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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 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.

  10. 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.

  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: 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.

  20. 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.

  1. 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.

  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. 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.

  12. 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.

  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. 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.…

  16. 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…

  17. 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.

  18. 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

  19. 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.

  20. 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

  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. 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 ...

  4. 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

  5. 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

  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 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…

  1. 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…

  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. 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,…

  7. 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.

  8. 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,…

  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. 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.

  17. 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.

  18. 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.

  19. 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).

  20. 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

  1. 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.

  2. 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

  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. 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

  10. 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

  11. 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

  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. 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.

  18. 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.

  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. 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.

  2. 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.

  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. 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.

  5. 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

  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. 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…

  12. 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…

  13. 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…

  14. 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.

  15. 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'…

  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. 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.…

  20. 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…

  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. 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.

  5. 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

  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. 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.

  19. 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.

  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. 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.

  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. 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.

  4. 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

  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. 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.

  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. 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)

  14. 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.

  15. 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.

  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. 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.

  20. 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.

  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. 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.

  6. 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.

  7. 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.

  8. 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.

  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. 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.

  11. 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…

  12. 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.

  13. 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

  14. 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

  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. 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…

  3. 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…

  4. 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…

  5. 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)

  6. 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.

  7. 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).

  8. 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

  9. 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...

  10. Adaptive Control Of Remote Manipulator

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1989-01-01

    Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

  11. Advanced action manipulator system (ADAMS)

    NASA Technical Reports Server (NTRS)

    Kugath, D. A.; Dane, D. H.; Blaise, H. T.

    1973-01-01

    Manipulator offers improved performance over other models in its category. It features larger force and reach capabilities and is readily convertible for underwater use. Unique kinematic arrangement provides extremely large working envelope. System has six degrees of motion: azimuth joint, shoulder joint, upper arm rotating joint, elbow joint, wrist pitch, and wrist twist.

  12. Teaching Integration Applications Using Manipulatives

    ERIC Educational Resources Information Center

    Bhatia, Kavita; Premadasa, Kirthi; Martin, Paul

    2014-01-01

    Calculus students' difficulties in understanding integration have been extensively studied. Research shows that the difficulty lies with students understanding of the definition of the definite integral as a limit of a Riemann sum and with the idea of accumulation inherent in integration. We have created a set of manipulatives and activities…

  13. 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…

  14. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    SciTech Connect

    Joseph W. Geisinger, Ph.D.

    2001-07-31

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

  15. Web Mining for Web Image Retrieval.

    ERIC Educational Resources Information Center

    Chen, Zheng; Wenyin, Liu; Zhang, Feng; Li, Mingjing; Zhang, Hongjiang

    2001-01-01

    Presents a prototype system for image retrieval from the Internet using Web mining. Discusses the architecture of the Web image retrieval prototype; document space modeling; user log mining; and image retrieval experiments to evaluate the proposed system. (AEF)

  16. Remote manipulator system flexibility analysis program: Mission planning, mission analysis, and software formulation

    NASA Technical Reports Server (NTRS)

    Kumar, L.

    1978-01-01

    A computer program is described for calculating the flexibility coefficients as arm design changes are made for the remote manipulator system. The coefficients obtained are required as input for a second program which reduces the number of payload deployment and retrieval system simulation runs required to simulate the various remote manipulator system maneuvers. The second program calculates end effector flexibility and joint flexibility terms for the torque model of each joint for any arbitrary configurations. The listing of both programs is included in the appendix.

  17. Antigen Retrieval Immunohistochemistry

    PubMed Central

    Shi, Shan-Rong; Shi, Yan; Taylor, Clive R.

    2011-01-01

    As a review for the 20th anniversary of publishing the antigen retrieval (AR) technique in this journal, the authors intend briefly to summarize developments in AR-immunohistochemistry (IHC)–based research and diagnostics, with particular emphasis on current challenges and future research directions. Over the past 20 years, the efforts of many different investigators have coalesced in extending the AR approach to all areas of anatomic pathology diagnosis and research and further have led to AR-based protein extraction techniques and tissue-based proteomics. As a result, formalin-fixed paraffin-embedded (FFPE) archival tissue collections are now seen as a literal treasure of materials for clinical and translational research to an extent unimaginable just two decades ago. Further research in AR-IHC is likely to focus on tissue proteomics, developing a more efficient protocol for protein extraction from FFPE tissue based on the AR principle, and combining the proteomics approach with AR-IHC to establish a practical, sophisticated platform for identifying and using biomarkers in personalized medicine. PMID:21339172

  18. Divided attention improves delayed, but not immediate retrieval of a consolidated memory.

    PubMed

    Kessler, Yoav; Vandermorris, Susan; Gopie, Nigel; Daros, Alexander; Winocur, Gordon; Moscovitch, Morris

    2014-01-01

    A well-documented dissociation between memory encoding and retrieval concerns the role of attention in the two processes. The typical finding is that divided attention (DA) during encoding impairs future memory, but retrieval is relatively robust to attentional manipulations. However, memory research in the past 20 years had demonstrated that retrieval is a memory-changing process, in which the strength and availability of information are modified by various characteristics of the retrieval process. Based on this logic, several studies examined the effects of DA during retrieval (Test 1) on a future memory test (Test 2). These studies yielded inconsistent results. The present study examined the role of memory consolidation in accounting for the after-effect of DA during retrieval. Initial learning required a classification of visual stimuli, and hence involved incidental learning. Test 1 was administered 24 hours after initial learning, and therefore required retrieval of consolidated information. Test 2 was administered either immediately following Test 1 or after a 24-hour delay. Our results show that the effect of DA on Test 2 depended on this delay. DA during Test 1 did not affect performance on Test 2 when it was administered immediately, but improved performance when Test 2 was given 24-hours later. The results are consistent with other findings showing long-term benefits of retrieval difficulty. Implications for theories of reconsolidation in human episodic memory are discussed. PMID:24608365

  19. Mood-state-dependent retrieval: the effects of induced mood on memory reconsidered.

    PubMed

    Kenealy, P M

    1997-05-01

    Analysis of studies investigating mood-state-dependent retrieval identifies methodological problems that may have contributed to the controversy surrounding the reliability of the effect-in particular, the possible confounding of encoding and retrieval in previous studies. Five experiments are reported investigating the effects of mood on learning and recall. Mood-state-dependent retrieval was observed in Experiment 1a (using Velten's Mood Induction Procedure); Experiment 1b (using a music MIP); and Experiment lc (using Velten's MIP at encoding and a music MIP at retrieval). Subjects who learned and recalled in different moods had significantly greater decrements in recall than did subjects in the same moods. Experiments 2 and 3 investigated the effect of observable retrieval cues on mood-state-dependent retrieval. In Experiment 2, the presence of observable retrieval cues at recall overrode state-dependent retrieval. In Experiment 3, by manipulating the presence or absence of observable cues at recall, both the occurrence and the erasure of the mood-state dependency was demonstrated. Mood state during learning and cued recall was also shown to affect performance in a third session under conditions of free recall. PMID:9225625

  20. Does retrieval strategy disruption cause general and specific collaborative inhibition?

    PubMed

    Dahlström, Örjan; Danielsson, Henrik; Emilsson, Magnus; Andersson, Jan

    2011-02-01

    The purpose of the experiment on collaborative memory was to investigate if the collaborative inhibition is due to collaborating pair's disruption of each others' retrieval strategies (the retrieval strategy disruption hypothesis, RSD). The participants' (N = 36) task was to recall a list of 60 words individually and collaboratively. Retrieval strategies were manipulated by presenting word lists organised either by categories or by country of origin and adoption of retrieval strategies were examined by the adjusted ratio of clustering score. Half of the dyads received word lists organised by the same strategy and half of the dyads received word lists organised by different strategies. The results revealed a main effect of collaboration, i.e., collaborative recalled items were significantly fewer than the sum of the non-redundant individually recalled items. Both conditions (same strategies vs different strategies) suffered to the same extent from collaboration, which did not support the RSD hypothesis. However, focusing on words recalled individually but not collaboratively, dyads with different strategies, as predicted by the RSD, forgot more items during collaboration than did dyads with the same strategy. Additional results suggest that collaborative forgetting is mainly manifested by forgetting of non-overlapping items (as measured by individual recalls). PMID:21331969

  1. Solid rocket booster retrieval operations

    NASA Technical Reports Server (NTRS)

    Rasmussen, A. M.

    1985-01-01

    Solid Rocket Booster Retrieval operations are discussed in detail. The recovery of expended boosters and associated hardware without damage attributable to retrieval procedures is the main goal. The retrieval force consists tof ship's personnel and retrieval team members, each of whom has been trained and is highly skilled in multi-faceted operations. The retrieval force is equipped with two specially-built, highly maneuverable ships outfitted with parachute reels, retrieval cranes, towing winches, large volume-low pressure air compressors, SCUBA diving gear, inflatable boats with outboard motors and diver-operated SRB dewatering devices. The two ships are deployed in sufficient time to conduct an electronic and visual search of the impact area prior to launch. Upon search completeion, each ship takes station a safe distance from the predetermined impact point initiating both visual and electronic search in the direction of flight path, ensuring SRB acquisition at splashdown. When safe, the ships enter the impact area and commence recovery of all floating flight hardware which is subsequently returned to the Disassembly Facility for refurbishment and reuse. Retrieval techniques have evolved in parallel with equipment and flight hardware configuration changes. Additional changes have been initiated to improve personnel safety.

  2. Interactive Exploration for Image Retrieval

    NASA Astrophysics Data System (ADS)

    Cord, Matthieu; Philipp-Foliguet, Sylvie; Gosselin, Philippe-Henri; Fournier, Jérôme

    2005-12-01

    We present a new version of our content-based image retrieval system RETIN. It is based on adaptive quantization of the color space, together with new features aiming at representing the spatial relationship between colors. Color analysis is also extended to texture. Using these powerful indexes, an original interactive retrieval strategy is introduced. The process is based on two steps for handling the retrieval of very large image categories. First, a controlled exploration method of the database is presented. Second, a relevance feedback method based on statistical learning is proposed. All the steps are evaluated by experiments on a generalist database.

  3. Information retrieval at the millenium.

    PubMed Central

    Hersh, W.

    1998-01-01

    Information retrieval systems were among the first medical informatics applications, yet their use has changed substantially in this decade with the growth of end-user computers and the Internet. While early challenges revolved around how to increase the amount of information available in electronic form, more recent challenges center on how to manage the growing volume. Traditional information retrieval issues--such as how to organize and index information to make it more retrievable as well as how to evaluate the effectiveness of systems--are still as pertinent as ever. PMID:9929180

  4. System For Retrieving Reusable Software

    NASA Technical Reports Server (NTRS)

    Van Warren, Lloyd; Beckman, Brian C.

    1993-01-01

    Encyclopedia of Software Components (ESC) is information-retrieval system of computer hardware and software providing access to generic reusable software tools and parts. Core of ESC is central tool base, which is repository of reusable software. It receives queries and submissions from user through local browser subsystem and receives authorized updates from maintenance subsystem. Sends retrievals to local browser subsystem and user's submissions to maintenance subsystem. Future versions will provide for advanced media, including voice and video, and will link system to database-management system. Programmers will not only retrieve software, but also modify, execute, and cross-link with other software.

  5. Genetic manipulation of francisella tularensis.

    PubMed

    Zogaj, Xhavit; Klose, Karl E

    2010-01-01

    Francisella tularensis is a facultative intracellular pathogen that causes the disease tularemia. F. tularensis subsp. tularensis causes the most severe disease in humans and has been classified as a Category A select agent and potential bioweapon. There is currently no vaccine approved for human use, making genetic manipulation of this organism critical to unraveling the genetic basis of pathogenesis and developing countermeasures against tularemia. The development of genetic techniques applicable to F. tularensis have lagged behind those routinely used for other bacteria, primarily due to lack of research and the restricted nature of the biocontainment required for studying this pathogen. However, in recent years, genetic techniques, such as transposon mutagenesis and targeted gene disruption, have been developed, that have had a dramatic impact on our understanding of the genetic basis of F. tularensis virulence. In this review, we describe some of the methods developed for genetic manipulation of F. tularensis. PMID:21607086

  6. Genetic Manipulation of Francisella Tularensis

    PubMed Central

    Zogaj, Xhavit; Klose, Karl E.

    2011-01-01

    Francisella tularensis is a facultative intracellular pathogen that causes the disease tularemia. F. tularensis subsp. tularensis causes the most severe disease in humans and has been classified as a Category A select agent and potential bioweapon. There is currently no vaccine approved for human use, making genetic manipulation of this organism critical to unraveling the genetic basis of pathogenesis and developing countermeasures against tularemia. The development of genetic techniques applicable to F. tularensis have lagged behind those routinely used for other bacteria, primarily due to lack of research and the restricted nature of the biocontainment required for studying this pathogen. However, in recent years, genetic techniques, such as transposon mutagenesis and targeted gene disruption, have been developed, that have had a dramatic impact on our understanding of the genetic basis of F. tularensis virulence. In this review, we describe some of the methods developed for genetic manipulation of F. tularensis. PMID:21607086

  7. Noncontact Acoustic Manipulation in Air

    NASA Astrophysics Data System (ADS)

    Kozuka, Teruyuki; Yasui, Kyuichi; Tuziuti, Toru; Towata, Atsuya; Iida, Yasuo

    2007-07-01

    A noncontact manipulation technique is useful for micromachine technology, biotechnology, and new materials processing. In this paper, we describe an advanced manipulation technique for transporting small objects in air. A standing wave field was generated by two sound beams crossing each other generated by bolted Langevin transducers. Expanded polystyrene particles were trapped at the nodes of the sound pressure in the standing wave field. The position of a trapped particle was shifted by changing the phase difference between the two sound beams. When the trapped particle is transported, it spatially oscillate periodically in a direction perpendicular to that of particle transportation. The numerical calculation of an acoustic field revealed that it is caused by the reflection of an ultrasonic wave at each transducer surface.

  8. The laboratory telerobotic manipulator program

    NASA Technical Reports Server (NTRS)

    Herndon, J. N.; Babcock, S. M.; Butler, P. L.; Costello, H. M.; Glassell, R. L.; Kress, R. L.; Kuban, D. P.; Rowe, J. C.; Williams, D. M.

    1989-01-01

    New opportunities for the application of telerobotic systems to enhance human intelligence and dexterity in the hazardous environment of space are presented by the NASA Space Station Program. Because of the need for significant increases in extravehicular activity and the potential increase in hazards associated with space programs, emphasis is being heightened on telerobotic systems research and development. The Laboratory Telerobotic Manipulator (LTM) program is performed to develop and demonstrate ground-based telerobotic manipulator system hardware for research and demonstrations aimed at future NASA applications. The LTM incorporates traction drives, modularity, redundant kinematics, and state-of-the-art hierarchical control techniques to form a basis for merging the diverse technological domains of robust, high-dexterity teleoperations and autonomous robotic operation into common hardware to further NASA's research.

  9. Control of robot manipulator compliance

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Pooran, Farhad J.; Premack, Timothy

    1986-01-01

    Robotic assembly operations such as mating and fastening of parts are more successful if the robot manipulator compliance can be controlled so that various coordinates are free to comply with external constraints. This paper presents the design of a hybrid controller to provide active compliance to a six-degree-of-freedom robot built at NASA/GSFC using force and position feedback. Simulation results of a 2 degree-of-freedom model is presented and discussed.

  10. Response retrieval and motor planning during typing.

    PubMed

    Pinet, Svetlana; Dubarry, Anne-Sophie; Alario, F-Xavier

    2016-08-01

    Recent work in language production research suggests complex relationships between linguistic and motor processes. Typing is an interesting candidate for investigating further this issue. First, typing presumably relies on the same distributed left-lateralized brain network as handwriting and speech production. Second, typing has its own set of highly specific motor constraints, such as internal keystroke representations that hold information about both letter identity and spatial characteristics of the key to strike. The present study aims to further develop research on typed production, by targeting the dynamics between linguistic and motor neural networks. Specifically, we used a typed picture-naming task to examine the interplay between response retrieval and motor planning. To track processes associated with both linguistic processing and keystroke representation, we manipulated, respectively, the semantic context in which the target appeared and the side of the first keystrokes of the word. We recorded high-density electroencephalography (EEG) continuously from the presentation of a picture, to the typing of its name, and computed both event-related potentials (ERP) and beta-band power analyses. Non-parametric data-driven analysis revealed a clear pattern of response preparation over both hemispheres close to response time, in both the ERP and beta-band power modulations. This was preceded by a left-lateralized power decrease in the beta-band, presumably representing memory retrieval, and an early contrast in ERP, between left and right keystrokes' preparation. We discuss these results in terms of a dynamic access approach for internal keystroke representations, and argue for an integrative rather than separatist view of linguistic and motor processes. PMID:27344127

  11. Detection and manipulation of phosphoinositides☆

    PubMed Central

    Idevall-Hagren, Olof; Camilli, Pietro De

    2016-01-01

    Phosphoinositides (PIs) are minor components of cell membranes, but play key roles in cell function. Recent refinements in techniques for their detection, together with imaging methods to study their distribution and changes, have greatly facilitated the study of these lipids. Such methods have been complemented by the parallel development of techniques for the acute manipulation of their levels, which in turn allow bypassing the long-term adaptive changes implicit in genetic perturbations. Collectively, these advancements have helped elucidate the role of PIs in physiology and the impact of the dysfunction of their metabolism in disease. Combining methods for detection and manipulation enables the identification of specific roles played by each of the PIs and may eventually lead to the complete deconstruction of the PI signaling network. Here, we review current techniques used for the study and manipulation of cellular PIs and also discuss advantages and disadvantages associated with the various methods. This article is part of a Special Issue entitled Phosphoinositides. PMID:25514766

  12. Manipulation of Biofilm Microbial Ecology

    SciTech Connect

    White, D.C.; Palmer, R.J., Jr.; Zinn, M.; Smith, C.A.; Burkhalter, R.; Macnaughton, S.J.; Whitaker, K.W.; Kirkegaard, R.D.

    1998-08-15

    The biofilm mode of growth provides such significant advantages to the members of the consortium that most organisms in important habitats are found in biofilms. The study of factors that allow manipulation of biofilm microbes in the biofilm growth state requires that reproducible biofilms be generated. The most effective monitoring of biofilm formation, succession and desaturation is with on-line monitoring of microbial biofilms with flowcell for direct observation. The biofilm growth state incorporates a second important factor, the heterogeneity in distribution in time and space of the component members of the biofilm consortium. This heterogeneity is reflected not only in the cellular distribution but in the metabolic activity within a population of cells. Activity and cellular distribution can be mapped in four dimensions with confocal microscopy, and function can be ascertained by genetically manipulated reporter functions for specific genes or by vital stains. The methodology for understanding the microbial ecology of biofilms is now much more readily available and the capacity to manipulate biofilms is becoming an important feature of biotechnology.

  13. SNAKES manipulator and ARD sluicer testing -- April 1997

    SciTech Connect

    Berglin, E.J.

    1997-05-29

    Long reach arms represent one of the options available for deployment of end effectors which can be used in the retrieval of radioactive waste, from the Hanford single shell tanks. The versatility of an arm based deployment system is such that it has the potential to improve the performance of a wide range of end effectors compared with stand-alone or other deployment methods. The long term reliability and availability of the deployment system is central to the timely completion of a waste retrieval program. However, concerns have been expressed over the dynamic performance of long reach arms and it is essential that an arm based system can cope with operational dynamic loads generated by end effectors. The test program conducted set out to measure static and dynamic loads and responses from a representative arm and sluicer, with the objective of extrapolating the data to a long reach arm system, that can be used for in-tank waste retrieval. As an arm with an appropriate reach was not available, the test program was undertaken to measure dynamic characteristics of a Magnox Electric 18 ft multi-link, hydraulically actuated SNAKES manipulator. This is the longest reach unit in service, albeit only one third of the 50 ft length required for in-tank waste retrieval. In addition operational performance and loading measurements were obtained from a low pressure confined system sluicer under development by ARD Environmental, to add to the end effector data base. When subject to impulse loading, the arm was found to behave in a repeatable manner having fundamental natural frequencies in the vertical and transverse directions of 1 Hz. There were also a large number of higher natural frequencies measured up to 100 Hz.

  14. Dissociating word stem completion and cued recall as a function of divided attention at retrieval.

    PubMed

    Clarke, A J Benjamin; Butler, Laurie T

    2008-10-01

    The aim of this study was to investigate the widely held, but largely untested, view that implicit memory (repetition priming) reflects an automatic form of retrieval. Specifically, in Experiment 1 we explored whether a secondary task (syllable monitoring), performed during retrieval, would disrupt performance on explicit (cued recall) and implicit (stem completion) memory tasks equally. Surprisingly, despite substantial memory and secondary costs to cued recall when performed with a syllable-monitoring task, the same manipulation had no effect on stem completion priming or on secondary task performance. In Experiment 2 we demonstrated that even when using a particularly demanding version of the stem completion task that incurred secondary task costs, the corresponding disruption to implicit memory performance was minimal. Collectively, the results are consistent with the view that implicit memory retrieval requires little or no processing capacity and is not seemingly susceptible to the effects of dividing attention at retrieval. PMID:18720222

  15. Image retrieval for information systems

    NASA Astrophysics Data System (ADS)

    Hermes, Thorsten; Klauck, Christoph; Kreyss, Jutta; Zhang, J.

    1995-03-01

    In order to retrieve a set of intended images from a huge image archive, human beings think of special contents with respect to the searched scene, like a countryside or a technical drawing. Therefore, in general it is harder to retrieve images by using a syntactical feature- based language than a language which offers the selection of examples concerning color, texture, and contour in combination with natural language concepts. This motivation leads to a content-based image analysis and goes on to a content-based storage and retrieval of images. Furthermore, it is unreasonable for any human being to make the content description for thousands of images manually. From this point of view, the project IRIS (image retrieval for information systems) combines well-known methods and techniques in computer vision and AI in a new way to generate content descriptions of images in a textual form automatically. IRIS retrieves the images by means of text retrieval realized by the SearchManager/6000. The textual description is generated by four sub-steps: feature extraction like colors, textures, and contours, segmentation, and interpretation of part-whole relations. The system is implemented on IBM RS/6000 using AIX. It has already been tested with 350 images.

  16. Iterative inverse kinematics with manipulator configuration control

    SciTech Connect

    Grudic, G.Z.; Lawrence, P.D.

    1993-08-01

    A new method, termed the offset modification method (OM method), for solving the manipulator inverse kinematics problem is presented. The OM method works by modifying the link offset values of a manipulator until it is possible to derive closed-form inverse kinematics equations for the resulting manipulator (termed the model manipulator). This procedure allows one to derive a set of three nonlinear equations in three unknowns that, when numerically solved, give an inverse kinematics solution for the original manipulator. The OM method can be applied to manipulators with any number of degrees of freedom, as long as the manipulator satisfies a given set of conditions (Theorem 1). The OM method is tested on a 6-degree-of-freedom manipulator that has no known closed-form inverse kinematics equations. It is shown that the OM method is applicable to real-time manipulator control, can be used to guarantee convergence to a desired endpoint position and orientation (if it exists), and allows one to directly choose which inverse kinematics solution the algorithm will converge to (as specified in the model manipulator closed-form inverse kinematics equations). Applications of the method to other 6-DOF manipulator geometries and to redundant manipulators (i.e. greater than 6 DOF geometries) are discussed.

  17. Manipulative therapy (Feldenkrais, massage, chiropractic manipulation) for neck pain.

    PubMed

    Plastaras, Christopher; Schran, Seth; Kim, Natasha; Darr, Deborah; Chen, Mary Susan

    2013-07-01

    Neck pain is an extremely common symptom with many possible etiologies. A substantial number of patients are turning to complementary and alternative medicine (CAM). Low-quality evidence supports the beneficial effects of CAM. Feldenkrais, massage therapy, and spinal manipulation are discussed in detail. Complications are generally benign and self-limited, although occasional catastrophic consequences have been documented. Despite the favorable opinion many rheumatologists have of some CAM therapy, many patients are not disclosing CAM use to their medical providers. By expressing interest, asking questions, and taking a shared-decision-making approach, providers can encourage disclosure and provide valuable input. PMID:23666468

  18. Quantitative Assessment of Image Retrieval Effectiveness.

    ERIC Educational Resources Information Center

    Smith, John R.

    2001-01-01

    Examines the problems of developing a framework and testbed for quantitative assessment of image retrieval effectiveness. To better harness the extensive research on content-based retrieval and improve capabilities of image retrieval systems, this article advocates the establishment of common image retrieval testbeds consisting of standardized…

  19. Optical manipulation for optogenetics: otoliths manipulation in zebrafish (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Favre-Bulle, Itia A.; Scott, Ethan; Rubinsztein-Dunlop, Halina

    2016-03-01

    Otoliths play an important role in Zebrafish in terms of hearing and sense of balance. Many studies have been conducted to understand its structure and function, however the encoding of its movement in the brain remains unknown. Here we developed a noninvasive system capable of manipulating the otolith using optical trapping while we image its behavioral response and brain activity. We'll also present our tools for behavioral response detection and brain activity mapping. Acceleration is sensed through movements of the otoliths in the inner ear. Because experimental manipulations involve movements, electrophysiology and fluorescence microscopy are difficult. As a result, the neural codes underlying acceleration sensation are poorly understood. We have developed a technique for optically trapping otoliths, allowing us to simulate acceleration in stationary larval zebrafish. By applying forces to the otoliths, we can elicit behavioral responses consistent with compensation for perceived acceleration. Since the animal is stationary, we can use calcium imaging in these animals' brains to identify the functional circuits responsible for mediating responses to acceleration in natural settings.

