control and safety systems are not damaged by fire or related perils; and property damage from fire and related perils does not exceed an acceptable level.

  5. Preliminary safety evaluation for 241-C-106 waste retrieval, project W-320

    SciTech Connect

    Conner, J.C.

    1994-10-18

    This document presents the Preliminary Safety Evaluation for Project W-320, Tank 241-C-106 Waste Retrieval Sluicing System (WRSS). The US DOE has been mandated to develop plans for response to safety issues associated with the waste storage tanks at the Hanford Site, and to report the progress of implementing those plans to Congress. The objectives of Project W-230 are to design, fabricate, develop, test, and operate a new retrieval system capable of removing a minimum of about 75% of the high-heat waste contained in C-106. It is anticipated that sluicing operations can remove enough waste to reduce the remaining radiogenic heat load to levels low enough to resolve the high-heat safety issue as well as allow closure of the tank safety issue.

  6. Tank 241-C-106 past-practice sluicing waste retrieval, Hanford Site, Richland, Washington. Environmental Assessment

    SciTech Connect

    1995-02-01

    The US Department of Energy (DOE) needs to take action to eliminate safety concerns with storage of the high-heat waste in Tank 241-C-106 (Tank C-106), and demonstrate a tank waste retrieval technology. This Environmental Assessment (EA) was prepared to analyze the potential impacts associated with the proposed action, past-practice sluicing of Tank C-106, an underground single-shell tank (SST). Past-practice sluicing is defined as the mode of waste retrieval used extensively in the past at the Hanford Site on the large underground waste tanks, and involves introducing a high-volume, low-pressure stream of liquid to mobilize sludge waste prior to pumping. It is proposed to retrieve the waste from Tank C-106 because this waste is classified not only as transuranic and high-level, but also as high-heat, which is caused by the radioactive decay of strontium. This waste characteristic has led DOE to place Tank C-106 on the safety ``Watchlist.``

  7. Safety equipment list for 241-C-106 waste retrieval, Project W-320: Revision 1

    SciTech Connect

    Conner, J.C.

    1994-11-15

    The goals of the C-106 sluicing operation are: (1) to stabilize the tank by reducing the heat load in the tank to less than 42 MJ/hr (40,000 Btu/hour), and (2) to initiate demonstration of single-shell tank (SST) retrieval technology. The purpose of this supporting document (SD) is as follows: (1) to provide safety classifications for items (systems, structures, equipment, components, or parts) for the waste retrieval sluicing system (WRSS), and (2) to document and methodology used to develop safety classifications. Appropriate references are made with regard to use of existing systems, structures, equipments, components, and parts for C-106 single-shell transfer tank located in the C Tank Farm, and 241-AY-102 (AY-102) double shell receiver tanks (DST) located in the Aging Waste Facility (AWF). The Waste Retrieval Sluicing System consists of two transfer lines that would connect the two tanks, one to carry the sluiced waste slurry to AY-102, and the other to return the supernatant liquid to C-106. The supernatant, or alternate fluid, will be used to mobilize waste in C-106 for the sluicing process. The equipment necessary for the WRSS include pumps in each tank, sluicers to direct the supernatant stream in C-106, a slurry distributor in AY-102, HVAC for C-106, instrumentation and control devices, and other existing components as required.

  8. Tank vapor sampling and analysis data package for tank 241-C-106 waste retrieval sluicing system process test phase III

    SciTech Connect

    LOCKREM, L.L.

    1999-08-13

    This data package presents sampling data and analytical results from the March 28, 1999, vapor sampling of Hanford Site single-shell tank 241-C-106 during active sluicing. Samples were obtained from the 296-C-006 ventilation system stack and ambient air at several locations. Characterization Project Operations (CPO) was responsible for the collection of all SUMMATM canister samples. The Special Analytical Support (SAS) vapor team was responsible for the collection of all triple sorbent trap (TST), sorbent tube train (STT), polyurethane foam (PUF), and particulate filter samples collected at the 296-C-006 stack. The SAS vapor team used the non-electrical vapor sampling (NEVS) system to collect samples of the air, gases, and vapors from the 296-C-006 stack. The SAS vapor team collected and analyzed these samples for Lockheed Martin Hanford Corporation (LMHC) and Tank Waste Remediation System (TWRS) in accordance with the sampling and analytical requirements specified in the Waste Retrieval Sluicing System Vapor Sampling and Analysis Plan (SAP) for Evaluation of Organic Emissions, Process Test Phase III, HNF-4212, Rev. 0-A, (LMHC, 1999). All samples were stored in a secured Radioactive Materials Area (RMA) until the samples were radiologically released and received by SAS for analysis. The Waste Sampling and Characterization Facility (WSCF) performed the radiological analyses. The samples were received on April 5, 1999.

  9. Project W-320, 241-C-106 sluicing master calculation list

    SciTech Connect

    Bailey, J.W.

    1998-08-07

    This supporting document has been prepared to make the Master Calculation List readily retrievable. The list gives the status of the calculation (as-built, not used, applied, etc.), the calculation title, its originator, comments, and report number under which it was issued. Tank 241-C-106 has been included on the High Heat Load Watch List.

  10. Project W-320, 241-C-106 sluicing supporting documentation bibliography

    SciTech Connect

    Bailey, J.W.

    1998-08-06

    This supporting document has been prepared to make the listing of documentation used to develop, or in support of Project W-320, readily retrievable. All documents are sorted by document number and list the document type. Tank 241-C-106 has been included on the High Heat Load Watch List.

  11. Criticality safety assessment of tank 241-C-106 remediation

    SciTech Connect

    Waltar, A.E., Westinghouse Hanford

    1996-07-19

    A criticality safety assessment was performed in support of Project 320 for the retrieval of waste from tank 241-C-106 to tank 241-AY-102. The assessment was performed by a multi-disciplined team consisting of expertise covering the range of nuclear engineering, plutonium and nuclear waste chemistry,and physical mixing hydraulics. Technical analysis was performed to evaluate the physical and chemical behavior of fissile material in neutralized Hanford waste as well as modeling of the fluid dynamics for the retrieval activity. The team has not found evidence of any credible mechanism to attain neutronic criticality in either tank and has concluded that a criticality accident is incredible.

  12. Nonradioactive air emissions notice of construction, Project W-320, 241-C-106 tank sluicing

    SciTech Connect

    Hays, C.B.

    1998-01-28

    closure of this safety issue. The sluicing will also fulfill a Hanford Federal Facility Agreement and Consent Order (Tri-Party Agreement) milestone to resolve the high-heat issue and demonstrate waste retrieval. The waste will be transferred to 241-AY-102 tank, a double-shell tank (DST) with greater heat load capacity than the 241-C-106 tank.

  13. Project W-320, 241-C-106 sluicing: Civil/structural calculations. Volume 6

    SciTech Connect

    Bailey, J.W.

    1998-07-24

    This supporting document has been prepared to make the FDNW calculations for Project W-320 readily retrievable. The purpose of this calculation is to conservatively estimate the weight of equipment and structures being added over Tank 241-C-106 as a result of Project W-320 and combine these weights with the estimated weights of existing structures and equipment as calculated in Attachment 1. The combined weights will be compared to the allowable live load limit to provide a preliminary assessment of loading conditions above Tank 241-C-106.

  14. Project W-320, 241-C-106 sluicing piping calculations, Volume 7

    SciTech Connect

    Bailey, J.W.

    1998-07-29

    The object of this report is to calculate the hydraulic forces imposed at the sluicer nozzle. This is required by Project W-320 waste retrieval for tank 241-C-106. The method of analysis used is Bernoulli`s momentum equation for stead flow.

  15. Characterization of a Washed 241-C-106 Sludge Sample

    SciTech Connect

    Nash, C.A.

    2001-05-15

    An Envelope D Tank 241-C-106 sample was characterized for solids, elemental, and radioactive isotope content. The work was done by the Savannah River Technology Center (SRTC) to support the Hanford River Protection Project (RPP). The sludge from Hanford Tank 241-C-106 is high level waste that is to be included in the first ten years of processing by the RPP Waste Treatment Plant (WTP). The sample was a composite of caustic-leached and washed sludge from previous work at the Pacific Northwest National Lab (PNNL). Sludge analysis results were found to compare well with those of previous researchers analyzing leached samples from Tank 241-C-106. Composition of the liquid accompanying the sample was also measured.

  16. Hanford Tank 241-C-106: Residual Waste Contaminant Release Model and Supporting Data

    SciTech Connect

    Deutsch, William J.; Krupka, Kenneth M.; Lindberg, Michael J.; Cantrell, Kirk J.; Brown, Christopher F.; Schaef, Herbert T.

    2005-06-03

    CH2M HILL is producing risk/performance assessments to support the closure of single-shell tanks at the DOE's Hanford Site. As part of this effort, staff at PNNL were asked to develop release models for contaminants of concern that are present in residual sludge remaining in tank 241-C-106 (C-106) after final retrieval of waste from the tank. This report provides the information developed by PNNL.

  17. Project W-320, 241-C-106 sluicing HVAC calculations, Volume 1

    SciTech Connect

    Bailey, J.W.

    1998-08-07

    This supporting document has been prepared to make the FDNW calculations for Project W-320, readily retrievable. The report contains the following calculations: Exhaust airflow sizing for Tank 241-C-106; Equipment sizing and selection recirculation fan; Sizing high efficiency mist eliminator; Sizing electric heating coil; Equipment sizing and selection of recirculation condenser; Chiller skid system sizing and selection; High efficiency metal filter shielding input and flushing frequency; and Exhaust skid stack sizing and fan sizing.

  18. Permitting plan for project W-320 tank 241-C-106 waste retrievalsluicing system (WRSS)

    SciTech Connect

    Symons, G.A.

    1997-02-21

    This document describes the permitting plan for Project W-320, Tank 241-C-106 Waste Retrieval Sluicing System (WRSS). A comprehensive review of environmental regulations have indicated that several environmental reviews [e.g. National Environmental Policy Act (NEPA), State Environmental Policy Act (SEPA)], permits, and approvals are required prior to construction or operation of the facility. The environmental reviews, permits and approvals, as well the regulatory authority, potentially applicable to the Tank 241-C-106 WRSS include the following: for NEPA - U.S. Department of Energy-Headquarters: Action Description Memorandum, Environmental Assessment, Categorical Exclusion, and Environmental Impact Statement; and for SEPA - State of Washington Department of Ecology (Ecology) Determination of Nonsignificance, Mitigated Determination of Nonsignificance, Determination of Significance, and SEPA Environmental Checklist.

  19. Tank 241-C-106 sampling data requirements developed through the data quality objectives (DQO) process

    SciTech Connect

    Wang, O.S.; Bell, K.E.; Anderson, C.M.; Peffers, M.S.; Pulsipher, B.A.; Scott, J.L.

    1994-01-01

    The rate of heat generation for tank 241-C-106 at the Hanford Site is estimated at more then 100,000 Btu/h. The heat is generated primarily from the radioactive decay of {sup 90}Sr waste that was inadvertently transferred into the tank in the late 1960s. If proper tank cooling is not maintained for this tank, heat-induced structural damage to the tank`s concrete shell could result in the release of nuclear waste to the environment. Because of high-heat concerns in January 1991, tank 241-C-106 was designated as a Watch List tank and deemed as a Priority 1 safety issue. Waste Tank Safety Program (WTSP) is responsible for the resolution of this safety issue. Although forced cooling is effective for short term, the long-term resolution for tank cooling is waste retrieval. Single-shell Tank Retrieval Project (Retrieval) is responsible for the safe retrieval and transfer of radioactive waste from tank 241-C-106 to a selected double-shell tank. This data quality objective (DQO) study is an effort to determine engineering and design data needs for WTSP and assist Retrieval in designing contingency action retrieval systems. The 7-step DQO process is a tool developed by the Environmental Protection Agency with a goal of identifying needs and reducing costs. This report discusses the results of two DQO efforts for WTSP and Retrieval. The key data needs to support WTSP are thermal conductivity, permeability, and heat load profile. For the Retrieval support, there are nine and three data needs identified, respectively, for retrieval engineering system design and HVAC system design. The updated schedule to drill two core samples using rotary mode is set for March 1994. The analysis of the sample is expected to be completed by September 1994.

  20. Assessment of Tank 241-C-106 temperature response indications

    SciTech Connect

    Eyler, L.L.

    1995-03-01

    This report presents an assessment of waste tank 241-C-106 temperature response indications. The results are obtained through evaluation of historical data for FIC surface level data and temperature indication data from thermocouples in risers 8 and 14, contained in the SACS and TMACS databases. Computer analysis is used to augment observations and conclusions about hypothesized mechanisms present in the tank that could explain the data observations. From the historical temperature indications of risers 8 and 14 (neglecting the ventilation outages), several general observational conclusions are drawn that support hypotheses explaining more recently observed behavior.

  1. Project W-320, 241-C-106 sluicing: Piping calculations. Volume 2

    SciTech Connect

    Bailey, J.W.

    1998-07-25

    This supporting document has been prepared to make the FDNW calculations for Project W-320 readily retrievable. The objectives of this calculation are (1) To perform static and Safety Class 2 dynamic stress analysis of the Slurry and Supernate Process (inner) piping connecting Tanks 241-C-106 and 241-AY-102 in order to be in compliance with the Code requirements; (2) To assure the thermal expansion of the process pipe not be strained by the outer encasement pipe; and (3) To furnish process pipe support to the Civil Engineering group.

  2. Project management plan for Project W-320, Tank 241-C-106 sluicing. Revision 2

    SciTech Connect

    Phillips, D.R.

    1994-07-01

    A major mission of the US Department of Energy (DOE) is the permanent disposal of Hanford Site defense wastes by utilizing safe, environmentally acceptable, and cost-effective disposal methods that meet applicable regulations. The Tank Waste Remediation System (TWRS) Program was established at the Hanford Site to manage and control activities specific to the remediation of safety watch list tanks, including high-heat-producing tanks, and for the ultimate characterization, retrieval, pretreatment, and disposal of the low- and high-level fractions of the tank waste. Project W-320, Tank 241-C-106 Sluicing, provides the methodology, equipment, utilities, and facilities necessary for retrieving the high-heat waste from single-shell tank (SST) 24-C-106. Project W-320 is a fiscal year (FY) 1993 expense-funded major project, and has a design life of 2 years. Retrieval of the waste in tank 241-C-106 will be accomplished through mobilization of the sludge into a pumpable slurry using past-practice sluicing. The waste is then transferred directly to a double-shell tank for interim storage, subsequent pretreatment, and eventual disposal. A detailed description of the management organization and responsibilities of all participants is presented in this document.

  3. Tank characterization report for single-shell tank 241-C-106

    SciTech Connect

    Schreiber, R.D.

    1996-09-25

    This tank characterization report summarizes information on the historical uses, current status, and sampling and analysis results of waste stored in single-shell underground tank 241-C-106. This report supports the requirements of the Hanford Federal Facility Agreement and Consent Order, Milestone M-44-09 (Ecology et al. 1996). Tank 241-C-106 is the only tank on the High-Heat Load Watch List. As a result of the analyses addressed by this report, the supernate and upper 60 percent of the sludge in the tank do not pose any safety concerns in addition to the high-heat load issue based on the decision limits of the safety screening data quality objective (DQO) (Dukelow et al. 1995). The lower 40 percent of the sludge was not sampled; therefore, no statements regarding the safety of this waste can be made. A portion of the tank sludge is scheduled to be retrieved in fiscal year 1997 in order to mitigate the high-heat load in the tank.

  4. Acceptance test report for the Tank 241-C-106 in-tank imaging system

    SciTech Connect

    Pedersen, L.T.

    1998-05-22

    This document presents the results of Acceptance Testing of the 241-C-106 in-tank video camera imaging system. The purpose of this imaging system is to monitor the Project W-320 sluicing of Tank 241-C-106. The objective of acceptance testing of the 241-C-106 video camera system was to verify that all equipment and components function in accordance with procurement specification requirements and original equipment manufacturer`s (OEM) specifications. This document reports the results of the testing.

  5. Hanford Tank 241-C-106: Residual Waste Contaminant Release Model and Supporting Data

    SciTech Connect

    Deutsch, William J.; Krupka, Kenneth M.; Lindberg, Michael J.; Cantrell, Kirk J.; Brown, Christopher F.; Schaef, Herbert T.

    2007-05-23

    This report was revised in May 2007 to correct values in Section 3.4.1.7, second paragraph, last sentence; 90Sr values in Tables 3.22 and 3.32; and 99Tc values Table 4.3 and in Chapter 5. In addition, the tables in Appendix F were updated to reflect corrections to the 90Sr values. The rest of the text remains unchanged from the original report issued in May 2005. CH2M HILL is producing risk/performance assessments to support the closure of single-shell tanks at the DOE's Hanford Site. As part of this effort, staff at PNNL were asked to develop release models for contam¬inants of concern that are present in residual sludge remaining in tank 241-C-106 (C-106) after final retrieval of waste from the tank. This report provides the information developed by PNNL.

  6. Hanford Tank 241-C-106: Impact of Cement Reactions on Release of Contaminants from Residual Waste

    SciTech Connect

    Deutsch, William J.; Krupka, Kenneth M.; Lindberg, Michael J.; Cantrell, Kirk J.; Brown, Christopher F.; Schaef, Herbert T.

    2006-09-01

    The CH2M HILL Hanford Group, Inc. (CH2M HILL) is producing risk/performance assessments to support the closure of single-shell tanks at the U.S. Department of Energy's Hanford Site. As part of this effort, staff at Pacific Northwest National Laboratory were asked to develop release models for contaminants of concern that are present in residual sludge remaining in tank 241-C-106 (C-106) after final retrieval of waste from the tank. Initial work to produce release models was conducted on residual tank sludge using pure water as the leaching agent. The results were reported in an earlier report. The decision has now been made to close the tanks after waste retrieval with a cementitious grout to minimize infiltration and maintain the physical integrity of the tanks. This report describes testing of the residual waste with a leaching solution that simulates the composition of water passing through the grout and contacting the residual waste at the bottom of the tank.

  7. Acceptance test procedure, 241-SY-101/241-C-106 shot loading system

    SciTech Connect

    Ostrom, M.J.

    1994-11-01

    This Acceptance Test Procedure is for the 241-SY-101/241-C-106 Shot Loading System. The procedure will test the components of the Shot Loading System and its capability of adequately loading shot into the annular space of the Container. The loaded shot will provide shielding as required for transporting and storage of a contaminated pump after removal from the tank. This test serves as verification that the SLS is acceptable for use in the pump removal operations for Tanks 241-SY-101, 241-C-106 and 241-AY-102. The pump removal operation for these three tanks will be performed by two different organizations with different equipment, but the Shot Loading System will be compatible between the two operations.

  8. Simulation of Hanford Tank 241-C-106 Waste Release into Tank 241-Y-102

    SciTech Connect

    KP Recknagle; Y Onishi

    1999-05-19

    Waste stored in Hdord single-shell Tank 241-C-106 will be sluiced with a supernatant liquid from doubIe-shell Tank 241 -AY- 102 (AY-1 02) at the U.S. Department of Energy's Har@ord Site in Eastern Washington. The resulting slurry, containing up to 30 wtYo solids, will then be transferred to Tank AY-102. During the sluicing process, it is important to know the mass of the solids being transferred into AY- 102. One of the primary instruments used to measure solids transfer is an E+ densitometer located near the periphery of the tank at riser 15S. This study was undert.dcen to assess how well a densitometer measurement could represent the total mass of soiids transferred if a uniform lateral distribution was assumed. The study evaluated the C-1 06 slurry mixing and accumulation in Tank AY- 102 for the following five cases: Case 1: 3 wt'%0 slurry in 6.4-m AY-102 waste Case 2: 3 w-t% slurry in 4.3-m AY-102 waste Case 3: 30 wtYo slurry in 6.4-m AY-102 waste Case 4: 30 wt% slurry in 4.3-m AY-102 waste Case 5: 30 wt% slurry in 5. O-m AY-102 waste. The tirne-dependent, three-dimensional, TEMPEST computer code was used to simulate solid deposition and accumulation during the injection of the C-106 slurry into AY-102 through four injection nozzles. The TEMPEST computer code was applied previously to other Hanford tanks, AP-102, SY-102, AZ-101, SY-101, AY-102, and C-106, to model tank waste mixing with rotating pump jets, gas rollover events, waste transfer from one tank to another, and pump-out retrieval of the sluiced waste. The model results indicate that the solid depth accumulated at the densitometer is within 5% of the average depth accumulation. Thus the reading of the densitometer is expected to represent the total mass of the transferred solids reasonably well.

  9. Chemical compatibility of tank wastes in tanks 241-C-106, 241-AY-101, and 241-AY-102. Revision 1

    SciTech Connect

    Sederburg, J.P.

    1994-05-04

    This report documents the chemical compatibility of waste types within tanks 241-C-106, 241-AY-101, and 241-AY-102. This information was compiled to facilitate the transfer of tank 241-C-106 waste to tank 241-AY-102 utilizing supernatant from tank 241-AY-101 as the sluicing medium. This document justifies that no chemical compatibility safety issues currently understood, or theorized from thermodynamic modeling, will result from the intended sluice transfer operation.

  10. Radiological and toxicological analyses of tank 241-AY-102 and tank 241-C-106 ventilation systems

    SciTech Connect

    Himes, D.A.

    1998-08-11

    The high heat content solids contained in Tank 241-C-106 are to be removed and transferred to Tank 241-AY-102 by sluicing operations, to be authorized under project W320. While sluicing operations are underway, the state of these tanks will be transformed from unagitated to agitated. This means that the partition fraction which describes the aerosol content of the head space will increase from IE-10 to IE-8 (see WHC-SD-WM-CN062, Rev. 2 for discussion of partition fractions). The head spare will become much more loaded with suspended material. Furthermore, the nature of this suspended material can change significantly: sluicing could bring up radioactive solids which normally would lay under many meters of liquid supernate. It is assumed that the headspace and filter aerosols in Tank 241-AY-102 are a 90/10 liquid/solid split. It is further assumed that the sluicing line, the headspace in Tank 241-C-106, and the filters on Tank 241-C-106 contain aerosols which are a 67/33 liquid/solid split. The bases of these assumptions are discussed in Section 3.0. These waste compositions (referred to as mitigated compositions) were used in Attachments 1 through 4 to calculate survey meter exposure rates per liter of inventory in the various system components. Three accident scenarios are evaluated: a high temperature event which melts or burns the HEPA filters and causes releases from other system components; an overpressure event which crushes and blows out the HEPA filters and causes releases from other system components; and an unfiltered release of tank headspace air. The initiating event for the high temperature release is a fire caused by a heater malfunction inside the exhaust dust or a fire outside the duct. The initiating event for the overpressure event could be a steam bump which over pressurizes the tank and leads to a blowout of the HEPA filters in the ventilation system. The catastrophic destruction of the HEPA filters would release a fraction of the accumulated

  11. Action plan for response to excessive temperatures in Hanford site high-heat waste tank 241-C-106

    SciTech Connect

    Rensink, G.E., Westinghouse Hanford

    1996-08-23

    Tank 241-C-106 is a single shell tank at the Hanford Site in south central Washington State, and is the only tank on Hanford`s High-Heat Tank Watch List. This action plan defines possible abnormal conditions (such as ventilation system failure or a leaking tank) that could lead to excessive temperature increases in tank 241-C-106, and documents pre-planned contingency actions would effectively mitigate the consequences of such increased temperatures. Potential structural damage may result from high temperatures caused by inadequate cooling. Tank 241-C-106 contains a significant amount of high-heat radioactive waste, mainly strontium, and requires forced ventilation combined with evaporation for adequate cooling. Forced ventilation at 2,400 ft/min, along with periodic water additions of approximately 6,000 gal/month, is currently maintaining the tank temperature within the required range. This action plan addresses high-heat concerns and corrective measures unique to tank 241-C-106 and to proposed sluicing activities in tank 241-C-106. Other general emergency actions for the 200 Area Tank Farms, such as those forest fires and earthquakes, are described in WHC-CM-4-43, `Emergency Management Procedures` and are not included in this document.

  12. Type B Investigation Report for 241-SY-101 Pump Start and 241-C-106 Pit Cleanout

    SciTech Connect

    Ewalt, J.R.

    1993-09-01

    In accordance with the direction of the Department of Energy (DOE) Manager, Richland Operations Office, a Type ``B`` investigation in accordance with the DOE Order 5484.1, Environmental Protection, Safety and Health Protection Information Reporting Requirements, has been conducted. The scope of the investigation included two events: The ``Inadvertent Mixer Pump Operation at 241-SY-101`` (RL-WHC-TANK FARM-1993-069); ``Inadequate Work Control Results in Personnel Skin Contamination at 241-C-106, Pit B`` (RL-WHC-TANK FARM-1993-071) events. Additionally, at the request of the President of the WHC, a broader investigation into Waste Tank Farm ``safety practices`` and ``Conduct of Operations`` was also conducted. The review was focused on (1) WHC organizations performing operations, maintenance, and radiological safety tasks; and (2) KEH organizations performing major maintenance tasks.

  13. Baseline estimate of the retained gas volume in Tank 241-C-106

    SciTech Connect

    Stewart, C.W.; Chen, G.

    1998-06-01

    This report presents the results of a study of the retained gas volume in Hanford Tank 241-C-106 (C-106) using the barometric pressure effect method. This estimate is required to establish the baseline conditions for sluicing the waste from C-106 into AY-102, scheduled to begin in the fall of 1998. The barometric pressure effect model is described, and the data reduction and detrending techniques are detailed. Based on the response of the waste level to the larger barometric pressure swings that occurred between October 27, 1997, and March 4, 1998, the best estimate and conservative (99% confidence) retained gas volumes in C-106 are 24 scm (840 scf) and 50 scm (1,770 scf), respectively. This is equivalent to average void fractions of 0.025 and 0.053, respectively.

  14. Safety evaluation for packaging transportation of equipment for tank 241-C-106 waste sluicing system

    SciTech Connect

    Calmus, D.B.

    1994-08-25

    A Waste Sluicing System (WSS) is scheduled for installation in nd waste storage tank 241-C-106 (106-C). The WSS will transfer high rating sludge from single shell tank 106-C to double shell waste tank 241-AY-102 (102-AY). Prior to installation of the WSS, a heel pump and a transfer pump will be removed from tank 106-C and an agitator pump will be removed from tank 102-AY. Special flexible receivers will be used to contain the pumps during removal from the tanks. After equipment removal, the flexible receivers will be placed in separate containers (packagings). The packaging and contents (packages) will be transferred from the Tank Farms to the Central Waste Complex (CWC) for interim storage and then to T Plant for evaluation and processing for final disposition. Two sizes of packagings will be provided for transferring the equipment from the Tank Farms to the interim storage facility. The packagings will be designated as the WSSP-1 and WSSP-2 packagings throughout the remainder of this Safety Evaluation for Packaging (SEP). The WSSP-1 packagings will transport the heel and transfer pumps from 106-C and the WSSP-2 packaging will transport the agitator pump from 102-AY. The WSSP-1 and WSSP-2 packagings are similar except for the length.

  15. Origins of volatile organic compounds emerging from tank 241-C-106 during sluicing

    SciTech Connect

    STAUFFER, L.A.

    1999-06-02

    Unexpectedly high concentrations of inorganic gases and volatile organic compounds (VOC) were released from the ventilation stack of tank 241-C-106 during sluicing operations on November 18, 1998. Workers experienced serious discomfort. They reported an obnoxious acrid odor and the 450 ppm VOC in ventilation stack 296-C-006 exceeded the level approved in the air discharge permit. Consequently, the operation was terminated. Subsequent analyses of samples collected opportunistically from the stack indicated many organic compounds including heptenes, heptanones, and normal paraffin hydrocarbons (NPH) and their remnants were present. Subsequently, a process test designed to avoid unnecessary worker exposure and enable collection of analytical samples from the stack, the breathing area, and the receiver tank was conducted on December 16, 1998. The samples obtained during that operation, in which the maximum VOC content of the stack was approximately 35 ppm, have been analyzed by teams at Pacific Northwest National Laboratory and Special Analytic Services (SAS). This report examines the results of these investigations. Future revisions of the report will examine the analytical results obtained for samples collected during sluicing operations in March. This report contains the available evidence about the source term for these emissions. Chapter 2 covers characterization work, including historical information about the layers of waste in the tank, the location of organic compounds in these layers, the total organic carbon (TOC) content and the speciation of organic compounds. Chapter 3 covers the data for the samples from the ventilation stack, which has the highest concentrations of organic compounds. Chapter 4 contains an interpretation of the information connecting the composition of the organic emissions with the composition of the original source term. Chapter 5 summarizes the characterization work, the sample data, and the interpretation of the results.

  16. Project W-320, 241-C-106 waste retrieval spare parts list

    SciTech Connect

    Hays, W.H.

    1998-03-23

    Spare parts for equipment installed in the tank dome space or pump or valve pits should not be inventoried onsite due to the extensive, time-consuming work package planning, personnel/equipment mobilization, and funding requirements that are prerequisites to any repair or replacement. These issues provide adequate time to procure parts from offsite sources. All parts listed in this inventory can either be stocked in the DynCorp Tri-Cities Services, Inc., 2101-M Warehouse, or are available from the vendor/manufacturer.

  17. Tank 241-C-106 waste retrieval sluicing system (WRSS) sluicer assembly test reports

    SciTech Connect

    May, T.H., Westinghouse Hanford

    1996-08-26

    The sluicer test report documents the results of the Project W-320 factory testing conducted at the Olympic Tool and Engineering facility. Included are background information, test goals, a brief discussion on the sluicer hose problem, and conclusions.

  18. Project W-320, 241-C-106 sluicing HVAC calculations, Volume 4

    SciTech Connect

    Bailey, J.W.

    1998-07-30

    This supporting document has been prepared to make the FDNW calculations for Project W-320, readily retrievable. The report contains the following design calculations: Cooling load in pump pit 241-AY-102; Pressure relief seal loop design; Process building piping stress analysis; Exhaust skid maximum allowable leakage criteria; and Recirculation heat, N509 duct requirements.

  19. Project W-320, 241-C-106 sluicing electrical calculations, Volume 2

    SciTech Connect

    Bailey, J.W.

    1998-08-07

    This supporting document has been prepared to make the FDNW calculations for Project W-320, readily retrievable. These calculations are required: To determine the power requirements needed to power electrical heat tracing segments contained within three manufactured insulated tubing assemblies; To verify thermal adequacy of tubing assembly selection by others; To size the heat tracing feeder and branch circuit conductors and conduits; To size protective circuit breaker and fuses; and To accomplish thermal design for two electrical heat tracing segments: One at C-106 tank riser 7 (CCTV) and one at the exhaust hatchway (condensate drain). Contents include: C-Farm electrical heat tracing; Cable ampacity, lighting, conduit fill and voltage drop; and Control circuit sizing and voltage drop analysis for the seismic shutdown system.

  20. Project W-320, 241-C-106 sluicing: Civil/structural calculations. Volume 2

    SciTech Connect

    Bailey, J.W.

    1998-07-22

    This supporting document has been prepared to make the FDNW calculations for Project W-320 readily retrievable. The Equipment Removal System (ERS) has been identified by WHC as not having any safety class 1 items present in the tank pits during equipment removal activities. Documentation of this finding is provided in Letter of Instruction 3/1 Analysis Requirements for Project W-320 Equipment Removal System (REF: LOI KGS-94-013). Based on this specific direction from WHC, 3/1 analysis for any component of the Project W-320 ERS is required. No further documentation of non-safety impacting safety items is required per DOE-RL Audit finding No. 90-02, and filing of this memorandum in the W-320 project files satisfies the intent of the referenced DOE observation.

  1. Project W-320, 241-C-106 sluicing: Piping calculations. Volume 4

    SciTech Connect

    Bailey, J.W.

    1998-07-24

    This supporting document has been prepared to make the FDNW calculations for Project W-320 readily retrievable. The objective of this calculation is to perform the structural analysis of the Pipe Supports designed for Slurry and Supernate transfer pipe lines in order to meet the requirements of applicable ASME codes. The pipe support design loads are obtained from the piping stress calculations W320-27-I-4 and W320-27-I-5. These loads are the total summation of the gravity, pressure, thermal and seismic loads. Since standard typical designs are used for each type of pipe support such as Y-Stop, Guide and Anchors, each type of support is evaluated for the maximum loads to which this type of supports are subjected. These loads are obtained from the AutoPipe analysis and used to check the structural adequacy of these supports.

  2. Project W-320, 241-C-106 sluicing: Construction specification W-320-C6

    SciTech Connect

    Bailey, J.W.

    1998-07-20

    This supporting document has been prepared to make the construction specifications for Project W-320 readily available. Project W-320, Waste Retrieval Sluicing System (WRSS), specification is for procurement, fabrication and installation of equipment at the C Tank Farm, including Operator Station and some equipment just outside the C Tank Farm fence, necessary to support the sluicing operation. Work consists of furnishing labor, equipment, and materials to provide the means to procure materials and equipment, fabricate items, excavate and place concrete, and install equipment, piping, wiring, and structures in accordance with the Contract Documents. Major work elements include: Excavation for process and fire protection piping, electrical conduit trenches, and foundations for small structures; Placement of concrete cover blocks, foundations, and equipment pads; Procurement and installation of double walled piping, electrical conduit, fire and raw water piping, chilled water piping, and electrical cable; Procurement and installation of above-ground ventilation system piping between the (HVAC) Process building and Tank C-106; Core drill existing concrete; Furnish and installation of electrical distribution equipment; Installation of the concrete foundation, and assembly installation of the two Seismic Shutdown Systems with Environmental Enclosures; Fabrication and installation of in-pit pipe jumpers, including related valves, instruments and wiring; and Installation of a vertical submersible pump, horizontal booster pump, and winch assembly into tank access riser pits.

  3. Project W-320, 241-C-106 sluicing: Construction specification W-320-C7

    SciTech Connect

    Bailey, J.W.

    1998-07-20

    This supporting document has been prepared to make the construction specifications for Project W-320 readily available. Project W-320, Waste Retrieval Sluicing System (WRSS), specification is for procurement, fabrication and installation of equipment at the C Tank Farm, including Operator Station and some equipment just outside the C Tank Farm fence, necessary to support the sluicing operation. Work consists of furnishing labor, equipment, and materials to provide the means to procure materials and equipment, fabricate items, excavate and place concrete, and install equipment, piping, wiring, and structures in accordance with the Contract Documents. Major work elements include: Excavation for process and fire protection piping, electrical conduit trenches, and foundations for small structures; Placement of concrete cover blocks, foundations, and equipment pads; Procurement and installation of double walled piping, electrical conduit, fire and raw water piping, chilled water piping, and electrical cable; Procurement and installation of above-ground ventilation system piping between the (HVAC) Process building and Tank C-106; Core drill existing concrete; Furnish and installation of electrical distribution equipment; Installation of the concrete foundation, and assembly installation of the two Seismic Shutdown Systems with Environmental Enclosures; Fabrication and installation of in-pit pipe jumpers, including related valves, instruments and wiring; and Installation of a vertical submersible pump, horizontal booster pump, and winch assembly into tank access riser pits.

  4. Project W-320, 241-C-106 sluicing: Construction specification W-320-C1

    SciTech Connect

    Bailey, J.W.

    1998-07-20

    Project W-320, Waste Retrieval Sluicing System (WRSS), specification is for procurement, fabrication and installation of equipment at the C Tank Farm, including Operator Station and some equipment just outside the C Tank Farm fence, necessary to support the sluicing operation. Work consists of furnishing labor, equipment, and materials to provide the means to procure materials and equipment, fabricate items, excavate and place concrete, and install equipment, piping, wiring, and structures in accordance with the Contract Documents. Major work elements include: Excavation for process and fire protection piping, electrical conduit trenches, and foundations for small structures; Placement of concrete cover blocks, foundations, and equipment pads; Procurement and installation of double walled piping, electrical conduit, fire and raw water piping, chilled water piping, and electrical cable; Procurement and installation of above-ground ventilation system piping between the (HVAC) Process building and Tank C-106; Core drill existing concrete; Furnish and installation of electrical distribution equipment; Installation of the concrete foundation, and assembly installation of the two Seismic Shutdown Systems with Environmental Enclosures; Fabrication and installation of in-pit pipe jumpers, including related valves, instruments and wiring; and Installation of a vertical submersible pump, horizontal booster pump, and winch assembly into tank access riser pits.

  5. Project W-320, 241-C-106 sluicing: Construction specification W-320-C5

    SciTech Connect

    Bailey, J.W.

    1998-07-20

    This supporting document has been prepared to make the construction specifications for Project W-320 readily available. Project W-320, Waste Retrieval Sluicing System (WRSS), specification is for procurement, fabrication and installation of equipment at the C Tank Farm, including Operator Station and some equipment just outside the C Tank Farm fence, necessary to support the sluicing operation. Work consists of furnishing labor, equipment, and materials to provide the means to procure materials and equipment, fabricate items, excavate and place concrete, and install equipment, piping, wiring, and structures in accordance with the Contract Documents. Major work elements include: Excavation for process and fire protection piping, electrical conduit trenches, and foundations for small structures; Placement of concrete cover blocks, foundations, and equipment pads; Procurement and installation of double walled piping, electrical conduit, fire and raw water piping, chilled water piping, and electrical cable; Procurement and installation of above-ground ventilation system piping between the (HVAC) Process building and Tank C-106; Core drill existing concrete; Furnish and installation of electrical distribution equipment; Installation of the concrete foundation, and assembly installation of the two Seismic Shutdown Systems with Environmental Enclosures; Fabrication and installation of in-pit pipe jumpers, including related valves, instruments and wiring; and Installation of a vertical submersible pump, horizontal booster pump, and winch assembly into tank access riser pits.

  6. Project W-320, 241-C-106 sluicing: Construction specification W-320-C2

    SciTech Connect

    Bailey, J.W.

    1998-07-20

    This supporting document has been prepared to make the construction specifications for Project W-320 readily available. Project W-320, Waste Retrieval Sluicing System (WRSS), specification is for procurement, fabrication and installation of equipment at the C Tank Farm, including Operator Station and some equipment just outside the C Tank Farm fence, necessary to support the sluicing operation. Work consists of furnishing labor, equipment, and materials to provide the means to procure materials and equipment, fabricate items, excavate and place concrete, and install equipment, piping, wiring, and structures in accordance with the Contract Documents. Major work elements include: Excavation for process and fire protection piping, electrical conduit trenches, and foundations for small structures; Placement of concrete cover blocks, foundations, and equipment pads; Procurement and installation of double walled piping, electrical conduit, fire and raw water piping, chilled water piping, and electrical cable; Procurement and installation of above-ground ventilation system piping between the (HVAC) Process building and Tank C-106; Core drill existing concrete; Furnish and installation of electrical distribution equipment; Installation of the concrete foundation, and assembly installation of the two Seismic Shutdown Systems with Environmental Enclosures; Fabrication and installation of in-pit pipe jumpers, including related valves, instruments and wiring; and Installation of a vertical submersible pump, horizontal booster pump, and winch assembly into tank access riser pits.

  7. Monitoring gas retention and slurry transport during the transfer of waste from Tank 241-C-106 to Tank 241-AY-102

    SciTech Connect

    Stewart, C.W.; Erian, F.F.; Meyer, P.A.

    1997-07-01

    The retained gas volume can be estimated by several methods. All of these methods have significant uncertainties, but together they form a preponderance of evidence that describes the gas retention behavior of the tank. The methods are (1) an increase in nonconvective layer thickness; (2) a waste surface level rise (surface level effect [SLE] model); (3) the barometric pressure effect (BPE model); (4) direct void measurement; and (5) the consequences of the transfer process. The nonconvective layer thickness can be determined with sufficient accuracy to describe the overall waste configuration by means of temperature profiles or densitometer indications. However, the presence of a nonconvective layer does not necessarily indicate significant gas retention, and small changes in layer thickness that could quantify gas retention cannot be detected reliably with the methods available. The primary value of this measurement is in establishing the actual {open_quotes}fluffing factor{close_quotes} for thermal calculations. Surface level rise is not a useful measure of gas retention in Tank 241-C-106 (C-106) since the waste level fluctuates with regular makeup water additions. In Tank 241-AY-102 (AY-102) with the existing ventilation system it should be possible to determine the gas retention rate within 30-60% uncertainty from the surface level rise, should a significant rise be observed. The planned ventilation system upgrades in AY- 102 will greatly reduce the exhaust flow and the headspace humidity, and the evaporation rate should be significantly lower when transfers begin. This could reduce the uncertainty in gas retention rate estimates to around {+-} 10%.

  8. Tank 241-C-106 process test report

    SciTech Connect

    Bander, T.J.

    1995-05-30

    This report evaluates the thermal hydraulic behavior of tank C-106 during and following the process test conducted from March 10, 1994 to June 15, 1994. During and following the process test the thermocouples on the thermocouple tree in riser No. 14 began to indicate significantly higher temperatures in the sludge than the low temperatures typically observed at this location. The thermocouples on the thermocouple tree in riser No. 8 during this same time period indicated temperature variations consistent with normal seasonal effects. This report summarizes the analyses conducted to understand the phenomena that caused the temperature history at riser No. 14.

  9. Contributions of the Medial Temporal Lobe to Declarative Memory Retrieval: Manipulating the Amount of Contextual Retrieval

    ERIC Educational Resources Information Center

    Tendolkar, Indira; Arnold, Jennifer; Petersson, Karl Magnus; Weis, Susanne; Brockhaus-Dumke, Anke; van Eijndhoven, Philip; Buitelaar, Jan; Fernandez, Guillen

    2008-01-01

    We investigated how the hippocampus and its adjacent mediotemporal structures contribute to contextual and noncontextual declarative memory retrieval by manipulating the amount of contextual information across two levels of the same contextual dimension in a source memory task. A first analysis identified medial temporal lobe (MTL) substructures…

  10. Simulation analysis of control strategies for a tank waste retrieval manipulator system

    SciTech Connect

    Schryver, J.C.; Draper, J.V.

    1995-02-01

    A network simulation model was developed for the Tank Waste Retrieval Manipulator System, incorporating two distinct levels of control: teleoperation and supervisory control. The model included six error modes, an attentional resource model, and a battery of timing variables. A survey questionnaire administered to subject matter experts provided data for estimating timing distributions for level of control-critical tasks. Simulation studies were performed to evaluate system behavior as a function of control level and error modes. The results provide important insights for development of waste retrieval manipulators.

  11. First generation long-reach manipulator for retrieval of waste from Hanford single-shell tanks

    SciTech Connect

    Gibbons, P.W.; McDaniel, L.B.

    1994-10-01

    The US Department of Energy, Richland Operations Office, has established the Tank Waste Remediation System to resolve environmental and safety issues related to underground waste-storage tanks at the Hanford Site. The Tank Waste Remediation System has identified the use of an advanced-technology, long-reach manipulator system as a low-water-addition retrieval alternative to past-practice sluicing.

  12. Test bed control center design concept for Tank Waste Retrieval Manipulator Systems

    SciTech Connect

    Sundstrom, E.; Draper, J.V.; Fausz, A.

    1995-02-01

    This paper describes the design concept for the control center for the Single Shell Tank Waste Retrieval Manipulator System test bed and the design process behind the concept. The design concept supports all phases of the test bed mission, including technology demonstration, comprehensive system testing, and comparative evaluation for further development and refinement of the TWRMS for field operations.

  13. Age differences in collaborative memory: the role of retrieval manipulations.

    PubMed

    Meade, Michelle L; Roediger, Henry L

    2009-10-01

    In two experiments, we examined age differences in collaborative inhibition (reduced recall in pairs of people, relative to pooled individuals) across repeated retrieval attempts. Younger and older adults studied categorized word lists and were then given two consecutive recall tests and a recognition test. On the first recall test, the subjects were given free-report cued recall or forced-report cued recall instructions (Experiment 1) or free recall instructions (Experiment 2) and recalled the lists either alone or in collaboration with another subject of the same age group. Free-report cued recall and free recall instructions warned the subjects not to guess, whereas forced-report cued recall instructions required them to guess. Collaborative inhibition was obtained for both younger and older adults on initial tests of free-report cued recall, forced-report cued recall, and free recall, showing that the effect generalizes across several tests for both younger and older adults. Collaborative inhibition did not persist on subsequent individual recall or recognition tests for list items. Older adults consistently falsely recalled and recognized items more than did younger adults, as had been found in previous studies. In addition, prior collaboration may exaggerate older adults' tendency toward higher false alarms on a subsequent recognition test, but only after a free recall test. The results provide generality to the phenomenon of collaborative inhibition and can be explained by invoking concepts of strategy disruption and source monitoring. PMID:19744936

  14. AX Tank Farm waste retrieval alternatives cost estimates

    SciTech Connect

    Krieg, S.A.

    1998-07-21

    This report presents the estimated costs associated with retrieval of the wastes from the four tanks in AX Tank Farm. The engineering cost estimates developed for this report are based on previous cost data prepared for Project W-320 and the HTI 241-C-106 Heel Retrieval System. The costs presented in this report address only the retrieval of the wastes from the four AX Farm tanks. This includes costs for equipment procurement, fabrication, installation, and operation to retrieve the wastes. The costs to modify the existing plant equipment and systems to support the retrieval equipment are also included. The estimates do not include operational costs associated with pumping the waste out of the waste receiver tank (241-AY-102) between AX Farm retrieval campaigns or transportation, processing, and disposal of the retrieved waste.

  15. Final Report - Spent Nuclear Fuel Retrieval System Manipulator System Cold Validation Testing

    SciTech Connect

    D.R. Jackson; G.R. Kiebel

    1999-08-24

    Manipulator system cold validation testing (CVT) was performed in support of the Fuel Retrieval System (FRS) Sub-Project, a subtask of the Spent Nuclear Fuel Project at the Hanford Site in Richland, Washington. The FRS will be used to retrieve and repackage K-Basin Spent Nuclear Fuel (SNF) currently stored in old K-Plant storage basins. The FRS is required to retrieve full fuel canisters from the basin; clean the fuel elements inside the canister to remove excessive uranium corrosion products (or sludge); remove the contents from the canisters; and sort the resulting debris, scrap, and fuel for repackaging. The fuel elements and scrap will be collected in fuel storage and scrap baskets in preparation for loading into a multi canister overpack (MCO), while the debris is loaded into a debris bin and disposed of as solid waste. The FRS is composed of three major subsystems. The Manipulator Subsystem provides remote handling of fuel, scrap, and debris; the In-Pool Equipment subsystem performs cleaning of fuel and provides a work surface for handling materials; and the Remote Viewing Subsystem provides for remote viewing of the work area by operators. There are two complete and identical FRS systems, one to be installed in the K-West basin and one to be installed in the K-East basin. Another partial system will be installed in a cold test facility to provide for operator training.