  20. Earth orbital teleoperator manipulator system evaluation program

    NASA Technical Reports Server (NTRS)

    Brye, R. G.; Frederick, P. N.; Kirkpatrick, M., III; Shields, N. L., Jr.

    1977-01-01

    The operator's ability to perform five manipulator tip movements while using monoptic and stereoptic video systems was assessed. Test data obtained were compared with previous results to determine the impact of camera placement and stereoptic viewing on manipulator system performance. The tests were performed using the NASA MSFC extendible stiff arm Manipulator and an analog joystick controller. Two basic manipulator tasks were utilized. The minimum position change test required the operator to move the manipulator arm to touch a target contract. The dexterity test required removal and replacement of pegs.

  1. Failure tolerant operation of kinematically redundant manipulators

    NASA Technical Reports Server (NTRS)

    Lewis, Christopher L.; Maciejewski, Anthony A.

    1994-01-01

    Redundant manipulators may compensate for failed joints with their additional degrees of freedom. In this paper such a manipulator is considered fault tolerant if it can guarantee completion of a task after any one of its joints has failed. This fault tolerance of kinematically redundant manipulators is insured here. Methods to analyze the manipulator's work space find regions inherently suitable for critical tasks because of their high level of failure tolerance. Constraints are then placed on the manipulator's range of motion to guarantee completion of a task.

  2. Technology for concrete pipe manipulator

    NASA Astrophysics Data System (ADS)

    Li, Bin; Wang, Dan; Lin, Renzhi

    2009-12-01

    The pipe manipulator is a developing mechatronic system to enhance productivity and protects workers from cave-ins in the trench while excavating and laying pipe. The pipe manipulator is for installing concrete pipe into the trench. It is an optical-electro-mechanical system. The mechanism is make up of two parts, the upside and underside. The upside is for lifting the equipment by backhoe and rotating the underside mechanism. It includes rigidity lift beams, holding pad, four-bar linkages, hydraulic cylinder, rotating support, and rotating mechanism. Holding pad will press the bucket back to keep the bucket hooking the pipe man safely and stably. The underside mechanism is for lifting, holding and adjusting the pipe section's stance. The underside mechanism includes support trolley, and lift fork. The support trolley is driven by hydraulic cylinder for moving the fork forward or backward while laying a pipe into trench. The fork is with a self-lock mechanism for preventing the pipe from slide out of the prongs. A new photoelectric locating system is developed for auto-measuring the installing pipe section's stance within the work area. The laser target has been developed as a key part in the photoelectric locating systems. The photoelectric target is a rotating polar coordinate. Photodiodes are used for making the polar radius. There is an angular displacement sensor sitting on the heart-axis of the target for measuring angle of the target rotating. The pipe manipulator can be located by the system, and the locating methods have been presented at last of the paper.

  3. Technology for concrete pipe manipulator

    NASA Astrophysics Data System (ADS)

    Li, Bin; Wang, Dan; Lin, Renzhi

    2010-01-01

    The pipe manipulator is a developing mechatronic system to enhance productivity and protects workers from cave-ins in the trench while excavating and laying pipe. The pipe manipulator is for installing concrete pipe into the trench. It is an optical-electro-mechanical system. The mechanism is make up of two parts, the upside and underside. The upside is for lifting the equipment by backhoe and rotating the underside mechanism. It includes rigidity lift beams, holding pad, four-bar linkages, hydraulic cylinder, rotating support, and rotating mechanism. Holding pad will press the bucket back to keep the bucket hooking the pipe man safely and stably. The underside mechanism is for lifting, holding and adjusting the pipe section's stance. The underside mechanism includes support trolley, and lift fork. The support trolley is driven by hydraulic cylinder for moving the fork forward or backward while laying a pipe into trench. The fork is with a self-lock mechanism for preventing the pipe from slide out of the prongs. A new photoelectric locating system is developed for auto-measuring the installing pipe section's stance within the work area. The laser target has been developed as a key part in the photoelectric locating systems. The photoelectric target is a rotating polar coordinate. Photodiodes are used for making the polar radius. There is an angular displacement sensor sitting on the heart-axis of the target for measuring angle of the target rotating. The pipe manipulator can be located by the system, and the locating methods have been presented at last of the paper.

  4. Effective Material Parameter Retrieval for Terahertz Metamaterials

    NASA Astrophysics Data System (ADS)

    Kim, T.-T.; Choi, Muhan; Kim, Yushin; Min, Bumki

    Metamaterials, which are generally composed of subwavelength scale metallic structures, have been the subject of intensive research in recent years. Because their effective electromagnetic properties can be engineered by designing subwavelength scale metallic structures, called `meta-atoms', these artificially constructed materials are expected to lead to many new developments in the field of photonics. Furthermore, the terahertz (THz) frequency range has many important applications such as security detection, sensing, and biomedical imaging. Because many natural materials are inherently unresponsive to THz radiation, the natural materials that can be applied in devices in order to manipulate THz waves are very limited. Accordingly, the development of metamaterials with unusual optical properties in the THz frequency range has generated intense interest among researchers. In this part, design methods for metamaterials in the terahertz frequencies are introduced. This method is based on the unit cell design and S-parameter retrieval technique. Following a brief introduction to the method, some examples of terahertz metamaterial design will be presented in the last section.

  5. Spin-manipulating polarized deuterons

    SciTech Connect

    Morozov, V S; Krisch, A D; Leonova, M A; Raymond, R S; Sivers, D W; Wong, V K; Hinterberger, F; Kondratenko, A M; Stephenson, E J

    2011-03-01

    Spin dynamics of polarized deuteron beams near depolarization resonances, including a new polarization preservation concept based on specially-designed multiple resonance crossings, has been tested in a series of experiments in the COSY synchrotron. Intricate spin dynamics with sophisticated pre-programmed patterns as well as effects of multiple crossings of a resonance were studied both theoretically and experimentally with excellent agreement. Possible applications of these results to preserve, manipulate and spin-flip polarized beams in synchrotrons and storage rings are discussed.

  6. Using the Visual World Paradigm to Study Retrieval Interference in Spoken Language Comprehension

    PubMed Central

    Sekerina, Irina A.; Campanelli, Luca; Van Dyke, Julie A.

    2016-01-01

    The cue-based retrieval theory (Lewis et al., 2006) predicts that interference from similar distractors should create difficulty for argument integration, however this hypothesis has only been examined in the written modality. The current study uses the Visual World Paradigm (VWP) to assess its feasibility to study retrieval interference arising from distractors present in a visual display during spoken language comprehension. The study aims to extend findings from Van Dyke and McElree (2006), which utilized a dual-task paradigm with written sentences in which they manipulated the relationship between extra-sentential distractors and the semantic retrieval cues from a verb, to the spoken modality. Results indicate that retrieval interference effects do occur in the spoken modality, manifesting immediately upon encountering the verbal retrieval cue for inaccurate trials when the distractors are present in the visual field. We also observed indicators of repair processes in trials containing semantic distractors, which were ultimately answered correctly. We conclude that the VWP is a useful tool for investigating retrieval interference effects, including both the online effects of distractors and their after-effects, when repair is initiated. This work paves the way for further studies of retrieval interference in the spoken modality, which is especially significant for examining the phenomenon in pre-reading children, non-reading adults (e.g., people with aphasia), and spoken language bilinguals. PMID:27378974

  7. Using the Visual World Paradigm to Study Retrieval Interference in Spoken Language Comprehension.

    PubMed

    Sekerina, Irina A; Campanelli, Luca; Van Dyke, Julie A

    2016-01-01

    The cue-based retrieval theory (Lewis et al., 2006) predicts that interference from similar distractors should create difficulty for argument integration, however this hypothesis has only been examined in the written modality. The current study uses the Visual World Paradigm (VWP) to assess its feasibility to study retrieval interference arising from distractors present in a visual display during spoken language comprehension. The study aims to extend findings from Van Dyke and McElree (2006), which utilized a dual-task paradigm with written sentences in which they manipulated the relationship between extra-sentential distractors and the semantic retrieval cues from a verb, to the spoken modality. Results indicate that retrieval interference effects do occur in the spoken modality, manifesting immediately upon encountering the verbal retrieval cue for inaccurate trials when the distractors are present in the visual field. We also observed indicators of repair processes in trials containing semantic distractors, which were ultimately answered correctly. We conclude that the VWP is a useful tool for investigating retrieval interference effects, including both the online effects of distractors and their after-effects, when repair is initiated. This work paves the way for further studies of retrieval interference in the spoken modality, which is especially significant for examining the phenomenon in pre-reading children, non-reading adults (e.g., people with aphasia), and spoken language bilinguals. PMID:27378974

  8. A Low-Copy-Number Plasmid for Retrieval of Toxic Genes from BACs and Generation of Conditional Targeting Constructs

    PubMed Central

    Na, Giyoun; Wolfe, Andrew; Ko, CheMyong; Youn, Hyesook; Lee, Young-Min; Byun, Sung June; Jeon, Iksoo

    2016-01-01

    Bacterial Artificial Chromosome (BAC) clones are widely used for retrieving genomic DNA sequences for gene targeting. In this study, low-copy-number plasmids pBAC-FB, pBAC-FC, and pBAC-DE, which carry the F plasmid replicon, were generated from pBACe3.6. pBAC-FB was successfully used to retrieve a sequence of a BAC that was resistant to retrieval by a high-copy-number plasmid via λ Red-mediated recombineering (gap-repair cloning). This plasmid was also used to retrieve two other genes from BAC, indicating its general usability retrieving genes from BAC. The retrieved genes were manipulated in generating targeting vectors for gene knockouts by recombineering. The functionality of the targeting vector was further validated in a targeting experiment with C57BL/6 embryonic stem cells. The low-copy-number plasmid pBAC-FB is a plasmid of choice to retrieve toxic DNA sequences from BACs and to manipulate them to generate gene-targeting constructs by recombineering. PMID:22945876

  9. Temporal structure in associative retrieval

    PubMed Central

    Kurth-Nelson, Zeb; Barnes, Gareth; Sejdinovic, Dino; Dolan, Ray; Dayan, Peter

    2015-01-01

    Electrophysiological data disclose rich dynamics in patterns of neural activity evoked by sensory objects. Retrieving objects from memory reinstates components of this activity. In humans, the temporal structure of this retrieved activity remains largely unexplored, and here we address this gap using the spatiotemporal precision of magnetoencephalography (MEG). In a sensory preconditioning paradigm, 'indirect' objects were paired with 'direct' objects to form associative links, and the latter were then paired with rewards. Using multivariate analysis methods we examined the short-time evolution of neural representations of indirect objects retrieved during reward-learning about direct objects. We found two components of the evoked representation of the indirect stimulus, 200 ms apart. The strength of retrieval of one, but not the other, representational component correlated with generalization of reward learning from direct to indirect stimuli. We suggest the temporal structure within retrieved neural representations may be key to their function. DOI: http://dx.doi.org/10.7554/eLife.04919.001 PMID:25615722

  10. Tumor Stroma Manipulation By MSC.

    PubMed

    Grisendi, Giulia; Spano, Carlotta; Rossignoli, Filippo; D Souza, Naomi; Golinelli, Giulia; Fiori, Agnese; Horwitz, Edwin M; Guarneri, Valentina; Piacentini, Federico; Paolucci, Paolo; Dominici, Massimo

    2016-01-01

    Tumor stroma (TS) plays relevant roles in all steps of cancer development. We here address several fundamental aspects related with the interaction between cancer cells and their stromal counterparts. Dissecting these players is of pivotal importance to understand oncogenesis, immunoescape and drug resistance. In addition, this better comprehension will allow the introduction of novel and more effective therapeutic approaches where manipulated stromal elements may become detrimental for tumor growth. Our group and others rely on the use of multipotent mesenchymal stromal/stem cells (MSC) as anti-cancer tools, since these putative TS cell precursors can deliver potent apoptosis-inducing agents. Multimodal-armed MSC can target a variety of cancers in vitro and, when injected in vivo, they localize into tumors mediating cell death without evident toxicities to normal tissues. While several aspects of these strategies shall require further investigations, these approaches collectively indicate how TS manipulation by MSC represents a tool to influence the fate of cancer cells, creating a new generation of anti-cancer strategies. PMID:26953248

  11. Manipulating expression of tonoplast transporters.

    PubMed

    Li, Zhigang; Zhou, Man; Hu, Qian; Reighard, Shane; Yuan, Shuangrong; Yuan, Ning; San, Bekir; Li, Dayong; Jia, Haiyan; Luo, Hong

    2012-01-01

    Plant vacuoles have multifaceted roles including turgor maintenance, cytosolic pH and ionic homeostasis, plant protection against environmental stress, detoxification, pigmentation, and cellular signaling. These roles are achieved through the coordinated activities of many proteins in the tonoplast (vacuolar membrane), of which the proton pumps and ion transporters have been modified for improved abiotic stress tolerance in transgenic plants. Here we describe a method to manipulate vacuolar H(+)-pyrophosphatase in turfgrass and evaluate the impact of the modified tonoplast on the phenotype, biochemistry, and physiology of the transgenics. Creeping bentgrass (Agrostis stolonifera L.) plants overexpressing an Arabidopsis vacuolar H(+)-pyrophosphatase AVP1 exhibited improved growth and enhanced salt tolerance, likely associated with increased photosynthesis, relative water content, proline production, and Na(+) uptake. These transgenic plants also had decreased solute leakage in the leaf tissues and increased concentrations of Na(+), K(+), Cl(-), and total phosphorus in the root tissues. Similar strategies can be employed to manipulate other tonoplast transporters and in other plant species to produce transgenic plants with improved performance under various abiotic stresses. PMID:22895772

  12. Actuators for a space manipulator

    NASA Technical Reports Server (NTRS)

    Chun, W.; Brunson, P.

    1987-01-01

    The robotic manipulator can be decomposed into distinct subsytems. One particular area of interest of mechanical subsystems is electromechanical actuators (or drives). A drive is defined as a motor with an appropriate transmission. An overview is given of existing, as well as state-of-the-art drive systems. The scope is limited to space applications. A design philosophy and adequate requirements are the initial steps in designing a space-qualified actuator. The focus is on the d-c motor in conjunction with several types of transmissions (harmonic, tendon, traction, and gear systems). The various transmissions will be evaluated and key performance parameters will be addressed in detail. Included in the assessment is a shuttle RMS joint and a MSFC drive of the Prototype Manipulator Arm. Compound joints are also investigated. Space imposes a set of requirements for designing a high-performance drive assembly. Its inaccessibility and cryogenic conditions warrant special considerations. Some guidelines concerning these conditions are present. The goal is to gain a better understanding in designing a space actuator.

  13. Mobile remote manipulator vehicle system

    NASA Technical Reports Server (NTRS)

    Bush, Harold G. (Inventor); Mikulas, Martin M., Jr. (Inventor); Wallsom, Richard E. (Inventor); Jensen, J. Kermit (Inventor)

    1987-01-01

    A mobile remote manipulator system is disclosed for assembly, repair and logistics transport on, around and about a space station square bay truss structure. The vehicle is supported by a square track arrangement supported by guide pins integral with the space station truss structure and located at each truss node. Propulsion is provided by a central push-pull drive mechanism that extends out from the vehicle one full structural bay over the truss and locks drive rods into the guide pins. The draw bar is now retracted and the mobile remote manipulator system is pulled onto the next adjacent structural bay. Thus, translation of the vehicle is inchworm style. The drive bar can be locked onto two guide pins while the extendable draw bar is within the vehicle and then push the vehicle away one bay providing bidirectional push-pull drive. The track switches allow the vehicle to travel in two orthogonal directions over the truss structure which coupled with the bidirectional drive, allow movement in four directions on one plane. The top layer of this trilayered vehicle is a logistics platform. This platform is capable of 369 degees of rotation and will have two astronaut foot restraint platforms and a space crane integral.

  14. Optical proximity sensors for manipulators

    NASA Technical Reports Server (NTRS)

    Johnson, A. R.

    1973-01-01

    A breadboard optical proximity sensor intended for application to remotely operated manipulators has been constructed and evaluated in the laboratory. The sensing head was 20 mm x 15 mm x 10 mm in size, and could be made considerably smaller. Several such devices could be conveniently mounted on a manipulator hand, for example, to align the hand with an object. Type 1 and Type 2 optical configurations are discussed, Type 1 having a sharply defined sensitive volume, Type 2 an extended one. The sensitive volume can be placed at any distance between 1 cm and approximately 1 m by choice of a replaceable prism. The Type 1 lateral resolution was 0.5 mm on one axis and 5 mm perpendicular to it for a unit focused at 7.5 cm. The corresponding resolution in the axial direction was 2.4 cm, but improvement to 0.5 cm is possible. The effect of surface reflectivity is discussed and possible modes of application are suggested.

  15. Semantics of directly manipulating spatializations.

    PubMed

    Hu, Xinran; Bradel, Lauren; Maiti, Dipayan; House, Leanna; North, Chris; Leman, Scotland

    2013-12-01

    When high-dimensional data is visualized in a 2D plane by using parametric projection algorithms, users may wish to manipulate the layout of the data points to better reflect their domain knowledge or to explore alternative structures. However, few users are well-versed in the algorithms behind the visualizations, making parameter tweaking more of a guessing game than a series of decisive interactions. Translating user interactions into algorithmic input is a key component of Visual to Parametric Interaction (V2PI) [13]. Instead of adjusting parameters, users directly move data points on the screen, which then updates the underlying statistical model. However, we have found that some data points that are not moved by the user are just as important in the interactions as the data points that are moved. Users frequently move some data points with respect to some other 'unmoved' data points that they consider as spatially contextual. However, in current V2PI interactions, these points are not explicitly identified when directly manipulating the moved points. We design a richer set of interactions that makes this context more explicit, and a new algorithm and sophisticated weighting scheme that incorporates the importance of these unmoved data points into V2PI. PMID:24051771

  16. Self mobile space manipulator project

    NASA Astrophysics Data System (ADS)

    Brown, H. Ben; Friedman, Mark; Xu, Yangsheng; Kanade, Takeo

    1992-01-01

    A relatively simple, modular, low mass, low cost robot is being developed for space EVA that is large enough to be independently mobile on a space station or platform exterior, yet versatile enough to accomplish many vital tasks. The robot comprises two long flexible links connected by a rotary joint, with 2-DOF 'wrist' joints and grippers at each end. It walks by gripping pre-positioned attachment points, such as trusswork nodes, and alternately shifting its base of support from one foot (gripper) to the other. The robot can perform useful tasks such as visual inspection, material transport, and light assembly by manipulating objects with one gripper, while stabilizing itself with the other. At SOAR '90, we reported development of 1/3 scale robot hardware, modular trusswork to serve as a locomotion substrate, and a gravity compensation system to allow laboratory tests of locomotion strategies on the horizontal face of the trusswork. In this paper, we report on project progress including the development of: (1) adaptive control for automatic adjustment to loads; (2) enhanced manipulation capabilities; (3) machine vision, including the use of neural nets, to guide autonomous locomotion; (4) locomotion between orthogonal trusswork faces; and (5) improved facilities for gravity compensation and telerobotic control.

  17. Hanford Tanks Initiative alternate retrieval system demonstrations - final report of testing performed by Grey Pilgrim LLC

    SciTech Connect

    Berglin, E.J.

    1997-07-24

    A waste retrieval system has been defined to provide a safe and cost-effective solution to the Hanford Tanks Initiative. This system consists of the EMMA robotic manipulator (by GreyPilgrim LLC) and the lightweight Scarifier (by Waterjet Technology, Inc.) powered by a 36-kpsi Jet-Edge diesel powered high pressure pumping system. For demonstration and testing purposes, an air conveyance system was utilized to remove the waste from the simulated tank floor. The EMMA long reach manipulator utilized for this demonstration was 33 feet long. It consisted of 4 hydraulically controlled stages of varying lengths and coupling configurations. T

  18. Autonomous manipulation on a robot: Summary of manipulator software functions

    NASA Technical Reports Server (NTRS)

    Lewis, R. A.

    1974-01-01

    A six degree-of-freedom computer-controlled manipulator is examined, and the relationships between the arm's joint variables and 3-space are derived. Arm trajectories using sequences of third-degree polynomials to describe the time history of each joint variable are presented and two approaches to the avoidance of obstacles are given. The equations of motion for the arm are derived and then decomposed into time-dependent factors and time-independent coefficients. Several new and simplifying relationships among the coefficients are proven. Two sample trajectories are analyzed in detail for purposes of determining the most important contributions to total force in order that relatively simple approximations to the equations of motion can be used.

  19. Retrieval for color artistry concepts.

    PubMed

    Lay, Jose A; Guan, Ling

    2004-03-01

    This paper presents a work on the retrieval of artworks for color artistry concepts. First we affirm the view that the Query-by-Example paradigm fundamental to the current content-based retrieval systems is able to extend only limited usefulness. We then propose a concept-based retrieval engine based on the generative grammar of elemental concepts methodology. In the latter, the language by which color artistry concepts are communicated in artworks is used to operate semantic searches. The color artistry language is explicated into elemental concepts and the associated generative grammar. The elemental concepts are used to index the artworks, while the generative grammar is used to facilitate post-coordinate expression of color artistry concept queries by using the elemental concepts. PMID:15376925

  20. Acute stress impairs the retrieval of extinction memory in humans

    PubMed Central

    Raio, Candace M.; Brignoni-Perez, Edith; Goldman, Rachel; Phelps, Elizabeth A.

    2014-01-01

    Extinction training is a form of inhibitory learning that allows an organism to associate a previously aversive cue with a new, safe outcome. Extinction does not erase a fear association, but instead creates a competing association that may or may not be retrieved when a cue is subsequently encountered. Characterizing the conditions under which extinction learning is expressed is important to enhancing the treatment of anxiety disorders that rely on extinction-based exposure therapy as a primary treatment technique. The ventromedial prefrontal cortex, which plays an important role in the expression of extinction memory, has been shown to be functionally impaired after stress exposure. Further, recent research in rodents found that exposure to stress led to deficits in extinction retrieval, although this has yet to be tested in humans. To explore how stress might influence extinction retrieval in humans, participants underwent a differential aversive learning paradigm, in which one image was probabilistically paired with an aversive shock while the other image denoted safety. Extinction training directly followed, at which point reinforcement was omitted. A day later, participants returned to the lab and either completed an acute stress manipulation (i.e., cold pressor), or a control task, before undergoing an extinction retrieval test. Skin conductance responses and salivary cortisol concentrations were measured throughout each session as indices of fear arousal and neuroendocrine stress responses, respectively. The efficacy of our stress induction was established by observing significant increases in cortisol for the stress condition only. We examined extinction retrieval by comparing conditioned responses during the last trial of extinction (day 1) with that of the first trial of re-extinction (day 2). Groups did not differ on initial fear acquisition or extinction, however, one day later participants in the stress group (n = 27) demonstrated significantly less

  1. Multimedia Information Retrieval Literature Review

    SciTech Connect

    Wong, Pak C.; Bohn, Shawn J.; Payne, Deborah A.

    2010-10-12

    This survey paper highlights some of the recent, influential work in multimedia information retrieval (MIR). MIR is a branch area of multimedia (MM). The young and fast-growing area has received strong industrial and academic support in the United States and around the world (see Section 7 for a list of major conferences and journals of the community). The term "information retrieval" may be misleading to those with different computer science or information technology backgrounds. As shown in our discussion later, it indeed includes topics from user interaction, data analytics, machine learning, feature extraction, information visualization, and more.

  2. Information retrieval for patient care.

    PubMed Central

    Gardner, M.

    1997-01-01

    Doctors need clinical information during most consultations with patients, and much of this need could be satisfied by material from online sources. Advances in data communication technologies mean that multimedia information can be transported rapidly to various clinical care locations. However, selecting the few items of information likely to be useful in a particular clinical situation from the mass of information available is a major problem. Current information retrieval systems are designed primarily for use in research rather than clinical care. The design, implementation, and critical evaluation of new information retrieval systems for clinical care should be guided by knowledgeable clinical users. PMID:9099122

  3. Publication search and retrieval system

    USGS Publications Warehouse

    Winget, Elizabeth A.

    1981-01-01

    The publication search and retrieval system of the Branch of Atlantic-Gulf of Mexico Geology, U.S. Geological Survey, Woods Hole, Mass., is a procedure for listing and describing branch-sponsored publications. It is designed for maintenance and retrieval by those having limited knowledge of computer languages and programs. Because this branch currently utilizes the Hewlett-Packard HP-1000 computer with RTE-IVB operating system, database entry and maintenance is performed in accordance with the TE-IVB Terminal User’s Reference Manual (Hewlett-Packard Company, 1980) and within the constraints of GRASP (Bowen and Botbol, 1975) and WOLF (Evenden, 1978).

  4. Text Passage Retrieval Based on Colon Classification: Retrieval Performance.

    ERIC Educational Resources Information Center

    Shepherd, Michael A.