  16. Task analysis for the single-shell Tank Waste Retrieval Manipulator System

    SciTech Connect

    Draper, J.V.

    1993-03-01

    This document describes a task analysis for the Tank Waste Retrieval Manipulator System. A task analysis is a formal method of examining work that must be done by the operators of human-machine systems. The starting point for a task analysis is the mission that a human-machine system must perform, and the ending point is a list of requirements for human actions and the displays and controls that must be provided to support them. The task analysis approach started with a top-down definition of the steps in a tank retrieval campaign. It started by dividing a waste retrieval campaign for one single-shell tank into the largest logical components (mission phases), then subdivided these into secondary components (sub functions), and then further subdivided the secondary components into tertiary units (tasks). Finally, the tertiary units were divided into potentially observable operator behaviors (task elements). In the next stage of the task analysis, the task elements were evaluated by completing an electronic task analysis form patterned after one developed by the Nuclear Regulatory Commission for task analysis of nuclear power plant control rooms. In the final stage, the task analysis data base was used in a bottom-up approach to develop clusters of controls and displays called panel groups and to prioritize these groups for each subfunction. Panel groups are clusters of functionally related controls and displays. Actual control panels will be designed from panel groups, and panel groups will be organized within workstations to promote efficient operations during retrieval campaigns.

  17. Issues associated with manipulator-based waste retrieval from Hanford underground storage tanks with a preliminary review of commercial concepts

    SciTech Connect

    Berglin, E.J.

    1996-09-17

    Westinghouse Hanford Company (WHC) is exploring commercial methods for retrieving waste from the underground storage tanks at the Hanford site in south central Washington state. WHC needs data on commercial retrieval systems equipment in order to make programmatic decisions for waste retrieval. Full system testing of retrieval processes is to be demonstrated in phases through September 1997 in support of programs aimed to Acquire Commercial Technology for Retrieval (ACTR) and at the Hanford Tanks Initiative (HTI). One of the important parts of the integrated testing will be the deployment of retrieval tools using manipulator-based systems. WHC requires an assessment of a number of commercial deployment systems that have been identified by the ACTR program as good candidates to be included in an integrated testing effort. Included in this assessment should be an independent evaluation of manipulator tests performed to date, so that WHC can construct an integrated test based on these systems. The objectives of this document are to provide a description of the need, requirements, and constraints for a manipulator-based retrieval system; to evaluate manipulator-based concepts and testing performed to date by a number of commercial organizations; and to identify issues to be resolved through testing and/or analysis for each concept.

  18. A Biomedical Information System for Retrieval and Manipulation of NHANES Data

    PubMed Central

    Mukherjee, Sukrit; Martins, David; Norris, Keith C.; Jenders, Robert A.

    2016-01-01

    The retrieval and manipulation of data from large public databases like the U.S. National Health and Nutrition Examination Survey (NHANES) may require sophisticated statistical software and significant expertise that may be unavailable in the university setting. In response, we have developed the Data Retrieval And Manipulation System (DReAMS), an automated information system to handle all processes of data extraction and cleaning and then joining different subsets to produce analysis-ready output. The system is a browser-based data warehouse application in which the input data from flat files or operational systems are aggregated in a structured way so that the desired data can be read, re-coded, queried and extracted efficiently. The current pilot implementation of the system provides access to a limited amount of NHANES database. We plan to increase the amount of data available through the system in the near future and to extend the techniques to other large databases from CDU archive with a current holding of about 53 databases. PMID:23920922

  19. Enhancement of encoding and retrieval functions through theta phase-specific manipulation of hippocampus.

    PubMed

    Siegle, Joshua H; Wilson, Matthew A

    2014-01-01

    Assessing the behavioral relevance of the hippocampal theta rhythm has proven difficult, due to a shortage of experiments that selectively manipulate phase-specific information processing. Using closed-loop stimulation, we triggered inhibition of dorsal CA1 at specific phases of the endogenous theta rhythm in freely behaving mice. This intervention enhanced performance on a spatial navigation task that requires the encoding and retrieval of information related to reward location on every trial. In agreement with prior models of hippocampal function, the behavioral effects depended on both the phase of theta and the task segment at which we stimulated. Stimulation in the encoding segment enhanced performance when inhibition was triggered by the peak of theta. Conversely, stimulation in the retrieval segment enhanced performance when inhibition was triggered by the trough of theta. These results suggest that processes related to the encoding and retrieval of task-relevant information are preferentially active at distinct phases of theta.DOI: http://dx.doi.org/10.7554/eLife.03061.001. PMID:25073927

  20. Enhancement of encoding and retrieval functions through theta phase-specific manipulation of hippocampus

    PubMed Central

    Siegle, Joshua H; Wilson, Matthew A

    2014-01-01

    Assessing the behavioral relevance of the hippocampal theta rhythm has proven difficult, due to a shortage of experiments that selectively manipulate phase-specific information processing. Using closed-loop stimulation, we triggered inhibition of dorsal CA1 at specific phases of the endogenous theta rhythm in freely behaving mice. This intervention enhanced performance on a spatial navigation task that requires the encoding and retrieval of information related to reward location on every trial. In agreement with prior models of hippocampal function, the behavioral effects depended on both the phase of theta and the task segment at which we stimulated. Stimulation in the encoding segment enhanced performance when inhibition was triggered by the peak of theta. Conversely, stimulation in the retrieval segment enhanced performance when inhibition was triggered by the trough of theta. These results suggest that processes related to the encoding and retrieval of task-relevant information are preferentially active at distinct phases of theta. DOI: http://dx.doi.org/10.7554/eLife.03061.001 PMID:25073927

  1. Tool Manipulation Knowledge is Retrieved by way of the Ventral Visual Object Processing Pathway

    PubMed Central

    Almeida, Jorge; Fintzi, Anat R.; Mahon, Bradford Z.

    2013-01-01

    Here we find, using functional Magnetic Resonance Imaging (fMRI), that object manipulation knowledge is accessed by way of the ventral object processing pathway. We exploit the fact that parvocellular channels project to the ventral but not the dorsal stream, and show that increased neural responses for tool stimuli are observed in the inferior parietal lobule when those stimuli are visible only to the ventral object processing stream. In a control condition, tool-preferences were observed in a superior and posterior parietal region for stimuli titrated so as to be visible by the dorsal visual pathway. Functional connectivity analyses confirm the dissociation between sub-regions of parietal cortex according to whether their principal afferent input is via the ventral or dorsal visual pathway. These results challenge the ‘Embodied Hypothesis of Tool Recognition’, according to which tool identification critically depends on simulation of object manipulation knowledge. Instead, these data indicate that retrieval of object-associated manipulation knowledge is contingent on accessing the identity of the object, a process that is subserved by the ventral visual pathway. PMID:23810714

  2. Dusty: an assistive mobile manipulator that retrieves dropped objects for people with motor impairments

    PubMed Central

    King, Chih-Hung; Chen, Tiffany L; Fan, Zhengqin; Glass, Jonathan D; Kemp, Charles C

    2012-01-01

    People with physical disabilities have ranked object retrieval as a high priority task for assistive robots. We have developed Dusty, a teleoperated mobile manipulator that fetches objects from the floor and delivers them to users at a comfortable height. In this paper, we first demonstrate the robot's high success rate (98.4%) when autonomously grasping 25 objects considered important by people with amyotrophic lateral sclerosis (ALS). We tested the robot with each object in five different configurations on five types of flooring. We then present the results of an experiment in which 20 people with ALS operated Dusty. Participants teleoperated Dusty to move around an obstacle, pick up an object, and deliver the object to themselves. They successfully completed this task in 59 out of 60 trials (3 trials each) with a mean completion time of 61.4 seconds (SD=20.5 seconds), and reported high overall satisfaction using Dusty (7-point Likert scale; 6.8 SD=0.6). Participants rated Dusty to be significantly easier to use than their own hands, asking family members, and using mechanical reachers (p < 0.03, paired t-tests). 14 of the 20 participants reported that they would prefer using Dusty over their current methods. PMID:22013888

  3. Function analysis of the single-shell Tank Waste Retrieval Manipulator System. Environmental Restoration and Waste Management Program

    SciTech Connect

    Draper, J.V.

    1993-08-01

    This document lists the functions likely to be performed by each proposed component of the Tank Waste Retrieval Manipulator System (TWRMS) and the user functions that must be performed to operate each component. While the information contained in this document is tentative because the systems are still evolving, it provides a foundation for task analysis and control room design efforts. These efforts will support the design of a test-bed control room in the near future and an operational control room later. The information in this document is based on specifications published for the TWRMS.

  4. Tank waste remediation system (TWRS) privatization contractor samples waste envelope D material 241-C-106

    SciTech Connect

    Esch, R.A.

    1997-04-14

    This report represents the Final Analytical Report on Tank Waste Remediation System (TWRS) Privatization Contractor Samples for Waste Envelope D. All work was conducted in accordance with ''Addendum 1 of the Letter of Instruction (LOI) for TWRS Privatization Contractor Samples Addressing Waste Envelope D Materials - Revision 0, Revision 1, and Revision 2.'' (Jones 1996, Wiemers 1996a, Wiemers 1996b) Tank 241-C-1 06 (C-106) was selected by TWRS Privatization for the Part 1A Envelope D high-level waste demonstration. Twenty bottles of Tank C-106 material were collected by Westinghouse Hanford Company using a grab sampling technique and transferred to the 325 building for processing by the Pacific Northwest National Laboratory (PNNL). At the 325 building, the contents of the twenty bottles were combined into a single Initial Composite Material. This composite was subsampled for the laboratory-scale screening test and characterization testing, and the remainder was transferred to the 324 building for bench-scale preparation of the Privatization Contractor samples.

  5. Structural analysis of the equipment removal system for tanks 241C106 and 241AY102

    SciTech Connect

    Mackey, T.C.

    1994-10-01

    The calculations documented in this report show that the ERS major components are structurally qualified to complete the objective: install the removed equipment into a shipping container, transport and store the container at the Central Waste Complex (CWC). The analysis for the structural members of the ERS components considers live load with an impact factor of 125% and dead load. An allowable stress of 1/3 yield is used for all structural components carrying the load based on DOE-RL-92-36. Adherence to DOE-RL-92-36 is not a code requirement. However, due to the loads considered, this factor of safety is appropriate. The calculations meet the strength requirements of the American Institute for Steel Construction (AISC 1989) for all non-critical structural elements.

  6. Tank 241-C-106 sluicing project W-320 integrity assessment report

    SciTech Connect

    Symons, G.A., Fluor Daniel Hanford

    1997-02-11

    This Integrity Assessment Report is prepared by ICF Kaiser Hanford Co. (ICFKH) for Westinqhouse Hanford Company (WHC), operations contractor and the Department of Energy (DOE), the system owner. It is a revision of the original report dated 10/26/94 (ICFKH Transmittal TR-W-320-295). The original project scope has been modified, necessitating with WAC-173-303-640.

  7. Project W-320, 241-C-106 sluicing civil/structural calculations, Volume 7

    SciTech Connect

    Bailey, J.W.

    1998-07-24

    The structural skid supporting the Process Building and equipment is designed based on the criteria, codes and standards, referenced in the calculation. The final members and the associated elements satisfy the design requirements of the structure. Revision 1 incorporates vendor data for the weight of the individual equipment components. The updated information does not affect the original conclusion of the calculation, since the overall effect is a reduction in the total weight of the equipment and a nominal relocation of the center of gravity for the skid assembly.

  8. Powered Remote Manipulators Perform Hazardous Retrieval, Handling, and Size Reduction Operations

    SciTech Connect

    Cole, M.D.; Owen, J.R.; Adams, S.R.

    2006-07-01

    This paper describes a new lightweight, powered remote manipulator (PRM) that S.A.Robotics has developed for remote material handling and size reduction in hazardous environments such as reactor decommissioning projects. PRMs can be mounted to various deployment platforms such as remote controlled track-driven vehicles, commercial All Terrain Vehicles, or crane-mounted arms. They can also be installed as replacements for traditional Master-Slave Manipulators (MSMs) in hot cells. The PRM is a six degree of freedom manipulator with carbon fiber structural components that can provide up to a 3 meter (10 foot) reach. Either electric or hydraulic power options can be used and a variety of hydraulic fluids are available to meet combustible material limitations. The PRM is operated with easy-to-use joystick controls that allow operators to sit in a comfortable work station and handle 90 kg (200 pound) loads with a hydraulic power pack or 45 kg (100 pounds) with electric servo-motor driven equipment. With a quick disconnect tool changer, the manipulator can operate grippers, drills, shears, saws, sampling and survey instruments, and the arm can also deploy cameras and lights to support a wide range of remote applications. (authors)

  9. An interactive graphics program to retrieve, display, compare, manipulate, curve fit, difference and cross plot wind tunnel data

    NASA Technical Reports Server (NTRS)

    Elliott, R. D.; Werner, N. M.; Baker, W. M.

    1975-01-01

    The Aerodynamic Data Analysis and Integration System (ADAIS), developed as a highly interactive computer graphics program capable of manipulating large quantities of data such that addressable elements of a data base can be called up for graphic display, compared, curve fit, stored, retrieved, differenced, etc., was described. The general nature of the system is evidenced by the fact that limited usage has already occurred with data bases consisting of thermodynamic, basic loads, and flight dynamics data. Productivity using ADAIS of five times that for conventional manual methods of wind tunnel data analysis is routinely achieved. In wind tunnel data analysis, data from one or more runs of a particular test may be called up and displayed along with data from one or more runs of a different test. Curves may be faired through the data points by any of four methods, including cubic spline and least squares polynomial fit up to seventh order.

  10. EVA Retriever Demonstration

    NASA Technical Reports Server (NTRS)

    1988-01-01

    The EVA retriever is demonstrated in the Manipulator Development Facility (MDF). The retriever moves on the air bearing table 'searching' for its target, in this case tools 'dropped' by astronauts on orbit.

  11. Robot Manipulators

    NASA Technical Reports Server (NTRS)

    1988-01-01

    Space Shuttle's Remote Manipulator System (Canadarm) is a 50 foot robot arm used to deploy, retrieve or repair satellites in orbit. Initial spinoff version is designed to remove, inspect and replace large components of Ontario Hydro's CANDU nuclear reactors, which supply 50 percent of Ontario Hydro's total power reduction. CANDU robot is the first of SPAR's Remote Manipulator Systems intended for remote materials handling operations in nuclear servicing, chemical processing, smelting and manufacturing. Inco Limited used remote manipulator for remote control mining equipment to enhance safety and productivity of Inco's hardrock mining operations. System not only improves safety in a hazardous operation that costs more than a score of lives annually, it also increases productivity fourfold. Remote Manipulator System Division is also manufacturing a line of industrial robots and developing additional system for nuclear servicing, mining, defense and space operations.

  12. Remote Manipulator

    NASA Technical Reports Server (NTRS)

    1986-01-01

    SPAR Aerospace Limited's "Canadarm," Canada's contribution to the space shuttle. It is a crane which can operate as a 50 foot extension of an astronaut's arm. It can lift 65,000 pounds in space and retrieve satellites for repair, etc. Redesigned versions have energy and mining applications. Some of its hardware has been redeveloped for use as a Hydro manipulator in a nuclear reactor where it is expected to be extremely cost effective.

  13. Project W-320, WRSS PCP: Procedure implementation verification

    SciTech Connect

    Bailey, J.W.

    1998-07-25

    This document provides verification that the methodology for the safe retrieval of high-heat waste from Tank 241-C-106 as specified in the WRSS Process Control Plan HNF-SD-PCP-013, Revision 1, has been adequately implemented into the Tank Waste Remediation System (TWRS) operational procedures. Tank 241-C-106 is listed on the High Heat Load Watch List.

  14. A Visual Information Retrieval Tool.

    ERIC Educational Resources Information Center

    Zhang, Jin

    2000-01-01

    Discussion of visualization for information retrieval, that transforms unseen internal semantic representation of a document collection into visible geometric displays, focuses on DARE (Distance Angle Retrieval Environment). Highlights include expression of information need; interpretation and manipulation of information retrieval models; ranking…

  15. A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 4: Simulation studies

    NASA Technical Reports Server (NTRS)

    1972-01-01

    Laboratory simulations of three concepts, based on maximum use of available off-the-shelf hardware elements, are described. The concepts are a stereo-foveal-peripheral TV system with symmetric steroscopic split-image registration and 90 deg counter rotation; a computer assisted model control system termed the trajectory following control system; and active manipulator damping. It is concluded that the feasibility of these concepts is established.

  16. Below the Surface: Analogical Similarity and Retrieval Competition in Reminding.

    ERIC Educational Resources Information Center

    Wharton, Charles M.; And Others

    1994-01-01

    Three experiments involving 222 undergraduates investigated whether and when human memory retrieval is influenced by structural consistency. In all experiments, retrieval competition was manipulated. Results indicate that both retrieval competition and structural consistency influence reminding. Implications for psychological and artificial…

  17. Process Test Evaluation Report Waste Retrieval Sluicing System Emissions Collection (Phase 1 - 2 and 3)

    SciTech Connect

    PARKMAN, D.B.

    1999-12-29

    During sluicing of the first batch of sludge from tank 241-C-106 on November 18, 1998, an unexpected high concentration of volatile organic compounds was measured in the 296-C-006 ventilation stack. Eleven workers reported irritation related symptoms and were sent to Hanford Environmental Health Foundation (HEHF) and Kadlec Hospital for medical evaluations. No residual health effects were reported. As a result of the unexpectedly high concentrations of volatile organic compounds encountered during this November sluicing event, a phased process test designed to characterize the emission constituents was conducted on December 16, 1998, March 7, 1999, and March 28, 1999. The primary focus of this evaluation was to obtain samples of the 296-C-006 ventilation stack effluent and surrounding areas at elevated levels of volatile organic compounds initiated by sluicing. Characterization of the emission constituents was necessary to establish appropriate procedural and administrative exposure controls for continued sluicing. Additionally, this information would be used to evaluate the need for engineered equipment to mitigate any further potential chemical stack emissions. This evaluation confirms that the following actions taken during Phase I, Phase II, and Phase III of the Waste Retrieval Sluicing System Emissions Collection Process Test were conservative and appropriate for continued sluicing: Implement stack limit of 500 ppm volatile organic compounds, with lower administrative limits; Ensure worker involvement through enhanced planning; Continue using the existing fenced boundary location; Continue using pressure demand fresh air respiratory protection inside the C-Farm as recommended by Industrial Hygiene; Continue using the existing respiratory protection/ take cover requirements outside the C-Farm boundary as recommended by Industrial Hygiene; Continue using existing anti-contamination clothing; Minimize the number of workers exposed to emissions; Maintain the

  18. Underwater manipulator

    SciTech Connect

    Schrum, P.B.; Cohen, G.H.

    1993-04-20

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  19. Underwater manipulator

    SciTech Connect

    Schrum, P.B.; Cohen, G.H.

    1992-12-31

    This invention is comprised of a self-contained, waterproof, water-submersible, remote-controlled apparatus provided for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer {plus_minus} 45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer {plus_minus} 10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  20. Underwater manipulator

    DOEpatents

    Schrum, Phillip B.; Cohen, George H.

    1993-01-01

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is provided for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer .+-.45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer .+-.10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  1. Monetary rewards influence retrieval orientations.

    PubMed

    Halsband, Teresa M; Ferdinand, Nicola K; Bridger, Emma K; Mecklinger, Axel

    2012-09-01

    Reward anticipation during learning is known to support memory formation, but its role in retrieval processes is so far unclear. Retrieval orientations, as a reflection of controlled retrieval processing, are one aspect of retrieval that might be modulated by reward. These processes can be measured using the event-related potentials (ERPs) elicited by retrieval cues from tasks with different retrieval requirements, such as via changes in the class of targeted memory information. To determine whether retrieval orientations of this kind are modulated by reward during learning, we investigated the effects of high and low reward expectancy on the ERP correlates of retrieval orientation in two separate experiments. The reward manipulation at study in Experiment 1 was associated with later memory performance, whereas in Experiment 2, reward was directly linked to accuracy in the study task. In both studies, the participants encoded mixed lists of pictures and words preceded by high- or low-reward cues. After 24 h, they performed a recognition memory exclusion task, with words as the test items. In addition to a previously reported material-specific effect of retrieval orientation, a frontally distributed, reward-associated retrieval orientation effect was found in both experiments. These findings suggest that reward motivation during learning leads to the adoption of a reward-associated retrieval orientation to support the retrieval of highly motivational information. Thus, ERP retrieval orientation effects not only reflect retrieval processes related to the sought-for materials, but also relate to the reward conditions with which items were combined during encoding. PMID:22547161

  2. The Intrex Retrieval System Software.

    ERIC Educational Resources Information Center

    Hurlburt, Charles E.; And Others

    The report describes the general structure of the Intrex Retrieval Systems and each of the component subroutines. The report is not an introduction to Intrex. In addition to a general description, the report covers the following topics: (1) system architecture, (2) software details, (3) command control logic, (4) list manipulation logic, (5)…

  3. Recollection-Based Retrieval Is Influenced by Contextual Variation at Encoding but Not at Retrieval

    PubMed Central

    Rosenstreich, Eyal; Goshen-Gottstein, Yonatan

    2015-01-01

    In this article, we investigated the effects of variations at encoding and retrieval on recollection. We argue that recollection is more likely to be affected by the processing that information undergoes at encoding than at retrieval. To date, manipulations shown to affect recollection were typically carried out at encoding. Therefore, an open question is whether these same manipulations would also affect recollection when carried out at retrieval, or whether there is an inherent connection between their effects on recollection and the encoding stage. We therefore manipulated, at either encoding or retrieval, fluency of processing (Experiment 1)—typically found not to affect recollection—and the amount of attentional resources available for processing (Experiments 2 and 3)—typically reported to affect recollection. We found that regardless of the type of manipulation, recollection was affected more by manipulations carried out at encoding and was essentially unaffected when these manipulations were carried out at retrieval. These findings suggest an inherent dependency between recollection-based retrieval and the encoding stage. It seems that because recollection is a contextual-based retrieval process, it is determined by the processing information undergoes at encoding—at the time when context is bound with the items—but not at retrieval—when context is only recovered. PMID:26135583

  4. High-heat tank safety issues evaluation

    SciTech Connect

    Conner, J.C.

    1993-05-10

    Subsection (b) of Public Law 101-510, Section 3137, {open_quotes}Safety Measures for Waste Tanks at Hanford Nuclear Reservation{close_quotes} (PL 101-510), requires the Secretary of Energy to {open_quotes}identify those tanks that may have a serious potential for release of high-level waste due to uncontrolled increase in temperature or pressure{close_quotes}. One of the tanks that has been identified to meet this criteria is single-shell tank (SST) 241-C-106 (Wilson and Reep 1991). This report presents the results of an evaluation of the safety issue associated with tank 241-C-106: the continued cooling required for high heat generation in tank 241-C-106. If tank 241-C-106 should start leaking, continued addition of water for cooling could possibly increase the amount of leakage to the soil column. In turn, if the current methods of cooling tank 241-C-106 are stopped, the sludge temperatures may exceed established temperature limits, the long term structural integrity of the tank liner and concrete would be jeopardized, leading to an unacceptable release to the environment. Among other conclusions, this evaluation has determined that tank 241-C-106 contains enough heat generating wastes to justify retaining this tank on the list {open_quotes}Single-Shell Tanks With High Heat Loads (>40,000 Btu/H){close_quotes} and that to confirm the structural integrity needed for the retrieval of the contents of tank 241-C-106, an updated structural analysis and thermal analysis need to be conducted. Other findings of this evaluation are also reported.

  5. Data Discretization for Novel Relationship Discovery in Information Retrieval.

    ERIC Educational Resources Information Center

    Benoit, G.

    2002-01-01

    Describes an information retrieval, visualization, and manipulation model which offers the user multiple ways to exploit the retrieval set, based on weighted query terms, via an interactive interface. Outlines the mathematical model and describes an information retrieval application built on the model to search structured and full-text files.…

  6. Manipulating Representations.

    PubMed

    Recchia-Luciani, Angelo N M

    2012-04-01

    The present paper proposes a definition for the complex polysemic concepts of consciousness and awareness (in humans as well as in other species), and puts forward the idea of a progressive ontological development of consciousness from a state of 'childhood' awareness, in order to explain that humans are not only able to manipulate objects, but also their mental representations. The paper builds on the idea of qualia intended as entities posing regular invariant requests to neural processes, trough the permanence of different properties. The concept of semantic differential introduces the properties of metaphorical qualia as an exclusively human ability. Furthermore this paper proposes a classification of qualia, according to the models-with different levels of abstraction-they are implied in, in a taxonomic perspective. This, in turn, becomes a source of categorization of divergent representations, sign systems, and forms of intentionality, relying always on biological criteria. New emerging image-of-the-world-devices are proposed, whose qualia are likely to be only accessible to humans: emotional qualia, where emotion accounts for the invariant and dominant property; and the qualic self where continuity, combined with the oneness of the self, accounts for the invariant and dominant property. The concept of congruence between different domains in a metaphor introduces the possibility of a general evaluation of truth and falsity of all kinds of metaphorical constructs, while the work of Matte Blanco enables us to classify conscious versus unconscious metaphors, both in individuals and in social organizations. PMID:22347988

  7. Golden Retrievers.

    ERIC Educational Resources Information Center

    Christensen, Deborah

    1999-01-01

    Provides a basic definition of metadata, including the usefulness of metatags for online information retrieval and documentation. Defines the elements of the Dublin Core, the next level of metadata. Discusses how librarians can take advantage of metadata. Describes the Gateway to Educational Materials (GEM) Project whose goal is to use metadata to…

  8. Development of concepts for satellite retrieval devices

    NASA Technical Reports Server (NTRS)

    Pruett, E. C.; Robertson, K. B., III; Loughead, T. E.

    1979-01-01

    The teleoperator being developed to augment the Space Transportation System (STS) for satellite placement, retrieval, or servicing at altitudes or orbital planes where it would be impractical to use the shuttle is primarily a general purpose propulsion stage that can be fitted with manipulator arms, automated servicers and satellite retrieval devices for particular missions. Design concepts for a general purpose retrieval device for docking with a satellite to which a grappling fixture has been attached, and for a retrieval device for docking with the Solar Maximum Mission (SMM) spacecraft were defined. The mechanical aspects of these two devices are discussed as well as the crew operations involved and problems created by the requirement for remote control. Drawings for the two retrieval device concepts are included.

  9. Consequences of a radioactive surface pool resulting from waste transfer operations between tanks 214-C-106 and 241-AY-102

    SciTech Connect

    Van Vleet, R.J.

    1997-08-05

    This document contains supporting calculations for quantifying the dose consequences from a pool formed from an underground leak or a-leak from an above grade structure for the Waste Retrieval Sluicing System (Project W-320), i.e., sluicing the contents of Tank 241-C-106 (high heat, SST) into Tank 241-AY-102 (aging waste, DST).

  10. Modulation of Retrieval Processing Reflects Accuracy of Emotional Source Memory

    ERIC Educational Resources Information Center

    Smith, Adam P. R.; Henson, Richard N. A.; Rugg, Michael D.; Dolan, Raymond J.

    2005-01-01

    There is considerable evidence that encoding and consolidation of memory are modulated by emotion, but the retrieval of emotional memories is not well characterized. Here we manipulated the emotional context with which affectively neutral stimuli were associated during encoding, allowing us to examine neural activity associated with retrieval of…

  11. Loss of Retrieval Information in Prose Recall.

    ERIC Educational Resources Information Center

    Sehulster, Jerome R.; And Others

    The purpose of this research was to experimentally manipulate input and output orders of information and separate storage and retrieval components of prose free recall. The cued partial recall method, used in word list recall, was adapted to a prose learning task. Four short biographical stories of about 55 words each were systematically combined…

  12. Mobile Remote Manipulator

    NASA Technical Reports Server (NTRS)

    Coryell, S.; Olsen, R. E.

    1986-01-01

    Turret, roll arm, and trolley enhance manipulator dexterity. Remote manipulator moves on trolley base along structure. Roll-axis arm positions manipulator arm so it can extend end effector under structure. Yaw-axis rotation gives added reach to arm above structure. Designed for handling, inspecting, and maintaining modules of space station. Manipulators having such capabilities useful on Earth; robots in manufacturing, erection of large structures, or performing complicated tasks in hazardous locations.

  13. Skill in Retrievals

    NASA Technical Reports Server (NTRS)

    Aumann, Hartmut H.; Manning, Evan

    2008-01-01

    Retrieval Skill quantifies the ability of one retrieval from a sounder to be more accurate than the best forecast relative to another with the same of another sounder. This is summarized using a Retrieval Anomaly Skill Score (RASS) which is the cor (retrieved-background, truth-background) * sqrt(f), Where f is defined as the ratio of accepted to the possible retrievals. Charts show various features and comparisons of RASS to other methods of retrieval.

  14. Progress in nonprehensile manipulation

    SciTech Connect

    Mason, M.T.

    1999-11-01

    This paper reviews my recent research in robotic manipulation and speculates on potentially fruitful directions for future work. My recent work is focused on nonprehensile manipulation: manipulating objects without grasping them. In particular, the paper surveys work on a single joint robot that orients parts on a conveyor belt; a robot that uses dynamics to snatch, roll, or throw objects; hitting things to position them; manipulating things whose shapes are not completely known; and integration of manipulation with locomotion. In the future, a broad view of robotics will allow us to focus on fundamental principles and at the same time address a variety of new applications.

  15. Revisiting Mathematics Manipulative Materials

    ERIC Educational Resources Information Center

    Swan, Paul; Marshall, Linda

    2010-01-01

    It is over 12 years since "APMC" published Bob Perry and Peter Howard's research on the use of mathematics manipulative materials in primary mathematics classrooms. Since then the availability of virtual manipulatives and associated access to computers and interactive whiteboards have caused educators to rethink the use of mathematics manipulative…

  16. Direct Manipulation Interfaces.

    ERIC Educational Resources Information Center

    Hutchins, Edwin L.; And Others

    This paper presents a cognitive account of both the advantages and disadvantages of direct manipulation interfaces, i.e., the use of icons to manipulate and interact directly with data rather than writing programs or calling on a set of statistical subroutines. Two underlying phenomena that give rise to the sensation of directness are identified.…

  17. Osteopathic Manipulative Treatment

    PubMed Central

    Campbell, Shannon M.; Walkowski, Stevan

    2012-01-01

    Dermatological diseases, such as dysesthesia syndromes, stasis dermatoses, and hyperhidrosis are difficult to treat due to their complex etiologies. Current theories suggest these diseases are caused by physiological imbalances, such as nerve impingement, localized tissue congestion, and impaired autonomic regulation. Osteopathic manipulative therapy targets these physiological dysfunctions and may serve as a beneficial therapeutic option. Osteopathic manipulative therapy techniques include high velocity low amplitude, muscle energy, counterstrain, myofascial release, craniosacral, and lymphatic drainage. An osteopathic manipulative therapy technique is chosen based on its physiological target for a particular disease. Osteopathic manipulative therapy may be useful alone or in combination with standard therapeutic options. However, due to the lack of standardized trials supporting the efficacy of osteopathic manipulative therapy treatment for dermatological disease, randomized, well-controlled studies are necessary to confirm its therapeutic value. PMID:23125887

  18. Manipulator comparative testing program

    SciTech Connect

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

    1986-01-01

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

  19. Feature expressions: creating and manipulating sequence datasets.

    PubMed

    Fristensky, B

    1993-12-25

    Annotation of features, such as introns, exons and protein coding regions in GenBank/EMBL/DDBJ entries is now standardized through use of the Features Table (FT) language. The essence of the FT language is described by the relation 'expression-->sequence', meaning that each FT expression evaluates to a sequence. For example, the expression M74750:1..50 evaluates to the first 50 bases of the sequence with accession number M74750. Because FT is intrinsic to the database definition, it can serve as a software- and platform-independent lingua franca for sequence manipulation. The XYLEM package makes it possible to create and manipulate sequence datasets using FT expressions. FEATURES is a program that resolves FT expressions into their corresponding sequences. Annotated features can be retrieved either by feature key or by expression. Even unannotated portions of a sequence can be retrieved by user-generated FT expressions. Applications of the FT language include retrieval of subsequences from large sequence entries, generation of chromosome models or artificial DNA constructs, and representation of restriction maps or mutants. PMID:8290362

  20. Analyzing Document Retrievability in Patent Retrieval Settings

    NASA Astrophysics Data System (ADS)

    Bashir, Shariq; Rauber, Andreas

    Most information retrieval settings, such as web search, are typically precision-oriented, i.e. they focus on retrieving a small number of highly relevant documents. However, in specific domains, such as patent retrieval or law, recall becomes more relevant than precision: in these cases the goal is to find all relevant documents, requiring algorithms to be tuned more towards recall at the cost of precision. This raises important questions with respect to retrievability and search engine bias: depending on how the similarity between a query and documents is measured, certain documents may be more or less retrievable in certain systems, up to some documents not being retrievable at all within common threshold settings. Biases may be oriented towards popularity of documents (increasing weight of references), towards length of documents, favour the use of rare or common words; rely on structural information such as metadata or headings, etc. Existing accessibility measurement techniques are limited as they measure retrievability with respect to all possible queries. In this paper, we improve accessibility measurement by considering sets of relevant and irrelevant queries for each document. This simulates how recall oriented users create their queries when searching for relevant information. We evaluate retrievability scores using a corpus of patents from US Patent and Trademark Office.

  1. Connectionist Interaction Information Retrieval.

    ERIC Educational Resources Information Center

    Dominich, Sandor

    2003-01-01

    Discussion of connectionist views for adaptive clustering in information retrieval focuses on a connectionist clustering technique and activation spreading-based information retrieval model using the interaction information retrieval method. Presents theoretical as well as simulation results as regards computational complexity and includes…

  2. Update: Biochemistry of Genetic Manipulation.

    ERIC Educational Resources Information Center

    Barker, G. R.

    1983-01-01

    Various topics on the biochemistry of genetic manipulation are discussed. These include genetic transformation and DNA; genetic expression; DNA replication, repair, and mutation; technology of genetic manipulation; and applications of genetic manipulation. Other techniques employed are also considered. (JN)

  3. Classifying human manipulation behavior.

    PubMed

    Bullock, Ian M; Dollar, Aaron M

    2011-01-01

    This paper presents a taxonomy for detailed classification of human and anthropomorphic manipulation behavior. This hand-centric, motion-centric taxonomy differentiates tasks based on criteria such as object contact, prehension, and the nature of object motion relative to a hand frame. A sub-classification of the most dexterous categories, within-hand manipulation, is also presented, based on the principal axis of object rotation or translation in the hand frame. Principles for categorizing complex, multi-faceted tasks are also presented, along with illustrative examples. We hope that the proposed taxonomy will both establish a standard language around human and anthropomorphic manipulation as well as enable improved understanding of the differences in hand use for a wide variety of behavior. Although designed for human and anthropomorphic hands, the taxonomy might easily be extended to a wide range of robot manipulators and end-effectors. PMID:22275611

  4. Osteopathic Manipulative Treatment

    MedlinePlus

    ... what patients really need is a healing touch. Osteopathic physicians haven't forgotten. Osteopathic manipulative treatment, or OMT, ... and prevent illness or injury. Using OMT, your osteopathic physician will move your muscles and joints using techniques ...

  5. Dielectrophoresis for bioparticle manipulation.

    PubMed

    Qian, Cheng; Huang, Haibo; Chen, Liguo; Li, Xiangpeng; Ge, Zunbiao; Chen, Tao; Yang, Zhan; Sun, Lining

    2014-01-01

    As an ideal method to manipulate biological particles, the dielectrophoresis (DEP) technique has been widely used in clinical diagnosis, disease treatment, drug development, immunoassays, cell sorting, etc. This review summarizes the research in the field of bioparticle manipulation based on DEP techniques. Firstly, the basic principle of DEP and its classical theories are introduced in brief; Secondly, a detailed introduction on the DEP technique used for bioparticle manipulation is presented, in which the applications are classified into five fields: capturing bioparticles to specific regions, focusing bioparticles in the sample, characterizing biomolecular interaction and detecting microorganism, pairing cells for electrofusion and separating different kinds of bioparticles; Thirdly, the effect of DEP on bioparticle viability is analyzed; Finally, the DEP techniques are summarized and future trends in bioparticle manipulation are suggested. PMID:25310652

  6. Dielectrophoresis for Bioparticle Manipulation

    PubMed Central

    Qian, Cheng; Huang, Haibo; Chen, Liguo; Li, Xiangpeng; Ge, Zunbiao; Chen, Tao; Yang, Zhan; Sun, Lining

    2014-01-01

    As an ideal method to manipulate biological particles, the dielectrophoresis (DEP) technique has been widely used in clinical diagnosis, disease treatment, drug development, immunoassays, cell sorting, etc. This review summarizes the research in the field of bioparticle manipulation based on DEP techniques. Firstly, the basic principle of DEP and its classical theories are introduced in brief; Secondly, a detailed introduction on the DEP technique used for bioparticle manipulation is presented, in which the applications are classified into five fields: capturing bioparticles to specific regions, focusing bioparticles in the sample, characterizing biomolecular interaction and detecting microorganism, pairing cells for electrofusion and separating different kinds of bioparticles; Thirdly, the effect of DEP on bioparticle viability is analyzed; Finally, the DEP techniques are summarized and future trends in bioparticle manipulation are suggested. PMID:25310652

  7. Dexterous manipulator flight demonstration

    NASA Technical Reports Server (NTRS)

    Carter, Edward L.

    1989-01-01

    The Dexterous Manipulator Flight Experiment, an outgrowth of the Dexterous End Effector project, is an experiment to demonstrate newly developed equipment and methods that make for a dexterous manipulator which can be used on the Space Shuttle or other space missions. The goals of the project, the objectives of the flight experiment, the experiment equipment, and the tasks to be performed during the demonstration are discussed.

  8. Remote manipulator dynamic simulation

    NASA Technical Reports Server (NTRS)

    Wild, E. C.; Donges, P. K.; Garand, W. A.

    1972-01-01

    A simulator to generate the real time visual scenes required to perform man in the loop investigations of remote manipulator application and design concepts for the space shuttle is described. The simulated remote manipulator consists of a computed display system that uses a digital computer, the electronic scene generator, an operator's station, and associated interface hardware. A description of the capabilities of the implemented simulation is presented. The mathematical models and programs developed for the simulation are included.

  9. Dissociating the "retrieval success" regions of the brain: effects of retrieval delay.

    PubMed

    Huijbers, W; Pennartz, C M A; Daselaar, S M

    2010-01-01

    There is abundant evidence that the hippocampal formation critically supports episodic memory retrieval, the remembering of episodes including contextual details. Yet, a group of other brain regions has also been consistently implicated in successful episodic retrieval. This retrieval success network (RSN) includes the posterior midline region, medial prefrontal cortex (mPFC), and posterior parietal cortex (PPC). Despite these consistent findings, the functional roles of the RSN regions remain poorly understood. Given that vivid remembering leads to high-confidence retrieval decisions, it is unclear whether activity in these regions reflects episodic long-term memory, or is merely associated with retrieval confidence. In order to distinguish between these alternatives, we manipulated study-test delays within the context of a continuous recognition task during fMRI-scanning. The design was based on previous evidence indicating that retrieval at short delays is easier leading to high-evidence mnemonic decisions, whereas retrieval at longer delays is more difficult but also more hippocampus-dependent. Confirming previous findings, we found that retrieval decisions at short delays were more accurate and faster, and that the hippocampus showed greater activity at longer delays. Within the other RSN regions, we found three distinct activation patterns as a function of delay. Similar to the hippocampus, the retrosplenial cortex showed increased activity as a function of retrieval delay. Dorsal PPC and the precuneus showed decreased activity. Finally, the posterior cingulate, medial PFC and ventral PPC showed a V-shaped pattern. These findings support the idea that dorsal PPC and the precuneus are involved in decision-related retrieval processes rather than successful remembering. PMID:19835893

  10. EPALIT: A DATA MANAGEMENT SYSTEM APPLIED TO THE CONTROL AND RETRIEVAL OF TECHNICAL REPORTS

    EPA Science Inventory

    The EPALIT data management system is used by the EPA Environmental Research Laboratory, Gulf Breeze, FL, to preserve and manipulate information in text databases. EPALIT provides the logical resources for data organization, analysis, and retrieval. It is completely interactive an...

  11. Micro manipulator motion control to counteract macro manipulator structural vibrations

    SciTech Connect

    Lew, J.Y.; Trudnowski, D.J.; Evans, M.S.; Bennett, D.W.

    1995-02-01

    Inertial force damping control by micro manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system. The proposed controller, developed using classical control theory, is added to the existing control system. The proposed controller uses real-time measurements of macro manipulator flexibility to adjust the motion of the micro manipulator to counteract structural vibrations. Experimental studies using an existing micro/macro flexible link manipulator testbed demonstrate the effectiveness of the proposed approach to suppression of vibrations in the macro/micro manipulator system using micro-manipulator-based inertial active damping control.

  12. Manipulator comparative testing program

    SciTech Connect

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

    1986-01-01

    The Manipulator Comparative Testing Program compared performance of selected manipulator systems under typical remote handling conditions. The site of testing was the Remote Operations and Maintenance Demonstration Facility operated by the Consolidated Fuel Reprocessing Program of the Oak Ridge National Laboratory. Three experiment examined differences among manipulator systems from the US and Japan. The manipulator systems included the Meidensha BILARM 83A, Central Research Laboratories' (CRL's) Model M-2, and GCA PaR systems Model 6000. Six manipulator and control mode combinations were evaluated: (a) the BILARM in master-slave mode without force reflection; (b) the BILARM in master-slave mode with force reflection; (c) the Model M-2 in master-slave mode without force reflection; (d) the Model M-2 in master-slave mode with force reflection; (e) the BILARM with switchbox controls; and (f) the PaR 6000 with switchbox controls. The experiments also examined differences between master-slave systems with and without force reflections, and differences between master-slave systems and switchbox-controlled systems.

  13. Simulation of robot manipulators

    SciTech Connect

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

    1995-03-01

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

  14. Multilingual information retrieval system

    NASA Astrophysics Data System (ADS)

    Zhou, Hong; Chan, Syin; Lai, Kok-Fung

    1996-11-01

    In this paper, we present an approach in implementing intelligent information retrieval systems. We have constructed a multilingual information system which combines both image and text retrieval. We have developed an English/Chinese text retrieval tool on the WWW, and later incorporated an image retrieval tool based on associated multilingual captions. The system allows the general public to locate and keep abreast of information about Singapore. It has a novel user interface which accepts queries that are expressed in English, Chinese and mixed text into its database. The titles, summaries, URLs and the matching scores of retrieved documents will then be returned, and a thumbnail will be displayed as well if an image document is retrieved.

  15. ELECTRONIC MASTER SLAVE MANIPULATOR

    DOEpatents

    Goertz, R.C.; Thompson, Wm.M.; Olsen, R.A.

    1958-08-01

    A remote control manipulator is described in which the master and slave arms are electrically connected to produce the desired motions. A response signal is provided in the master unit in order that the operator may sense a feel of the object and may not thereby exert such pressures that would ordinarily damage delicate objects. This apparatus will permit the manipulation of objects at a great distance, that may be viewed over a closed TV circuit, thereby permitting a remote operator to carry out operations in an extremely dangerous area with complete safety.

  16. Model based manipulator control

    NASA Technical Reports Server (NTRS)

    Petrosky, Lyman J.; Oppenheim, Irving J.

    1989-01-01

    The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

  17. Vibration control of a manipulator tip on a flexible body

    NASA Technical Reports Server (NTRS)

    Xu, J.; Bainum, P. M.; Li, F.

    1992-01-01

    Vibration control of a rigid manipulator tip on a main flexible uniform beam is examined. It is proposed to add a compensator between the manipulator and the beam to rotate and extend/retrieve the manipulator during the control period. The 2D station-keeping maneuvers within the linear range without gravity and damping are considered. The compensatory open-loop control law, which depends on the amplitudes of the beam's flexible deformations at the connection joint, is synthesized using linear quadratic regulator techniques. After introducing the compensatory control into the system, system control is still stable, and the tip coordinates of the manipulator can be made to closely follow the rigid beam motion, which is assumed to be a desired motion.

  18. Waste retrieval sluicing system data acquisition system acceptance test report

    SciTech Connect

    Bevins, R.R.

    1998-07-31

    This document describes the test procedure for the Project W-320 Tank C-106 Sluicing Data Acquisition System (W-320 DAS). The Software Test portion will test items identified in the WRSS DAS System Description (SD), HNF-2115. Traceability to HNF-2115 will be via a reference that follows in parenthesis, after the test section title. The Field Test portion will test sensor operability, analog to digital conversion, and alarm setpoints for field instrumentation. The W-320 DAS supplies data to assist thermal modeling of tanks 241-C-106 and 241-AY-102. It is designed to be a central repository for information from sources that would otherwise have to be read, recorded, and integrated manually. Thus, completion of the DAS requires communication with several different data collection devices and output to a usable PC data formats. This test procedure will demonstrate that the DAS functions as required by the project requirements stated in Section 3 of the W-320 DAS System Description, HNF-2115.

  19. The influence of retrieval practice on memory and comprehension of science texts

    NASA Astrophysics Data System (ADS)

    Hinze, Scott R.

    The testing effect, where retrieval practice aids performance on later tests, may be a powerful tool for improving learning and retention. Three experiments test the potentials and limitations of retrieval practice for retention and comprehension of the content of science texts. Experiment 1 demonstrated that cued recall of paragraphs, but not fill-in-the-blank tests, improved performance on new memory items. Experiment 2 manipulated test expectancy and extended cued recall benefits to inference items. Test expectancies established prior to retrieval altered processing to either be ineffective (when expecting a memory test) or effective (when expecting an inference test). In Experiment 3, the processing task engaged in during retrieval practice was manipulated. Explanation during retrieval practice led to more effective transfer than free recall instructions, especially when participants were compliant and effective in their explanations. These experiments demonstrate that some, but not all, processing during retrieval practice can influence both memory and understanding of science texts.