    1981-01-01

    Reports the results of experiments using colon classification for the analysis, representation, and retrieval of primary information from the full text of documents. Recall, precision, and search length measures indicate colon classification did not perform significantly better than Boolean or simple word occurrence systems. Thirteen references…

  5. The influence of retrieval processes in verbal overshadowing.

    PubMed

    Meissner, C A; Brigham, J C; Kelley, C M

    2001-01-01

    Recent studies of eyewitness memory have observed deleterious effects of producing a verbal description on later identification accuracy of a previously viewed face, an effect termed verbal overshadowing (Schooler & Engstler-Schooler, 1990). The present research investigated whether the phenomenon of verbal overshadowing may be constrained by variation in participants' initial retrieval processes, such that verbalization of a previously viewed stimulus could produce either positive or negative influences on subsequent attempts at recollection. To assess the validity of this hypothesis, we manipulated participants' response criterion during the verbal description task. As predicted, variation in response criterion significantly influenced not only the quality of the description generated but also accuracy on a subsequent identification task. This retrieval-based effect was found to persist despite either a postdescription delay (Experiment 1) or source-monitoring instructions at the time of the identification task (Experiment 2). We conclude that retrieval-based processes exert a powerful influence over the accuracy of verbalization and subsequent identification of a target face. PMID:11277460

  6. Incretin manipulation in diabetes management

    PubMed Central

    Pappachan, Joseph M; Raveendran, AV; Sriraman, Rajagopalan

    2015-01-01

    Incretin-based therapies have revolutionized the medical management of type 2 diabetes mellitus (T2DM) in the 21st century. Glucagon-like peptide-1 (GLP-1) suppresses appetite and gastric motility, and has trophic effects on pancreas, cardio-protective and renal effects. GLP-1 analogues and dipeptidyl peptidase-4 inhibitors form the incretin-based therapies. Significant reduction of hemoglobin A1c when used as monotherapy and in combination regimens, favorable effects on body weight, and low risk of hypoglycemia are their unique therapeutic benefits. Their safety and tolerability are comparable to other anti-diabetic medications. Concern about elevated risk of pancreatitis has been discarded by two recent meta-analyses. This article discusses the therapeutic manipulation of incretin system for the management of T2DM. PMID:26131320

  7. Incretin manipulation in diabetes management.

    PubMed

    Pappachan, Joseph M; Raveendran, A V; Sriraman, Rajagopalan

    2015-06-25

    Incretin-based therapies have revolutionized the medical management of type 2 diabetes mellitus (T2DM) in the 21(st) century. Glucagon-like peptide-1 (GLP-1) suppresses appetite and gastric motility, and has trophic effects on pancreas, cardio-protective and renal effects. GLP-1 analogues and dipeptidyl peptidase-4 inhibitors form the incretin-based therapies. Significant reduction of hemoglobin A1c when used as monotherapy and in combination regimens, favorable effects on body weight, and low risk of hypoglycemia are their unique therapeutic benefits. Their safety and tolerability are comparable to other anti-diabetic medications. Concern about elevated risk of pancreatitis has been discarded by two recent meta-analyses. This article discusses the therapeutic manipulation of incretin system for the management of T2DM. PMID:26131320

  8. Genetic Manipulation of Stenotrophomonas maltophilia

    PubMed Central

    Welker, Elliott; Domfeh, Yayra; Tyagi, Deepti; Sinha, Sanjivni; Fisher, Nathan

    2015-01-01

    Stenotrophomonas maltophilia is a Gram-negative, aerobic, motile, environmental bacterium that is emerging as an important nosocomial pathogen (Brooke, 2012; Looney, Narita, & Mühlemann, 2009) with high rates of attributable mortality in severely ill patients (Falagas et al., 2009; Paez & Costa, 2008; Sattler, Mason, & Kaplan, 2000; Senol, DesJardin, Stark, Barefoot, & Snydman, 2002; Weber et al., 2007). S. maltophilia is of particular concern to patients suffering from cystic fibrosis (CF) as it has been shown to colonize airway epithelial and establish a chronic infection (Goncalves-Vidigal et al., 2011). Here we describe several molecular techniques for the genetic manipulation of this bacterium, including DNA extraction, RNA extraction, conjugation of plasmids from E. coli and allelic exchange. PMID:26344220

  9. Genetic manipulation of Porphyromonas gingivalis.

    PubMed

    Bélanger, Myriam; Rodrigues, Paulo; Progulske-Fox, Ann

    2007-06-01

    Porphyromonas gingivalis, an oral anaerobic bacterium, is an important etiological agent of periodontal disease and may contribute to cardiovascular disease, preterm birth, and diabetes as well. Therefore, genetic studies are of crucial importance in investigating molecular mechanisms of P. gingivalis virulence. Although molecular genetic tools have been available for many bacterial species for some time, genetic manipulations of Porphyromonas species were not developed until more recently and remain limited. In this unit, current molecular genetic approaches for mutant construction in P. gingivalis using the suicide vector pPR-UF1 and the transposon Tn4351 are described, as are protocols for performing electroporation and conjugation. Furthermore, a technique to restore the wild-type phenotype of the mutant by complementation using vector pT-COW is provided. Finally, a description of a noninvasive reporter system allowing the study of gene expression and regulation in P. gingivalis completes this unit. PMID:18770611

  10. Manipulating crystallization with molecular additives.

    PubMed

    Shtukenberg, Alexander G; Lee, Stephanie S; Kahr, Bart; Ward, Michael D

    2014-01-01

    Given the importance of organic crystals in a wide range of industrial applications, the chemistry, biology, materials science, and chemical engineering communities have focused considerable attention on developing methods to control crystal structure, size, shape, and orientation. Tailored additives have been used to control crystallization to great effect, presumably by selectively binding to particular crystallographic surfaces and sites. However, substantial knowledge gaps still exist in the fundamental mechanisms that govern the formation and growth of organic crystals in both the absence and presence of additives. In this review, we highlight research discoveries that reveal the role of additives, either introduced by design or present adventitiously, on various stages of formation and growth of organic crystals, including nucleation, dislocation spiral growth mechanisms, growth inhibition, and nonclassical crystal morphologies. The insights from these investigations and others of their kind are likely to guide the development of innovative methods to manipulate crystallization for a wide range of materials and applications. PMID:24579880

  11. Controlling multiple manipulators using RIPS

    NASA Technical Reports Server (NTRS)

    Wang, Yulun; Jordan, Steve; Mangaser, Amante; Butner, Steve

    1989-01-01

    A prototype of the RIPS architecture (Robotic Instruction Processing System) was developed. A two arm robot control experiment is underway to characterize the architecture as well as research multi-arm control. This experiment uses two manipulators to cooperatively position an object. The location of the object is specified by the host computer's mouse. Consequently, real time kinematics and dynamics are necessary. The RIPS architecture is specialized so that it can satisfy these real time constraints. The two arm experimental set-up is discussed. A major part of this work is the continued development of a good programming environment for RIPS. The C++ language is employed and favorable results exist in the targeting of this language to the RIPS hardware.

  12. Research on a reconfigurable modular manipulator system

    NASA Astrophysics Data System (ADS)

    Khosla, P. K.; Kanade, T.

    Research has been conducted on developing the theoretical basis and the technology for a Reconfigurable Modular Manipulation System (RMMS). Unlike a conventional manipulator which has a fixed configuration, the RMMS consists of a set of interchangeable modules that can be rapidly assembled into a system of manipulators with appropriate configurations depending on the specific task requirement. For effective development and use of such a versatile and flexible system a program of theoretical and experimental research has been pursued aimed at developing the basis for next generation of autonomous manipulator systems. The RMMS concept extends the idea of autonomy from sensor-based to configuration based autonomy. One of the important components is the development of design methodologies for mapping tasks into manipulator configurations and for automatic generation of manipulator specific algorithms (e.g., kinematics and dynamics) in order to make the hardware transparent to the user.

  13. Research on a Reconfigurable Modular Manipulator System

    SciTech Connect

    Khosla, P.K.; Kanade, T.

    1992-01-01

    Research has been conducted on developing the theoretical basis and the technology for a Reconfigurable Modular Manipulation System (RMMS). Unlike a conventional manipulator which has a fixed configuration, the RMMS consists of a set of interchangeable modules that can be rapidly assembled into a system of manipulators with appropriate configurations depending on the specific task requirement. For effective development and use of such a versatile and flexible system a program of theoretical and experimental research has been pursued aimed at developing the basis for next generation of autonomous manipulator systems. The RMMS concept extends the idea of autonomy from sensor-based to configuration based autonomy. One of the important components is the development of design methodologies for mapping tasks into manipulator configurations and for automatic generation of manipulator specific algorithms (e.g., kinematics and dynamics) in order to make the hardware transparent to the user.(JDB)

  14. Bracing micro/macro manipulators control

    SciTech Connect

    Lew, J.Y.; Book, W.J.

    1994-05-01

    This paper proposes a bracing strategy for micro/macro manipulators. The bracing micro/macro manipulator can provide advantages in accurate positioning, large work-space, and contact-task capability however, in exchange for improvement in performance one must accept the complex control problem along wit the complex dynamics. This research develops a control scheme for a bracing manipulator which makes multiple contacts with the environment. Experimental results show the feasibility of the proposed ideas for real world applications.

  15. Seismic qualification of existing safety class manipulators

    SciTech Connect

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

    1992-05-01

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

  16. Seismic qualification of existing safety class manipulators

    SciTech Connect

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

    1992-01-01

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

  17. Algorithmic formulation of control problems in manipulation

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.

    1975-01-01

    The basic characteristics of manipulator control algorithms are discussed. The state of the art in the development of manipulator control algorithms is briefly reviewed. Different end-point control techniques are described together with control algorithms which operate on external sensor (imaging, proximity, tactile, and torque/force) signals in realtime. Manipulator control development at JPL is briefly described and illustrated with several figures. The JPL work pays special attention to the front or operator input end of the control algorithms.

  18. Spatial-Operator Algebra For Robotic Manipulators

    NASA Technical Reports Server (NTRS)

    Rodriguez, Guillermo; Kreutz, Kenneth K.; Milman, Mark H.

    1991-01-01

    Report discusses spatial-operator algebra developed in recent studies of mathematical modeling, control, and design of trajectories of robotic manipulators. Provides succinct representation of mathematically complicated interactions among multiple joints and links of manipulator, thereby relieving analyst of most of tedium of detailed algebraic manipulations. Presents analytical formulation of spatial-operator algebra, describes some specific applications, summarizes current research, and discusses implementation of spatial-operator algebra in the Ada programming language.

  19. Photopolarimetric Retrievals of Snow Properties

    NASA Technical Reports Server (NTRS)

    Ottaviani, M.; van Diedenhoven, B.; Cairns, B.

    2015-01-01

    Polarimetric observations of snow surfaces, obtained in the 410-2264 nm range with the Research Scanning Polarimeter onboard the NASA ER-2 high-altitude aircraft, are analyzed and presented. These novel measurements are of interest to the remote sensing community because the overwhelming brightness of snow plagues aerosol and cloud retrievals based on airborne and spaceborne total reflection measurements. The spectral signatures of the polarized reflectance of snow are therefore worthwhile investigating in order to provide guidance for the adaptation of algorithms currently employed for the retrieval of aerosol properties over soil and vegetated surfaces. At the same time, the increased information content of polarimetric measurements allows for a meaningful characterization of the snow medium. In our case, the grains are modeled as hexagonal prisms of variable aspect ratios and microscale roughness, yielding retrievals of the grains' scattering asymmetry parameter, shape and size. The results agree with our previous findings based on a more limited data set, with the majority of retrievals leading to moderately rough crystals of extreme aspect ratios, for each scene corresponding to a single value of the asymmetry parameter.

  20. Hypermedia and Free Text Retrieval.

    ERIC Educational Resources Information Center

    Dunlop, Mark D.; van Rijsbergen, C. J.

    1993-01-01

    Discusses access to nontextual documents in large multimedia document bases. A hybrid information retrieval model, using queries in a hypertext environment for location of browsing areas, is presented; and two experiments using cluster-based descriptions of content are reported. (23 references) (EA)

  1. Photopolarimetric retrievals of snow properties

    NASA Astrophysics Data System (ADS)

    Ottaviani, M.; van Diedenhoven, B.; Cairns, B.

    2015-10-01

    Polarimetric observations of snow surfaces, obtained in the 410-2264 nm range with the Research Scanning Polarimeter onboard the NASA ER-2 high-altitude aircraft, are analyzed and presented. These novel measurements are of interest to the remote sensing community because the overwhelming brightness of snow plagues aerosol and cloud retrievals based on airborne and spaceborne total reflection measurements. The spectral signatures of the polarized reflectance of snow are therefore worthwhile investigating in order to provide guidance for the adaptation of algorithms currently employed for the retrieval of aerosol properties over soil and vegetated surfaces. At the same time, the increased information content of polarimetric measurements allows for a meaningful characterization of the snow medium. In our case, the grains are modeled as hexagonal prisms of variable aspect ratios and microscale roughness, yielding retrievals of the grains' scattering asymmetry parameter, shape and size. The results agree with our previous findings based on a more limited data set, with the majority of retrievals leading to moderately rough crystals of extreme aspect ratios, for each scene corresponding to a single value of the asymmetry parameter.

  2. Photopolarimetric retrievals of snow properties

    NASA Astrophysics Data System (ADS)

    Ottaviani, M.; van Diedenhoven, B.; Cairns, B.

    2015-05-01

    Polarimetric observations of snow surfaces, obtained in the 410-2264 nm range with the Research Scanning Polarimeter onboard the NASA ER-2 high-altitude aircraft, are analyzed and presented. These novel measurements are of interest to the remote sensing community because the overwhelming brightness of snow plagues aerosol and cloud retrievals based on air- and space-borne total reflection measurements. The spectral signatures of the polarized reflectance of snow are therefore worthwhile investigating in order to provide guidance for the adaptation of algorithms currently employed for the retrieval of aerosol properties over soil and vegetated surfaces. At the same time, the increased information content of polarimetric measurements allows for a meaningful characterization of the snow medium. In our case, the grains are modeled as hexagonal prisms of variable aspect ratios and microscale roughness, yielding retrievals of the grains' scattering asymmetry parameter, shape and size. The results agree with our previous findings based on a more limited dataset, with the majority of retrievals leading to moderately rough crystals of extreme aspect ratios, for each scene corresponding to a single value of the asymmetry parameter.

  3. Information Retrieval Systems for Microcomputers.

    ERIC Educational Resources Information Center

    Seiden, Peggy; Kibbey, Mark

    1985-01-01

    Discusses the characteristics of information retrieval software and examines several capabilities of two systems, SIRE and ZyINDEX--creating a database, indexing the database, maintaining the database, and searching the database. Each system's strengths and weaknesses in bibliographic record and full text applications are analyzed. A glossary is…

  4. An Introduction to Information Retrieval.

    ERIC Educational Resources Information Center

    International Business Machines Corp., White Plains, NY. Data Processing Div.

    The ways in which digital computers can be used in information storage and retrieval are presented in the language of the nonspecialist. Indexing methods, file organization, and search strategies are discussed and a brief bibliography containing 30 IBM publications is given. The manual is intended as a first reader for those interested in the…

  5. INFORMATION RETRIEVAL EXPERIMENT. FINAL REPORT.

    ERIC Educational Resources Information Center

    SELYE, HANS

    THIS REPORT IS A BRIEF REVIEW OF RESULTS OF AN EXPERIMENT TO DETERMINE THE INFORMATION RETRIEVAL EFFICIENCY OF A MANUAL SPECIALIZED INFORMATION SYSTEM BASED ON 700,000 DOCUMENTS IN THE FIELDS OF ENDOCRINOLOGY, STRESS, MAST CELLS, AND ANAPHYLACTOID REACTIONS. THE SYSTEM RECEIVES 30,000 PUBLICATIONS ANNUALLY. DETAILED INFORMATION IS REPRESENTED BY…

  6. Artificial Intelligence and Information Retrieval.

    ERIC Educational Resources Information Center

    Teodorescu, Ioana

    1987-01-01

    Compares artificial intelligence and information retrieval paradigms for natural language understanding, reviews progress to date, and outlines the applicability of artificial intelligence to question answering systems. A list of principal artificial intelligence software for database front end systems is appended. (CLB)

  7. Semantic Tools in Information Retrieval.

    ERIC Educational Resources Information Center

    Rubinoff, Morris; Stone, Don C.

    This report discusses the problem of the meansings of words used in information retrieval systems, and shows how semantic tools can aid in the communication which takes place between indexers and searchers via index terms. After treating the differing use of semantic tools in different types of systems, two tools (classification tables and…

  8. Cross-Language Information Retrieval.

    ERIC Educational Resources Information Center

    Oard, Douglas W.; Diekema, Anne R.

    1998-01-01

    Reviews research and practice in cross-language information retrieval (CLIR) that seeks to support the process of finding documents written in one natural language with automated systems that can accept queries expressed in other languages. Addresses user needs, document preprocessing, query formulation, matching strategies, sources of translation…

  9. Formaldehyde OMI operational retrieval upgrades

    NASA Astrophysics Data System (ADS)

    Gonzalez Abad, G.; Chance, K.; Liu, X.

    2013-05-01

    Total column of formaldehyde (HCHO), a proxy for biogenic emissions, can be observed from satellites using the ultraviolet region of the spectrum. The operational HCHO retrievals from the Ozone Monitoring Instrument (OMI) on board the AURA satellite, part of NASA's A-train constellation of Earth Observing satellites, are described. The operational retrieval, based on a basic optical absorption spectroscopy (BOAS) algorithm, has been affected by the degradation of the instrument especially from 2008 onwards. The most significant problems are the unrealistic increasing high background concentrations of HCHO retrieved from OMI and the row anomaly. An upgrade for the original operational algorithm is therefore needed to ensure its trend quality and to account for these difficulties. The strategies implemented to deal with the instrumental degradation are presented here. Air mass factors (AMFs) in the current fitting window show significant wavelength dependence. Fitting uncertainties can potentially be improved by including shorter wavelengths as long as the AMFs wavelength dependence is taken into account. As part of these improvements a look-up table of wavelength-dependent AMFs have been calculated. Using this new table it is possible to retrieve the HCHO total column directly, weighting the HCHO cross sections with the wavelength-dependent AMFs. Additionally, the pixels affected by the row anomaly are now flagged in the level 2 data generated with the upgraded algorithm.

  10. The Ecosystem of Information Retrieval

    ERIC Educational Resources Information Center

    Rodriguez-Munoz, Jose-Vicente; Martinez-Mendez, Francisco-Javier; Pastor-Sanchez, Juan-Antonio

    2012-01-01

    Introduction: This paper presents an initial proposal for a formal framework that, by studying the metric variables involved in information retrieval, can establish the sequence of events involved and how to perform it. Method: A systematic approach from the equations of Shannon and Weaver to establish the decidability of information retrieval…

  11. Information Retrieval in the Classroom.

    ERIC Educational Resources Information Center

    Oley, Elizabeth

    1989-01-01

    Explores aspects of information retrieval skills such as end user training, indexing, controlled vocabulary systems, search protocol, boolean logic, problem analysis, and decision making. Suggests techniques for classroom instruction using simulations of online databases, CD-ROMs, and DIALOG's classroom instruction program. Describes several…

  12. Research on reconfigurable and reliable manipulators

    SciTech Connect

    Khosla, P.K.; Kanade, T.

    1993-01-01

    We have proposed the concept of reconfigurable manipulators as a solution to tasks that require varied configurations of manipulators. Using modules of varying sizes and performance specifications, it is possible to build manipulators to suit the task at hand. Our research is not only addressing the issue of creating such manipulators but also the interesting theoretical challenges posed in mapping tasks to manipulators. We have developed strategies that allow us to determine the kinematic and dynamic configuration of a non-redundant manipulator from task specifications such as reachability, obstacle avoidance, manipulability, joint, limits, and joint velocities and accelerations. We are presently extending this design methodology for design of redundant and fault tolerant manipulator systems. Further, we are also addressing issues in automatic generation of software for kinematics, dynamics, and controllers for the configured manipulators. During the next year, we will be demonstrating automatic generation of software on the prototype system that we are building. We expect to have 4 joint and link modules available for this demonstration. The joint and link modules will also incorporate concepts for making power and data connections when the mechanical connection is made. Further, they will also include electronics, housed within the module, for communication and real-time control.

  13. Research on reconfigurable and reliable manipulators

    NASA Astrophysics Data System (ADS)

    Khosla, P. K.; Kanade, T.

    We have proposed the concept of reconfigurable manipulators as a solution to tasks that require varied configurations of manipulators. Using modules of varying sizes and performance specifications, it is possible to build manipulators to suit the task at hand. Our research is not only addressing the issue of creating such manipulators but also the interesting theoretical challenges posed in mapping tasks to manipulators. We have developed strategies that allow us to determine the kinematic and dynamic configuration of a non-redundant manipulator from task specifications such as reachability, obstacle avoidance, manipulability, joint, limits, and joint velocities and accelerations. We are presently extending this design methodology for design of redundant and fault tolerant manipulator systems. Further, we are also addressing issues in automatic generation of software for kinematics, dynamics, and controllers for the configured manipulators. During the next year, we will be demonstrating automatic generation of software on the prototype system that we are building. We expect to have 4 joint and link modules available for this demonstration. The joint and link modules will also incorporate concepts for making power and data connections when the mechanical connection is made. Further, they will also include electronics, housed within the module, for communication and real-time control.

  14. Culture and Manipulation of Embryonic Cells

    PubMed Central

    Edgar, Lois G.; Goldstein, Bob

    2012-01-01

    The direct manipulation of embryonic cells is an important tool for addressing key questions in cell and developmental biology. C. elegans is relatively unique among genetic model systems in being amenable to manipulation of embryonic cells. Embryonic cell manipulation has allowed the identification of cell interactions by direct means, and it has been an important technique for dissecting mechanisms by which cell fates are specified, cell divisions are oriented, and morphogenesis is accomplished. Here, we present detailed methods for isolating, manipulating and culturing embryonic cells of C. elegans. PMID:22226523

  15. Social Manipulation of Online Recommender Systems

    NASA Astrophysics Data System (ADS)

    Lang, Juan; Spear, Matt; Wu, S. Felix

    Online recommender systems are a common target of attack. Existing research has focused on automated manipulation of recommender systems through the creation of shill accounts, and either do not consider attacks by coalitions of real users, downplay the impact of such attacks, or state that such attacks are difficult to impossible to detect. In this study, we examine a recommender system that is part of an online social network, show that users successfully induced other users to manipulate their recommendations, that these manipulations were effective, and that most such manipulations are detectable even when performed by ordinary, non-automated users.

  16. Satellite Retrieval of Aerosol Properties

    NASA Astrophysics Data System (ADS)

    de Leeuw, G.; Robles Gonzalez, C.; Kusmierczyk-Michulec, J.; Decae, R.