  20. Manipulating the Gradient

    ERIC Educational Resources Information Center

    Gaze, Eric C.

    2005-01-01

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

  1. Manipulating Combinatorial Structures.

    ERIC Educational Resources Information Center

    Labelle, Gilbert

    This set of transparencies shows how the manipulation of combinatorial structures in the context of modern combinatorics can easily lead to interesting teaching and learning activities at every level of education from elementary school to university. The transparencies describe: (1) the importance and relations of combinatorics to science and…

  2. Trust versus Manipulation

    ERIC Educational Resources Information Center

    Lewis, Anne C.

    2005-01-01

    This article discusses the issue of trust in the education system. What is different about the issue of trust in the education system is the assault upon it, sometimes overt but most often subtle. There is a difference between strong criticism and willful manipulation. The nation's schools are responding to the former--perhaps too slowly for…

  3. Kinematically redundant robot manipulators

    NASA Technical Reports Server (NTRS)

    Baillieul, J.; Hollerbach, J.; Brockett, R.; Martin, D.; Percy, R.; Thomas, R.

    1987-01-01

    Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

  4. Computer Algebra versus Manipulation

    ERIC Educational Resources Information Center

    Zand, Hossein; Crowe, David

    2004-01-01

    In the UK there is increasing concern about the lack of skill in algebraic manipulation that is evident in students entering mathematics courses at university level. In this note we discuss how the computer can be used to ameliorate some of the problems. We take as an example the calculations needed in three dimensional vector analysis in polar…

  5. Door breaching robotic manipulator

    NASA Astrophysics Data System (ADS)

    Schoenfeld, Erik; Parrington, Lawrence; von Muehlen, Stephan

    2008-04-01

    As unmanned systems become more commonplace in military, police, and other security forces, they are tasked to perform missions that the original hardware was not designed for. Current military robots are built for rough outdoor conditions and have strong inflexible manipulators designed to handle a wide range of operations. However, these manipulators are not well suited for some essential indoor tasks, including opening doors. This is a complicated kinematic task that places prohibitively difficult control challenges on the robot and the operator. Honeybee and iRobot have designed a modular door-breaching manipulator that mechanically simplifies the demands upon operator and robot. The manipulator connects to the existing robotic arm of the iRobot PackBot EOD. The gripper is optimized for grasping a variety of door knobs, levers, and car-door handles. It works in conjunction with a compliant wrist and magnetic lock-out mechanism that allows the wrist to remain rigid until the gripper has a firm grasp of the handle and then bend with its rotation and the swing of the door. Once the door is unlatched, the operator simply drives the robot through the doorway while the wrist compensates for the complex, multiple degree-of-freedom motion of the door. Once in the doorway the operator releases the handle, the wrist pops back into place, and the robot is ready for the next door. The new manipulator dramatically improves a robot's ability to non-destructively breach doors and perform an inspection of a room's content, a capability that was previously out of reach of unmanned systems.

  6. RETRIEVAL EVENTS EVALUATION

    SciTech Connect

    T. Wilson

    1999-11-12

    The purpose of this analysis is to evaluate impacts to the retrieval concept presented in the Design Analysis ''Retrieval Equipment and Strategy'' (Reference 6), from abnormal events based on Design Basis Events (DBE) and Beyond Design Basis Events (BDBE) as defined in two recent analyses: (1) DBE/Scenario Analysis for Preclosure Repository Subsurface Facilities (Reference 4); and (2) Preliminary Preclosure Design Basis Event Calculations for the Monitored Geologic Repository (Reference 5) The objective of this task is to determine what impacts the DBEs and BDBEs have on the equipment developed for retrieval. The analysis lists potential impacts and recommends changes to be analyzed in subsequent design analyses for developed equipment, or recommend where additional equipment may be needed, to allow retrieval to be performed in all DBE or BDBE situations. This analysis supports License Application design and therefore complies with the requirements of Systems Description Document input criteria comparison as presented in Section 7, Conclusions. In addition, the analysis discusses the impacts associated with not using concrete inverts in the emplacement drifts. The ''Retrieval Equipment and Strategy'' analysis was based on a concrete invert configuration in the emplacement drift. The scope of the analysis, as presented in ''Development Plan for Retrieval Events Evaluation'' (Reference 3) includes evaluation and criteria of the following: Impacts to retrieval from the emplacement drift based on DBE/BDBEs, and changes to the invert configuration for the preclosure period. Impacts to retrieval from the main drifts based on DBE/BDBEs for the preclosure period.

  7. Knowledge Retrieval Solutions.

    ERIC Educational Resources Information Center

    Khan, Kamran

    1998-01-01

    Excalibur RetrievalWare offers true knowledge retrieval solutions. Its fundamental technologies, Adaptive Pattern Recognition Processing and Semantic Networks, have capabilities for knowledge discovery and knowledge management of full-text, structured and visual information. The software delivers a combination of accuracy, extensibility,…

  8. Information Retrieval System.

    ERIC Educational Resources Information Center

    Mahle, Jack D., Jr.

    The Fort Detrick Information Retrieval System is a system of computer programs written in COBOL for a CDC 3150 to store and retrieve information about the scientific and technical reports and documents of the Fort Detrick Technical Library. The documents and reports have been abstracted and indexed. This abstract, the subject matter descriptors,…

  9. Efficient Graffiti Image Retrieval

    SciTech Connect

    Yang, Chunlei; Wong, Pak C.; Ribarsky, William; Fan, Jianping

    2012-07-05

    Research of graffiti character recognition and retrieval, as a branch of traditional optical character recognition (OCR), has started to gain attention in recent years. We have investigated the special challenge of the graffiti image retrieval problem and propose a series of novel techniques to overcome the challenges. The proposed bounding box framework locates the character components in the graffiti images to construct meaningful character strings and conduct image-wise and semantic-wise retrieval on the strings rather than the entire image. Using real world data provided by the law enforcement community to the Pacific Northwest National Laboratory, we show that the proposed framework outperforms the traditional image retrieval framework with better retrieval results and improved computational efficiency.

  10. Telerobotic operation of structurally flexible, long-reach manipulators

    SciTech Connect

    Kwon, D.S.; Hwang, D.H.; Babcock, S.M.

    1994-09-01

    As a part of the Department of Energy`s Environmental Restoration and Waste Management Program, long-reach manipulators are being considered for the retrieval of waste from large storage tanks. Long-reach manipulators may have characteristics significantly different from those of typical industrial robots because of the flexibility of long links needed to cover the large workspace. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A new approach that uses embedded simulation was developed and compared with others. In the new approach, generation of joint trajectories considering link flexibility was also investigated.

  11. REMOTELY OPERATED MANIPULATOR

    DOEpatents

    Hutto, E.L.

    1961-08-15

    A manipulator is described for performing, within an entirely enclosed cell containling radioactive materials, various mechanical operations. A rod with flexible fingers is encompassed by a tubular sleeve shorter than the rod. Relative movement between the rod and sleeve causes the fingers to open and close. This relative movement is effected by relative movement of permanent magnets in magnetic coupling relation to magnetic followers affixed to the ends of the rod and sleeve. The rod and its sleeve may be moved as a unit axially or may be rotated by means of the magnetic couplings. The manipulator is enclosed within a tubular member which is flexibly sealed to an opening in the cell. (AEC)

  12. Topological Aspects of Information Retrieval.

    ERIC Educational Resources Information Center

    Egghe, Leo; Rousseau, Ronald

    1998-01-01

    Discusses topological aspects of theoretical information retrieval, including retrieval topology; similarity topology; pseudo-metric topology; document spaces as topological spaces; Boolean information retrieval as a subsystem of any topological system; and proofs of theorems. (LRW)

  13. Computer aided manipulator control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Zawacki, R. L.

    1980-01-01

    This paper describes the hardware and software system of a dedicated mini- and microcomputer network developed at the JPL teleoperator project to aid the operator in real-time control of remote manipulators. The operator can be in series or in parallel with the control computer during operation. The purpose of the project is to develop, demonstrate and evaluate advanced supervisory control concepts and techniques for space applications. The paper concludes with a brief outline of future development plans and issues.

  14. Manipulation of quantum evolution

    NASA Technical Reports Server (NTRS)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

    The free evolution of a non-relativistic charged particle is manipulated using time-dependent magnetic fields. It is shown that the application of a programmed sequence of magnetic pulses can invert the free evolution process, forcing an arbitrary wave packet to 'go back in time' to recover its past shape. The possibility of more general operations upon the Schrodinger wave packet is discussed.

  15. Microradiographic microsphere manipulator

    DOEpatents

    Singleton, Russell M.

    1980-01-01

    A method and apparatus for radiographic characterization of small hollow spherical members (microspheres), constructed of either optically transparent or opaque materials. The apparatus involves a microsphere manipulator which holds a batch of microspheres between two parallel thin plastic films for contact microradiographic characterization or projection microradiography thereof. One plastic film is translated to relative to and parallel to the other to roll the microspheres through any desired angle to allow different views of the microspheres.

  16. MANIPULATOR FOR SLAVE ROBOT

    DOEpatents

    Goertz, R.C.; Grimson, J.H.; Kohut, F.A.

    1961-04-01

    A remote-control manipulator comprising two stationary master units, two slave units on a movable vehicle, and electrical connections between the master and slave units is reported. The slave units are side by side with a minimum over-all width, which is made feasible by an arrangement of transducers producing most movements of each slave unit to one side of the support of said slave unit.

  17. Microradiographic microsphere manipulator

    DOEpatents

    Singleton, R.M.

    A method and apparatus is disclosed for radiographic characterization of small hollow spherical members (microspheres), constructed of either optically transparent or opaque materials. The apparatus involves a microsphere manipulator which holds a batch of microspheres between two parallel thin plastic films for contact microradiographic characterization or projection microradiography thereof. One plastic film is translated relative to and parallel to the other to roll the microspheres through any desired angle to allow different views of the microspheres.

  18. Endocavity Ultrasound Probe Manipulators

    PubMed Central

    Stoianovici, Dan; Kim, Chunwoo; Schäfer, Felix; Huang, Chien-Ming; Zuo, Yihe; Petrisor, Doru; Han, Misop

    2014-01-01

    We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure. PMID:24795525

  19. Endocavity Ultrasound Probe Manipulators.

    PubMed

    Stoianovici, Dan; Kim, Chunwoo; Schäfer, Felix; Huang, Chien-Ming; Zuo, Yihe; Petrisor, Doru; Han, Misop

    2013-06-01

    We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure. PMID:24795525

  20. Welding nozzle position manipulator

    NASA Technical Reports Server (NTRS)

    Gilbert, Jeffrey L. (Inventor); Gutow, David A. (Inventor)

    1994-01-01

    The present invention is directed to a welding nozzle position manipulator. The manipulator consists of an angle support to which the remaining components of the device are attached either directly or indirectly. A pair of pivotal connections attach a weld nozzle holding link to the angle support and provide a two axis freedom of movement of the holding link with respect to the support angle. The manipulator is actuated by a pair of adjusting screws angularly mounted to the angle support. These screws contact a pair of tapered friction surfaces formed on the upper portion of the welding nozzle holding link. A spring positioned between the upper portions of the support angle and the holding link provides a constant bias engagement between the friction surfaces of the holding link and the adjustment screws, so as to firmly hold the link in position and to eliminate any free play in the adjustment mechanism. The angular relationships between the adjustment screws, the angle support and the tapered friction surfaces of the weld nozzle holding link provide a geometric arrangement which permits precision adjustment of the holding link with respect to the angle support and also provides a solid holding link mount which is resistant to movement from outside forces.

  1. Test plan for the retrieval demonstration

    SciTech Connect

    Valentich, D.J.

    1993-05-01

    This test plan describes a simulated buried waste retrieval demonstration that will be performed at the Caterpillar, Inc., Edwards Training Center located near Peoria, Illinois. The purpose of the demonstration is to determine the effectiveness of using readily available excavation equipment to retrieve, size, and handle various simulated waste forms that are similar in size, structure, and composition to those expected to be found in US Department of Energy contaminated waste pits and trenches. The objectives of this demonstration are to: meet and maintain daily production goals of 80 yd{sup 3}/day; minimize spillage and dust generation through careful and deliberate operations; document and evaluate methods for manipulating, sizing, and/or working around large objects; and document and evaluate requirements for operator augmentation and remote operation for hot test pit excavation operations. Four conditions comprising the range of environments to be evaluated include excavation of random material from below grade; stacked boxes and barrels from below grade; random materials from at grade; and stacked boxes and barrels from at grade. Results of the retrieval demonstration will reduce unknowns in the body of knowledge about retrieval equipment and procedural options for removal of buried transuranic (TRU) waste at the Idaho National Engineering Laboratory. It is anticipated that DOE will factor this information into a remedial investigation/feasibility plan leading to a final record of decision for disposition of buried TRU waste.

  2. Retrieval options study

    SciTech Connect

    Not Available

    1980-03-01

    This Retrieval Options Study is part of the systems analysis activities of the Office of Nuclear Waste Isolation to develop the scientific and technological bases for radioactive waste repositories in various geologic media. The study considers two waste forms, high level waste and spent fuel, and defines various classes of waste retrieval and recovery. A methodology and data base are developed which allow the relative evaluation of retrieval and recovery costs and the following technical criteria: safety; technical feasibility; ease of retrieval; probable intact retrieval time; safeguards; monitoring; criticality; and licensability. A total of 505 repository options are defined and the cost and technical criteria evaluated utilizing a combination of facts and engineering judgments. The repositories evaluated are selected combinations of the following parameters: Geologic Media (salt, granite, basalt, shale); Retrieval Time after Emplacement (5 and 25 years); Emplacement Design (nominal hole, large hole, carbon steel canister, corrosion resistant canister, backfill in hole, nominal sleeves, thick wall sleeves); Emplacement Configuration (single vertical, multiple vertical, single horizontal, multiple horizontal, vaults; Thermal Considerations; (normal design, reduced density, once-through ventilation, recirculated ventilation); Room Backfill; (none, run-of-mine, early, 5 year delay, 25 year delay, decommissioned); and Rate of Retrieval; (same as emplacement, variably slower depending on repository/canister condition).

  3. The Oklahoma Geographic Information Retrieval System

    NASA Technical Reports Server (NTRS)

    Blanchard, W. A.

    1982-01-01

    The Oklahoma Geographic Information Retrieval System (OGIRS) is a highly interactive data entry, storage, manipulation, and display software system for use with geographically referenced data. Although originally developed for a project concerned with coal strip mine reclamation, OGIRS is capable of handling any geographically referenced data for a variety of natural resource management applications. A special effort has been made to integrate remotely sensed data into the information system. The timeliness and synoptic coverage of satellite data are particularly useful attributes for inclusion into the geographic information system.

  4. Direct Manipulation and Procedural Reasoning.

    ERIC Educational Resources Information Center

    Owen, David

    Arguing that understanding what lies behind the apparent usability of direct manipulation style interfaces might not only help in building better interfaces, but can also draw attention to possible side effects, this paper uses examples from a prototype data manipulation system to pursue a characterization of direct manipulation interfaces as…

  5. RETRIEVAL EQUIPMENT DESCRIPTIONS

    SciTech Connect

    J. Steinhoff

    1997-08-25

    The objective and the scope of this document are to list and briefly describe the major mobile equipment necessary for waste package (WP) retrieval from the proposed subsurface nuclear waste repository at Yucca Mountain. Primary performance characteristics and some specialized design features of the equipment are explained and summarized in the individual subsections of this document. There are no quality assurance requirements or QA controls in this document. Retrieval under normal conditions is accomplished with the same fleet of equipment as is used for emplacement. Descriptions of equipment used for retrieval under normal conditions is found in Emplacement Equipment Descriptions, DI: BCAF00000-01717-5705-00002 (a document in progress). Equipment used for retrieval under abnormal conditions is addressed in this document and consists of the following: (1) Inclined Plane Hauler; (2) Bottom Lift Transporter; (3) Load Haul Dump (LHD) Loader; (4) Heavy Duty Forklift for Emplacement Drifts; (5) Covered Shuttle Car; (6) Multipurpose Vehicle; and (7) Scaler.

  6. Retrieving Patent Information Online

    ERIC Educational Resources Information Center

    Kaback, Stuart M.

    1978-01-01

    This paper discusses patent information retrieval from online files in terms of types of questions, file contents, coverage, timeliness, and other file variations. CLAIMS, Derwent, WPI, APIPAT and Chemical Abstracts Service are described. (KP)

  7. Information retrieval system

    NASA Technical Reports Server (NTRS)

    Berg, R. F.; Holcomb, J. E.; Kelroy, E. A.; Levine, D. A.; Mee, C., III

    1970-01-01

    Generalized information storage and retrieval system capable of generating and maintaining a file, gathering statistics, sorting output, and generating final reports for output is reviewed. File generation and file maintenance programs written for the system are general purpose routines.

  8. Retrievability Strategy Report

    SciTech Connect

    Gehner, P; Gilstrap, O J; Memory, R D; Wagner, R C

    1997-04-30

    Section 122 of the ''Nuclear Waste Policy Act'' requires that a repository be designed and constructed to permit retrieval of any spent fuel placed in such repository, during an appropriate period of operation of the facility, for one of these reasons: (1) to protect public health and safety, or the environment; and (2) to permit the recovery of the economically valuable contents of such spent fuel. The Act also requires the Secretary to specify an appropriate period of retrievability at the time of the design of a repository. The Secretary has not yet defined any such period. However, the Nuclear Regulatory Commission, in the Code of Federal Regulations Title 10 Part 60.111, requires the design of a geologic repository operations area to allow the retrieval of any or all waste on a reasonable schedule starting at any time up to 50 years after waste operations are initiated. NRC describes a reasonable schedule as one that would permit retrieval in about the same time as it took to construct the repository and emplace the waste. Based on the existing conceptual repository and waste package design and analysis, the Yucca Mountain Project described retrieval operations under normal and abnormal conditions in the 1988 ''Site Characterization Plan (SCP)'' document. In 1991, under the same design assumptions, the Project issued a ''Retrieval Strategy Report for a Potential High-Level Nuclear Waste Repository''. Both the conceptual design of the waste package and the emplacement methods have since changed significantly. This report presents the results of a study to determine whether and to what degree these design and other changes require a revision of the retrieval strategy and, if they do, to recommend a revised strategy. The aim of such a revised strategy was to inform decision makers on how to proceed with design to allow retrievability.

  9. Spatial manipulation with microfluidics.

    PubMed

    Lin, Benjamin; Levchenko, Andre

    2015-01-01

    Biochemical gradients convey information through space, time, and concentration, and are ultimately capable of spatially resolving distinct cellular phenotypes, such as differentiation, proliferation, and migration. How these gradients develop, evolve, and function during development, homeostasis, and various disease states is a subject of intense interest across a variety of disciplines. Microfluidic technologies have become essential tools for investigating gradient sensing in vitro due to their ability to precisely manipulate fluids on demand in well-controlled environments at cellular length scales. This review will highlight their utility for studying gradient sensing along with relevant applications to biology. PMID:25905100

  10. Manipulation of thermal phonons

    NASA Astrophysics Data System (ADS)

    Hsu, Chung-Hao

    Developing materials that can conduct electricity easily, but block the motion of phonons is necessary in the applications of thermoelectric devices, which can generate electricity from temperature differences. In converse, a key requirement as chips get faster is to obtain better ways to dissipate heat. Controlling heat transfer in these crystalline materials devices --- such as silicon --- is important. The heat is actually the motion or vibration of atoms known as phonons. Finding ways to manipulate the behavior of phonons is crucial for both energy applications and the cooling of integrated circuits. A novel class of artificially periodic structured materials --- phononic crystals --- might make manipulation of thermal phonons possible. In many fields of physical sciences and engineering, acoustic wave propagation in solids attracts many researchers. Wave propagation phenomena can be analyzed by mathematically solving the acoustic wave equation. However, wave propagation in inhomogeneous media with various geometric structures is too complex to find an exact solution. Hence, the Finite Difference Time Domain method is developed to investigate these complicated problems. In this work, the Finite-Difference Time-Domain formula is derived from acoustic wave equations based on the Taylor's expansion. The numerical dispersion and stability problems are analyzed. In addition, the convergence conditions of numerical acoustic wave are stated. Based on the periodicity of phononic crystal, the Bloch's theorem is applied to fulfill the periodic boundary condition of the FDTD method. Then a wide-band input signal is used to excite various acoustic waves with different frequencies. In the beginning of the calculation process, the wave vector is chosen and fixed. By means of recording the displacement field and taking the Fourier transformation, we can obtain the eigenmodes from the resonance peaks of the spectrum and draw the dispersion relation curve of acoustic waves

  11. Spatial Manipulation with Microfluidics

    PubMed Central

    Lin, Benjamin; Levchenko, Andre

    2015-01-01

    Biochemical gradients convey information through space, time, and concentration, and are ultimately capable of spatially resolving distinct cellular phenotypes, such as differentiation, proliferation, and migration. How these gradients develop, evolve, and function during development, homeostasis, and various disease states is a subject of intense interest across a variety of disciplines. Microfluidic technologies have become essential tools for investigating gradient sensing in vitro due to their ability to precisely manipulate fluids on demand in well-controlled environments at cellular length scales. This review will highlight their utility for studying gradient sensing along with relevant applications to biology. PMID:25905100

  12. Performance measurement of mobile manipulators

    NASA Astrophysics Data System (ADS)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

    This paper describes a concept for measuring the reproducible performance of mobile manipulators to be used for assembly or other similar tasks. An automatic guided vehicle with an onboard robot arm was programmed to repeatedly move to and stop at a novel, reconfigurable mobile manipulator artifact (RMMA), sense the RMMA, and detect targets on the RMMA. The manipulator moved a laser retroreflective sensor to detect small reflectors that can be reconfigured to measure various manipulator positions and orientations (poses). This paper describes calibration of a multi-camera, motion capture system using a 6 degree-of-freedom metrology bar and then using the camera system as a ground truth measurement device for validation of the reproducible mobile manipulator's experiments and test method. Static performance measurement of a mobile manipulator using the RMMA has proved useful for relatively high tolerance pose estimation and other metrics that support standard test method development for indexed and dynamic mobile manipulator applications.

  13. Repository of not readily available documents for project W-320

    SciTech Connect

    Conner, J.C.

    1997-04-18

    The purpose of this document is to provide a readily available source of the technical reports needed for the development of the safety documentation provided for the waste retrieval sluicing system (WRSS), designed to remove the radioactive and chemical sludge from tank 241-C-106, and transport that material to double-shell tank 241-AY-102 via a new, temporary, shielded, encased transfer line.

  14. Parasites and supernormal manipulation.

    PubMed

    Holen, Ø H; Saetre, G P; Slagsvold, T; Stenseth, N C

    2001-12-22

    Social parasites may exploit their hosts by mimicking other organisms that the hosts normally benefit from investing in or responding to in some other way. Some parasites exaggerate key characters of the organisms they mimic, possibly in order to increase the response from the hosts. The huge gape and extreme begging intensity of the parasitic common cuckoo chick (Cuculus canorus) may be an example. In this paper, the evolutionary stability of manipulating hosts through exaggerated signals is analysed using game theory. Our model indicates that a parasite's signal intensity must be below a certain threshold in order to ensure acceptance and that this threshold depends directly on the rate of parasitism. The only evolutionarily stable strategy (ESS) combination is when hosts accept all signallers and parasites signal at their optimal signal intensity, which must be below the threshold. Supernormal manipulation by parasites is only evolutionarily stable under sufficiently low rates of parasitism. If the conditions for the ESS combination are not satisfied, rejector hosts can invade using signal intensity as a cue for identifying parasites. These qualitative predictions are discussed with respect to empirical evidence from parasitic mimicry systems that have been suggested to involve supernormal signalling, including evicting avian brood parasites and insect-mimicking Ophrys orchids. PMID:11749709

  15. Retrieval with gene queries

    PubMed Central

    Sehgal, Aditya K; Srinivasan, Padmini

    2006-01-01

    Background Accuracy of document retrieval from MEDLINE for gene queries is crucially important for many applications in bioinformatics. We explore five information retrieval-based methods to rank documents retrieved by PubMed gene queries for the human genome. The aim is to rank relevant documents higher in the retrieved list. We address the special challenges faced due to ambiguity in gene nomenclature: gene terms that refer to multiple genes, gene terms that are also English words, and gene terms that have other biological meanings. Results Our two baseline ranking strategies are quite similar in performance. Two of our three LocusLink-based strategies offer significant improvements. These methods work very well even when there is ambiguity in the gene terms. Our best ranking strategy offers significant improvements on three different kinds of ambiguities over our two baseline strategies (improvements range from 15.9% to 17.7% and 11.7% to 13.3% depending on the baseline). For most genes the best ranking query is one that is built from the LocusLink (now Entrez Gene) summary and product information along with the gene names and aliases. For others, the gene names and aliases suffice. We also present an approach that successfully predicts, for a given gene, which of these two ranking queries is more appropriate. Conclusion We explore the effect of different post-retrieval strategies on the ranking of documents returned by PubMed for human gene queries. We have successfully applied some of these strategies to improve the ranking of relevant documents in the retrieved sets. This holds true even when various kinds of ambiguity are encountered. We feel that it would be very useful to apply strategies like ours on PubMed search results as these are not ordered by relevance in any way. This is especially so for queries that retrieve a large number of documents. PMID:16630348

  16. Hydraulic manipulator research at ORNL

    SciTech Connect

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

    1997-03-01

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

  17. A History of Manipulative Therapy

    PubMed Central

    Pettman, Erland

    2007-01-01

    Manipulative therapy has known a parallel development throughout many parts of the world. The earliest historical reference to the practice of manipulative therapy in Europe dates back to 400 BCE. Over the centuries, manipulative interventions have fallen in and out of favor with the medical profession. Manipulative therapy also was initially the mainstay of the two leading alternative health care systems, osteopathy and chiropractic, both founded in the latter part of the 19th century in response to shortcomings in allopathic medicine. With medical and osteopathic physicians initially instrumental in introducing manipulative therapy to the profession of physical therapy, physical therapists have since then provided strong contributions to the field, thereby solidifying the profession's claim to have manipulative therapy within in its legally regulated scope of practice. PMID:19066664

  18. Adaptive control of robotic manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1987-01-01

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

  19. Simple, efficient UHV manipulator

    SciTech Connect

    Thiel, P.A.; Anderegg, J.W.

    1984-10-01

    A simple manipulator is described for use in ultrahigh vacuum. Unhindered rotation within vacuum is provided by a commercial differentially pumped adapter to which the entire XYZ stage is attached. The combination of movements provided by the XYZ stage, the rotating vacuum flange, and a gimbal permits alignment of the sample with any of the peripheral view ports. The resistively heated sample support, mounted through a cold finger, permits rapid variation of sample temperature from several hundred degrees Kelvin to near cryogenic. It is anticipated that this design could be easily used with many existing types of commercial vacuum systems, with the consequent advantage of increased ease and simplicity of both mechanical motion and cryogenic cooling.

  20. Ion manipulation device

    DOEpatents

    Anderson, Gordon A; Smith, Richard D; Ibrahim, Yehia M; Baker, Erin M

    2014-09-16

    An ion manipulation method and device is disclosed. The device includes a pair of substantially parallel surfaces. An array of inner electrodes is contained within, and extends substantially along the length of, each parallel surface. The device includes a first outer array of electrodes and a second outer array of electrodes. Each outer array of electrodes is positioned on either side of the inner electrodes, and is contained within and extends substantially along the length of each parallel surface. A DC voltage is applied to the first and second outer array of electrodes. A RF voltage, with a superimposed electric field, is applied to the inner electrodes by applying the DC voltages to each electrode. Ions either move between the parallel surfaces within an ion confinement area or along paths in the direction of the electric field, or can be trapped in the ion confinement area.

  1. Interactive protein manipulation

    SciTech Connect

    SNCrivelli@lbl.gov

    2003-07-01

    We describe an interactive visualization and modeling program for the creation of protein structures ''from scratch''. The input to our program is an amino acid sequence -decoded from a gene- and a sequence of predicted secondary structure types for each amino acid-provided by external structure prediction programs. Our program can be used in the set-up phase of a protein structure prediction process; the structures created with it serve as input for a subsequent global internal energy minimization, or another method of protein structure prediction. Our program supports basic visualization methods for protein structures, interactive manipulation based on inverse kinematics, and visualization guides to aid a user in creating ''good'' initial structures.

  2. Vacuum tool manipulator

    DOEpatents

    Zollinger, William T.

    1993-01-01

    Apparatus for manipulating a vacuum hose in a reactor vessel comprises a housing with two opposing openings, an arm carried by the housing and deployable from a stowed position essentially completely within the housing to an extended position where the arm extends through the two openings in a generally horizontal position. The arm preferably has a two-fingered gripping device for gripping the vacuum hose but may carry a different end effector such as a grinding wheel. The fingers are opened and closed by one air cylinder. A second air cylinder extends the device. A third air cylinder within the housing pivotally pulls the opposing end of the arm into the housing via a pivoting member pivotally connected between the third air cylinder shaft and the arm.

  3. Vacuum tool manipulator

    DOEpatents

    Zollinger, W.T.

    1993-11-23

    Apparatus for manipulating a vacuum hose in a reactor vessel comprises a housing with two opposing openings, an arm carried by the housing and deployable from a stowed position essentially completely within the housing to an extended position where the arm extends through the two openings in a generally horizontal position. The arm preferably has a two-fingered gripping device for gripping the vacuum hose but may carry a different end effector such as a grinding wheel. The fingers are opened and closed by one air cylinder. A second air cylinder extends the device. A third air cylinder within the housing pivotally pulls the opposing end of the arm into the housing via a pivoting member pivotally connected between the third air cylinder shaft and the arm. 6 figures.

  4. Advanced servo manipulator

    DOEpatents

    Holt, W.E.; Kuban, D.P.; Martin, H.L.

    1988-10-25

    An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member. 41 figs.

  5. Advanced servo manipulator

    DOEpatents

    Holt, William E.; Kuban, Daniel P.; Martin, H. Lee

    1988-01-01

    An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member.

  6. Retrieval Studies with LIDORT

    NASA Technical Reports Server (NTRS)

    Bhartia, P. K. (Technical Monitor); Spurr, Robert J. D.; Chance, K. V.

    2003-01-01

    This short program of LIDORT-based research in atmospheric trace gas retrieval was conducted over the 1 year period 01 July 2002 to 30 June 2003. After consultation with the NASA reporting officer, the first of the two original proposal activities (development of a direct-fitting total O3 column retrieval algorithm with operational capability for GOME data) was replaced by other tasks. The three activities addressed were: (1) Sensitivity studies for column and profile retrieval of NO2 distributions from a new generation of multi-axis ground-based spectrometers; (2) use of the LIDORT-RRS model to determine the effect of inelastic rotational Raman scattering at SBUV wavelengths; (3) an examination of ozone profile weighting functions in the presence of optically thick tropospheric clouds.

  7. Retrievable IVC Square Stent Filter: Experimental Study

    SciTech Connect

    Pavcnik, Dusan; Uchida, Barry T.; Keller, Frederick S.; Corless, Christopher L.; Roesch, Josef

    1999-05-15

    Purpose: In vitro and in vivo evaluation of a new retrievable, home-made, inferior vena cava (IVC) Square stent filter (SSF) with two trapping levels. Methods: In vitro, the SSF was compared in a flow model with the stainless steel Greenfield filter (SGF) for emboli- trapping efficiency by serially passing 300 emboli of 3 and 6 mm in diameter and 15-30 mm in length in each type of filter. Nine swine were used for the in vivo testing of the SSF for deployment and retrievability, emboli-trapping efficiency, stability, and self-centering ability and two were used (total of 11 swine) for testing repositioning and retrievability of the SSF at 2 weeks and for gross and histologic IVC changes at 2 months. Results: In vitro, the SSF and SGF had similar efficiency in trapping large emboli but the SSF had significantly better efficiency than the SGF for trapping all sizes of emboli (91.7% vs 81%), medium size emboli (93% vs 80%), and small emboli (86% vs 69%). Efficiency decreased in both filters from the first to the fifth embolus in each series but was still significantly better for the SSF. With the SSF, 89% of emboli were caught at the primary and 11% at the secondary filtration level. In the nine animals used for acute studies, the SSF was easily placed in all 27 attempts, assumed a central position 26 times, and was easily retrieved in 21 of 22 attempts. One tilted filter needed additional manipulation for retrieval. During emboli injection in five swine, the SSF had 97.2% emboli-trapping efficiency and demonstrated good stability. In the two animals used for longer-term evaluation, the filters were easily retrieved 2 weeks after implantation. Histologic evaluation at 2 months showed neointimal proliferation around the SSF wires in contact with the IVC wall, which was otherwise normal. Conclusion: The SSF is a promising filter. It is easy to place and retrieve, is stable after placement, and has high efficiency for trapping emboli. Promising results justify further

  8. Manipulation hardware for microgravity research

    SciTech Connect

    Herndon, J.N.; Glassell, R.L.; Butler, P.L.; Williams, D.M. ); Rohn, D.A. . Lewis Research Center); Miller, J.H. )

    1990-01-01

    The establishment of permanent low earth orbit occupation on the Space Station Freedom will present new opportunities for the introduction of productive flexible automation systems into the microgravity environment of space. The need for robust and reliable robotic systems to support experimental activities normally intended by astronauts will assume great importance. Many experimental modules on the space station are expected to require robotic systems for ongoing experimental operations. When implementing these systems, care must be taken not to introduce deleterious effects on the experiments or on the space station itself. It is important to minimize the acceleration effects on the experimental items being handled while also minimizing manipulator base reaction effects on adjacent experiments and on the space station structure. NASA Lewis Research Center has been performing research on these manipulator applications, focusing on improving the basic manipulator hardware, as well as developing improved manipulator control algorithms. By utilizing the modular manipulator concepts developed during the Laboratory Telerobotic Manipulator program, Oak Ridge National Laboratory has developed an experimental testbed system called the Microgravity Manipulator, incorporating two pitch-yaw modular positioners to provide a 4 dof experimental manipulator arm. A key feature in the design for microgravity manipulation research was the use of traction drives for torque transmission in the modular pitch-yaw differentials.

  9. Torque-Limiting Manipulation Device

    NASA Technical Reports Server (NTRS)

    Moetteli, John B. (Inventor)

    1999-01-01

    A device for manipulating a workpiece in space includes a fixture, a stanchion assembly, a manipulation mechanism, an actuation mechanism, and a reaction mechanism. The fixture has an end onto which the workpiece affixes. The stanchion assembly has an upper and a lower end. The manipulation mechanism connects the fixture and the upper end of the stanchion assembly. The lower end of the stanchion assembly mounts, via probe and a socket, to a structure. The actuation mechanism operably connects to the manipulation mechanism, and moves the fixture in space. The reaction mechanism provides a point through which force inputs into the actuation mechanism may react.

  10. Manipulating and Visualizing Proteins

    SciTech Connect

    Simon, Horst D.

    2003-12-05

    ProteinShop Gives Researchers a Hands-On Tool for Manipulating, Visualizing Protein Structures. The Human Genome Project and other biological research efforts are creating an avalanche of new data about the chemical makeup and genetic codes of living organisms. But in order to make sense of this raw data, researchers need software tools which let them explore and model data in a more intuitive fashion. With this in mind, researchers at Lawrence Berkeley National Laboratory and the University of California, Davis, have developed ProteinShop, a visualization and modeling program which allows researchers to manipulate protein structures with pinpoint control, guided in large part by their own biological and experimental instincts. Biologists have spent the last half century trying to unravel the ''protein folding problem,'' which refers to the way chains of amino acids physically fold themselves into three-dimensional proteins. This final shape, which resembles a crumpled ribbon or piece of origami, is what determines how the protein functions and translates genetic information. Understanding and modeling this geometrically complex formation is no easy matter. ProteinShop takes a given sequence of amino acids and uses visualization guides to help generate predictions about the secondary structures, identifying alpha helices and flat beta strands, and the coil regions that bind them. Once secondary structures are in place, researchers can twist and turn these pre-configurations until they come up with a number of possible tertiary structure conformations. In turn, these are fed into a computationally intensive optimization procedure that tries to find the final, three-dimensional protein structure. Most importantly, ProteinShop allows users to add human knowledge and intuition to the protein structure prediction process, thus bypassing bad configurations that would otherwise be fruitless for optimization. This saves compute cycles and accelerates the entire process, so

  11. Feedback in Information Retrieval.

    ERIC Educational Resources Information Center

    Spink, Amanda; Losee, Robert M.

    1996-01-01

    As Information Retrieval (IR) has evolved, it has become a highly interactive process, rooted in cognitive and situational contexts. Consequently the traditional cybernetic-based IR model does not suffice for interactive IR or the human approach to IR. Reviews different views of feedback in IR and their relationship to cybernetic and social…

  12. Retrieving Product Documentation Online.

    ERIC Educational Resources Information Center

    Racine, Sam J.; Crandall, Irving B.

    2001-01-01

    Discusses demands users face when searching for information in online libraries of product documentation. Demonstrates how physical libraries provide a helpful metaphor for design. Offers heuristics and a conceptual prototype for facilitating electronic document retrieval. Argues that the search form itself should communicate the way materials are…

  13. Collaborative Information Retrieval.

    ERIC Educational Resources Information Center

    Bruce, Harry; Fidel, Raya

    1999-01-01

    Researchers from the University of Washington, Microsoft Research, Boeing, and Risoe National Laboratory in Denmark have embarked on a project to explore the manifestations of Collaborative Information Retrieval (CIR) in work settings and to propose technological innovations and organizational changes that can support, facilitate, and improve CIR.…

  14. Information Retrieval Techniques.

    ERIC Educational Resources Information Center

    Kantor, Paul B.

    1994-01-01

    Identifies current trends in the automation of indexing, of information retrieval, and of interaction between the system and the users. Topics discussed include location, navigation, and indexing; digital libraries; matching documents to queries; weight of concepts; query structure, including fuzzy sets; algorithms; stemming; clustering; users'…

  15. Music Information Retrieval.

    ERIC Educational Resources Information Center

    Downie, J. Stephen

    2003-01-01

    Identifies MIR (Music Information Retrieval) computer system problems, historic influences, current state-of-the-art, and future MIR solutions through an examination of the multidisciplinary approach to MIR. Highlights include pitch; temporal factors; harmonics; tone; editorial, textual, and bibliographic facets; multicultural factors; locating…

  16. Dropout Retrieval Programs.

    ERIC Educational Resources Information Center

    Salerno, Anne; Fink, Mary

    This paper describes 15 dropout retrieval programs that have components with potential for helping migrant dropout youth return to an educational program. Each profile contains information on eligibility, identification or recruitment method, funding, services, and contacts. In addition, each program is categorized as to type of sponsoring…

  17. OPAC Missing Record Retrieval.

    ERIC Educational Resources Information Center

    Johnson, Karl E.

    1996-01-01

    When the Higher Education Library Information Network of Rhode Island transferred members' bibliographic data into a shared online public access catalog (OPAC), 10% of the University of Rhode Island's monograph records were missing. This article describes the consortium's attempts to retrieve records from the database and the effectiveness of…

  18. Information Retrieval Systems.

    ERIC Educational Resources Information Center

    National Archives and Records Service (GSA), Washington, DC. Office of Records Management.

    Descriptions of representative nonconventional information systems in use today are given in order to provide managers, management analysts, supervisors, and others with ideas as to how they might improve the dissemination, storage, and retrieval of information in their offices. No attempt was made to evaluate the relative merits of the systems…

  19. Information Retrieval by Television.

    ERIC Educational Resources Information Center

    Billowes, C. A.

    1968-01-01

    Bell Canada, the Public School and Collegiate Institute Boards of Ottawa, and the Ontario Institute for Studies in Education are collaborating on an educational television project which will provide a retrieval system that can supply any given program at any time under the control of the classroom teacher. Four schools in Ottawa will participate…

  20. Adaptive MGS Phase Retrieval

    NASA Technical Reports Server (NTRS)

    Basinger, Scott A.; Bikkannavar, Siddarayappa; Cohen, David; Green, Joseph J.; Lou, John; Ohara, Catherine; Redding, David; Shi, Fang

    2008-01-01

    Adaptive MGS Phase Retrieval software uses the Modified Gerchberg-Saxton (MGS) algorithm, an image-based sensing method that can turn any focal plane science instrument into a wavefront sensor, avoiding the need to use external metrology equipment. Knowledge of the wavefront enables intelligent control of active optical systems.

  1. Image Manipulation: Then and Now.

    ERIC Educational Resources Information Center

    Sutton, Ronald E.

    The images of photography have been manipulated almost from the moment of their discovery. The blending together in the studio and darkroom of images not found in actual scenes from life has been a regular feature of modern photography in both art and advertising. Techniques of photograph manipulation include retouching; blocking out figures or…

  2. Modeling Manipulation in Medical Education

    ERIC Educational Resources Information Center

    Dailey, Jason I.

    2010-01-01

    As residents and medical students progress through their medical training, they are presented with multiple instances in which they feel they must manipulate the healthcare system and deceive others in order to efficiently treat their patients. This, however, creates a culture of manipulation resulting in untoward effects on trainees' ethical and…

  3. Coherent manipulation of spin-wave vector for polarization of photons in an atomic ensemble

    SciTech Connect

    Li Shujing; Xu Zhongxiao; Zheng Haiyan; Zhao Xingbo; Wu Yuelong; Wang Hai; Xie Changde; Peng Kunchi

    2011-10-15

    We experimentally demonstrate the manipulation of two orthogonal components of a spin wave in an atomic ensemble. Based on Raman two-photon transition and Larmor spin precession induced by magnetic field pulses, the coherent rotations between the two components of the spin wave are controllably achieved. Successively, the two manipulated spin-wave components are mapped into two orthogonal polarized optical emissions. By measuring Ramsey fringes of the retrieved optical signals, the {pi}/2-pulse fidelity of {approx}96% is obtained. The presented manipulation scheme can be used to build an arbitrary rotation for qubit operations in quantum information processing based on atomic ensembles.

  4. Stereoscopically Observing Manipulative Actions

    PubMed Central

    Ferri, S.; Pauwels, K.; Rizzolatti, G.; Orban, G. A.

    2016-01-01

    The purpose of this study was to investigate the contribution of stereopsis to the processing of observed manipulative actions. To this end, we first combined the factors “stimulus type” (action, static control, and dynamic control), “stereopsis” (present, absent) and “viewpoint” (frontal, lateral) into a single design. Four sites in premotor, retro-insular (2) and parietal cortex operated specifically when actions were viewed stereoscopically and frontally. A second experiment clarified that the stereo-action-specific regions were driven by actions moving out of the frontoparallel plane, an effect amplified by frontal viewing in premotor cortex. Analysis of single voxels and their discriminatory power showed that the representation of action in the stereo-action-specific areas was more accurate when stereopsis was active. Further analyses showed that the 4 stereo-action-specific sites form a closed network converging onto the premotor node, which connects to parietal and occipitotemporal regions outside the network. Several of the specific sites are known to process vestibular signals, suggesting that the network combines observed actions in peripersonal space with gravitational signals. These findings have wider implications for the function of premotor cortex and the role of stereopsis in human behavior. PMID:27252350

  5. Smart Hand For Manipulators

    NASA Astrophysics Data System (ADS)

    Fiorini, Paolo

    1987-10-01

    Sensor based, computer controlled end effectors for mechanical arms are receiving more and more attention in the robotics industry, because commonly available grippers are only adequate for simple pick and place tasks. This paper describes the current status of the research at JPL on a smart hand for a Puma 560 robot arm. The hand is a self contained, autonomous system, capable of executing high level commands from a supervisory computer. The mechanism consists of parallel fingers, powered by a DC motor, and controlled by a microprocessor embedded in the hand housing. Special sensors are integrated in the hand for measuring the grasp force of the fingers, and for measuring forces and torques applied between the arm and the surrounding environment. Fingers can be exercised under position, velocity and force control modes. The single-chip microcomputer in the hand executes the tasks of communication, data acquisition and sensor based motor control, with a sample cycle of 2 ms and a transmission rate of 9600 baud. The smart hand described in this paper represents a new development in the area of end effector design because of its multi-functionality and autonomy. It will also be a versatile test bed for experimenting with advanced control schemes for dexterous manipulation.

  6. Stereoscopically Observing Manipulative Actions.

    PubMed

    Ferri, S; Pauwels, K; Rizzolatti, G; Orban, G A

    2016-08-01

    The purpose of this study was to investigate the contribution of stereopsis to the processing of observed manipulative actions. To this end, we first combined the factors "stimulus type" (action, static control, and dynamic control), "stereopsis" (present, absent) and "viewpoint" (frontal, lateral) into a single design. Four sites in premotor, retro-insular (2) and parietal cortex operated specifically when actions were viewed stereoscopically and frontally. A second experiment clarified that the stereo-action-specific regions were driven by actions moving out of the frontoparallel plane, an effect amplified by frontal viewing in premotor cortex. Analysis of single voxels and their discriminatory power showed that the representation of action in the stereo-action-specific areas was more accurate when stereopsis was active. Further analyses showed that the 4 stereo-action-specific sites form a closed network converging onto the premotor node, which connects to parietal and occipitotemporal regions outside the network. Several of the specific sites are known to process vestibular signals, suggesting that the network combines observed actions in peripersonal space with gravitational signals. These findings have wider implications for the function of premotor cortex and the role of stereopsis in human behavior. PMID:27252350

  7. Risks associated with spinal manipulation.

    PubMed

    Stevinson, Clare; Ernst, Edzard

    2002-05-01

    The aim of this systematic review was to summarize the evidence about the risks of spinal manipulation. Articles were located through searching three electronic databases (MEDLINE, EMBASE, Cochrane Library), contacting experts (n =9), scanning reference lists of relevant articles, and searching departmental files. Reports in any language containing data relating to risks associated with spinal manipulation were included, irrespective of the profession of the therapist. Where available, systematic reviews were used as the basis of this article. All papers were evaluated independently by the authors. Data from prospective studies suggest that minor, transient adverse events occur in approximately half of all patients receiving spinal manipulation. The most common serious adverse events are vertebrobasilar accidents, disk herniation, and cauda equina syndrome. Estimates of the incidence of serious complications range from 1 per 2 million manipulations to 1 per 400,000. Given the popularity of spinal manipulation, its safety requires rigorous investigation. PMID:12015249

  8. W-320 Project thermal modeling

    SciTech Connect

    Sathyanarayana, K., Fluor Daniel Hanford

    1997-03-18

    This report summarizes the results of thermal analysis performed to provide a technical basis in support of Project W-320 to retrieve by sluicing the sludge in Tank 241-C-106 and to transfer into Tank 241-AY-102. Prior theraml evaluations in support of Project W-320 safety analysis assumed the availability of 2000 to 3000 CFM, as provided by Tank Farm Operations, for tank floor cooling channels from the secondary ventilation system. As this flow availability has no technical basis, a detailed Tank 241-AY-102 secondary ventilation and floor coating channel flow model was developed and analysis was performed. The results of the analysis show that only about 150 cfm flow is in floor cooLing channels. Tank 241-AY-102 thermal evaluation was performed to determine the necessary cooling flow for floor cooling channels using W-030 primary ventilation system for different quantities of Tank 241-C-106 sludge transfer into Tank 241-AY-102. These sludge transfers meet different options for the project along with minimum required modification of the ventilation system. Also the results of analysis for the amount of sludge transfer using the current system is presented. The effect of sludge fluffing factor, heat generation rate and its distribution between supernatant and sludge in Tank 241-AY-102 on the amount of sludge transfer from Tank 241-C-106 were evaluated and the results are discussed. Also transient thermal analysis was performed to estimate the time to reach the steady state. For a 2 feet sludge transfer, about 3 months time will be requirad to reach steady state. Therefore, for the purpose of process control, a detailed transient thermal analysis using GOTH Computer Code will be required to determine transient response of the sludge in Tank 241-AY-102. Process control considerations are also discussed to eliminate the potential for a steam bump during retrieval and storage in Tanks 241-C-106 and 241-AY-102 respectively.