    SATELLITE RETRIEVAL of AEROSOL PROPERTIES G. de Leeuw, C. Robles Gonzalez, J. Kusmierczyk-Michulec and R. Decae TNO Physics and Electronics Laboratory, The Hague, The Netherlands; deleeuw@fel.tno.nl Methods to retrieve aerosol properties over land and over sea were explored. The dual view offered by the ATSR-2 aboard ERS-2 was used by Veefkind et al., 1998. The retrieved AOD (aerosol optical depth) values compare favourably with collocated sun photometer measurements, with an accuracy of 0.06 +/- 0.05 in AOD. An algorithm developed for GOME on ERS-2 takes advantage of the low surface reflection in the UV (Veefkind et al., 2000). AOD values retrieved from ATSR-2 and GOME data over western Europe are consistent. The results were used to produce a map of mean AOD values over Europe for one month (Robles-Gonzalez et al., 2000). The ATSR-2 is al- gorithm is now extended with other aerosol types with the aim to apply it over the In- dian Ocean. A new algorithm is being developed for the Ozone Monitoring Instrument (OMI) to be launched in 2003 on the NASA EOS-AURA satellite. It is expected that, based on the different scattering and absorption properties of various aerosol types, five major aerosol classes can be distinguished. The experience with the retrieval of aerosol properties by using several wavelength bands is used to develop an algorithm for Sciamachy to retrieve aerosol properties both over land and over the ocean which takes advantage of the wavelengths from the UV to the IR. The variation of the AOD with wavelength is described by the Angstrom parameter. The AOD and the Angstrom parameter together yield information on the aerosol size distribution, integrated over the column. Analysis of sunphotometer data indicates a relation between the Angstrom parameter and the mass ratio of certain aerosols (black carbon, organic carbon and sea salt) to the total particulate matter. This relation has been further explored and was applied to satellite data over land to

  17. Kinematics and Control of Robot Manipulators

    NASA Astrophysics Data System (ADS)

    Paden, Bradley Evan

    This dissertation focuses on the kinematics and control of robot manipulators. The contribution to kinematics is a fundamental theorem on the design of manipulators with six revolute joints. The theorem states, roughly speaking, that manipulators which have six revolute joints and are modeled after the human arm are optimal and essentially unique. In developing the mathematical framework to prove this theorem, we define precisely the notions of length of a manipulator, well-connected-workspace, and work-volume. We contribute to control a set of analysis techniques for the design of variable structure (sliding mode) controllers for manipulators. The organization of the dissertation is the following. After introductory remarks in chapter one, the group of proper rigid motions, G, is introduced in chapter two. The tangent bundle of G is introduced and it is shown that the velocity of a rigid body can be represented by an element in the Lie algebra of G (commonly called a twist). Further, rigid motions which are exponentials of twists are used to describe four commonly occurring subproblems in robot kinematics. In chapter three, the exponentials of twists are used to write the forward kinematic map of robot manipulators and the subproblems of chapter two are used to solve the Stanford manipulator and an elbow manipulator. Chapter four focuses on manipulator singularities. Twist coordinates are used to find critical points of the forward kinematic map. The contribution to kinematics is contained in chapter five where a mathematical framework for studying the relationship between the design of 6R manipulators and their performance is developed. Chapter seven contains the contribution to control. The work of A. F. Filippov on differential equations with discontinuous right-hand-side and the work of F. H. Clarke on generalized gradients are combined to obtain a calculus for analyzing nonsmooth gradient systems. The techniques developed are applied to design a simple

  18. The role of emotional engagement and mood valence in retrieval fluency of mood incongruent autobiographical memory

    PubMed Central

    Greenberg, Jonathan; Meiran, Nachshon

    2014-01-01

    Background: Retrieval of opposite mood autobiographical memories serves emotion regulation, yet the factors influencing this ability are poorly understood. Methods: Three studies examined the effect of mood valence (sad vs. happy) and degree of emotional engagement on fluency of mood incongruent retrieval by manipulating emotional engagement and examining the effect of emotional film clips on the Fluency of Autobiographical Memory task. Results: Following both sad and happy film clips, participants who received emotionally engaging instructions exhibited a greater recall latency of the first opposite mood memory, and had generated less such memories than those receiving emotionally disengaging instructions (Studies 1 and 2). A happy mood induction resulted in recollection of fewer mood incongruent memories compared to a sad mood induction. Providing emotionally engaging instructions was found to specifically hinder mood incongruent retrieval, without impairing mood congruent retrieval (Study 3). Conclusion: High emotional engagement seems to impair the retrieval of mood incongruent memories. Being in a happy mood may also partially impair such retrieval. Implications regarding emotional regulation are discussed. PMID:24570671

  19. Context Effects and Retrieval in Recognition Memory

    ERIC Educational Resources Information Center

    Paul, Lawrence M.; And Others

    1975-01-01

    Describes an experiment designed to test predictions derived from a model of recognition memory that assumes no retrieval processes. It is argued that context effects do not necessarily imply retrieval processes in recognition. (Author/AM)

  20. Brewer Umkehr ozone profile retrievals

    NASA Astrophysics Data System (ADS)

    Petropavlovskikh, I. V.; Disterhoft, P.; Lantz, K. O.; Bhartia, P. K.; McPeters, R. D.; Flynn, L. E.; Oltmans, S. J.; Johnson, B. J.; Stanek, M.

    2011-12-01

    The Dobson Umkehr network has been a key data set for stratospheric ozone trend calculations (WMO Ozone assessments) and has earned its place as a benchmark network for stratospheric ozone profile observations. The Umkehr data has also been used to provide a long-term reference to the merging of the satellite ozone records (MOD), estimate the seasonal influence of an 11-year solar signal in the vertical distribution of stratospheric ozone, and to assess the ability of several remote and in-situ sensing systems in capturing ozone variability. It was found that Dobson Umkehr measurement errors were often comparable to errors derived for satellite and ozone-sounding methods. The Umkehr measurements are also available from the Brewer spectrophotometers [McElroy et al., 1995]. In 2005, the Dobson Umkehr algorithm (UMK04) was modified to retrieve ozone profile data from Brewer Umkehr measurements taken at two spectral channels [Petropavlovskikh et al, 2011]. The PC version of the Brewer algorithm was developed by M. Stanek (IOC, Canada and Czech Republic Meteorological Institute) in close collaboration with I. Petropavlovskikh. It was implemented at the NEUBrew network for operational processing of Umkehr data retrieved daily for all operational sites. The most recently developed Brewer ozone retrieval algorithm (MSBU) utilizes measurements that are currently available from the operational Brewer instruments. Umkehr measurements at multiple wavelength channels (similar to the satellite BUV method) and significantly reduced range of solar zenith angle are used for the twice a day operational ozone profile retrievals. Intercomparisons against ozone climatology, sounding, satellite overpasses and Dobson ozone datasets for NOASA/Goddard, Boulder, CO and MLO, HI sites are presented in this paper. The MSBU algorithm reduces noise in the intra-annual variability of the Brewer retrieved ozone as compared to the single pair ozone retrieval. Tropospheric ozone retrievals also

  1. The Stealth Curriculum: Manipulating America's History Teachers

    ERIC Educational Resources Information Center

    Stotsky, Sandra

    2004-01-01

    The purpose of this report is: (1) To point out the features of a number of manipulative supplemental resources for history and social studies teachers; and (2) to show how similarly manipulative professional development workshops propagate the distorted content and recommended teaching practices of such materials to teachers and their…

  2. Welding torch and wire feed manipulator

    NASA Technical Reports Server (NTRS)

    Williams, R. T.

    1967-01-01

    Welding torch and wire feed manipulator increase capability for performing automatic welding operations. The manipulator rotates on its horizontal axis to avoid obstacles as they approach the torch. The initial individual attitudes of the torch and wire guide are set with respect to the general configuration of the part.

  3. Teachers' Beliefs and Teaching Mathematics with Manipulatives

    ERIC Educational Resources Information Center

    Golafshani, Nahid

    2013-01-01

    To promote the implementation of manipulatives into mathematics instruction, this research project examined how the instructional practices of four Grade 9 applied mathematics teachers related to their beliefs about the use of manipulatives in teaching mathematics, its effects on students' learning, and enabling and disabling factors. Teacher…

  4. Count on It: Congruent Manipulative Displays

    ERIC Educational Resources Information Center

    Morin, Joe; Samelson, Vicki M.

    2015-01-01

    Representations that create informative visual displays are powerful tools for communicating mathematical concepts. The National Council of Teachers of Mathematics encourages the use of manipulatives (NCTM 2000). Manipulative materials are often used to present initial representations of basic numerical principles to young children, and it is…

  5. Use of commercial manipulator to handle a nuclear weapon component

    SciTech Connect

    Baker, C.P.

    1994-08-01

    Pacific Northwest Laboratory (PNL) has developed a manipulator workcell to load and unload nuclear weapon pit assemblies from a cart. To develop this workcell, PNL procured a commercially available manipulator, equipped it with force-sensing and vision equipment, and developed manipulator control software. Manipulator workcell development demonstrated that commercially available manipulator systems can successfully perform this task if the appropriate manipulator is selected and the manipulator workcell tooling and software are carefully designed.

  6. On stiffening cables of a long reach manipulator

    SciTech Connect

    Wang, S.L.; Santiago, P.

    1996-02-01

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

  7. Intelligent Information Retrieval Using Rough Set Approximations.

    ERIC Educational Resources Information Center

    Srinivasan, Padmini

    1989-01-01

    Describes rough sets theory and discusses the advantages it offers for information retrieval, including the implicit inclusion of Boolean logic, term weighting, ranked retrieval output, and relevance feedback. Rough set formalism is compared to Boolean, vector, and fuzzy models of information retrieval and a small scale evaluation of rough sets is…

  8. Online Retrieval Systems Users Survey from Texas.

    ERIC Educational Resources Information Center

    White, Phillip M.

    Based on a survey of 160 Texas college and university libraries, this study reports on their access to and usage of 3 online information retrieval systems: Bibliographic Retrieval Services (BRS), Lockheed's DIALOG Information Services, and System Development Corporation's ORBIT Information Retrieval System. The study finds that 24 percent of all…

  9. EXPERIMENTAL RETRIEVAL SYSTEMS STUDIES, REPORT NUMBER 3.

    ERIC Educational Resources Information Center

    ANDERSON, RONALD R.; AND OTHERS

    CONTENTS--(1) AN ASSOCIATIVITY TECHNIQUE FOR AUTOMATICALLY OPTIMIZING RETRIEVAL RESULTS BY RONALD R. ANDERSON. AN ASSOCIATIVE TECHNIQUE BY WHICH IT IS POSSIBLE TO AUTOMATICALLY EXPAND AND NARROW THE NUMBER OF DOCUMENTS RETRIEVED AND TO RETRIEVE DOCUMENTS RELATED TO A REQUEST EVEN THOUGH THEY MAY NOT BE INDEXED BY THE EXACT TERMS OF THE REQUEST IS…

  10. Validating a Geographical Image Retrieval System.

    ERIC Educational Resources Information Center

    Zhu, Bin; Chen, Hsinchun

    2000-01-01

    Summarizes a prototype geographical image retrieval system that demonstrates how to integrate image processing and information analysis techniques to support large-scale content-based image retrieval. Describes an experiment to validate the performance of this image retrieval system against that of human subjects by examining similarity analysis…

  11. A Fuzzy Model of Document Retrieval Systems

    ERIC Educational Resources Information Center

    Tahani, Valiollah

    1976-01-01

    This paper is concerned with the organization and retrieval of records in document retrieval systems which admit of imprecision in the form of fuzziness in document characterization and retrieval rules. A mathematical model for such systems, based on the theory of fuzzy sets, is introduced. (Author)

  12. Modeling and Retrieving Images by Content.

    ERIC Educational Resources Information Center

    Gudivada, Venkat N.; Raghavan, Vijay V.

    1997-01-01

    Discusses content-based image retrieval systems that effectively utilize information from image databases, and provides a taxonomy for approaches to image retrieval. Highlights include image retrieval architecture that supports query operators; conceptual issues; and two application prototypes. (100 references) (Author/LRW)

  13. Image Indexing and Retrieval by Content.

    ERIC Educational Resources Information Center

    Cawkell, Tony

    2000-01-01

    Reviews content-based image retrieval and discusses the increase in large picture databases that are now available. Describes some of the proceedings from the Brighton (United Kingdom) conference, including the retrieval of video clips; discusses image indexing; and provides examples of image indexing and retrieval projects. (Author/LRW)

  14. The Networking of Interactive Bibliographic Retrieval Systems.

    ERIC Educational Resources Information Center

    Marcus, Richard S.; Reintjes, J. Francis

    Research in networking of heterogeneous interactive bibliographic retrieval systems is being conducted which centers on the concept of a virtual retrieval system. Such a virtual system would be created through a translating computer interface that would provide access to the different retrieval systems and data bases in a uniform and convenient…

  15. Natural Language Information Retrieval: Progress Report.

    ERIC Educational Resources Information Center

    Perez-Carballo, Jose; Strzalkowski, Tomek

    2000-01-01

    Reports on the progress of the natural language information retrieval project, a joint effort led by GE (General Electric) Research, and its evaluation at the sixth TREC (Text Retrieval Conference). Discusses stream-based information retrieval, which uses alternative methods of document indexing; advanced linguistic streams; weighting; and query…

  16. Some Mathematics of Information Storage and Retrieval.

    ERIC Educational Resources Information Center

    Sammon, John W., Jr.

    This report explains the following mathematical techniques which may be used for relating search requests to documents contained in a library: (1) Boolean Algebraic Retrieval, (2) Linear Statistical Retrieval, (3) Statistical Association Techniques for expanding a query and/or for expanding the set of retrieval documents, (4) Vector Space…

  17. Manipulating duckweed through genome duplication.

    PubMed

    Vunsh, R; Heinig, U; Malitsky, S; Aharoni, A; Avidov, A; Lerner, A; Edelman, M

    2015-01-01

    Significant inter- and intraspecific genetic variation exists in duckweed, thus the potential for genome plasticity and manipulation is high. Polyploidy is recognised as a major mechanism of adaptation and speciation in plants. We produced several genome-duplicated lines of Landoltia punctata (Spirodela oligorrhiza) from both whole plants and regenerating explants using a colchicine-based cocktail. These lines stably maintained an enlarged frond and root morphology. DNA ploidy levels determined by florescence-activated cell sorting indicated genome duplication. Line A4 was analysed after 75 biomass doublings. Frond area, fresh and dry weights, rhizoid number and length were significantly increased versus wild type, while the growth rate was unchanged. This resulted in accumulation of biomass 17-20% faster in the A4 plants. We sought to determine if specific differences in gene products are found in the genome duplicated lines. Non-targeted ultra performance LC-quadrupole time of flight mass spectrometry was employed to compare some of the lines and the wild type to seek identification of up-regulated metabolites. We putatively identified differential metabolites in Line A65 as caffeoyl hexoses. The combination of directed genome duplication and metabolic profiling might offer a path for producing stable gene expression, leading to altered production of secondary metabolites. PMID:25040392

  18. Manipulating resource allocation in plants.

    PubMed

    Bennett, Emma; Roberts, Jeremy A; Wagstaff, Carol

    2012-05-01

    The distribution of nutrients and assimilates in different organs and tissues is in a constant state of flux throughout the growth and development of a plant. At key stages during the life cycle profound changes occur, and perhaps one of the most critical of these is during seed filling. By restricting the competition for reserves in Arabidopsis plants, the ability to manipulate seed size, seed weight, or seed content has been explored. Removal of secondary inflorescences and lateral branches resulted in a stimulation of elongation of the primary inflorescence and an increase in the distance between siliques. The pruning treatment also led to the development of longer and larger siliques that contained fewer, bigger seeds. This seems to be a consequence of a reduction in the number of ovules that develop and an increase in the fatty acid content of the seeds that mature. The data show that shoot architecture could have a substantial impact on the partitioning of reserves between vegetative and reproductive tissues and could be an important trait for selection in rapid phenotyping screens to optimize crop performance. PMID:22291133

  19. Coanda-assisted Spray Manipulation

    NASA Astrophysics Data System (ADS)

    Mabey, Katie; Smith, Barton; Archibald, Reid; West, Brian

    2009-11-01

    An overview of research on a flow control technique called Coanda-assisted Spray Manipulation (CSM) is presented. CSM uses a high-momentum control jet under the influence of the Coanda effect to vector a high volume-flow jet or spray. Actuators provide the capability of moving the location of applied control flow making rotary or arbitrary motion of the vectored flow possible. The presented work includes a fundamental isothermal study on the effects of rotation speed and Reynolds number on a vectored jet using a belt-driven CSM actuator. Three-component velocity data were acquired for three Reynolds numbers and three rotation speeds using timed resolved high-speed stereo Particle Image Velocimetry. A second CSM system with 16 pneumatically-driven control ports has been retrofitted to a flame spray gun. This combination provides the capability to rapidly alter the direction of applied metal powders. High speed video of this process will also be presented. Finally, a fundamental study on the pneumatic system's response to minor losses and connection lines of varying lengths is presented.

  20. Interactive digital image manipulation system

    NASA Technical Reports Server (NTRS)

    Henze, J.; Dezur, R.

    1975-01-01

    The system is designed for manipulation, analysis, interpretation, and processing of a wide variety of image data. LANDSAT (ERTS) and other data in digital form can be input directly into the system. Photographic prints and transparencies are first converted to digital form with an on-line high-resolution microdensitometer. The system is implemented on a Hewlett-Packard 3000 computer with 128 K bytes of core memory and a 47.5 megabyte disk. It includes a true color display monitor, with processing memories, graphics overlays, and a movable cursor. Image data formats are flexible so that there is no restriction to a given set of remote sensors. Conversion between data types is available to provide a basis for comparison of the various data. Multispectral data is fully supported, and there is no restriction on the number of dimensions. In this way multispectral data collected at more than one point in time may simply be treated as a data collected with twice (three times, etc.) the number of sensors. There are various libraries of functions available to the user: processing functions, display functions, system functions, and earth resources applications functions.

  1. Exogenous features versus prior experiences modulate different subregions of the right IPL during episodic memory retrieval

    PubMed Central

    Kwok, Sze Chai; Macaluso, Emiliano

    2015-01-01

    The fractionation view holds that distinct cognitive operations are mediated by subregions of the inferior parietal lobule (IPL). Within IPL, we hypothesised that retrieval-related activity in different parts of the right supramarginal gyrus (rSMG) may be modulated differentially by information acquired via different combinations of attention signals at encoding. We had two groups of participants watch a 42-min TV episode and, after a 24-hr delay, perform a temporal-order judgment task during fMRI. Each retrieval trial comprised three images presented sequentially, requiring participants to judge the temporal order between the first and last images while ignoring the second image (“distractor”). We manipulated the bottom-up factor by presenting distractors that were extracted from either an event-boundary or a non-boundary of the movie. The top-down factor was manipulated by instructing one group perform a segmentation task reporting the event-boundaries at encoding, while the other group watched the movie passively. Across groups, we found that the stimulus-related factor modulated retrieval activation in the anterior rSMG (areas PFt and PFop), whereas the goal-related influence of prior segmentation interacted with this effect in the middle rSMG (area PF), demonstrating IPL segregation during retrieval as a function of prior bottom-up vs. top-down attention signals. PMID:26057929

  2. Covert Retrieval Practice Benefits Retention as Much as Overt Retrieval Practice

    ERIC Educational Resources Information Center

    Smith, Megan A.; Roediger, Henry L., III; Karpicke, Jeffrey D.

    2013-01-01

    Many experiments provide evidence that practicing retrieval benefits retention relative to conditions of no retrieval practice. Nearly all prior research has employed retrieval practice requiring overt responses, but a few experiments have shown that covert retrieval also produces retention advantages relative to control conditions. However,…

  3. Toward an Episodic Context Account of Retrieval-Based Learning: Dissociating Retrieval Practice and Elaboration

    ERIC Educational Resources Information Center

    Lehman, Melissa; Smith, Megan A.; Karpicke, Jeffrey D.

    2014-01-01

    We tested the predictions of 2 explanations for retrieval-based learning; while the elaborative retrieval hypothesis assumes that the retrieval of studied information promotes the generation of semantically related information, which aids in later retrieval (Carpenter, 2009), the episodic context account proposed by Karpicke, Lehman, and Aue (in…

  4. Retrieval Attempts Enhance Learning, but Retrieval Success (versus Failure) Does Not Matter

    ERIC Educational Resources Information Center

    Kornell, Nate; Klein, Patricia Jacobs; Rawson, Katherine A.

    2015-01-01

    Retrieving information from memory enhances learning. We propose a 2-stage framework to explain the benefits of retrieval. Stage 1 takes place as one attempts to retrieve an answer, which activates knowledge related to the retrieval cue. Stage 2 begins when the answer becomes available, at which point appropriate connections are strengthened and…

  5. IRES: image retrieval expert system

    NASA Astrophysics Data System (ADS)

    Liu Sheng, Olivia R.; Wang, Hui-Chin; Garcia, Hong-Mei C.

    1990-08-01

    Image Retrieval Expert System (IRES), a knowledge-based system for automatic image retrieval, is being prototyped at the University of Arizona (U of A). IRES is to couple with the distributed database system designed for Structured PACS (S-PACS)1 to achieve the high system performance required by radiologists. IRES encompasses the "intelligence" of multiple expert radiologists. The system will predict and migrate the "old" images needed for comparison purposes during radiological exam readings from slower or remote storage devices to the local buffers of workstations. The use of IRES with the PACS Distributed Database System (DDBS) is expected to shorten the PACS system response time, save the time of radiologists in selecting films, minimize the turnaround time of the exam interpretation function, and increase diagnostic effectiveness by providing relevant images automatically. This paper presents the implementation details of this IRES prototype.

  6. Automated information retrieval using CLIPS

    NASA Technical Reports Server (NTRS)

    Raines, Rodney Doyle, III; Beug, James Lewis

    1991-01-01

    Expert systems have considerable potential to assist computer users in managing the large volume of information available to them. One possible use of an expert system is to model the information retrieval interests of a human user and then make recommendations to the user as to articles of interest. At Cal Poly, a prototype expert system written in the C Language Integrated Production System (CLIPS) serves as an Automated Information Retrieval System (AIRS). AIRS monitors a user's reading preferences, develops a profile of the user, and then evaluates items returned from the information base. When prompted by the user, AIRS returns a list of items of interest to the user. In order to minimize the impact on system resources, AIRS is designed to run in the background during periods of light system use.

  7. Desert Dust Satellite Retrieval Intercomparison

    NASA Technical Reports Server (NTRS)

    Carboni, E.; Thomas, G. E.; Sayer, A. M.; Siddans, R.; Poulsen, C. A.; Grainger, R. G.; Ahn, C.; Antoine, D.; Bevan, S.; Braak, R.; Brindley, H.; DeSouza-Mchado, S.; Deuze, J. L.; Diner, D.; Ducos, F.; Grey, W.; Hsu, C.; Kalashnikova, O. V.; Kahn, R.; North, P. R. J.; Salustro, C.; Smith, A.; Tanre, D.; Torres, O.; Veihelmann, B.

    2012-01-01

    This work provides a comparison of satellite retrievals of Saharan desert dust aerosol optical depth (AOD) during a strong dust event through March 2006. In this event, a large dust plume was transported over desert, vegetated, and ocean surfaces. The aim is to identify and understand the differences between current algorithms, and hence improve future retrieval algorithms. The satellite instruments considered are AATSR, AIRS, MERIS, MISR, MODIS, OMI, POLDER, and SEVIRI. An interesting aspect is that the different algorithms make use of different instrument characteristics to obtain retrievals over bright surfaces. These include multi-angle approaches (MISR, AATSR), polarisation measurements (POLDER), single-view approaches using solar wavelengths (OMI, MODIS), and the thermal infrared spectral region (SEVIRI, AIRS). Differences between instruments, together with the comparison of different retrieval algorithms applied to measurements from the same instrument, provide a unique insight into the performance and characteristics of the various techniques employed. As well as the intercomparison between different satellite products, the AODs have also been compared to co-located AERONET data. Despite the fact that the agreement between satellite and AERONET AODs is reasonably good for all of the datasets, there are significant differences between them when compared to each other, especially over land. These differences are partially due to differences in the algorithms, such as as20 sumptions about aerosol model and surface properties. However, in this comparison of spatially and temporally averaged data, at least as significant as these differences are sampling issues related to the actual footprint of each instrument on the heterogeneous aerosol field, cloud identification and the quality control flags of each dataset.

  8. The dark side of testing memory: repeated retrieval can enhance eyewitness suggestibility.

    PubMed

    Chan, Jason C K; Lapaglia, Jessica A

    2011-12-01

    Eyewitnesses typically recount their experiences many times before trial. Such repeated retrieval can enhance memory retention of the witnessed event. However, recent studies (e.g., Chan, Thomas, & Bulevich, 2009) have found that initial retrieval can exacerbate eyewitness suggestibility to later misleading information--a finding termed retrieval-enhanced suggestibility (RES). Here we examined the influence of multiple retrieval attempts on eyewitness suggestibility to subsequent misinformation. In four experiments, we systematically varied the number of initial tests taken (between zero and six), the delay between initial testing and misinformation exposure (~30 min or 1 week), and whether initial testing was manipulated between- or within-subjects. University undergraduate students were used as participants. Overall, we found that eyewitness suggestibility increased as the number of initial tests increased, but this RES effect was qualified by the delay and by whether initial testing occurred in a within- or between-subjects manner. Specifically, the within-subjects RES effect was smaller than the between-subjects RES effect, possibly because of the influence of retrieval-induced forgetting/facilitation (Chan, 2009) when initial testing was manipulated within subjects. Moreover, consistent with the testing effect literature (Roediger & Karpicke, 2006), the benefits of repeated testing on later memory were stronger after a 1-week delay than after a 30-min delay, thus reducing the negative impact of RES in long-term situations. These findings suggest that conditions that are likely to occur in criminal investigations can either increase (repeated testing) or reduce (delay) the influence of RES, thus further demonstrating the complex relationship between eyewitness memory and repeated retrieval. PMID:21859229

  9. Retrieval of Mir Solar Array

    NASA Technical Reports Server (NTRS)

    Rutledge, Sharon K.; deGroh, Kim K.

    1999-01-01

    A Russian solar array panel removed in November 1997 from the non-articulating photovoltaic array on the Mir core module was returned to Earth on STS-89 in January 1998. The panel had been exposed to low Earth orbit (LEO) for 10 years prior to retrieval. The retrieval provided a unique opportunity to study the effects of the LEO environment on a functional solar array. To take advantage of this opportunity, a team composed of members from RSC-Energia (Russia), the Boeing Company, and the following NASA Centers--Johnson Space Center, Kennedy Space Center, Langley Research Center, Marshall Space Flight Center, and Lewis Research Center--was put together to analyze the array. After post-retrieval inspections at the Spacehab Facility at Kennedy in Florida, the array was shipped to Lewis in Cleveland for electrical performance tests, closeup photodocumentation, and removal of selected solar cells and blanket material. With approval from RSC-Energia, five cell pairs and their accompanying blanket and mesh material, and samples of painted handrail materials were selected for removal on the basis of their ability to provide degradation information. Sites were selected that provided different sizes and shapes of micrometeoroid impacts and different levels of surface contamination. These materials were then distributed among the team for round robin testing.

  10. Initial retrieval sequence and blending strategy

    SciTech Connect

    Pemwell, D.L.; Grenard, C.E.