  9. Alcohol and Memory: Retrieval Processes

    ERIC Educational Resources Information Center

    Birnbaum, Isabel M.; And Others

    1978-01-01

    The influence of alcohol intoxication on the retrieval of information from memory was investigated in nonalcoholic subjects Intoxicated subjects recalled fewer categories and words within categories. The retrieval stage of memory did not appear to be affected by alcohol. (SW)

  10. Independent Orbiter Assessment (IOA): Analysis of the remote manipulator system

    NASA Technical Reports Server (NTRS)

    Tangorra, F.; Grasmeder, R. F.; Montgomery, A. D.

    1987-01-01

    The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items (PCIs). To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The independent analysis results for the Orbiter Remote Manipulator System (RMS) are documented. The RMS hardware and software are primarily required for deploying and/or retrieving up to five payloads during a single mission, capture and retrieve free-flying payloads, and for performing Manipulator Foot Restraint operations. Specifically, the RMS hardware consists of the following components: end effector; displays and controls; manipulator controller interface unit; arm based electronics; and the arm. The IOA analysis process utilized available RMS hardware drawings, schematics and documents for defining hardware assemblies, components and hardware items. Each level of hardware was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based upon the severity of the effect for each failure mode. Of the 574 failure modes analyzed, 413 were determined to be PCIs.

  11. A manipulator arm for zero-g simulations

    NASA Technical Reports Server (NTRS)

    Brodie, S. B.; Grant, C.; Lazar, J. J.

    1975-01-01

    A 12-ft counterbalanced Slave Manipulator Arm (SMA) was designed and fabricated to be used for resolving the questions of operational applications, capabilities, and limitations for such remote manned systems as the Payload Deployment and Retrieval Mechanism (PDRM) for the shuttle, the Free-Flying Teleoperator System, the Advanced Space Tug, and Planetary Rovers. As a developmental tool for the shuttle manipulator system (or PDRM), the SMA represents an approximate one-quarter scale working model for simulating and demonstrating payload handling, docking assistance, and satellite servicing. For the Free-Flying Teleoperator System and the Advanced Tug, the SMA provides a near full-scale developmental tool for satellite servicing, docking, and deployment/retrieval procedures, techniques, and support equipment requirements. For the Planetary Rovers, it provides an oversize developmental tool for sample handling and soil mechanics investigations. The design of the SMA was based on concepts developed for a 40-ft NASA technology arm to be used for zero-g shuttle manipulator simulations.

  12. Manipulability, force, and compliance analysis for planar continuum manipulators.

    PubMed

    Gravagne, Ian A; Walker, Ian D

    2002-06-01

    Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as one of the foremost analytical tools available to the robotics researcher, and the purpose of this paper is to first formulate, and then to examine, three types of ellipsoids for continuum robots: manipulability, force, and compliance. PMID:12492083

  13. Manipulability, force, and compliance analysis for planar continuum manipulators

    NASA Technical Reports Server (NTRS)

    Gravagne, Ian A.; Walker, Ian D.

    2002-01-01

    Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as one of the foremost analytical tools available to the robotics researcher, and the purpose of this paper is to first formulate, and then to examine, three types of ellipsoids for continuum robots: manipulability, force, and compliance.

  14. Mobile medical image retrieval

    NASA Astrophysics Data System (ADS)

    Duc, Samuel; Depeursinge, Adrien; Eggel, Ivan; Müller, Henning

    2011-03-01

    Images are an integral part of medical practice for diagnosis, treatment planning and teaching. Image retrieval has gained in importance mainly as a research domain over the past 20 years. Both textual and visual retrieval of images are essential. In the process of mobile devices becoming reliable and having a functionality equaling that of formerly desktop clients, mobile computing has gained ground and many applications have been explored. This creates a new field of mobile information search & access and in this context images can play an important role as they often allow understanding complex scenarios much quicker and easier than free text. Mobile information retrieval in general has skyrocketed over the past year with many new applications and tools being developed and all sorts of interfaces being adapted to mobile clients. This article describes constraints of an information retrieval system including visual and textual information retrieval from the medical literature of BioMedCentral and of the RSNA journals Radiology and Radiographics. Solutions for mobile data access with an example on an iPhone in a web-based environment are presented as iPhones are frequently used and the operating system is bound to become the most frequent smartphone operating system in 2011. A web-based scenario was chosen to allow for a use by other smart phone platforms such as Android as well. Constraints of small screens and navigation with touch screens are taken into account in the development of the application. A hybrid choice had to be taken to allow for taking pictures with the cell phone camera and upload them for visual similarity search as most producers of smart phones block this functionality to web applications. Mobile information access and in particular access to images can be surprisingly efficient and effective on smaller screens. Images can be read on screen much faster and relevance of documents can be identified quickly through the use of images contained in

  15. The astronaut and the banana peel: An EVA retriever scenario

    NASA Technical Reports Server (NTRS)

    Shapiro, Daniel G.

    1989-01-01

    To prepare for the problem of accidents in Space Station activities, the Extravehicular Activity Retriever (EVAR) robot is being constructed, whose purpose is to retrieve astronauts and tools that float free of the Space Station. Advanced Decision Systems is at the beginning of a project to develop research software capable of guiding EVAR through the retrieval process. This involves addressing problems in machine vision, dexterous manipulation, real time construction of programs via speech input, and reactive execution of plans despite the mishaps and unexpected conditions that arise in uncontrolled domains. The problem analysis phase of this work is presented. An EVAR scenario is used to elucidate major domain and technical problems. An overview of the technical approach to prototyping an EVAR system is also presented.

  16. Satellite services and orbital retrieval

    NASA Technical Reports Server (NTRS)

    Adornato, R. J.

    1985-01-01

    Within the capabilities of the Space Shuttle Orbiter, a broad range of services which can be made available to the satellite user community as summarized. Payload deployment, close proximity retrieval, and a number of other mission related functions are discussed. The focus here is on close proximity retrieval and retrieval of payloads in higher energy low Earth orbits.

  17. Language Processing in Information Retrieval.

    ERIC Educational Resources Information Center

    Doszkocs, Tamase

    1986-01-01

    Examines role and contributions of natural-language processing in information retrieval and artificial intelligence research in context of large operational information retrieval systems and services. State-of-the-art information retrieval systems combining the functional capabilities of conventional inverted file term adjacency approach with…

  18. Direct Manipulation in Virtual Reality

    NASA Technical Reports Server (NTRS)

    Bryson, Steve

    2003-01-01

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

  19. Practical quantum retrieval games

    NASA Astrophysics Data System (ADS)

    Arrazola, Juan Miguel; Karasamanis, Markos; Lütkenhaus, Norbert

    2016-06-01

    Complex cryptographic protocols are often constructed from simpler building blocks. In order to advance quantum cryptography, it is important to study practical building blocks that can be used to develop new protocols. An example is quantum retrieval games (QRGs), which have broad applicability and have already been used to construct quantum money schemes. In this work, we introduce a general construction of quantum retrieval games based on the hidden matching problem and show how they can be implemented in practice using available technology. More precisely, we provide a general method to construct (1-out-of-k ) QRGs, proving that their cheating probabilities decrease exponentially in k . In particular, we define QRGs based on coherent states of light, which can be implemented even in the presence of experimental imperfections. Our results constitute a tool in the arsenal of the practical quantum cryptographer.

  20. Context change and retrieval difficulty in the list-before-last paradigm.

    PubMed

    Sahakyan, Lili; Hendricks, Hannah E

    2012-08-01

    Using the "list-before-last" paradigm (Jang & Huber, Journal of Experimental Psychology: Learning, Memory, and Cognition, 34, 112-127, 2008; Shiffrin, Science, 168, 1601-1603, 1970), we examined whether the difficulty involved in retrieving a previously studied list affects the recall of the current list. Participants studied three lists (L1, L2, and L3), and between L2 and L3 study they either engaged in retrieval of L1 or solved math problems for the same duration of time. After L3 encoding, all participants recalled L2. We examined accurate recall of L2, intrusions from L3, and also the first-response function from L2 across all four experiments. In Experiments 1 and 2, retrieval difficulty was manipulated by presenting participants with variable numbers of letter cues for the L1 words, with some participants receiving more cues than others. In Experiment 1, L1 and L2 words shared the first two letters in common to create potential item interference, whereas in Experiment 2, they did not share common cues. In Experiments 3 and 4, we manipulated retrieval difficulty using a delay manipulation-L1 was encoded 1, 24, or 72 h prior to the session during which L2 and L3 were encoded. In Experiment 3, L1 retrieval involved a cued recall test, whereas in Experiment 4, it involved a free recall test. The results of all of these experiments showed that, as compared to solving math problems, retrieving L1 led to forgetting of L2, reduced intrusions from L3, and reduced first-response functions from L2. However, all of the dependent measures were invariant across the various manipulations of retrieval difficulty. We discuss the results in terms of the context-change interpretation of prior-list retrieval. PMID:22391953

  1. Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator

    PubMed Central

    Katzschmann, Robert K.; Marchese, Andrew D.

    2015-01-01

    Abstract This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multilayer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities. PMID:27625916

  2. Satellite retrieval system

    NASA Technical Reports Server (NTRS)

    Pruett, E. C.; Robertson, K. B.; Loughead, T. E. (Inventor)

    1983-01-01

    A satellite retrieval system with first and second pairs of coacting parallel bars are separately mounted in spaced parallel planes on the front of a spacecraft. The bars of one pair are at right angles to bars of the other pair, and together the two pairs of bars effect a variable aperture adapted to close around a rod extending from a second spacecraft to effect the capture of the latter.

  3. Magnetic junk retriever

    SciTech Connect

    Moseley, M.D.

    1980-10-07

    An improved magnetic junk retriever arranged to magnetize a drill bit just prior to its removal from the bottom of the well bore. A wound, electromagnet subassembly is connected between the drill bit and the drill collar. A battery-pack tool is used to energize the electromagnet by lowering the tool through the bore of the drill pipe and collars to contact pins projecting into the bore of the sub. Energizing the electromagnet causes the drill bit to be magnetized.

  4. REMOTE RETRIEVING TOOL

    DOEpatents

    Fromm, L.W. Jr.

    1958-08-19

    A retrieving tool is described to securely grasp an object for emplacement in, or withdrawal from, an elongated tube. The object is grasped by hooks actuated by a wedge and cann mechanism. The mechanism on the end of a long rodlike structure is controlled by levers or bars at the access end of the tube. This device is particularly useful for positioning fuel elements within a reactor core.

  5. Retrievable Inferior Vena Cava Filters: Factors that Affect Retrieval Success

    SciTech Connect

    Geisbuesch, Philipp Benenati, James F.; Pena, Constantino S.; Couvillon, Joseph; Powell, Alex; Gandhi, Ripal; Samuels, Shaun; Uthoff, Heiko

    2012-10-15

    Purpose: To report and analyze the indications, procedural success, and complications of retrievable inferior vena cava filters (rIVCF) placement and to identify parameters that influence retrieval attempt and failure. Methods: Between January 2005 and December 2010, a total of 200 patients (80 men, median age 67 years, range 11-95 years) received a rIVCF with the clinical possibility that it could be removed. All patients with rIVCF were prospectively entered into a database and followed until retrieval or a decision not to retrieve the filter was made. A retrospective analysis of this database was performed. Results: Sixty-one percent of patients had an accepted indication for filter placement; 39% of patients had a relative indication. There was a tendency toward a higher retrieval rate in patients with relative indications (40% vs. 55%, P = 0.076). Filter placement was technically successful in all patients, with no procedure-related mortality. The retrieval rate was 53%. Patient age of >80 years (odds ratio [OR] 0.056, P > 0.0001) and presence of malignancy (OR 0.303, P = 0.003) was associated with a significantly reduced probability for attempted retrieval. Retrieval failure occurred in 7% (6 of 91) of all retrieval attempts. A time interval of > 90 days between implantation and attempted retrieval was associated with retrieval failure (OR 19.8, P = 0.009). Conclusions: Patient age >80 years and a history of malignancy are predictors of a reduced probability for retrieval attempt. The rate of retrieval failure is low and seems to be associated with a time interval of >90 days between filter placement and retrieval.

  6. Manipulator control by exact linearization

    NASA Technical Reports Server (NTRS)

    Kruetz, K.

    1987-01-01

    Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.

  7. Kinematic sensitivity of robot manipulators

    NASA Technical Reports Server (NTRS)

    Vuskovic, Marko I.

    1989-01-01

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

  8. JURASSIC Retrieval Processing

    NASA Astrophysics Data System (ADS)

    Blank, J.; Ungermann, J.; Guggenmoser, T.; Kaufmann, M.; Riese, M.

    2012-04-01

    The Gimballed Limb Observer for Radiance Imaging in the Atmosphere (GLORIA) is an aircraft based infrared limb-sounder. This presentation will give an overview of the retrieval techniques used for the analysis of data produced by the GLORIA instrument. For data processing, the JUelich RApid Spectral SImulation Code 2 (JURASSIC2) was developed. It consists of a set of programs to retrieve atmospheric profiles from GLORIA measurements. The GLORIA Michelson interferometer can run with a wide range of parameters. In the dynamics mode, spectra are generate with a medium spectral and a very high temporal and spatial resolution. Each sample can contain thousands of spectral lines for each contributing trace gas. In the JURASSIC retrieval code this is handled by using a radiative transport model based on the Emissivity Growth Approximation. Deciding which samples should be included in the retrieval is a non-trivial task and requires specific domain knowledge. To ease this problem we developed an automatic selection program by analysing the Shannon information content. By taking into account data for all relevant trace gases and instrument effects, optimal integrated spectral windows are computed. This includes considerations for cross-influence of trace gases, which has non-obvious consequence for the contribution of spectral samples. We developed methods to assess the influence of spectral windows on the retrieval. While we can not exhaustively search the whole range of possible spectral sample combinations, it is possible to optimize information content using a genetic algorithm. The GLORIA instrument is mounted with a viewing direction perpendicular to the flight direction. A gimbal frame makes it possible to move the instrument 45° to both direction. By flying on a circular path, it is possible to generate images of an area of interest from a wide range of angles. These can be analyzed in a 3D-tomographic fashion, which yields superior spatial resolution along line of

  9. Hypermnesia: the role of multiple retrieval cues.

    PubMed

    Otani, H; Widner, R L; Whiteman, H L; St Louis, J P

    1999-09-01

    We demonstrate that encoding multiple cues enhances hypermnesia. College students were presented with 36 (Experiment 1) or 60 (Experiments 2 and 3) sets of words and were asked to encode the sets under single- or multiple-cue conditions. In the single-cue conditions, each set consisted of a cue and a target. In the multiple-cue conditions, each set consisted of three cues and a target. Following the presentation of the word sets, the participants received either three cued recall tests (Experiments 1 and 2) or three free recall tests (Experiment 3). With this manipulation, we observed greater hypermnesia in the multiple-cue conditions than in the single-cue conditions. Furthermore, the greater hypermnesic recall resulted from increased reminiscence rather than reduced intertest forgetting. The present findings support the hypothesis that the availability of multiple retrieval cues plays an important role in hypermnesia. PMID:10540821

  10. Building Fractal Models with Manipulatives.

    ERIC Educational Resources Information Center

    Coes, Loring

    1993-01-01

    Uses manipulative materials to build and examine geometric models that simulate the self-similarity properties of fractals. Examples are discussed in two dimensions, three dimensions, and the fractal dimension. Discusses how models can be misleading. (Contains 10 references.) (MDH)

  11. Machine intelligence for autonomous manipulation.

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.

    1973-01-01

    Survey of the present technological development status of machine intelligence for autonomous manipulation in the U.S., Japan, USSR, and England. The extent of task-performance autonomy is examined that machine intelligence gives the manipulator by eliminating the need for a human operator to close continuously the control loop, or to rewrite control programs for each different task. Surveyed research projects show that the development of some advanced automation systems for manipulator control are within the state of the art. Yet, many more realistic breadboard systems and experimental work are needed before further progress can be made in the design of advanced automation systems for manipulator control suitable for new major practical applications. Specific research areas of promise are pointed out.

  12. Optodynamic description of optical manipulation

    NASA Astrophysics Data System (ADS)

    Požar, Tomaž; Možina, Janez

    2015-08-01

    Optodynamics treats optical manipulation as a superposition of time-developing wave motion induced by a light-matter interaction. When an opaque solid object is manipulated by a pulse of light, various types of mechanical waves are launched from the illuminated surface: ablation-induced waves (AIWs) resulting from material recoil, thermoelastic waves (TEWs), and the light-pressure-induced waves (LIWs) emanating exclusively due to radiation pressure. The manipulated object's boundaries experience staircase-like displacements with discrete steps caused either by AIWs or LIWs each time these waves are reflected from the interfaces. On the contrary, TEWs cannot translate the center of mass of the manipulated object, but their presence can be inferred from the transient, bi-polar displacements around the equilibrium position.

  13. Chaos motion in robot manipulators

    NASA Technical Reports Server (NTRS)

    Lokshin, A.; Zak, M.

    1987-01-01

    It is shown that a simple two-link planar manipulator exhibits a phenomenon of global instability in a subspace of its configuration space. A numerical example, as well as results of a graphic simulation, is given.

  14. Task Board Tests Manipulator Performance

    NASA Technical Reports Server (NTRS)

    Hill, J. W.

    1983-01-01

    Task board constructed to facilitate time-and-motion studies for remote manipulators. Apparatus equipped with holes, objects of various shapes to be grasped and sensors with switches to indicate contact. Useful in industrial robots programmed to assemble parts.

  15. Guenter Tulip Filter Retrieval Experience: Predictors of Successful Retrieval

    SciTech Connect

    Turba, Ulku Cenk Arslan, Bulent Meuse, Michael Sabri, Saher; Macik, Barbara Gail

    2010-08-15

    We report our experience with Guenter Tulip filter placement indications, retrievals, and procedural problems, with emphasis on alternative retrieval techniques. We have identified 92 consecutive patients in whom a Guenter Tulip filter was placed and filter removal attempted. We recorded patient demographic information, filter placement and retrieval indications, procedures, standard and nonstandard filter retrieval techniques, complications, and clinical outcomes. The mean time to retrieval for those who experienced filter strut penetration was statistically significant [F(1,90) = 8.55, p = 0.004]. Filter strut(s) IVC penetration and successful retrieval were found to be statistically significant (p = 0.043). The filter hook-IVC relationship correlated with successful retrieval. A modified guidewire loop technique was applied in 8 of 10 cases where the hook appeared to penetrate the IVC wall and could not be engaged with a loop snare catheter, providing additional technical success in 6 of 8 (75%). Therefore, the total filter retrieval success increased from 88 to 95%. In conclusion, the Guenter Tulip filter has high successful retrieval rates with low rates of complication. Additional maneuvers such as a guidewire loop method can be used to improve retrieval success rates when the filter hook is endothelialized.

  16. Hanford Tanks Initiative fiscal year 1997 retrieval technology demonstrations

    SciTech Connect

    Berglin, E.J.

    1998-02-05

    The Hanford Tanks Initiative was established in 1996 to address a range of retrieval and closure issues associated with radioactive and hazardous waste stored in Hanford`s single shell tanks (SSTs). One of HTI`s retrieval goals is to ``Successfully demonstrate technology(s) that provide expanded capabilities beyond past practice sluicing and are extensible to retrieve waste from other SSTS.`` Specifically, HTI is to address ``Alternative technologies to past practice sluicing`` ... that can ... ``successfully remove the hard heel from a sluiced tank or to remove waste from a leaking SST`` (HTI Mission Analysis). During fiscal year 1997, the project contracted with seven commercial vendor teams to demonstrate retrieval technologies using waste simulants. These tests were conducted in two series: three integrated tests (IT) were completed in January 1997, and four more comprehensive Alternative Technology Retrieval Demonstrations (ARTD) were completed in July 1997. The goal of this testing was to address issues to minimize the risk, uncertainties, and ultimately the overall cost of removing waste from the SSTS. Retrieval technologies can be separated into three tracks based on how the tools would be deployed in the tank: globally (e.g., sluicing) or using vehicles or robotic manipulators. Accordingly, the HTI tests included an advanced sluicer (Track 1: global systems), two different vehicles (Track 2: vehicle based systems), and three unique manipulators (Track 3: arm-based systems), each deploying a wide range of dislodging tools and conveyance systems. Each industry team produced a system description as envisioned for actual retrieval and a list of issues that could prevent using the described system; defined the tests to resolve the issues; performed the test; and reported the results, lessons learned, and state of issue resolution. These test reports are cited in this document, listed in the reference section, and summarized in the appendices. This report

  17. Identification and optogenetic manipulation of memory engrams in the hippocampus

    PubMed Central

    Ramirez, Steve; Tonegawa, Susumu; Liu, Xu

    2014-01-01

    With the accumulation of our knowledge about how memories are formed, consolidated, retrieved, and updated, neuroscience is now reaching a point where discrete memories can be identified and manipulated at rapid timescales. Here, we start with historical studies that lead to the modern memory engram theory. Then, we will review recent advances in memory engram research that combine transgenic and optogenetic approaches to reveal the underlying neuronal substrates sufficient for activating mnemonic processes. We will focus on three concepts: (1) isolating memory engrams at the level of single cells to tag them for subsequent manipulation; (2) testing the sufficiency of these engrams for memory recall by artificially activating them; and (3) presenting new stimuli during the artificial activation of these engrams to induce an association between the two to form a false memory. We propose that hippocampal cells that show activity-dependent changes during learning construct a cellular basis for contextual memory engrams. PMID:24478647

  18. Manipulating stored images with phase imprinting at low light levels.

    PubMed

    Zhao, L; Yang, Guojian; Duan, Wenhui

    2012-07-15

    Coherent manipulation of stored images is performed at low light levels based on enhanced cross-Kerr nonlinearity in a four-level N-type electromagnetically induced transparency (EIT) system. Using intensity masks in the signal pulse, quadratic phase shifts with low nonlinear absorption can be efficiently imprinted on the Fraunhofer diffraction patterns already stored in the EIT system. Fast-Fourier-transform-based numerical simulations clearly demonstrate that the far-field images of the retrieved probe light can be flexibly modulated by applying different signal fields. Our studies could help advance the goals of nonlinear all-optical processing for spatial information coherently stored in EIT systems. PMID:22825156

  19. Autonomous Phase Retrieval Calibration

    NASA Technical Reports Server (NTRS)

    Estlin, Tara A.; Chien, Steve A.; Castano, Rebecca; Gaines, Daniel M.; Doubleday, Joshua R.; Schoolcraft, Josua B.; Oyake, Amalaye; Vaughs, Ashton G.; Torgerson, Jordan L.