    1996-09-01

    This report documents the initial retrieval sequence and the methodology used to select it. Waste retrieval, storage, pretreatment and vitrification were modeled for candidate single-shell tank retrieval sequences. Performance of the sequences was measured by a set of metrics (for example,high-level waste glass volume, relative risk and schedule).Computer models were used to evaluate estimated glass volumes,process rates, retrieval dates, and blending strategy effects.The models were based on estimates of component inventories and concentrations, sludge wash factors and timing, retrieval annex limitations, etc.

  11. EM-31 RETRIEVAL KNOWLEDGE CENTER MEETING REPORT: MOBILIZE AND DISLODGE TANK WASTE HEELS

    SciTech Connect

    Fellinger, A.

    2010-02-16

    The Retrieval Knowledge Center sponsored a meeting in June 2009 to review challenges and gaps to retrieval of tank waste heels. The facilitated meeting was held at the Savannah River Research Campus with personnel broadly representing tank waste retrieval knowledge at Hanford, Savannah River, Idaho, and Oak Ridge. This document captures the results of this meeting. In summary, it was agreed that the challenges to retrieval of tank waste heels fell into two broad categories: (1) mechanical heel waste retrieval methodologies and equipment and (2) understanding and manipulating the heel waste (physical, radiological, and chemical characteristics) to support retrieval options and subsequent processing. Recent successes and lessons from deployments of the Sand and Salt Mantis vehicles as well as retrieval of C-Area tanks at Hanford were reviewed. Suggestions to address existing retrieval approaches that utilize a limited set of tools and techniques are included in this report. The meeting found that there had been very little effort to improve or integrate the multiple proven or new techniques and tools available into a menu of available methods for rapid insertion into baselines. It is recommended that focused developmental efforts continue in the two areas underway (low-level mixing evaluation and pumping slurries with large solid materials) and that projects to demonstrate new/improved tools be launched to outfit tank farm operators with the needed tools to complete tank heel retrievals effectively and efficiently. This document describes the results of a meeting held on June 3, 2009 at the Savannah River Site in South Carolina to identify technology gaps and potential technology solutions to retrieving high-level waste (HLW) heels from waste tanks within the complex of sites run by the U. S. Department of Energy (DOE). The meeting brought together personnel with extensive tank waste retrieval knowledge from DOE's four major waste sites - Hanford, Savannah River

  12. Dual task demands on encoding and retrieval processes: evidence from healthy adult ageing.

    PubMed

    Logie, Robert H; Della Sala, Sergio; MacPherson, Sarah E; Cooper, Janine

    2007-01-01

    Previous studies of dual-task performance have demonstrated that encoding and retrieval processes are differentially affected by the simultaneous performance of a secondary task. Whilst dual task demands during encoding have a detrimental effect on memory performance, dual task demands during retrieval have a detrimental effect on secondary task performance. However, dual task effects on memory during encoding appear unaffected by age, while effects at retrieval on secondary task performance are age sensitive. Most previous studies have focused on free recall or cued recall of word lists. In the current study, encoding and retrieval were examined in younger and older healthy adults performing a task typically thought to load verbal working memory, namely immediate serial ordered digit recall together with a response time (RT) task. In Experiment 1, the demands of a secondary RT task were varied as a function of response-to-stimulus interval, while in Experiment 2 the predictability of the stimulus location was manipulated. In both age groups, dual task during encoding, but not at retrieval, produced significant interference in memory performance and unlike most previous studies the impact at encoding was greater for the older group. In contrast, significantly slower RTs were demonstrated under dual task conditions during encoding and retrieval. Older adults produced significantly slower RTs than younger adults only for dual task at retrieval. Older people were more sensitive to time pressure in responding under dual task conditions, but neither group was sensitive to predictability of stimulus location. Results are consistent with the concept of a cognitive resource that supports dual task performance, and that is sensitive to the effects of age on memory encoding of items that rely heavily on the operation of verbal working memory resources. The age sensitivity to dual task only became apparent when effects at encoding and at retrieval were considered separately

  13. High-heat tank safety issue resolution program plan. Revision 1

    SciTech Connect

    Wang, O.S.

    1993-12-01

    The purpose of this program plan is to provide a guide for selecting corrective actions that will mitigate and/or remediate the high-heat waste tank safety issue for single-shell tank (SST) 241-C-106. This program plan also outlines the logic for selecting approaches and tasks to mitigate and resolve the high-heat safety issue. The identified safety issue for high-heat tank 241-C-106 involves the potential release of nuclear waste to the environment as the result of heat-induced structural damage to the tank`s concrete, if forced cooling is interrupted for extended periods. Currently, forced ventilation with added water to promote thermal conductivity and evaporation cooling is used to cool the waste. At this time, the only viable solution identified to resolve this safety issue is the removal of heat generating waste in the tank. This solution is being aggressively pursued as the permanent solution to this safety issue and also to support the present waste retrieval plan. Tank 241-C-106 has been selected as the first SST for retrieval. The program plan has three parts. The first part establishes program objectives and defines safety issues, drivers, and resolution criteria and strategy. The second part evaluates the high-heat safety issue and its mitigation and remediation methods and alternatives according to resolution logic. The third part identifies major tasks and alternatives for mitigation and resolution of the safety issue. Selected tasks and best-estimate schedules are also summarized in the program plan.

  14. A Unified Mathematical Definition of Classical Information Retrieval.

    ERIC Educational Resources Information Center

    Dominich, Sandor

    2000-01-01

    Presents a unified mathematical definition for the classical models of information retrieval and identifies a mathematical structure behind relevance feedback. Highlights include vector information retrieval; probabilistic information retrieval; and similarity information retrieval. (Contains 118 references.) (Author/LRW)

  15. Using Induction to Refine Information Retrieval Strategies

    NASA Technical Reports Server (NTRS)

    Baudin, Catherine; Pell, Barney; Kedar, Smadar

    1994-01-01

    Conceptual information retrieval systems use structured document indices, domain knowledge and a set of heuristic retrieval strategies to match user queries with a set of indices describing the document's content. Such retrieval strategies increase the set of relevant documents retrieved (increase recall), but at the expense of returning additional irrelevant documents (decrease precision). Usually in conceptual information retrieval systems this tradeoff is managed by hand and with difficulty. This paper discusses ways of managing this tradeoff by the application of standard induction algorithms to refine the retrieval strategies in an engineering design domain. We gathered examples of query/retrieval pairs during the system's operation using feedback from a user on the retrieved information. We then fed these examples to the induction algorithm and generated decision trees that refine the existing set of retrieval strategies. We found that (1) induction improved the precision on a set of queries generated by another user, without a significant loss in recall, and (2) in an interactive mode, the decision trees pointed out flaws in the retrieval and indexing knowledge and suggested ways to refine the retrieval strategies.

  16. The CIRSE Retrievable IVC Filter Registry: Retrieval Success Rates in Practice.

    PubMed

    Lee, M J; Valenti, D; de Gregorio, M A; Minocha, J; Rimon, U; Pellerin, O

    2015-12-01

    CIRSE established a registry of retrievable filter use with the primary aim of determining the success of IVC Filter retrieval and associated complications. Secondary endpoints included filter indications, imaging strategies before retrieval, filter dwell times, and anticoagulation status. A web-based electronic registry was hosted between 01/12/2010 and 30/06/2012. Data entry occurred at the date of IVC filter retrieval and included items such as filter type, indication for filter insertion, access route, dwell time, retrieval success, complications, reasons for failed retrieval, and anticoagulation status. 671 filter retrievals were entered (male:female 333:295, mean age 55, median 57). Retrieval data were not entered in 43/671 leaving 628 patients for analysis. The 4 commonest retrievable filters used were the Celect in 182 patients, the OPTEASE in 161, ALN in 120, and Gunther Tulip in 98. Filters were inserted for absolute indications 40%, relative indications in 31%, and prophylactic in 24%, with 5% missing. Mean filter dwell time was 90 days. Filters were successfully retrieved in 576/628 patients (92%). The mean dwell time for successful retrievals was 85 days versus 145 days for unsuccessful retrievals (p = 0.001). Major complications occurred in 2 patients (0.03%). In summary, the CIRSE retrievable filter registry demonstrates a retrieval rate of 92% across a range of filter types, with a low major complication rate, reflecting current practice. There is an increase in trend of retrievable filter use for relative and prophylactic indications. PMID:25933644

  17. Fuzzy logic control of telerobot manipulators

    NASA Technical Reports Server (NTRS)

    Franke, Ernest A.; Nedungadi, Ashok

    1992-01-01

    Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

  18. Task based synthesis of serial manipulators

    PubMed Central

    Patel, Sarosh; Sobh, Tarek

    2015-01-01

    Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters) of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified. PMID:26257946

  19. Transuranic (TRU) Waste Phase I Retrieval Plan

    SciTech Connect

    MCDONALD, K.M.

    1999-08-27

    Phase I retrieval of post-1970 TRU wastes from burial ground 218-W-4C can be done in a safe, efficient, and cost-effective manner. Initiating TRU retrieval by retrieving uncovered drums from Trenches 1, 20, and 29, will allow retrieval to begin under the current SWBG safety authorization basis. The retrieval of buried drums from Trenches 1, 4, 20, and 29, which will require excavation, will commence once the uncovered drum are retrieved. This phased approach allows safety analysis for drum venting and drum module excavation to be completed and approved before the excavation proceeds. In addition, the lessons learned and the operational experience gained from the retrieval of uncovered drums can be applied to the more complicated retrieval of the buried drums. Precedents that have been set at SRS and LANL to perform retrieval without a trench cover, in the open air, should be followed. Open-air retrieval will result in significant cost savings over the original plans for Phase I retrieval (Project W-113). Based on LANL and SRS experience, open-air retrieval will have no adverse impacts to the environment or to the health and safety of workers or the public. Assaying the waste in the SWBG using a mobile assay system, will result in additional cost savings. It is expected that up to 50% of the suspect-TRU wastes will assay as LLW, allowing those waste to remain disposed of in the SWBG. Further processing, with its associated costs, will only occur to the portion of the waste that is verified to be TRU. Retrieval should be done, to the extent possible, under the current SWBG safety authorization basis as a normal part of SWBG operations. The use of existing personnel and existing procedures should be optimized. By working retrieval campaigns, typically during the slow months, it is easier to coordinate the availability of necessary operations personnel, and it is easier to coordinate the availability of a mobile assay vendor.

  20. Large planar maneuvers for articulated flexible manipulators

    NASA Technical Reports Server (NTRS)

    Huang, Jen-Kuang; Yang, Li-Farn

    1988-01-01

    An articulated flexible manipulator carried on a translational cart is maneuvered by an active controller to perform certain position control tasks. The nonlinear dynamics of the articulated flexible manipulator are derived and a transformation matrix is formulated to localize the nonlinearities within the inertia matrix. Then a feedback linearization scheme is introduced to linearize the dynamic equations for controller design. Through a pole placement technique, a robust controller design is obtained by properly assigning a set of closed-loop desired eigenvalues to meet performance requirements. Numerical simulations for the articulated flexible manipulators are given to demonstrate the feasibility and effectiveness of the proposed position control algorithms.

  1. W-026, acceptance test report manipulator system

    SciTech Connect

    Watson, T.L.

    1997-04-15

    The purpose of the WRAP Manipulator System Acceptance Test Plan (ATP) is to verify that the 4 glovebox sets of WRAP manipulator components, including rail/carriage, slave arm, master controller and auxiliary equipment, meets the requirements of the functional segments of 14590 specification. The demonstration of performance elements of the ATP are performed as a part of the Assembly specifications. Manipulator integration is integrated in the performance testing of the gloveboxes. Each requirement of the Assembly specification will be carried out in conjunction with glovebox performance tests.

  2. Dynamically consistent Jacobian inverse for mobile manipulators

    NASA Astrophysics Data System (ADS)

    Ratajczak, Joanna; Tchoń, Krzysztof

    2016-06-01

    By analogy to the definition of the dynamically consistent Jacobian inverse for robotic manipulators, we have designed a dynamically consistent Jacobian inverse for mobile manipulators built of a non-holonomic mobile platform and a holonomic on-board manipulator. The endogenous configuration space approach has been exploited as a source of conceptual guidelines. The new inverse guarantees a decoupling of the motion in the operational space from the forces exerted in the endogenous configuration space and annihilated by the dual Jacobian inverse. A performance study of the new Jacobian inverse as a tool for motion planning is presented.

  3. Issues in advanced automation for manipulator control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.

    1976-01-01

    This paper provides a brief description and analysis of the main issues in advanced autonomous control of manipulators as seen from a system point of view. The nature of manipulation is analyzed at some depth. A general multilevel structure is outlined for manipulator control organization which includes the human operator at the top level of the control structure. Different approaches to the development of advanced automation of mechanical arms are summarized. Recent work in the JPL teleoperator project is described, including control system, force/torque sensor, and control software development. Some results from control experiments are summarized.

  4. Multisensor Retrieval of Atmospheric Properties.

    NASA Astrophysics Data System (ADS)

    Boba Stankov, B.

    1998-09-01

    A new method, Multisensor Retrieval of Atmospheric Properties (MRAP), is presented for deriving vertical profiles of atmospheric parameters throughout the troposphere. MRAP integrates measurements from multiple, diverse, remote sensing, and in situ instruments, the combination of which provides better capabilities than any instrument alone. Since remote sensors can deliver measurements automatically and continuously with high time resolution, MRAP provides better coverage than traditional rawinsondes. MRAP's design is flexible, being capable of incorporating measurements from different instruments in order to take advantage of new or developing advanced sensor technology. Furthermore, new or alternative atmospheric parameters for a variety of applications may be easily added as products of MRAP.A combination of passive radiometric, active radar, and in situ observations provide the best temperature and humidity profile measurements. Therefore, MRAP starts with a traditional, radiometer-based, physical retrieval algorithm provided by the International TOVS (TIROS-N Operational Vertical Sounder) Processing Package (ITPP) that constrains the retrieved profiles to agree with brightness temperature measurements. The first-guess profiles required by the ITPP's iterative retrieval algorithm are obtained by using a statistical inversion technique and ground-based remote sensing measurements. Because the individual ground-based remote sensing measurements are usually of sufficiently high quality, the first-guess profiles by themselves provide a satisfactory solution to establish the atmospheric water vapor and temperature state, and the TOVS data are included to provide profiles with better accuracy at higher levels, MRAP provides a physically consistent mechanism for combining the ground- and space-based humidity and temperature profiles.Data that have been used successfully to retrieve humidity and temperature profiles with MRAP are the following: temperature profiles in

  5. Covert retrieval practice benefits retention as much as overt retrieval practice.

    PubMed

    Smith, Megan A; Roediger, Henry L; Karpicke, Jeffrey D

    2013-11-01

    Many experiments provide evidence that practicing retrieval benefits retention relative to conditions of no retrieval practice. Nearly all prior research has employed retrieval practice requiring overt responses, but a few experiments have shown that covert retrieval also produces retention advantages relative to control conditions. However, direct comparisons between overt and covert retrieval are scarce: Does covert retrieval-thinking of but not producing responses-on a first test produce the same benefit as overt retrieval on a criterial test given later? We report 4 experiments that address this issue by comparing retention on a second test following overt or covert retrieval on a first test. In Experiment 1 we used a procedure designed to ensure that subjects would retrieve on covert as well as overt test trials and found equivalent testing effects in the 2 cases. In Experiment 2 we replicated these effects using a procedure that more closely mirrored natural retrieval processes. In Experiment 3 we showed that overt and covert retrieval produced equivalent testing effects after a 2-day delay. Finally, in Experiment 4 we showed that covert retrieval benefits retention more than restudying. We conclude that covert retrieval practice is as effective as overt retrieval practice, a conclusion that contravenes hypotheses in the literature proposing that overt responding is better. This outcome has an important educational implication: Students can learn as much from covert self-testing as they would from overt responding. PMID:23815513

  6. Innovative grout/retrieval demonstration final report

    SciTech Connect

    Loomis, G.G.; Thompson, D.N.

    1995-01-01

    This report presents the results of an evaluation of an innovative retrieval technique for buried transuranic waste. Application of this retrieval technique was originally designed for full pit retrieval; however, it applies equally to a hot spot retrieval technology. The technique involves grouting the buried soil waste matrix with a jet grouting procedure, applying an expansive demolition grout to the matrix, and retrieving the debris. The grouted matrix provides an agglomeration of fine soil particles and contaminants resulting in an inherent contamination control during the dusty retrieval process. A full-scale field demonstration of this retrieval technique was performed on a simulated waste pit at the Idaho National Engineering Laboratory. Details are reported on all phases of this proof-of-concept demonstration including pit construction, jet grouting activities, application of the demolition grout, and actual retrieval of the grouted pit. A quantitative evaluation of aerosolized soils and rare earth tracer spread is given for all phases of the demonstration, and these results are compared to a baseline retrieval activity using conventional retrieval means. 8 refs., 47 figs., 10 tabs.

  7. Reconfigurable mobile manipulation for accident response

    SciTech Connect

    ANDERSON,ROBERT J.; MORSE,WILLIAM D.; SHIREY,DAVID L.; CDEBACA,DANIEL M.; HOFFMAN JR.,JOHN P.; LUCY,WILLIAM E.

    2000-06-06

    The need for a telerobotic vehicle with hazard sensing and integral manipulation capabilities has been identified for use in transportation accidents where nuclear weapons are involved. The Accident Response Mobile Manipulation System (ARMMS) platform has been developed to provide remote dexterous manipulation and hazard sensing for the Accident Response Group (ARG) at Sandia National Laboratories. The ARMMS' mobility platform is a military HMMWV [High Mobility Multipurpose Wheeled Vehicle] that is teleoperated over RF or Fiber Optic communication channels. ARMMS is equipped with two high strength Schilling Titan II manipulators and a suite of hazardous gas and radiation sensors. Recently, a modular telerobotic control architecture call SMART (Sandia Modular Architecture for Robotic and Teleoperation) has been applied to ARMMS. SMART enables input devices and many system behaviors to be rapidly configured in the field for specific mission needs. This paper summarizes current SMART developments applied to ARMMS.

  8. 75 FR 67657 - Prohibition of Market Manipulation

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-11-03

    ... Manipulation, 71 FR 4244, 4253 (Jan. 26, 2006) (`` inal rule prohibits the use or employment of any device... indeed is easier to follow than a standard that requires the exercise of judgment in the light of all...

  9. Optoelectronic Tweezers for Microparticle and Cell Manipulation

    NASA Technical Reports Server (NTRS)

    Wu, Ming Chiang (Inventor); Chiou, Pei-Yu (Inventor); Ohta, Aaron T. (Inventor)

    2014-01-01

    An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 micromillimeters or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or group of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

  10. Optoelectronic tweezers for microparticle and cell manipulation

    NASA Technical Reports Server (NTRS)

    Wu, Ming Chiang (Inventor); Chiou, Pei Yu (Inventor); Ohta, Aaron T. (Inventor)

    2009-01-01

    An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 .mu.m or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or groups of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

  11. Tension Stiffened and Tendon Actuated Manipulator

    NASA Technical Reports Server (NTRS)

    Doggett, William R. (Inventor); Dorsey, John T. (Inventor); Ganoe, George G. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Mercer, Charles D. (Inventor); Corbin, Cole K. (Inventor)

    2015-01-01

    A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

  12. Simulator for training remote-manipulator operators

    NASA Technical Reports Server (NTRS)

    Orr, D. H.; Ward, L. C.

    1979-01-01

    Six-degree-of-freedom simulator uses economical components. Reduction in complexity makes this or similar system cost-effective for training manipulator operators, such as those in industries handling nuclear wastes and hazardous chemicals.

  13. The Frankfurt School's Theory of Manipulation

    ERIC Educational Resources Information Center

    Petryszak, Nicholas

    1977-01-01

    Discusses the critical sociology of communication of the Frankfurt School suggesting that theorists such as Lowenthal, Adorno, and Habermas have outlined both the political economics of manipulation and the social psychological interaction between the audience and the media. (MH)

  14. Manipulator path planning in 3-dimensional space

    NASA Astrophysics Data System (ADS)

    Pavlov, Dmitry A.

    2006-04-01

    Present paper is aimed to work out efficient algorithm of multi-chain manipulator path planning in 3D space with static polygonal obstacles. The resulting solution is based on navigational maps approach. Using this approach, manipulator features are considered as intellectual agent, and reachability information is stored in compact form. This enables fast adaptation to arbitrary parameters of manipulator and workspace. The paper describes two algorithms: (i) a local walkthrough with obstacle avoidance, and (ii) incremental navigational map building, performed at running stage. Both algorithms take an extensive use of the specific features of the task. Working simultaneously, they allow real-time manipulator path planning, as well as self-learning in idle mode. Algorithms are implemented as a demonstration program.

  15. Solar Occultation Retrieval Algorithm Development

    NASA Technical Reports Server (NTRS)

    Lumpe, Jerry D.

    2004-01-01

    This effort addresses the comparison and validation of currently operational solar occultation retrieval algorithms, and the development of generalized algorithms for future application to multiple platforms. initial development of generalized forward model algorithms capable of simulating transmission data from of the POAM II/III and SAGE II/III instruments. Work in the 2" quarter will focus on: completion of forward model algorithms, including accurate spectral characteristics for all instruments, and comparison of simulated transmission data with actual level 1 instrument data for specific occultation events.

  16. The validation of AIRS retrievals

    NASA Technical Reports Server (NTRS)

    Fetzer, Eric J.; Olsen, Edward T.; Chen, Luke L.; Hagan, Denise E.; Fishbein, Evan; McMillin, Larry; Zhou, Jiang; McMillan, Wallace W.

    2003-01-01

    The initial validation of Atmospheric Infrared Sounder (SIRS) experiment retrievals were completed in August 2003 as part of public release of version 3.0 data. The associated analyses are reported at http://daac.gsfc.nasa.gov/atmodyn/airs/, where data may be accessed. Here we describe some of those analyses, with an emphasis on cloud cleared radiances, atmospheric temperature profiles, sea surface temperature, total water vapor and atmospheric water vapor profiles. The results are applicable over ocean in the latitude band +/-40 degrees.

  17. Hybrid Image-Plane/Stereo Manipulation

    NASA Technical Reports Server (NTRS)

    Baumgartner, Eric; Robinson, Matthew

    2004-01-01

    Hybrid Image-Plane/Stereo (HIPS) manipulation is a method of processing image data, and of controlling a robotic manipulator arm in response to the data, that enables the manipulator arm to place an end-effector (an instrument or tool) precisely with respect to a target (see figure). Unlike other stereoscopic machine-vision-based methods of controlling robots, this method is robust in the face of calibration errors and changes in calibration during operation. In this method, a stereoscopic pair of cameras on the robot first acquires images of the manipulator at a set of predefined poses. The image data are processed to obtain image-plane coordinates of known visible features of the end-effector. Next, there is computed an initial calibration in the form of a mapping between (1) the image-plane coordinates and (2) the nominal three-dimensional coordinates of the noted end-effector features in a reference frame fixed to the main robot body at the base of the manipulator. The nominal three-dimensional coordinates are obtained by use of the nominal forward kinematics of the manipulator arm that is, calculated by use of the currently measured manipulator joint angles and previously measured lengths of manipulator arm segments under the assumption that the arm segments are rigid, that the arm lengths are constant, and that there is no backlash. It is understood from the outset that these nominal three-dimensional coordinates are likely to contain possibly significant calibration errors, but the effects of the errors are progressively reduced, as described next. As the end-effector is moved toward the target, the calibration is updated repeatedly by use of data from newly acquired images of the end-effector and of the corresponding nominal coordinates in the manipulator reference frame. By use of the updated calibration, the coordinates of the target are computed in manipulator-reference-frame coordinates and then used to the necessary manipulator joint angles to position

  18. EarthServer: Information Retrieval and Query Language

    NASA Astrophysics Data System (ADS)

    Perperis, Thanassis; Koltsida, Panagiota; Kakaletris, George

    2013-04-01

    new construct allowing "mixed search" on both OGC coverages and XML-represented metadata and also returning "mixed results" further enabling seamless geospatial and array, combined data and metadata, processing under a familiar syntactic formalism. xWCPS is a superset of WCPS closely following XQuery's syntax and philosophy, further extending it with capabilities to handle coverages, array and multidimensional data, allowing different degrees of compliance to its results and opening new possibilities for data definition, processing and interoperability. Our long term vision for xWCPS is from the one hand to enable coverage and corresponding metadata retrieval, irrespective of their actual origin and form and from the other hand to offer syntactic constructs for data definition and data manipulation. Thus xWCPS queries could potentially employ distributed services to access diverse, cross-disciplinary and physically distributed data sources, data within them and metadata about them without directly specifying which coverages to employ, which parts come from metadata and which come from data processing (aggregates) functions. Respectively a Data Definition Language could allow schema definition and a Data Manipulation Language could enable updates, inserts, and deletes of data handled by an xWCPS system. xWCPS's specification is currently in draft form. We intend to initiate the corresponding OGC standardization activity with the finalization of the specification of the language.

  19. Manipulating Quantum Pathways on the Fly

    NASA Astrophysics Data System (ADS)

    Rey-de-Castro, Roberto; Leghtas, Zaki; Rabitz, Herschel

    2013-05-01

    The expectation value of a quantum system observable can be written as a sum over interfering pathway amplitudes. In this Letter, we demonstrate for the fist time adaptive manipulation of quantum pathways using the Hamiltonian encoding-observable decoding (HE-OD) technique. The principles of HE-OD are illustrated for population transfer in atomic rubidium using shaped femtosecond laser pulses. The ability to manipulate multiple pathway amplitudes is of fundamental importance in all quantum control applications.

  20. Ecological consequences of manipulative parasites: chapter 9

    USGS Publications Warehouse

    Lafferty, Kevin D.; Kuris, A. M.

    2012-01-01

    Parasitic "puppet masters", with their twisted, self-serving life history strategies and impressive evolutionary takeovers of host minds, capture the imagination of listeners—even those that might not normally fi nd the topic of parasitism appealing (which includes most everyone). A favorite anecdote concerns the trematode Leucochloridium paradoxum migrating to the eyestalks of its intermediate host snail and pulsating its colored body, presumably to attract the predatory birds that are the final hosts for the worm. Identifying a parasite as “manipulative” infers that a change in host behavior or appearance is a direct consequence of the parasite’s adaptive actions that, on average, will increase the fi tness of the parasite. The list of parasites that manipulate their hosts is long and growing. Holmes and Bethel (1972) presented the earliest comprehensive review and brought the subject to mainstream ecologists. Over two decades ago, Andy Dobson (1988) listed seven cestodes, seven trematodes, ten acanthocephalans, and three nematodes that manipulated host behavior. Fifteen years later, Janice Moore (2002) filled a book with examples. The five infectious trophic strategies, typical parasites (macroparasites), pathogens, trophically transmitted parasites, parasitic castrators, and parasitoids (Kuris and Lafferty 2000; Lafferty and Kuris 2002, 2009) can modify host behavior, but the likelihood that a parasite manipulates behavior differs among strategies. The most studied infectious agents, non-trophically transmitted pathogens and macroparasites, have enormous public health, veterinary, and wildlife disease importance, yet few manipulate host behavior. The beststudied manipulative infectious agents are trophically transmitted parasites in their prey intermediate hosts. Parasitoids and parasitic castrators can also manipulate host behavior, but for different purposes and with different implications. Several studies of manipulative parasites conclude with

  1. Efficient Computation Of Manipulator Inertia Matrix

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Bejczy, Antal K.

    1991-01-01

    Improved method for computation of manipulator inertia matrix developed, based on concept of spatial inertia of composite rigid body. Required for implementation of advanced dynamic-control schemes as well as dynamic simulation of manipulator motion. Motivated by increasing demand for fast algorithms to provide real-time control and simulation capability and, particularly, need for faster-than-real-time simulation capability, required in many anticipated space teleoperation applications.

  2. On the manipulability of dual cooperative robots

    NASA Technical Reports Server (NTRS)

    Chiacchio, P.; Chiaverini, S.; Sciavicco, L.; Siciliano, B.

    1989-01-01

    The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.

  3. Accurate forced-choice recognition without awareness of memory retrieval.

    PubMed

    Voss, Joel L; Baym, Carol L; Paller, Ken A

    2008-06-01

    Recognition confidence and the explicit awareness of memory retrieval commonly accompany accurate responding in recognition tests. Memory performance in recognition tests is widely assumed to measure explicit memory, but the generality of this assumption is questionable. Indeed, whether recognition in nonhumans is always supported by explicit memory is highly controversial. Here we identified circumstances wherein highly accurate recognition was unaccompanied by hallmark features of explicit memory. When memory for kaleidoscopes was tested using a two-alternative forced-choice recognition test with similar foils, recognition was enhanced by an attentional manipulation at encoding known to degrade explicit memory. Moreover, explicit recognition was most accurate when the awareness of retrieval was absent. These dissociations between accuracy and phenomenological features of explicit memory are consistent with the notion that correct responding resulted from experience-dependent enhancements of perceptual fluency with specific stimuli--the putative mechanism for perceptual priming effects in implicit memory tests. This mechanism may contribute to recognition performance in a variety of frequently-employed testing circumstances. Our results thus argue for a novel view of recognition, in that analyses of its neurocognitive foundations must take into account the potential for both (1) recognition mechanisms allied with implicit memory and (2) recognition mechanisms allied with explicit memory. PMID:18519546

  4. Light duty utility remote manipulator for underground storage tank inspection and characterization

    SciTech Connect

    Kruse, P.W.; Carteret, B.

    1995-12-31

    The Light Duty Utility Arm (LDUA) is a remote manipulator system which is being designed and fabricated to perform surveillance and characterization activities in support of the remediation of underground storage tanks at the Hanford site as well as other DOE sites. The LDUA is a mechanical manipulator which utilizes an advanced control system to safely and reliably deploy a series of sensors to characterize underground storage tanks. The electrical components of the in tank system are radiation hardened and the mechanical components are designed to operate in the corrosive environment which exists in the tanks. The use of this system will allow the US Department of Energy to sample and characterize the waste material in the tanks prior to the initiation of waste retrieval operations. In addition to its use for inspecting and characterizing underground storage tanks, the system has the potential to be used in other environments where accessibility is limited and where high radiation levels exist.

  5. Infectious Cognition: Risk Perception Affects Socially Shared Retrieval-Induced Forgetting of Medical Information.

    PubMed

    Coman, Alin; Berry, Jessica N

    2015-12-01

    When speakers selectively retrieve previously learned information, listeners often concurrently, and covertly, retrieve their memories of that information. This concurrent retrieval typically enhances memory for mentioned information (the rehearsal effect) and impairs memory for unmentioned but related information (socially shared retrieval-induced forgetting, SSRIF), relative to memory for unmentioned and unrelated information. Building on research showing that anxiety leads to increased attention to threat-relevant information, we explored whether concurrent retrieval is facilitated in high-anxiety real-world contexts. Participants first learned category-exemplar facts about meningococcal disease. Following a manipulation of perceived risk of infection (low vs. high risk), they listened to a mock radio show in which some of the facts were selectively practiced. Final recall tests showed that the rehearsal effect was equivalent between the two risk conditions, but SSRIF was significantly larger in the high-risk than in the low-risk condition. Thus, the tendency to exaggerate consequences of news events was found to have deleterious consequences. PMID:26502746

  6. Projections from neocortex mediate top-down control of memory retrieval.

    PubMed

    Rajasethupathy, Priyamvada; Sankaran, Sethuraman; Marshel, James H; Kim, Christina K; Ferenczi, Emily; Lee, Soo Yeun; Berndt, Andre; Ramakrishnan, Charu; Jaffe, Anna; Lo, Maisie; Liston, Conor; Deisseroth, Karl

    2015-10-29

    Top-down prefrontal cortex inputs to the hippocampus have been hypothesized to be important in memory consolidation, retrieval, and the pathophysiology of major psychiatric diseases; however, no such direct projections have been identified and functionally described. Here we report the discovery of a monosynaptic prefrontal cortex (predominantly anterior cingulate) to hippocampus (CA3 to CA1 region) projection in mice, and find that optogenetic manipulation of this projection (here termed AC-CA) is capable of eliciting contextual memory retrieval. To explore the network mechanisms of this process, we developed and applied tools to observe cellular-resolution neural activity in the hippocampus while stimulating AC-CA projections during memory retrieval in mice behaving in virtual-reality environments. Using this approach, we found that learning drives the emergence of a sparse class of neurons in CA2/CA3 that are highly correlated with the local network and that lead synchronous population activity events; these neurons are then preferentially recruited by the AC-CA projection during memory retrieval. These findings reveal a sparsely implemented memory retrieval mechanism in the hippocampus that operates via direct top-down prefrontal input, with implications for the patterning and storage of salient memory representations. PMID:26436451

  7. Projections from neocortex mediate top-down control of memory retrieval

    PubMed Central

    Rajasethupathy, Priyamvada; Sankaran, Sethuraman; Marshel, James H.; Kim, Christina K.; Ferenczi, Emily; Lee, Soo Yeun; Berndt, Andre; Ramakrishnan, Charu; Jaffe, Anna; Lo, Maisie; Liston, Conor; Deisseroth, Karl

    2016-01-01

    Top-down prefrontal cortex inputs to the hippocampus have been hypothesized to be important in memory consolidation, retrieval, and the pathophysiology of major psychiatric diseases; however, no such direct projections have been identified and functionally described. Here we report the discovery of a monosynaptic prefrontal cortex (predominantly anterior cingulate) to hippocampus (CA3 to CA1 region) projection in mice, and find that optogenetic manipulation of this projection (here termed AC–CA) is capable of eliciting contextual memory retrieval. To explore the network mechanisms of this process, we developed and applied tools to observe cellular-resolution neural activity in the hippocampus while stimulating AC–CA projections during memory retrieval in mice behaving in virtual-reality environments. Using this approach, we found that learning drives the emergence of a sparse class of neurons in CA2/CA3 that are highly correlated with the local network and that lead synchronous population activity events; these neurons are then preferentially recruited by the AC–CA projection during memory retrieval. These findings reveal a sparsely implemented memory retrieval mechanism in the hippocampus that operates via direct top-down prefrontal input, with implications for the patterning and storage of salient memory representations. PMID:26436451

  8. Collaborative Memory and Part-Set Cuing Impairments: The Role of Executive Depletion in Modulating Retrieval Disruption

    PubMed Central

    Barber, Sarah J.; Rajaram, Suparna

    2011-01-01

    When people are exposed to a subset of previously studied list items they recall fewer of the remaining items compared to a condition where none of the studied items are provided during recall. This occurs both when the subset of items is provided by the experimenter (i.e., the part-set cuing deficit in individual recall) and when they are provided during the course of a collaborative discussion (i.e., the collaborative inhibition effect in group recall). Previous research has identified retrieval disruption as a common mechanism underlying both effects; however, less is known about the factors that may make individuals susceptible to such retrieval disruption. In the current studies we tested one candidate factor, namely, executive control. Using an executive depletion paradigm we directly manipulated an individual’s level of executive control during retrieval. Results revealed no direct role of executive depletion in modulating retrieval disruption. In contrast, executive control abilities were indirectly related to retrieval disruption through their influence at encoding. Together, these results suggest that executive control does not directly affect retrieval disruption at the retrieval stage, and that the role of this putative mechanism may be limited to the encoding stage. PMID:21678155

  9. Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

    NASA Technical Reports Server (NTRS)

    Kwon, Dong-Soo

    1991-01-01

    All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

  10. Direct manipulation of virtual objects

    NASA Astrophysics Data System (ADS)

    Nguyen, Long K.

    Interacting with a Virtual Environment (VE) generally requires the user to correctly perceive the relative position and orientation of virtual objects. For applications requiring interaction in personal space, the user may also need to accurately judge the position of the virtual object relative to that of a real object, for example, a virtual button and the user's real hand. This is difficult since VEs generally only provide a subset of the cues experienced in the real world. Complicating matters further, VEs presented by currently available visual displays may be inaccurate or distorted due to technological limitations. Fundamental physiological and psychological aspects of vision as they pertain to the task of object manipulation were thoroughly reviewed. Other sensory modalities -- proprioception, haptics, and audition -- and their cross-interactions with each other and with vision are briefly discussed. Visual display technologies, the primary component of any VE, were canvassed and compared. Current applications and research were gathered and categorized by different VE types and object interaction techniques. While object interaction research abounds in the literature, pockets of research gaps remain. Direct, dexterous, manual interaction with virtual objects in Mixed Reality (MR), where the real, seen hand accurately and effectively interacts with virtual objects, has not yet been fully quantified. An experimental test bed was designed to provide the highest accuracy attainable for salient visual cues in personal space. Optical alignment and user calibration were carefully performed. The test bed accommodated the full continuum of VE types and sensory modalities for comprehensive comparison studies. Experimental designs included two sets, each measuring depth perception and object interaction. The first set addressed the extreme end points of the Reality-Virtuality (R-V) continuum -- Immersive Virtual Environment (IVE) and Reality Environment (RE). This

  11. A microcontroller-based three degree-of-freedom manipulator testbed

    NASA Astrophysics Data System (ADS)

    Brown, Robert Michael, Jr.

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

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

    NASA Technical Reports Server (NTRS)

    Brown, Robert Michael, Jr.

    1995-01-01

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

  13. Playing on the typewriter, typing on the piano: manipulation knowledge of objects.

    PubMed

    Myung, Jong-Yoon; Blumstein, Sheila E; Sedivy, Julie C

    2006-01-01

    Two experiments investigated sensory/motor-based functional knowledge of man-made objects: manipulation features associated with the actual usage of objects. In Experiment 1, a series of prime-target pairs was presented auditorily, and participants were asked to make a lexical decision on the target word. Participants made a significantly faster decision about the target word (e.g. 'typewriter') following a related prime that shared manipulation features with the target (e.g. 'piano') than an unrelated prime (e.g. 'blanket'). In Experiment 2, participants' eye movements were monitored when they viewed a visual display on a computer screen while listening to a concurrent auditory input. Participants were instructed to simply identify the auditory input and touch the corresponding object on the computer display. Participants fixated an object picture (e.g. "typewriter") related to a target word (e.g. 'piano') significantly more often than an unrelated object picture (e.g. "bucket") as well as a visually matched control (e.g. "couch"). Results of the two experiments suggest that manipulation knowledge of words is retrieved without conscious effort and that manipulation knowledge constitutes a part of the lexical-semantic representation of objects. PMID:16399263

  14. The Aquarius Salinity Retrieval Algorithm

    NASA Technical Reports Server (NTRS)

    Meissner, Thomas; Wentz, Frank; Hilburn, Kyle; Lagerloef, Gary; Le Vine, David

    2012-01-01

    The first part of this presentation gives an overview over the Aquarius salinity retrieval algorithm. The instrument calibration [2] converts Aquarius radiometer counts into antenna temperatures (TA). The salinity retrieval algorithm converts those TA into brightness temperatures (TB) at a flat ocean surface. As a first step, contributions arising from the intrusion of solar, lunar and galactic radiation are subtracted. The antenna pattern correction (APC) removes the effects of cross-polarization contamination and spillover. The Aquarius radiometer measures the 3rd Stokes parameter in addition to vertical (v) and horizontal (h) polarizations, which allows for an easy removal of ionospheric Faraday rotation. The atmospheric absorption at L-band is almost entirely due to molecular oxygen, which can be calculated based on auxiliary input fields from numerical weather prediction models and then successively removed from the TB. The final step in the TA to TB conversion is the correction for the roughness of the sea surface due to wind, which is addressed in more detail in section 3. The TB of the flat ocean surface can now be matched to a salinity value using a surface emission model that is based on a model for the dielectric constant of sea water [3], [4] and an auxiliary field for the sea surface temperature. In the current processing only v-pol TB are used for this last step.

  15. Biomedical information retrieval across languages.

    PubMed

    Daumke, Philipp; Markü, Kornél; Poprat, Michael; Schulz, Stefan; Klar, Rüdiger

    2007-06-01

    This work presents a new dictionary-based approach to biomedical cross-language information retrieval (CLIR) that addresses many of the general and domain-specific challenges in current CLIR research. Our method is based on a multilingual lexicon that was generated partly manually and partly automatically, and currently covers six European languages. It contains morphologically meaningful word fragments, termed subwords. Using subwords instead of entire words significantly reduces the number of lexical entries necessary to sufficiently cover a specific language and domain. Mediation between queries and documents is based on these subwords as well as on lists of word-n-grams that are generated from large monolingual corpora and constitute possible translation units. The translations are then sent to a standard Internet search engine. This process makes our approach an effective tool for searching the biomedical content of the World Wide Web in different languages. We evaluate this approach using the OHSUMED corpus, a large medical document collection, within a cross-language retrieval setting. PMID:17541863

  16. Retrieving fear memories, as time goes by….

    PubMed

    Do Monte, F H; Quirk, G J; Li, B; Penzo, M A

    2016-08-01

    Research in fear conditioning has provided a comprehensive picture of the neuronal circuit underlying the formation of fear memories. In contrast, our understanding of the retrieval of fear memories is much more limited. This disparity may stem from the fact that fear memories are not rigid, but reorganize over time. To bring some clarity and raise awareness about the time-dependent dynamics of retrieval circuits, we review current evidence on the neuronal circuitry participating in fear memory retrieval at both early and late time points following auditory fear conditioning. We focus on the temporal recruitment of the paraventricular nucleus of the thalamus (PVT) for the retrieval and maintenance of fear memories. Finally, we speculate as to why retrieval circuits change with time, and consider the functional strategy of recruiting structures not previously considered as part of the retrieval circuit. PMID:27217148

  17. Scalable ranked retrieval using document images

    NASA Astrophysics Data System (ADS)

    Jain, Rajiv; Oard, Douglas W.; Doermann, David

    2013-12-01

    Despite the explosion of text on the Internet, hard copy documents that have been scanned as images still play a significant role for some tasks. The best method to perform ranked retrieval on a large corpus of document images, however, remains an open research question. The most common approach has been to perform text retrieval using terms generated by optical character recognition. This paper, by contrast, examines whether a scalable segmentation-free image retrieval algorithm, which matches sub-images containing text or graphical objects, can provide additional benefit in satisfying a user's information needs on a large, real world dataset. Results on 7 million scanned pages from the CDIP v1.0 test collection show that content based image retrieval finds a substantial number of documents that text retrieval misses, and that when used as a basis for relevance feedback can yield improvements in retrieval effectiveness.

  18. ARM Cloud Retrieval Ensemble Data Set (ACRED)

    SciTech Connect

    Zhao, C; Xie, S; Klein, SA; McCoy, R; Comstock, JM; Delanoë, J; Deng, M; Dunn, M; Hogan, RJ; Jensen, MP; Mace, GG; McFarlane, SA; O’Connor, EJ; Protat, A; Shupe, MD; Turner, D; Wang, Z

    2011-09-12

    This document describes a new Atmospheric Radiation Measurement (ARM) data set, the ARM Cloud Retrieval Ensemble Data Set (ACRED), which is created by assembling nine existing ground-based cloud retrievals of ARM measurements from different cloud retrieval algorithms. The current version of ACRED includes an hourly average of nine ground-based retrievals with vertical resolution of 45 m for 512 layers. The techniques used for the nine cloud retrievals are briefly described in this document. This document also outlines the ACRED data availability, variables, and the nine retrieval products. Technical details about the generation of ACRED, such as the methods used for time average and vertical re-grid, are also provided.

  19. Framing memories: How the retrieval query format shapes the neural bases of remembering.

    PubMed

    Raposo, Ana; Frade, Sofia; Alves, Mara

    2016-08-01

    The way memory questions are framed influences the information that is searched, retrieved, and monitored during remembering. This fMRI study aimed at clarifying how the format of the retrieval query shapes the neural basis of source recollection. During encoding, participants made semantic (pleasantness) or perceptual (number of letters) judgments about words. Subsequently, in a source memory test, the retrieval query was manipulated such that for half of the items from each encoding task, the retrieval query emphasized the semantic source (i.e., semantic query format: "Is this word from the pleasantness task?"), whereas for the other half the retrieval query emphasized the alternate, perceptual source (i.e., perceptual query format: "Is this word from the letter task?"). The results showed that the semantic query format was associated with higher source recognition than the perceptual query format. This behavioral advantage was accompanied by increased activation in several regions associated to controlled semantic elaboration and monitoring of internally-generated features about the past event. In particular, for items semantically encoded, the semantic query, relative to the perceptual query, induced activation in medial prefrontal cortex (PFC), hippocampal, parahippocampal and middle temporal cortex. Conversely, for items perceptually encoded, the semantic query recruited the lateral PFC and occipital-fusiform areas. Interestingly, the semantic format also influenced the processing of new items, eliciting greater L lateral and medial PFC activation. In contrast, the perceptual query format (versus the semantic format) only prompted greater activation in R orbitofrontal cortex and the R inferior parietal lobe, for items encoded in a perceptual manner and for new items, respectively. The results highlight the role of the retrieval query format in source remembering, showing that the retrieval query that emphasizes the semantic source promotes the use of semantic

  20. Field performance of the waste retrieval end effectors in the Oak Ridge gunite tanks

    SciTech Connect

    Mullen, O.D.

    1997-09-01

    Waterjet-based tank waste retrieval end effectors have been developed by Retrieval Process Development and Enhancements through several generations of test articles targeted at deployment in Hanford underground storage tanks with a large robotic arm. The basic technology has demonstrated effectiveness for retrieval of simulants bounding a wide range of waste properties and compatibility with foreseen deployment systems. The Oak Ridge National Laboratory (ORNL) selected the waterjet scarifying end effector, the jet pump conveyance system, and the Modified Light Duty Utility Arm and Houdini Remotely Operated Vehicle deployment and manipulator systems for evaluation in the Gunite and Associated Tanks Treatability Study (GAAT-TS). The Retrieval Process Development and Enhancements (RPD&E) team was tasked with developing a version of the retrieval end effector tailored to the Oak Ridge tanks, waste, and deployment platforms. The conceptual design was done by the University of Missouri-Rolla in FY 1995-96. The university researchers conducted separate effects tests of the component concepts, scaled the basic design features, and constructed a full-scale test article incorporating their findings in early FY 1996. The test article was extensively evaluated in the Hanford Hydraulic Testbed and the design features were further refined. Detail design of the prototype item was started at Waterjet Technology, Inc. before the development testing was finished, and two of the three main subassemblies were substantially complete before final design of the waterjet manifold was determined from the Hanford hydraulic testbed (HTB) testing. The manifold on the first prototype was optimized for sludge retrieval; assembled with that manifold, the end effector is termed the Sludge Retrieval End Effector (SREE).

  1. PICTURES OF A SUSPECT-TRU RETRIEVAL

    SciTech Connect

    GADD, R.R.

    2007-05-24

    Retrieving ''suspect'' transuranic (TRU) waste from the Hanford Site's low-level waste burial grounds is a tall order, due to conditions that have changed as the work progresses. Project personnel developed several new methods for handling the waste that other retrieval operations may find useful. The Waste Retrieval Project is operated by Fluor Hanford, a prime contractor for the U.S. Department of Energy's Richland Operations Office since 1996.

  2. Medical Image Retrieval: Past and Present

    PubMed Central

    Hwang, Kyung Hoon; Lee, Haejun

    2012-01-01

    With the widespread dissemination of picture archiving and communication systems (PACSs) in hospitals, the amount of imaging data is rapidly increasing. Effective image retrieval systems are required to manage these complex and large image databases. The authors reviewed the past development and the present state of medical image retrieval systems including text-based and content-based systems. In order to provide a more effective image retrieval service, the intelligent content-based retrieval systems combined with semantic systems are required. PMID:22509468

  3. Wellhead bowl protector and retrieving tool

    SciTech Connect

    Young, J.A.

    1991-09-03

    This patent describes improvement in a wellhead protection system including a wear bushing and a retrieving tool. The improvement comprises a wear bushing supported within the wellhead, wherein the wear bushing includes an enlarged upper end having an external support shoulder for engagement with an internal support shoulder formed in the wellhead; wherein the wear bushing further includes an internal circumferential slot intersected by at least one vertically extending slot, the vertical slot extending from the circumferential slot to the upper end of the wear bushing; a retrieving tool having at least one outwardly biased, retractable lug member mounted thereon; and wherein the retrieving tool includes an enlarged portion adapted to be received within the enlarged upper end of the wear bushing. This patent also describes a method of retrieving a wear bushing from a wellhead comprising the steps of: lowering a retrieving tool into the wellhead for locking engagement with the wear bushing; aligning the retrieving tool with the wear bushing for automatically forcing lug members carried by the retrieving tool outwardly into locking engagement with the wear bushing; monitoring drill string weight for determining engagement of the retrieving tool with the wear bushing, wherein a substantial decrease in drill string weight is an indication that the retrieving tool is engaged with the wear bushing; and removing the wear bushing from the wellhead.

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

    SciTech Connect

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

    1994-05-01

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

  5. Hazardous waste retrieval strategies using a high-pressure water jet scarifier

    SciTech Connect

    Hatchell, B.K.; Rinker, M.W.; Mullen, O.D.

    1995-08-01

    The Waste Dislodging and Conveyance Program is sponsored by the US Department of Energy Office of Technology Development to investigate waste dislodging and conveyance processes suitable for the retrieval of high-level radioactive waste. This program, represented by industry, national laboratories, and academia, has proposed a baseline technology of high-pressure water jet dislodging and pneumatic conveyance integrated as a scarifier as a means of retrieval of waste inside Hanford single-shell tanks. A testing program has been initiated to investigate system deployment techniques to determine appropriate mining strategies, level of control, sensor requirements, and address integration issues associated with deploying the scarifier by a long robotic manipulator arm. A test facility denoted the Hydraulics Testbed (HTB) is being constructed to achieve these objectives and to allow longer-duration, multiple-pass tests on large waste fields using a versatile gantry-style manipulator. Mining strategy tests with materials simulating salt cake and sludge waste forms will be conducted to evaluate the effectiveness of mining strategies, forces related to scarifier and conveyance line, and retrieval rate. This paper will describe the testbed facility and testing program and present initial test results to date.