    2011-01-01

    The Palomar Adaptive Optics System actively corrects for changing aberrations in light due to atmospheric turbulence. However, the underlying internal static error is unknown and uncorrected by this process. The dedicated wavefront sensor device necessarily lies along a different path than the science camera, and, therefore, doesn't measure the true errors along the path leading to the final detected imagery. This is a standard problem in adaptive optics (AO) called "non-common path error." The Autonomous Phase Retrieval Calibration (APRC) software suite performs automated sensing and correction iterations to calibrate the Palomar AO system to levels that were previously unreachable.

  20. Music retrieval in ICOR

    NASA Astrophysics Data System (ADS)

    Finsterle, Lutz; Fischer, Stephan; Rimac, Ivica; Steinmetz, Ralf

    1999-08-01

    In this paper we describe music retrieval in ICOR, a project of Darmstadt TU. It is the goal of ICOR to find new interfaces to support applications of music video and music CDs. Although the project consists of audio and video analysis we concentrate on a description of the audio algorithms in this paper. We describe our MPEG-7 like data structure to store meta information for music pieces and explain which algorithms we use to analyze the content of music pieces automatically. We currently use an applause detection to distinguish live music from studio recordings, a genre classifier to distinguish pieces with beats form classical music, and a singer recognition.

  1. 2. VIEW OF INTERIOR OF XY RETRIEVER. THE XY RETRIEVER ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    2. VIEW OF INTERIOR OF X-Y RETRIEVER. THE X-Y RETRIEVER WAS HOUSED IN MODULE K AND WAS USED TO SORT AND RETRIEVE PLUTONIUM METAL FROM A STORAGE VAULT FOR DISTRIBUTION TO OTHER PROCESSES IN BUILDING 707. (11/29/88) - Rocky Flats Plant, Plutonium Manufacturing Facility, North-central section of Plant, just south of Building 776/777, Golden, Jefferson County, CO

  2. Enhancing visuospatial learning: the benefit of retrieval practice.

    PubMed

    Kang, Sean H K

    2010-12-01

    Studies examining the beneficial effect of testing on memory have relied almost exclusively on verbal materials. Whether testing can improve the learning of novel, abstract visuospatial information was investigated, using Chinese characters as study stimuli. Subjects with no prior Chinese language experience studied English words paired with their Chinese equivalents. Subsequently, they either restudied the pairs twice or attempted to retrieve covertly the Chinese characters twice (with feedback provided afterward). The durations of the study and the retrieval/feedback trials were equated. On a final test given after 10 min (Experiment 1) or 24 h (Experiment 2), the subjects who had practiced retrieval were more accurate at writing/drawing the Chinese characters than were those who had studied repeatedly. The same result was replicated when learning condition was manipulated within subjects (Experiment 3). In predictions of future performance made after training, however, the subjects seemed unaware that retrieval practice was more effective than repeated studying. Testing enhances visuospatial learning, with potential implications for learning a foreign language that uses a writing script different from one's language: Repeated retrieval from memory trumps repeated studying. PMID:21156865

  3. A novel UCS memory retrieval-extinction procedure to inhibit relapse to drug seeking

    PubMed Central

    Luo, Yi-xiao; Xue, Yan-xue; Liu, Jian-feng; Shi, Hai-shui; Jian, Min; Han, Ying; Zhu, Wei-li; Bao, Yan-ping; Wu, Ping; Ding, Zeng-bo; Shen, Hao-wei; Shi, Jie; Shaham, Yavin; Lu, Lin

    2015-01-01

    We recently reported that a conditioned stimulus (CS) memory retrieval-extinction procedure decreases reinstatement of cocaine and heroin seeking in rats and heroin craving in humans. Here we show that non-contingent cocaine or methylphenidate injections (UCS retrieval) 1 h before the extinction sessions decreases cocaine-priming-induced reinstatement, spontaneous recovery, and renewal of cocaine seeking in rats. Unlike the CS-based memory retrieval-extinction procedure, the UCS memory retrieval manipulation decreases renewal and reinstatement of cocaine seeking in the presence of cocaine cues that were not present during extinction training and also decreases cocaine seeking when the procedure commences after 28 days of abstinence. The inhibitory effect of the UCS retrieval manipulation on cocaine-priming-induced reinstatement is mediated by regulation of AMPA-receptor endocytosis in the basolateral amygdala. The UCS memory retrieval-extinction procedure has superior relapse prevention characteristics than the CS memory retrieval-extinction procedure and could be a promising method for decreasing relapse in human addicts. PMID:26169171

  4. Enhanced Information Retrieval Using AJAX

    NASA Astrophysics Data System (ADS)

    Kachhwaha, Rajendra; Rajvanshi, Nitin

    2010-11-01

    Information Retrieval deals with the representation, storage, organization of, and access to information items. The representation and organization of information items should provide the user with easy access to the information with the rapid development of Internet, large amounts of digitally stored information is readily available on the World Wide Web. This information is so huge that it becomes increasingly difficult and time consuming for the users to find the information relevant to their needs. The explosive growth of information on the Internet has greatly increased the need for information retrieval systems. However, most of the search engines are using conventional information retrieval systems. An information system needs to implement sophisticated pattern matching tools to determine contents at a faster rate. AJAX has recently emerged as the new tool such the of information retrieval process of information retrieval can become fast and information reaches the use at a faster pace as compared to conventional retrieval systems.

  5. Mobile camera-space manipulation

    NASA Technical Reports Server (NTRS)

    Seelinger, Michael J. (Inventor); Yoder, John-David S. (Inventor); Skaar, Steven B. (Inventor)

    2001-01-01

    The invention is a method of using computer vision to control systems consisting of a combination of holonomic and nonholonomic degrees of freedom such as a wheeled rover equipped with a robotic arm, a forklift, and earth-moving equipment such as a backhoe or a front-loader. Using vision sensors mounted on the mobile system and the manipulator, the system establishes a relationship between the internal joint configuration of the holonomic degrees of freedom of the manipulator and the appearance of features on the manipulator in the reference frames of the vision sensors. Then, the system, perhaps with the assistance of an operator, identifies the locations of the target object in the reference frames of the vision sensors. Using this target information, along with the relationship described above, the system determines a suitable trajectory for the nonholonomic degrees of freedom of the base to follow towards the target object. The system also determines a suitable pose or series of poses for the holonomic degrees of freedom of the manipulator. With additional visual samples, the system automatically updates the trajectory and final pose of the manipulator so as to allow for greater precision in the overall final position of the system.

  6. High precision redundant robotic manipulator

    DOEpatents

    Young, K.K.D.

    1998-09-22

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

  7. High precision redundant robotic manipulator

    DOEpatents

    Young, Kar-Keung David

    1998-01-01

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

  8. EM-21 Retrieval Knowledge Center: Waste Retrieval Challenges

    SciTech Connect

    Fellinger, Andrew P.; Rinker, Michael W.; Berglin, Eric J.; Minichan, Richard L.; Poirier, Micheal R.; Gauglitz, Phillip A.; Martin, Bruce A.; Hatchell, Brian K.; Saldivar, Eloy; Mullen, O Dennis; Chapman, Noel F.; Wells, Beric E.; Gibbons, Peter W.

    2009-04-10

    EM-21 is the Waste Processing Division of the Office of Engineering and Technology, within the U.S. Department of Energy’s (DOE) Office of Environmental Management (EM). In August of 2008, EM-21 began an initiative to develop a Retrieval Knowledge Center (RKC) to provide the DOE, high level waste retrieval operators, and technology developers with centralized and focused location to share knowledge and expertise that will be used to address retrieval challenges across the DOE complex. The RKC is also designed to facilitate information sharing across the DOE Waste Site Complex through workshops, and a searchable database of waste retrieval technology information. The database may be used to research effective technology approaches for specific retrieval tasks and to take advantage of the lessons learned from previous operations. It is also expected to be effective for remaining current with state-of-the-art of retrieval technologies and ongoing development within the DOE Complex. To encourage collaboration of DOE sites with waste retrieval issues, the RKC team is co-led by the Savannah River National Laboratory (SRNL) and the Pacific Northwest National Laboratory (PNNL). Two RKC workshops were held in the Fall of 2008. The purpose of these workshops was to define top level waste retrieval functional areas, exchange lessons learned, and develop a path forward to support a strategic business plan focused on technology needs for retrieval. The primary participants involved in these workshops included retrieval personnel and laboratory staff that are associated with Hanford and Savannah River Sites since the majority of remaining DOE waste tanks are located at these sites. This report summarizes and documents the results of the initial RKC workshops. Technology challenges identified from these workshops and presented here are expected to be a key component to defining future RKC-directed tasks designed to facilitate tank waste retrieval solutions.

  9. Influence of retrieval mode on effects of production: Evidence for costs in free recall.

    PubMed

    Mama, Yaniv; Icht, Michal

    2016-06-01

    Study modality (visual, auditory) of words as well as production mode (reading aloud, writing down) have been shown to influence the production effect (PE). When study words are presented visually, reading them aloud yields superior memory. However, when the same study words are presented aurally, writing them down leads to superior memory. Missing in PE studies is the variable of retrieval mode (written, aloud), which was addressed in the present study. In a pair of experiments, we manipulated the 3 variables-study modality, production mode, and retrieval mode-in a factorial fashion. With visual study, aloud production mode (vocalizing) was found to be superior to written production, in both retrieval modes (written and aloud). However, the difference between the productions was significantly smaller in the aloud retrieval mode relative to the written retrieval mode. With auditory study, written production mode was superior to aloud production mode, in the written as well as in the aloud retrieval modes. Here, the difference between the productions was significantly smaller in the written relative to the aloud retrieval mode. In other words, the difference between productions was smaller for the retrieval mode that matched the superior production. We interpret these findings using a retrieval-cost account. (PsycINFO Database Record PMID:27244359

  10. Learning Area and Perimeter with Virtual Manipulatives

    ERIC Educational Resources Information Center

    Bouck, Emily; Flanagan, Sara; Bouck, Mary

    2015-01-01

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

  11. Manipulation strategies for massive space payloads

    NASA Technical Reports Server (NTRS)

    Book, Wayne J.

    1991-01-01

    Motion planning and control for the joints of flexible manipulators are discussed. Specific topics covered include control of a flexible braced manipulator, control of a small working robot on a large flexible manipulator to suppress vibrations, control strategies for ensuring cooperation among disparate manipulators, and motion planning for robots in free-fall.

  12. Mapping and Manipulating Facial Expression

    PubMed Central

    Theobald, Barry-John; Matthews, Iain; Mangini, Michael; Spies, Jeffrey R.; Brick, Timothy R.; Cohn, Jeffrey F.; Boker, Steven M.

    2009-01-01

    Non-verbal visual cues accompany speech to supplement the meaning of spoken words, signify emotional state, indicate position in discourse, and provide back-channel feedback. This visual information includes head movements, facial expressions and body gestures. In this paper we describe techniques for manipulating both verbal and non-verbal facial gestures in video sequences of people engaged in conversation. We are developing a system for use in psychological experiments, where the effects of manipulating individual components of non-verbal visual behaviour during live face-to-face conversation can be studied. In particular, the techniques we describe operate in real-time at video frame-rate and the manipulation can be applied so both participants in a conversation are kept blind to the experimental conditions. PMID:19624037

  13. A grid quality manipulation system

    NASA Technical Reports Server (NTRS)

    Lu, Ning; Eiseman, Peter R.

    1991-01-01

    A grid quality manipulation system is described. The elements of the system are the measures by which quality is assessed, the computer graphic display of those measures, and the local grid manipulation to provide a response to the viewed quality indication. The display is an overlaid composite where the region is first covered with colors to reflect the values of the quality indicator, the grid is then placed on top of those colors, and finally a control net is placed on top of everything. The net represents the grid in terms of the control point form of algebraic grid generation. As a control point is moved, both the grid and the colored quality measures also move. This is a real time dynamic action so that the consequences of the manipulation are continuously seen.

  14. Manipulating Complex Light with Metamaterials

    PubMed Central

    Zeng, Jinwei; Wang, Xi; Sun, Jingbo; Pandey, Apra; Cartwright, Alexander N.; Litchinitser, Natalia M.

    2013-01-01

    Recent developments in the field of metamaterials have revealed unparalleled opportunities for “engineering” space for light propagation; opening a new paradigm in spin- and quantum-related phenomena in optical physics. Here we show that unique optical properties of metamaterials (MMs) open unlimited prospects to “engineer” light itself. We propose and demonstrate for the first time a novel way of complex light manipulation in few-mode optical fibers using optical MMs. Most importantly, these studies highlight how unique properties of MMs, namely the ability to manipulate both electric and magnetic field components of electromagnetic (EM) waves, open new degrees of freedom in engineering complex polarization states of light at will, while preserving its orbital angular momentum (OAM) state. These results lay the first steps in manipulating complex light in optical fibers, likely providing new opportunities for high capacity communication systems, quantum information, and on-chip signal processing. PMID:24084836

  15. Understanding pharmaceutical research manipulation in the context of accounting manipulation.

    PubMed

    Brown, Abigail

    2013-01-01

    The problem of the manipulation of data that arises when there is both opportunity and incentive to mislead is better accepted and studied - though by no means solved - in financial accounting than in medicine. This article analyzes pharmaceutical company manipulation of medical research as part of a broader problem of corporate manipulation of data in the creation of accounting profits. The article explores how our understanding of accounting fraud and misinformation helps us understand the risk of similar information manipulation in the medical sciences. This understanding provides a framework for considering how best to improve the quality of medical research and analysis in light of the current system of medical information production. I offer three possible responses: (1) use of the Dodd-Frank whistleblower provisions to encourage reporting of medical research fraud; (2) a two-step academic journal review process for clinical trials; and (3) publicly subsidized trial-failure insurance. These would improve the release of negative information about drugs, thereby increasing the reliability of positive information. PMID:24088151

  16. Structural Sizing Methodology for the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) System

    NASA Technical Reports Server (NTRS)

    Jones, Thomas C.; Dorsey, John T.; Doggett, William R.

    2015-01-01

    The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) is a versatile long-reach robotic manipulator that is currently being tested at NASA Langley Research Center. TALISMAN is designed to be highly mass-efficient and multi-mission capable, with applications including asteroid retrieval and manipulation, in-space servicing, and astronaut and payload positioning. The manipulator uses a modular, periodic, tension-compression design that lends itself well to analytical modeling. Given the versatility of application for TALISMAN, a structural sizing methodology was developed that could rapidly assess mass and configuration sensitivities for any specified operating work space, applied loads and mission requirements. This methodology allows the systematic sizing of the key structural members of TALISMAN, which include the truss arm links, the spreaders and the tension elements. This paper summarizes the detailed analytical derivations and methodology that support the structural sizing approach and provides results from some recent TALISMAN designs developed for current and proposed mission architectures.

  17. Expert operator preferences in remote manipulator control systems

    SciTech Connect

    Sundstrom, E.; Draper, J.V.; Fausz, A.; Woods, H.

    1995-06-01

    This report describes a survey of expert remote manipulator operators designed to identify features of control systems related to operator efficiency and comfort. It provides information for designing the control center for the Single-Shell Tank Waste Retrieval Manipulator System (TWRMS) Test Bed, described in a separate report. Research questions concerned preferred modes of control, optimum work sessions, sources of operator fatigue, importance of control system design features, and desired changes in control rooms. Participants comprised four expert remote manipulator operators at Oak Ridge National Laboratory, who individually have from 9 to 20 years of experience using teleoperators. The operators had all used rate and position control, and all preferred bilateral (force-reflecting) position control. They reported spending an average of 2.75 h in control of a teleoperator system during a typical shift. All were accustomed to working in a crew of two and alternating control and support roles in 2-h rotations in an 8-h shift. Operators reported that fatigue in using remote manipulator systems came mainly from watching TV monitors and making repetitive motions. Three of four experienced symptoms, including headaches and sore eyes, wrists, and back. Of 17 features of control rooms rated on importance, highest ratings went to comfort and support provided by the operator chair, location of controls, location of video monitors, video image clarity, types of controls, and control modes. When asked what they wanted to change, operators said work stations designed for comfort; simpler, lighter hand-controls; separate controls for each camera; better placement of remote camera; color monitors; and control room layouts that support crew interaction. Results of this small survey reinforced the importance of ergonomic factors in remote manipulation.

  18. Information Retrieval Systems and Learning.

    ERIC Educational Resources Information Center

    Locatis, Craig

    1989-01-01

    Discusses instructional systems and information retrieval systems and highlights the growing role of retrieval systems in learning. Topics discussed include cognitive psychology; degree of learner control; interaction with the systems; technological trends, including storage capacity, integrated media, and interlinked systems; hypermedia; and…

  19. A Computerized Reference Retrieval System.

    ERIC Educational Resources Information Center

    Harline, N. La Var

    An automated retrieval system for reference works was constructed as a prototype in order to illustrate the capabilities and potentialities of future retrieval systems. More than 170 biographical works were indexed and stored in a computer disk to form a biographical data base, and a computer program was written to match patron queries. Consistent…

  20. Document Retrieval: A Structural Approach.

    ERIC Educational Resources Information Center

    Lu, Xin

    1990-01-01

    Describes the development of a structural model of document retrieval based on lexical-semantic relationships between index terms. An algorithm that uses tree-to-tree distance to measure structural closeness between a document and a query statement is explained, and the proposed model is compared to a vector retrieval model. (18 references) (LRW)

  1. NASA develops teleoperator retrieval system

    NASA Technical Reports Server (NTRS)

    1978-01-01

    The teleoperator retrieval system vehicle was designed to reboost and/or deorbit the Skylab; however, usefulness in survey, stabilization, retrieval and delivery was examined. Thrusters, designed for cold gas propulsion, were adapted to hydrazine propulsion. Design specifications and cost analysis are given.

  2. Topology of Document Retrieval Systems.

    ERIC Educational Resources Information Center

    Everett, Daniel M.; Cater, Steven C.

    1992-01-01

    Explains the use of a topological structure to examine the closeness between documents in retrieval systems and analyzes the topological structure of a vector-space model, a fuzzy-set model, an extended Boolean model, a probabilistic model, and a TIRS (Topological Information Retrieval System) model. Proofs for the results are appended. (17…

  3. Retrieval Effectiveness on the Web.

    ERIC Educational Resources Information Center

    Savoy, Jacques; Picard, Justin

    2001-01-01

    Discusses the role of search engines in Web usability and analyzes and evaluates the retrieval effectiveness of various indexing and searching strategies on a new Web text collection. Highlights include preprocessing techniques that might improve retrieval effectiveness; and hyperlinks as useful sources of evidence in improving retrieval…

  4. Detecting Mood-Dependent Retrieval.

    ERIC Educational Resources Information Center

    Mayer, John D.; Bower, Gordon H.

    The mood-dependent retrieval hypothesis states that mood will enhance recall by acting as a recall cue if the stimuli have been learned initially in the same mood. Material learned in a happy mood will be best recalled when the person returns to a happy mood; the same holds for a sad mood. Mood-dependent retrieval effect has been regulary…

  5. Master/slave manipulator system

    NASA Technical Reports Server (NTRS)

    Vykukal, H. C.; King, R. F.; Vallotton, W. C.

    1973-01-01

    System capabilities are equivalent to mobility, dexterity, and strength of human arm. Arrangement of torque motor, harmonic drive, and potentiometer combination allows all power and control leads to pass through center of slave with position-transducer arrangement of master, and "stovepipe joint" is incorporated for manipulator applications.

  6. DATACUBE: A datacube manipulation package

    NASA Astrophysics Data System (ADS)

    Allan, Alasdair; Currie, Malcolm J.

    2014-05-01

    DATACUBE is a command-line package for manipulating and visualizing data cubes. It was designed for integral field spectroscopy but has been extended to be a generic data cube tool, used in particular for sub-millimeter data cubes from the James Clerk Maxwell Telescope. It is part of the Starlink software collection (ascl:1110.012).

  7. COGNITION, ACTION, AND OBJECT MANIPULATION

    PubMed Central

    Rosenbaum, David A.; Chapman, Kate M.; Weigelt, Matthias; Weiss, Daniel J.; van der Wel, Robrecht

    2012-01-01

    Although psychology is the science of mental life and behavior, it has paid little attention to the means by which mental life is translated into behavior. One domain where links between cognition and action have been explored is the manipulation of objects. This article reviews psychological research on this topic, with special emphasis on the tendency to grasp objects differently depending on what one plans to do with the objects. Such differential grasping has been demonstrated in a wide range of object manipulation tasks, including grasping an object in a way that reveals anticipation of the object's future orientation, height, and required placement precision. Differential grasping has also been demonstrated in a wide range of behaviors, including one-hand grasps, two-hand grasps, walking, and transferring objects from place to place as well as from person to person. The populations in whom the tendency has been shown are also diverse, including nonhuman primates as well as human adults, children, and babies. Meanwhile, the tendency is compromised in a variety of clinical populations and in children of a surprisingly advanced age. Verbal working memory is compromised as well if words are memorized while object manipulation tasks are performed; the recency portion of the serial position curve is reduced in this circumstance. In general, the research reviewed here points to rich connections between cognition and action as revealed through the study of object manipulation. Other implications concern affordances, Donders' Law, and naturalistic observation and the teaching of psychology. PMID:22448912

  8. Manipulating Genetic Material in Bacteria

    NASA Technical Reports Server (NTRS)

    1998-01-01

    Lisa Crawford, a graduate research assistant from the University of Toledo, works with Laurel Karr of Marshall Space Flight Center (MSFC) in the molecular biology laboratory. They are donducting genetic manipulation of bacteria and yeast for the production of large amount of desired protein. Photo credit: NASA/Marshall Space Flight Center (MSFC)

  9. Mapping and Manipulating Facial Expression

    ERIC Educational Resources Information Center

    Theobald, Barry-John; Matthews, Iain; Mangini, Michael; Spies, Jeffrey R.; Brick, Timothy R.; Cohn, Jeffrey F.; Boker, Steven M.

    2009-01-01

    Nonverbal visual cues accompany speech to supplement the meaning of spoken words, signify emotional state, indicate position in discourse, and provide back-channel feedback. This visual information includes head movements, facial expressions and body gestures. In this article we describe techniques for manipulating both verbal and nonverbal facial…

  10. Ants: the supreme soil manipulators

    Technology Transfer Automated Retrieval System (TEKTRAN)

    This review focuses on the semiochemical interactions between ants and their soil environment. Ants occupy virtually every ecological niche and have evolved mechanisms to not just cope with, but also manipulate soil organisms. The metapleural gland, specific to ants was thought to be the major sourc...