  6. Precision manipulation with a dextrous robot hand

    NASA Astrophysics Data System (ADS)

    Michelman, Paul

    1994-01-01

    In this thesis, we discuss a framework for describing and synthesizing precision manipulation tasks with a robot hand. Precision manipulations are those in which the motions of grasped objects are caused by finger motions alone (as distinct from arm or wrist motion). Experiments demonstrating the capabilities of the Utah-MIT hand are presented. This work begins by examining current research on biological motor control to raise a number of questions. For example, is the control centralized and organized by a central processor? Or is the control distributed throughout the nervous system? Motor control research on manipulation has focused on developing classifications of hand motions, concentrating solely on finger motions, while neglecting grasp stability and interaction forces that occur in manipulation. In addition, these taxonomies have not been explicitly functional. This thesis defines and analyzes a basic set of manipulation strategies that includes both position and force trajectories. The fundamental purposes of the manipulations are: (1) rectilinear and rotational motion of grasped objects of different geometries; and (2) the application of forces and moments against the environment by the grasped objects. First, task partitioning is described to allocate the fingers their roles in the task. Second, for each strategy, the mechanics and workspace of the tasks are analyzed geometrically to determine the gross finger trajectories required to achieve the tasks. Techniques illustrating the combination of simple manipulations into complex, multiple degree-of-freedom tasks are presented. There is a discussion of several tasks that use multiple elementary strategies. The tasks described are removing the top of a childproof medicine bottle, putting the top back on, rotating and regrasping a block and a cylinder within the grasp. Finally, experimental results are presented. The experimental setup at Columbia University's Center for Research in Intelligent Systems and

  7. Better with Byzantine: Manipulation-Optimal Mechanisms

    NASA Astrophysics Data System (ADS)

    Othman, Abraham; Sandholm, Tuomas

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

  8. Distinguishing manipulated stocks via trading network analysis

    NASA Astrophysics Data System (ADS)

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

    2011-10-01

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

  9. Dynamic whole-body robotic manipulation

    NASA Astrophysics Data System (ADS)

    Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

    2013-05-01

    The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

  10. Trends in Research on Information Retrieval--The Potential for Improvements in Conventional Boolean Retrieval Systems.

    ERIC Educational Resources Information Center

    Radecki, Tadeusz

    1988-01-01

    Discusses the inability of the standard Boolean logic model of information retrieval to deal effectively with the inherent fallibility of retrieval decisions. Recent advances in information retrieval research are reviewed, and their practical potential for overcoming the deficiencies of the Boolean model is examined. (45 references) (Author/CLB)

  11. MODIS Retrieval of Dust Aerosol

    NASA Technical Reports Server (NTRS)

    Remer, Lorraine A.; Kaufman, Yoram J.; Tanre, Didier

    2003-01-01

    The MODerate resolution Imaging Spectroradiometer (MODIS) currently aboard both the Terra and Aqua satellites produces a suite of products designed to characterize global aerosol distribution, optical thickness and particle size. Never before has a space-borne instrument been able to provide such detailed information, operationally, on a nearly global basis every day. The three years of Terra-MODIS data have been validated by comparing with co-located AERONET observations of aerosol optical thickness and derivations of aerosol size parameters. Some 8000 comparison points located at 133 AERONET sites around the globe show that the MODIS aerosol optical thickness retrievals are accurate to within the pre-launch expectations. However, the validation in regions dominated by desert dust is less accurate than in regions dominated by fine mode aerosol or background marine sea salt. The discrepancy is most apparent in retrievals of aerosol size parameters over ocean. In dust situations, the MODIS algorithm tends to under predict particle size because the reflectances at top of atmosphere measured by MODIS exhibit the stronger spectral signature expected by smaller particles. This pattern is consistent with the angular and spectral signature of non-spherical particles. All possible aerosol models in the MODIS Look-Up Tables were constructed from Mie theory, assuming a spherical shape. Using a combination of MODIS and AERONET observations, in regimes dominated by desert dust, we construct phase functions, empirically, with no assumption of particle shape. These new phase functions are introduced into the MODIS algorithm, in lieu of the original options for large dust-like particles. The results will be analyzed and examined.

  12. 17 CFR 180.2 - Prohibition on price manipulation.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 17 Commodity and Securities Exchanges 1 2013-04-01 2013-04-01 false Prohibition on price... PROHIBITION AGAINST MANIPULATION § 180.2 Prohibition on price manipulation. It shall be unlawful for any person, directly or indirectly, to manipulate or attempt to manipulate the price of any swap, or of...

  13. 17 CFR 180.2 - Prohibition on price manipulation.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 17 Commodity and Securities Exchanges 2 2014-04-01 2014-04-01 false Prohibition on price... (CONTINUED) PROHIBITION AGAINST MANIPULATION § 180.2 Prohibition on price manipulation. It shall be unlawful for any person, directly or indirectly, to manipulate or attempt to manipulate the price of any...

  14. Manipulators live better, but are they always parasites?

    PubMed

    Heil, Martin

    2015-09-01

    A recent study reports partner manipulation for an interaction that was considered a reward-for-defence mutualism. Secretions of lycaenid caterpillars altered ant locomotion and aggressiveness, likely by manipulating dopaminergic signalling. This study opens the question whether such manipulation is common and whether manipulation necessarily characterises an interaction as parasitism. PMID:26298610

  15. Force reflecting hand controller for manipulator teleoperation

    NASA Technical Reports Server (NTRS)

    Bryfogle, Mark D.

    1991-01-01

    A force reflecting hand controller based upon a six degree of freedom fully parallel mechanism, often termed a Stewart Platform, has been designed, constructed, and tested as an integrated system with a slave robot manipulator test bed. A force reflecting hand controller comprises a kinesthetic device capable of transmitting position and orientation commands to a slave robot manipulator while simultaneously representing the environmental interaction forces of the slave manipulator back to the operator through actuators driving the hand controller mechanism. The Stewart Platform was chosen as a novel approach to improve force reflecting teleoperation because of its inherently high ratio of load generation capability to system mass content and the correspondingly high dynamic bandwidth. An additional novelty of the program was to implement closed loop force and torque control about the hand controller mechanism by equipping the handgrip with a six degree of freedom force and torque measuring cell. The mechanical, electrical, computer, and control systems are discussed and system tests are presented.

  16. Neurological complications of cervical spine manipulation.

    PubMed

    Stevinson, C; Honan, W; Cooke, B; Ernst, E

    2001-03-01

    To obtain preliminary data on neurological complications of spinal manipulation in the UK all members of the Association of British Neurologists were asked to report cases referred to them of neurological complications occurring within 24 hours of cervical spine manipulation over a 12-month period. The response rate was 74%. 24 respondents reported at least one case each, contributing to a total of about 35 cases. These included 7 cases of stroke in brainstem territory (4 with confirmation of vertebral artery dissection), 2 cases of stroke in carotid territory and 1 case of acute subdural haematoma. There were 3 cases of myelopathy and 3 of cervical radiculopathy. Concern about neurological complications following cervical spine manipulation appears to be justified. A large long-term prospective study is required to determine the scale of the hazard. PMID:11285788

  17. Cooperative control of multiple space manipulators

    NASA Astrophysics Data System (ADS)

    Nahon, M.; Angeles, J.

    The control of multi-armed robotic systems is inherently more complex than that of single-arm systems. Whereas a single manipulator can be controlled purely through positions or velocities, multiple manipulators handling a common payload must also be controlled in terms of forces. In this paper, the problem of finding force setpoints for the controller is formulated as a constrained optimization problem where the constraints are provided by the dynamics equations and the actuator capabilities. A number of potential objective functions which may be minimized are reviewed including the internal force, a norm of the vector of actuator torques and power losses in the system. These are then compared for a task in which the Special Purpose Dextrous Manipulator (SPDM) moves a payload in the absence of gravity. It is concluded that the actuator torque criterion appears to offer the worst compromise in performance, while the minimum internal force and minimum power loss criteria each have their advantages.

  18. Neurological complications of cervical spine manipulation.

    PubMed Central

    Stevinson, C; Honan, W; Cooke, B; Ernst, E

    2001-01-01

    To obtain preliminary data on neurological complications of spinal manipulation in the UK all members of the Association of British Neurologists were asked to report cases referred to them of neurological complications occurring within 24 hours of cervical spine manipulation over a 12-month period. The response rate was 74%. 24 respondents reported at least one case each, contributing to a total of about 35 cases. These included 7 cases of stroke in brainstem territory (4 with confirmation of vertebral artery dissection), 2 cases of stroke in carotid territory and 1 case of acute subdural haematoma. There were 3 cases of myelopathy and 3 of cervical radiculopathy. Concern about neurological complications following cervical spine manipulation appears to be justified. A large long-term prospective study is required to determine the scale of the hazard. PMID:11285788

  19. Ultrasonic resonator for manipulation of bacteria

    NASA Astrophysics Data System (ADS)

    Schwarz, T.; Dual, J.

    2012-05-01

    Ultrasonic manipulation is a contactless and gentle method to manipulate a large number of particles. The method presented here exploits the advantage to simultaneously move bacteria away from a surface by means of acoustic radiation forces. The device for the manipulation consists of five layers (transducer, epoxy adhesive layer, carrier, fluid, reflector), stacked like a conventional planar resonator. The resonator behavior was simulated using the transfer matrix method (TMM). Validation of the model was realized with admittance measurements performed over a wide frequency range (100 kHz - 16 MHz). The TMM-model was used to optimize frequency, layer thickness and material of the resonator in order to find a combination with a high force potential gradient pointing away from the reflector surface into the fluid. The resonator has been experimentally tested with polystyrene particles (1 μm in diameter) which revealed a good matching with the TMM-model. First preliminary tests with Salmonella Thyphimurium have been done.

  20. Chimpanzees strategically manipulate what others can see.

    PubMed

    Karg, Katja; Schmelz, Martin; Call, Josep; Tomasello, Michael

    2015-09-01

    Humans often strategically manipulate the informational access of others to their own advantage. Although chimpanzees know what others can and cannot see, it is unclear whether they can strategically manipulate others' visual access. In this study, chimpanzees were given the opportunity to save food for themselves by concealing it from a human competitor and also to get more food for themselves by revealing it to a human cooperator. When knowing that a competitor was approaching, chimpanzees kept more food hidden (left it covered) than when expecting a cooperator to approach. When the experimenter was already at the location of the hidden food, they actively revealed less food to the competitor than to the cooperator. They did not actively hide food (cover up food in the open) from the competitor, however. Chimpanzees thus strategically manipulated what another could see in order to maximize their payoffs and showed their ability to plan for future situations. PMID:25964096

  1. Dynamic Analysis of a Two Member Manipulator

    NASA Technical Reports Server (NTRS)

    McGinley, W. Mark; Shen, Ji Y.

    1997-01-01

    Attenuating start-up and stopping vibrations when maneuvering large payloads attached to flexible manipulator systems is a great concern for many space missions. To address this concern, it was proposed that the use of smart materials, and their applications in smart structures, may provide an effective method of control for aerospace structures. In this paper, a modified finite element model has been developed to simulate the performance of piezoelectric ceramic actuators, and was applied to a flexible two-arm manipulator system. Connected to a control voltage, the piezoelectric actuators produce control moments based on the optimal control theory. The computer simulation modeled the end-effector vibration suppression of the NASA manipulator testbed for berthing operations of the Space Shuttle to the Space Station. The results of the simulation show that the bonded piezoelectric actuators can effectively suppress follow-up vibrations of the end-effector, stimulated by some external disturbance.

  2. Manipulating cyanobacteria: Spirulina for potential CELSS diet

    NASA Technical Reports Server (NTRS)

    Tadros, Mahasin G.; Smith, Woodrow; Mbuthia, Peter; Joseph, Beverly

    1989-01-01

    Spirulina sp. as a bioregenerative photosynthetic and an edible alga for spacecraft crew in a CELSS, was characterized for the biomass yield in batch cultures, under various environmental conditions. The partitioning of the assimalitory products (proteins, carbohydrates, lipids) were manipulated by varying the environmental growth conditions. Experiments with Spirulina have shown that under stress conditions (i.e., high light 160 uE/sq m/s, temperature 38 C, nitrogen or phosphate limitation; 0.1 M sodium chloride) carbohydrates increased at the expense of proteins. In other experiments, where the growth media were sufficient in nutrients and incubated under optimum growth conditions, the total of the algal could be manipulated by growth conditions. These results support the feasibility of considering Spirulina as a subsystem in CELSS because of the ease with which its nutrient content can be manipulated.

  3. Sensing Temperatures Via Prostheses And Manipulators

    NASA Technical Reports Server (NTRS)

    Zerkus, Mike

    1991-01-01

    Proposed temperature-sensing system applies heat to (or removes heat from) human user's skin according to temperature of remote object. Used in artificial limbs and in telerobotic manipulators. In prosthetic arm and hand, sensors on tips of artificial fingers send signals to electronic control network that drives small, lightweight thermoelectric heat pump worn on back of user's shoulder. Heat pump heats or cools skin according to signals from sensors. Heat pump and control network worn like article of clothing. In manual control of remote robot, sensors placed in fingers of remote manipulator. Sensors drive, via similar electronic control network, thermoelectric heat pumps in fingers of glove worn by operator, who then has benefit of information about temperatures on manipulated object.

  4. Force reflecting hand controller for manipulator teleoperation

    NASA Astrophysics Data System (ADS)

    Bryfogle, Mark D.

    1991-12-01

    A force reflecting hand controller based upon a six degree of freedom fully parallel mechanism, often termed a Stewart Platform, has been designed, constructed, and tested as an integrated system with a slave robot manipulator test bed. A force reflecting hand controller comprises a kinesthetic device capable of transmitting position and orientation commands to a slave robot manipulator while simultaneously representing the environmental interaction forces of the slave manipulator back to the operator through actuators driving the hand controller mechanism. The Stewart Platform was chosen as a novel approach to improve force reflecting teleoperation because of its inherently high ratio of load generation capability to system mass content and the correspondingly high dynamic bandwidth. An additional novelty of the program was to implement closed loop force and torque control about the hand controller mechanism by equipping the handgrip with a six degree of freedom force and torque measuring cell. The mechanical, electrical, computer, and control systems are discussed and system tests are presented.

  5. Manipulation of the Microbiota Using Probiotics.

    PubMed

    Grimm, Verena; Riedel, Christian U

    2016-01-01

    A number of diseases are associated with alterations in the composition of the microbiota of various niches of the human body. Although, in most cases, it is unclear if these alterations are the cause or the consequence of disease, they provide a rationale for therapeutic or prophylactic manipulation of a dysbiotic microbiota. Approaches to manipulate the microbiome include administration of either live bacteria, which are underrepresented in the diseased individual, substances that aim at increasing the populations of these bacteria, or a combination of the two. This chapter summarizes the available data in therapeutic manipulation of a various diseased states including irritable bowel syndrome, inflammatory bowel disease, necrotizing enterocolitis, atopic and allergic diseases, and antibiotic-associated and infectious diarrhoea. PMID:27161354

  6. Design of multivariable controllers for robot manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1986-01-01

    The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.

  7. Electrochemical Processes Enhanced by Acoustic Liquid Manipulation

    NASA Technical Reports Server (NTRS)

    Oeftering, Richard C.

    2004-01-01

    Acoustic liquid manipulation is a family of techniques that employ the nonlinear acoustic effects of acoustic radiation pressure and acoustic streaming to manipulate the behavior of liquids. Researchers at the NASA Glenn Research Center are exploring new methods of manipulating liquids for a variety of space applications, and we have found that acoustic techniques may also be used in the normal Earth gravity environment to enhance the performance of existing fluid processes. Working in concert with the NASA Commercial Technology Office, the Great Lakes Industrial Technology Center, and Alchemitron Corporation (Elgin, IL), researchers at Glenn have applied nonlinear acoustic principles to industrial applications. Collaborating with Alchemitron Corporation, we have adapted the devices to create acoustic streaming in a conventional electroplating process.

  8. Exploiting Multimodal Context in Image Retrieval.

    ERIC Educational Resources Information Center

    Srihari, Rohini K.; Zhang, Zhongfei

    1999-01-01

    Finding information on the Web without encountering numerous false positives poses a challenge to multimedia information retrieval systems (MMIR). This research focuses on improving precision and recall in an MMIR system by interactively combining text processing with image processing in both the indexing and retrieval phases. A picture search…

  9. Retrieval from Memory: Vulnerable or Inviolable?

    ERIC Educational Resources Information Center

    Jones, Dylan M.; Marsh, John E.; Hughes, Robert W.

    2012-01-01

    We show that retrieval from semantic memory is vulnerable even to the mere presence of speech. Irrelevant speech impairs semantic fluency--namely, lexical retrieval cued by a semantic category name--but only if it is meaningful (forward speech compared to reversed speech or words compared to nonwords). Moreover, speech related semantically to the…

  10. Retrieval during Learning Facilitates Subsequent Memory Encoding

    ERIC Educational Resources Information Center

    Pastotter, Bernhard; Schicker, Sabine; Niedernhuber, Julia; Bauml, Karl-Heinz T.

    2011-01-01

    In multiple-list learning, retrieval during learning has been suggested to improve recall of the single lists by enhancing list discrimination and, at test, reducing interference. Using electrophysiological, oscillatory measures of brain activity, we examined to what extent retrieval during learning facilitates list encoding. Subjects studied 5…

  11. Indexing and Retrieval for the Web.

    ERIC Educational Resources Information Center

    Rasmussen, Edie M.

    2003-01-01

    Explores current research on indexing and ranking as retrieval functions of search engines on the Web. Highlights include measuring search engine stability; evaluation of Web indexing and retrieval; Web crawlers; hyperlinks for indexing and ranking; ranking for metasearch; document structure; citation indexing; relevance; query evaluation;…

  12. Experiments in Multi-Lingual Information Retrieval.

    ERIC Educational Resources Information Center

    Salton, Gerard

    A comparison was made of the performance in an automatic information retrieval environment of user queries and document abstracts available in natural language form in both English and French. The results obtained indicate that the automatic indexing and retrieval techniques actually used appear equally effective in handling the query and document…

  13. Memory Retrieval and Interference: Working Memory Issues

    ERIC Educational Resources Information Center

    Radvansky, Gabriel A.; Copeland, David E.

    2006-01-01

    Working memory capacity has been suggested as a factor that is involved in long-term memory retrieval, particularly when that retrieval involves a need to overcome some sort of interference (Bunting, Conway, & Heitz, 2004; Cantor & Engle, 1993). Previous work has suggested that working memory is related to the acquisition of information during…

  14. Information Retrieval beyond the Text Document.

    ERIC Educational Resources Information Center

    Rui, Yong; Ortega, Michael; Huang, Thomas S.; Mehrotra, Sharad

    1999-01-01

    Reports some of the progress made over the years toward exploring information beyond the text domain. Describes the Multimedia Analysis and Retrieval Systems (MARS), developed to increase access to non-textual information. Addresses the following aspects of MARS: (1) visual feature extraction; (2) retrieval models; (3) query reformulation…

  15. Facilitating Internet-Scale Code Retrieval

    ERIC Educational Resources Information Center

    Bajracharya, Sushil Krishna

    2010-01-01

    Internet-Scale code retrieval deals with the representation, storage, and access of relevant source code from a large amount of source code available on the Internet. Internet-Scale code retrieval systems support common emerging practices among software developers related to finding and reusing source code. In this dissertation we focus on some…

  16. Unsuccessful Retrieval Attempts Enhance Subsequent Learning

    ERIC Educational Resources Information Center

    Kornell, Nate; Hays, Matthew Jensen; Bjork, Robert A.

    2009-01-01

    Taking tests enhances learning. But what happens when one cannot answer a test question--does an unsuccessful retrieval attempt impede future learning or enhance it? The authors examined this question using materials that ensured that retrieval attempts would be unsuccessful. In Experiments 1 and 2, participants were asked fictional…

  17. Representation of Legal Knowledge for Conceptual Retrieval.

    ERIC Educational Resources Information Center

    Cross, George R.; deBessonet, Cary G.

    1985-01-01

    Describes traditional legal information retrieval systems--Juris, Lexis, Westlaw--and several new rule-based, knowledge-based, legal knowledge reasoning, and analytical legal information systems--Waterman and Peterson's Legal Decisionmaking System, Hafner's Legal Information Retrieval System, McCarty's TAXMAN, and the deBessonet representation of…

  18. Strategic Retrieval in a Reality Monitoring Task

    ERIC Educational Resources Information Center

    Rosburg, Timm; Mecklinger, Axel; Johansson, Mikael

    2011-01-01

    Strategic recollection refers to control processes that allow the retrieval of information that is relevant for a specific situation. These processes can be studied in memory exclusion tasks, which require the retrieval of particular kinds of episodic information. In the current study, we investigated strategic recollection in reality monitoring…

  19. Fuzzy Set Theoretical Approach to Document Retrieval.

    ERIC Educational Resources Information Center

    Radecki, Tadeusz

    1979-01-01

    Presents a new method of document retrieval based on the fundamental operations of fuzzy set theory. Basic notions are introduced. Then the syntax and semantics of the proposed language for document retrieval is given, and an algorithm allocating documents to particular queries is described and its properties are discussed. (Author/CWM)

  20. Attentional Limits in Memory Retrieval--Revisited

    ERIC Educational Resources Information Center

    Green, Collin; Johnston, James C.; Ruthruff, Eric

    2011-01-01

    Carrier and Pashler (1995) concluded--based on locus-of-slack dual-task methodology--that memory retrieval was subject to a central bottleneck. However, this conclusion conflicts with evidence from other lines of research suggesting that memory retrieval proceeds autonomously, in parallel with many other mental processes. In the present…

  1. Chinese Information Retrieval: Using Characters or Words?

    ERIC Educational Resources Information Center

    Nie, Jian-Yun; Ren, Fuji

    1999-01-01

    Discussion of Chinese information retrieval proposes a relaxed segmentation process which extracts the longest words and also the short words implied. Experiments show that information retrieval based on this segmentation gives a slightly higher effectiveness than n-grams or bigrams, and requires less time and space for document and query…

  2. Employing Multiple Representations for Chinese Information Retrieval.

    ERIC Educational Resources Information Center

    Kwok, K. L.

    1999-01-01

    Discusses information retrieval in the Chinese language and describes three representation methods for texts: 1-gram or character, bigram, and short-word. Describes a study that investigated using more than one method simultaneously to improve retrieval effectiveness and considers word segmentation and costs. (Author/LRW)

  3. Enhanced Text Retrieval Using Natural Language Processing.

    ERIC Educational Resources Information Center

    Liddy, Elizabeth D.

    1998-01-01

    Defines natural language processing (NLP); describes the use of NLP in information retrieval (IR); provides seven levels of linguistic analysis: phonological, morphological, lexical, syntactic, semantic, discourse, and pragmatic. Discusses the commercial use of NLP in IR with the example of DR-LINK (Document Retrieval using LINguistic Knowledge)…

  4. Making Space: Automated Storage and Retrieval.

    ERIC Educational Resources Information Center

    Tanis, Norman; Ventuleth, Cindy

    1987-01-01

    Describes a pilot project in automated storage and retrieval of library materials which uses miniload cranes to retrieve bins of materials, and an interface with an online catalog that patrons use to request materials. Savings in space and money and potential problems with the system are discussed. (CLB)

  5. Statistical Inference in Retrieval Effectiveness Evaluation.

    ERIC Educational Resources Information Center

    Savoy, Jacques

    1997-01-01

    Discussion of evaluation methodology in information retrieval focuses on the average precision over a set of fixed recall values in an effort to evaluate the retrieval effectiveness of a search algorithm. Highlights include a review of traditional evaluation methodology with examples; and a statistical inference methodology called bootstrap.…

  6. Advanced Feedback Methods in Information Retrieval.

    ERIC Educational Resources Information Center

    Salton, G.; And Others

    1985-01-01

    In this study, automatic feedback techniques are applied to Boolean query statements in online information retrieval to generate improved query statements based on information contained in previously retrieved documents. Feedback operations are carried out using conventional Boolean logic and extended logic. Experimental output is included to…

  7. Information Retrieval and the Philosophy of Language.

    ERIC Educational Resources Information Center

    Blair, David C.

    2003-01-01

    Provides an overview of some of the main ideas in the philosophy of language that have relevance to the issues of information retrieval, focusing on the description of the intellectual content. Highlights include retrieval problems; recall and precision; words and meanings; context; externalism and the philosophy of language; and scaffolding and…

  8. Retrieval-induced forgetting under psychosocial stress: no reduction by delayed stress and beta-adrenergic blockade.

    PubMed

    Dreifus, Laura; Engler, Harald; Kissler, Johanna

    2014-04-01

    Retrieval-induced forgetting (RIF) is the phenomenon that 'retrieval-practice', the repeated retrieval of a subset of initially learned material, can impair the recall of episodically related memories. Previous studies showed that RIF is eliminated when retrieval-practice is carried out under psycho-social stress, anxiety, or in negative mood. However, pharmacological manipulation by hydrocortisone did not eliminate the effect. This study investigated the effect of beta-adrenergic blockade on stress-induced modulations of RIF, addressing possible interactive effects of the glucocorticoid and sympatho-adrenomedullary systems. Participants learned categorized word lists and then received either 60 mg propranolol or a placebo. After 90 min they were exposed to the TSST. A third group did not receive any medication and performed a non-stressful control task with the same timing as the other two groups. Finally, all participants underwent retrieval-practice and final recall. Both TSST groups exhibited a stress-induced increase in cortisol-levels, and the placebo group also exhibited large increases in markers of sympathetic nervous system activity and more psychological distress at the time of retrieval-practice. Although, overall recall was poorer under stress, an overall RIF effect emerged irrespective of group and showed no clear modulation by stress with or without beta-adrenergic blockade. In previous demonstrations of RIF elimination by negative emotion, state induction and retrieval-practice followed very briefly after initial learning. Given that both the previous study of hydrocortisone effects on RIF and the present study used longer delays between learning and retrieval-practice, the possibility that stress effects on retrieval-practice eliminate RIF only relatively briefly after learning is discussed. PMID:24486967

  9. Design of a reconfigurable modular manipulator system

    NASA Technical Reports Server (NTRS)

    Schmitz, D.; Kanade, T.

    1987-01-01

    Using manipulators with a fixed configuration for specific tasks is appropriate when the task requirements are known beforehand. However, in less predictable situations, such as an outdoor construction site or aboard a space station, a manipulator system requires a wide range of capabilities, probably beyond the limitations of a single, fixed-configuration manipulator. To fulfill this need, researchers have been working on a Reconfigurable Modular Manipulator System (RMMS). Researchers have designed and are constructing a prototype RMMS. The prototype currently consists of two joint modules and four link modules. The joints utilize a conventional harmonic drive and torque motor actuator, with a small servo amplifier included in the assembly. A brushless resolver is used to sense the joint position and velocity. For coupling the modules together, a standard electrical connector and V-band clamps for mechanical connection are used, although more sophisticated designs are under way for future versions. The joint design yields an output torque to 50 ft-lbf at joint speeds up to 1 radian/second. The resolver and associated electronics have resolutions of 0.0001 radians, and absolute accuracies of plus or minus 0.001 radians. Manipulators configured from these prototype modules will have maximum reaches in the 0.5 to 2 meter range. The real-time RMMS controller consists of a Motorola 68020 single-board computer which will perform real time servo control and path planning of the manipulator. This single board computer communicates via shared memory with a SUN3 workstation, which serves as a software development system and robot programming environment. Researchers have designed a bus communication network to provide multiplexed communication between the joint modules and the computer controller. The bus supports identification of modules, sensing of joint states, and commands to the joint actuator. This network has sufficient bandwidth to allow servo sampling rates in

  10. Validation of MODIS Aerosol Retrieval Over Ocean

    NASA Technical Reports Server (NTRS)

    Remer, Lorraine A.; Tanre, Didier; Kaufman, Yoram J.; Ichoku, Charles; Mattoo, Shana; Levy, Robert; Chu, D. Allen; Holben, Brent N.; Dubovik, Oleg; Ahmad, Ziauddin; Einaudi, Franco (Technical Monitor)

    2001-01-01

    The MODerate resolution Imaging Spectroradiometer (MODIS) algorithm for determining aerosol characteristics over ocean is performing with remarkable accuracy. A two-month data set of MODIS retrievals co-located with observations from the AErosol RObotic NETwork (AERONET) ground-based sunphotometer network provides the necessary validation. Spectral radiation measured by MODIS (in the range 550 - 2100 nm) is used to retrieve the aerosol optical thickness, effective particle radius and ratio between the submicron and micron size particles. MODIS-retrieved aerosol optical thickness at 660 nm and 870 nm fall within the expected uncertainty, with the ensemble average at 660 nm differing by only 2% from the AERONET observations and having virtually no offset. MODIS retrievals of aerosol effective radius agree with AERONET retrievals to within +/- 0.10 micrometers, while MODIS-derived ratios between large and small mode aerosol show definite correlation with ratios derived from AERONET data.

  11. Finding Good Elements for Focused Retrieval

    NASA Astrophysics Data System (ADS)

    Crouch, Carolyn J.; Crouch, Donald B.; Bapat, Salil; Mehta, Sarika; Paranjape, Darshan

    This paper describes the integration of our methodology for the dynamic retrieval of XML elements [2] with traditional article retrieval to facilitate the Focused and the Relevant-in-Context Tasks of the INEX 2008 Ad Hoc Track. The particular problems that arise for dynamic element retrieval in working with text containing both tagged and untagged elements have been solved [3]. The current challenge involves utilizing its ability to produce a rank-ordered list of elements in the context of focused retrieval. Our system is based on the Vector Space Model [8]; basic functions are performed using the Smart experimental retrieval system [7]. Experimental results are reported for the Focused, Relevant-in-Context, and Best-in-Context Tasks of both the 2007 and 2008 INEX Ad Hoc Tracks. These results indicate that the goal of our 2008 investigations—namely, finding good focused elements in the context of the Wikipedia collection-has been achieved.

  12. Compact binary hashing for music retrieval

    NASA Astrophysics Data System (ADS)

    Seo, Jin S.

    2014-03-01

    With the huge volume of music clips available for protection, browsing, and indexing, there is an increased attention to retrieve the information contents of the music archives. Music-similarity computation is an essential building block for browsing, retrieval, and indexing of digital music archives. In practice, as the number of songs available for searching and indexing is increased, so the storage cost in retrieval systems is becoming a serious problem. This paper deals with the storage problem by extending the supervector concept with the binary hashing. We utilize the similarity-preserving binary embedding in generating a hash code from the supervector of each music clip. Especially we compare the performance of the various binary hashing methods for music retrieval tasks on the widely-used genre dataset and the in-house singer dataset. Through the evaluation, we find an effective way of generating hash codes for music similarity estimation which improves the retrieval performance.

  13. Control automation in undersea manipulation systems

    NASA Technical Reports Server (NTRS)

    Freedy, A.; Weltman, G.

    1975-01-01

    The requirements for the successful use of automated manipulation in an undersea environment are discussed, and initial specifications for systems which share control between a human operator and an autonomous control element are established. Areas of concern include: (1) objectives of automation; (2) characteristics of the underwater task; (3) hierarchy of control algorithms; (4) man/machine interface; (5) sensory feedback; and (6) general system organization. Special emphasis is placed on the solutions to the problem of controlling an undersea manipulator which is capable of performing certain automatic functions and implementing these solutions using current technology. Current capabilities for control automation are summarized.

  14. TV requirements for manipulation in space

    NASA Technical Reports Server (NTRS)

    Freedman, L. A.; Crooks, W. H.; Coan, P. P.

    1977-01-01

    Four tasks (docking, coupling, manipulation, and transportation), stressing work volume and element relationships, are outlined to test a video system for remote manipulation in space. A 4 degree of freedom motion frame was used to evaluate operating parameters, which grouped the visual dimensions into major areas of influence, e.g., depth precision, object differentiation, reference, dynamics, and resolution. Four video systems were included in the simulation testing: a black and white and a color monoscopic system, a stereoscopic system, and a black and white two-view system. The two-view system was found best suited for the operations described.

  15. Segmented magnetic nanofibers for single cell manipulation

    NASA Astrophysics Data System (ADS)

    Liu, Jun; Shi, Jian; Jiang, Lianmei; Zhang, Fan; Wang, Li; Yamamoto, Shinpei; Takano, Mikio; Chang, Mengjie; Zhang, Haoli; Chen, Yong

    2012-07-01

    We report a simple but straightforward approach to fabricate magnetic nanofiber segments for cell manipulation. Electrospinning was used to produce nanofibers from a magnetic nanoparticles containing polymethylglutarimide (PMGI) precursor solution. After sonication, the fabricated nanofibers were uniformly segmented. When dispersed in an aqueous solution, the orientation of the fiber segments could easily be controlled by an external magnetic field. NIH 3T3 cells were then cultured in a medium containing magnetic fibers, resulting in stable cell-nanofiber hybrids which can be conveniently manipulated with a magnet.

  16. Adaptive Impedance Control Of Redundant Manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Colbaugh, Richard D.; Glass, Kristin L.

    1994-01-01

    Improved method of controlling mechanical impedance of end effector of redundant robotic manipulator based on adaptive-control theory. Consists of two subsystems: adaptive impedance controller generating force-control inputs in Cartesian space of end effector to provide desired end-effector-impedance characteristics, and subsystem implementing algorithm that maps force-control inputs into torques applied to joints of manipulator. Accurate control of end effector and effective utilization of redundancy achieved simultaneously by use of method. Potential use to improve performance of such typical impedance-control tasks as deburring edges and accommodating transitions between unconstrained and constrained motions of end effectors.

  17. Genetic manipulation: watchdog to bark less often.

    PubMed

    1983-04-01

    A consultative document issued by the British government on 5 April includes a proposal that the Genetic Manipulation Advisory Group (GMAG) should take a less active regulatory role, but that investigators should continue to report experiments in genetic manipulation. Also under consideration is a reorganization of GMAG, in which it would be transferred from the Department of Education and Science to the Health and Safety Executive. In addition, the four lay members of the present GMAG would be dropped from the committee. PMID:11643975

  18. Adaptive control of a robotic manipulator

    NASA Technical Reports Server (NTRS)

    Lewis, R. A.

    1977-01-01

    A control hierarchy for a robotic manipulator is described. The hierarchy includes perception and robot/environment interaction, the latter consisting of planning, path control, and terminal guidance loops. Environment-sensitive features include the provision of control governed by proximity, tactile, and visual sensors as well as the usual kinematic sensors. The manipulator is considered as part of an overall robot system. 'Adaptive control' in the present context refers to both the hierarchical nature of the control system and to its environment-responsive nature.

  19. Holographic assembly workstation for optical manipulation

    NASA Astrophysics Data System (ADS)

    Gibson, Graham; Carberry, David M.; Whyte, Graeme; Leach, Jonathan; Courtial, Johannes; Jackson, Joseph C.; Robert, Daniel; Miles, Mervyn; Padgett, Miles

    2008-04-01

    We report a holographic assembler workstation for optical trapping and micro-manipulation. The workstation is based on a titanium sapphire laser, making it particularly suited for biomaterials and incorporates a choice of user interfaces for different applications. The system is designed around a commercial inverted microscope and is configured such that it can be easily used by the non-specialist. We demonstrate the bio-capabilities of our system by manipulating a group of yeast cells, a single red blood cell and a single cell of the green algae colony Volvox.

  20. Manipulator for rotating and examining small spheres

    DOEpatents

    Weinstein, Berthold W. [Livermore, CA; Willenborg, David L. [Livermore, CA

    1980-02-12

    A manipulator which provides fast, accurate rotational positioning of a small sphere, such as an inertial confinement fusion target, which allows inspecting of the entire surface of the sphere. The sphere is held between two flat, flexible tips which move equal amounts in opposite directions. This provides rolling of the ball about two orthogonal axes without any overall translation. The manipulator may be controlled, for example, by an x- and y-axis driven controlled by a mini-computer which can be programmed to generate any desired scan pattern.

  1. Manipulator for rotating and examining small spheres

    DOEpatents

    Weinstein, B.W.; Willenborg, D.L.

    1980-02-12

    A manipulator is disclosed which provides fast, accurate rotational positioning of a small sphere, such as an inertial confinement fusion target, which allows inspecting of the entire surface of the sphere. The sphere is held between two flat, flexible tips which move equal amounts in opposite directions. This provides rolling of the ball about two orthogonal axes without any overall translation. The manipulator may be controlled, for example, by an x- and y-axis driven controlled by a mini-computer which can be programmed to generate any desired scan pattern. 8 figs.

  2. Floral Nectar: Pollinator Attraction or Manipulation?

    PubMed

    Pyke, Graham H

    2016-05-01

    The literature suggests that floral nectar acts principally to attract pollinator visitation (and/or revisitation), thereby enhancing plant reproductive success. However, floral nectar also manipulates pollinator behaviour during and immediately following plant visits, affecting pollen transfer, and plant reproduction. I argue that floral nectar should really be viewed as a pollinator manipulant rather than attractant, thus potentially explaining why its concentration is not generally high and why it decreases with increasing pollinator body size. Otherwise, such patterns may remain mysterious and unexplained. PMID:26987770

  3. Application of a Novel Long-Reach Manipulator Concept to Asteroid Redirect Missions

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

    A high priority mission currently being formulated by NASA is to capture all or part of an asteroid and return it to cis-lunar space for examination by an astronaut crew. Two major mission architectures are currently being considered: in the first (Mission Concept A), a spacecraft would rendezvous and capture an entire free flying asteroid (up to 14 meters in diameter), and in the second (Mission Concept B), a spacecraft would rendezvous with a large asteroid (which could include one of the Martian moons) and retrieve a boulder (up to 4 meters in diameter). A critical element of the mission is the system that will capture the asteroid or boulder material, enclose it and secure it for the return flight. This paper describes the design concepts, concept of operations, structural sizing and masses of capture systems that are based on a new and novel Tendon- Actuated Lightweight In-Space MANipulator (TALISMAN) general-purpose robotic system. Features of the TALISMAN system are described and the status of its technology development is summarized. TALISMAN-based asteroid material retrieval system concepts and concepts-of-operations are defined for each asteroid mission architecture. The TALISMAN-based capture systems are shown to dramatically increase operational versatility while reducing mission risk. Total masses of TALISMAN-based systems are presented, reinforcing the mission viability of using a manipulator-based approach for the asteroid redirect mission.

  4. Intelligent Behaviour Modelling and Control for Mobile Manipulators

    NASA Astrophysics Data System (ADS)

    Elkady, Ayssam; Mohammed, Mohammed; Gebriel, Eslam; Sobh, Tarek

    In the last several years, mobile manipulators have been increasingly utilized and developed from a theoretical viewpoint as well as for practical applications in space, underwater, construction and service environments. The work presented in this chapter deals with the problem of intelligent behaviour modelling and control of a mobile manipulator for the purpose of simultaneously following desired end-effector and platform trajectories. Our mobile manipulator comprised a manipulator arm mounted on a motorized mobile base wheelchair. The need for accurate modelling of the mobile manipulator is crucial in designing and controlling the motion of the robot to achieve the target precision and manipulability requirements. In this chapter, we propose a new method for measuring the manipulability index used for serial manipulators. Furthermore, we provide some simulations that are implemented on different serial manipulators, such as the Puma 560 manipulator, a six degrees of freedom (DOF) manipulator and the Mitsubishi Movemaster manipulator. We then extend the manipulability concept commonly used for serial manipulators to general mobile manipulator systems.

  5. Cholinergic Manipulations Bidirectionally Regulate Object Memory Destabilization

    ERIC Educational Resources Information Center

    Stiver, Mikaela L.; Jacklin, Derek L.; Mitchnick, Krista A.; Vicic, Nevena; Carlin, Justine; O'Hara, Matthew; Winters, Boyer D.

    2015-01-01

    Consolidated memories can become destabilized and open to modification upon retrieval. Destabilization is most reliably prompted when novel information is present during memory reactivation. We hypothesized that the neurotransmitter acetylcholine (ACh) plays an important role in novelty-induced memory destabilization because of its established…

  6. VICAR - VIDEO IMAGE COMMUNICATION AND RETRIEVAL

    NASA Technical Reports Server (NTRS)

    Wall, R. J.

    1994-01-01

    VICAR (Video Image Communication and Retrieval) is a general purpose image processing software system that has been under continuous development since the late 1960's. Originally intended for data from the NASA Jet Propulsion Laboratory's unmanned planetary spacecraft, VICAR is now used for a variety of other applications including biomedical image processing, cartography, earth resources, and geological exploration. The development of this newest version of VICAR emphasized a standardized, easily-understood user interface, a shield between the user and the host operating system, and a comprehensive array of image processing capabilities. Structurally, VICAR can be divided into roughly two parts; a suite of applications programs and an executive which serves as the interfaces between the applications, the operating system, and the user. There are several hundred applications programs ranging in function from interactive image editing, data compression/decompression, and map projection, to blemish, noise, and artifact removal, mosaic generation, and pattern recognition and location. An information management system designed specifically for handling image related data can merge image data with other types of data files. The user accesses these programs through the VICAR executive, which consists of a supervisor and a run-time library. From the viewpoint of the user and the applications programs, the executive is an environment that is independent of the operating system. VICAR does not replace the host computer's operating system; instead, it overlays the host resources. The core of the executive is the VICAR Supervisor, which is based on NASA Goddard Space Flight Center's Transportable Applications Executive (TAE). Various modifications and extensions have been made to optimize TAE for image processing applications, resulting in a user friendly environment. The rest of the executive consists of the VICAR Run-Time Library, which provides a set of subroutines (image

  7. VICAR - VIDEO IMAGE COMMUNICATION AND RETRIEVAL

    NASA Technical Reports Server (NTRS)

    Wall, R. J.

    1994-01-01

    VICAR (Video Image Communication and Retrieval) is a general purpose image processing software system that has been under continuous development since the late 1960's. Originally intended for data from the NASA Jet Propulsion Laboratory's unmanned planetary spacecraft, VICAR is now used for a variety of other applications including biomedical image processing, cartography, earth resources, and geological exploration. The development of this newest version of VICAR emphasized a standardized, easily-understood user interface, a shield between the user and the host operating system, and a comprehensive array of image processing capabilities. Structurally, VICAR can be divided into roughly two parts; a suite of applications programs and an executive which serves as the interfaces between the applications, the operating system, and the user. There are several hundred applications programs ranging in function from interactive image editing, data compression/decompression, and map projection, to blemish, noise, and artifact removal, mosaic generation, and pattern recognition and location. An information management system designed specifically for handling image related data can merge image data with other types of data files. The user accesses these programs through the VICAR executive, which consists of a supervisor and a run-time library. From the viewpoint of the user and the applications programs, the executive is an environment that is independent of the operating system. VICAR does not replace the host computer's operating system; instead, it overlays the host resources. The core of the executive is the VICAR Supervisor, which is based on NASA Goddard Space Flight Center's Transportable Applications Executive (TAE). Various modifications and extensions have been made to optimize TAE for image processing applications, resulting in a user friendly environment. The rest of the executive consists of the VICAR Run-Time Library, which provides a set of subroutines (image

  8. An overview of the National Space Science data Center Standard Information Retrieval System (SIRS)

    NASA Technical Reports Server (NTRS)

    Shapiro, A.; Blecher, S.; Verson, E. E.; King, M. L. (Editor)

    1974-01-01

    A general overview is given of the National Space Science Data Center (NSSDC) Standard Information Retrieval System. A description, in general terms, the information system that contains the data files and the software system that processes and manipulates the files maintained at the Data Center. Emphasis is placed on providing users with an overview of the capabilities and uses of the NSSDC Standard Information Retrieval System (SIRS). Examples given are taken from the files at the Data Center. Detailed information about NSSDC data files is documented in a set of File Users Guides, with one user's guide prepared for each file processed by SIRS. Detailed information about SIRS is presented in the SIRS Users Guide.

  9. Visual similarity at encoding and retrieval in an item recognition task.

    PubMed

    Mate, Judit; Baqués, Josep

    2009-07-01

    The aim of this experiment was to examine the effects of shape similarity in visual working memory using a six alternative recognition task of Chinese characters. Shape similarity among items was manipulated at both encoding and retrieval in order to assess in which phase similarity impairs recognition to a greater degree. Results revealed that performance is particularly facilitated by high discriminability at retrieval but also by the presence of similar items at encoding, as similarity simplifies the global representation of the display and reduces memory load. Moreover, results provide further evidence that the classical similarity effect can be reversed in the visual domain when item memory (as opposed to order) is assessed. PMID:19235099

  10. Alzheimer's disease disrupts arithmetic fact retrieval processes but not arithmetic strategy selection.

    PubMed

    Duverne, Sandrine; Lemaire, Patrick; Michel, Bernard François

    2003-08-01

    Three groups of healthy younger adults, healthy older adults, and probable AD patients, performed an addition/number comparison task. They compared 128 couples of additions and numbers (e.g., 4 + 9 15) and had to identify the largest item for each problem by pressing one of two buttons located under each item. Manipulations of problem characteristics (i.e., problem difficulty and splits between correct sums and proposed numbers) enabled us to examine strategy selection and specific arithmetic fact retrieval processes. Results showed that arithmetic facts retrieval processes, which were spared with aging, were impaired in AD patients. However, AD patients were able to switch between strategies across trials according to problem characteristics as well as healthy older adults, and less systematically than healthy younger adults. We discuss implications of these findings for further understanding AD-related differences in arithmetic in particular, and problem solving in general. PMID:12907175

  11. A Fundamental Breakdown. Part II: Manipulative Skills

    ERIC Educational Resources Information Center

    Townsend, J. Scott; Mohr, Derek J.

    2005-01-01

    In the May, 2005, issue of "TEPE," the "Research to Practice" section initiated a two-part series focused on assessing fundamental locomotor and manipulative skills. The series was generated in response to research by Pappa, Evanggelinou, & Karabourniotis (2005), recommending that curricular programming in physical education at the elementary…

  12. Automatic camera tracking for remote manipulators

    SciTech Connect

    Stoughton, R.S.; Martin, H.L.; Bentz, R.R.

    1984-04-01

    The problem of automatic camera tracking of mobile objects is addressed with specific reference to remote manipulators and using either fixed or mobile cameras. The technique uses a kinematic approach employing 4 x 4 coordinate transformation matrices to solve for the needed camera PAN and TILT angles. No vision feedback systems are used, as the required input data are obtained entirely from position sensors from the manipulator and the camera-positioning system. All hardware requirements are generally satisfied by currently available remote manipulator systems with a supervisory computer. The system discussed here implements linear plus on/off (bang-bang) closed-loop control with a +-2/sup 0/ deadband. The deadband area is desirable to avoid operator seasickness caused by continuous camera movement. Programming considerations for camera control, including operator interface options, are discussed. The example problem presented is based on an actual implementation using a PDP 11/34 computer, a TeleOperator Systems SM-229 manipulator, and an Oak Ridge National Laboratory (ORNL) camera-positioning system. 3 references, 6 figures, 2 tables.

  13. Automatic camera tracking for remote manipulators

    SciTech Connect

    Stoughton, R.S.; Martin, H.L.; Bentz, R.R.

    1984-07-01

    The problem of automatic camera tracking of mobile objects is addressed with specific reference to remote manipulators and using either fixed or mobile cameras. The technique uses a kinematic approach employing 4 x 4 coordinate transformation matrices to solve for the needed camera PAN and TILT angles. No vision feedback systems are used, as the required input data are obtained entirely from position sensors from the manipulator and the camera-positioning system. All hardware requirements are generally satisfied by currently available remote manipulator systems with a supervisory computer. The system discussed here implements linear plus on/off (bang-bang) closed-loop control with a +-2-deg deadband. The deadband area is desirable to avoid operator seasickness caused by continuous camera movement. Programming considerations for camera control, including operator interface options, are discussed. The example problem presented is based on an actual implementation using a PDP 11/34 computer, a TeleOperator Systems SM-229 manipulator, and an Oak Ridge National Laboratory (ORNL) camera-positioning system. 3 references, 6 figures, 2 tables.

  14. Displaying Force and Torque of A Manipulator

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Dotson, R. S.; Primus, H. C.

    1984-01-01

    Display combines bar charts, vector diagrams, and numerical values to inform operator of forces and torques exerted by end effector of manipulator. On voice or keyboard command, eight-channel strip-chart recorder traces force and torque components and claw position of raw measurements from eight strain gage sensors in end effector. Especially helpful when operator's view of end effector is obscured.

  15. An anthropomorphic master-slave manipulator system.

    NASA Technical Reports Server (NTRS)

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

    1973-01-01

    Review of some of the results of a teleoperator systems technology program devoted to the development of an anthropomorphic unilateral master-slave manipulator system. Following a discussion of the mechanical design details and servo design considerations, the developed system's test results are presented.

  16. Improved electromechanical master-slave manipulator

    NASA Technical Reports Server (NTRS)

    Forster, G.; Goertz, R.; Grimson, J.; Mingesz, D.; Potts, C.

    1968-01-01

    Electric master-slave manipulator uses force multiplication and allows the operator to remotely control the slave arm. Both the master and slave arms execute seven distinct motions by a specially designed force-reflecting servo having a one to one correspondence between the motion at the master and slave.

  17. Spider management in agroecosystems: Habitat manipulation

    NASA Astrophysics Data System (ADS)

    Mansour, Fadel; Richman, David B.; Whitcomb, W. H.

    1983-01-01

    Based on the literature and on work conducted in Israel, the management of spider populations through habitat manipulation was found to be very helpful in controlling pest insects in various crops. Spiders were found to be reduced or eliminated by non-selective insecticides, although some resistance has been noted

  18. A 17 degree of freedom anthropomorphic manipulator

    NASA Technical Reports Server (NTRS)

    Vold, Havard I.; Karlen, James P.; Thompson, Jack M., Jr.; Farrell, James D.; Eismann, Paul H.

    1989-01-01

    A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints.

  19. Flexible manipulator control experiments and analysis

    NASA Technical Reports Server (NTRS)

    Yurkovich, S.; Ozguner, U.; Tzes, A.; Kotnik, P. T.

    1987-01-01

    Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches.

  20. Parallel Computation Of Forward Dynamics Of Manipulators

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Bejczy, Antal K.

    1993-01-01

    Report presents parallel algorithms and special parallel architecture for computation of forward dynamics of robotics manipulators. Products of effort to find best method of parallel computation to achieve required computational efficiency. Significant speedup of computation anticipated as well as cost reduction.