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Sample records for compare manipulate curve

  1. 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.

  2. 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.

  3. 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.

  4. Light shaping along 3D curves and particle manipulation

    NASA Astrophysics Data System (ADS)

    Rodrigo, José A.; Alieva, Tatiana

    2015-03-01

    We present a non-iterative holographic technique for efficient and versatile laser beam shaping along arbitrary 3D curves. Light beams with intensity shaped for several 3D curves: Tilted ring, Viviani's curve, Archimedean spiral, and trefoil-knotted curve have been experimentally generated and applied for optical trapping of micrometer-sized dielectric particles. The high intensity gradients and independent phase control prescribed along the curve make this kind of laser trap attractive for multiple particle manipulation and allow for forward and backward motion to the light source. Indeed, different configurations of tractor beam traps are experimentally demonstrated. This technique can also be applied for laser micro-machining.

  5. Curved singular beams for three-dimensional particle manipulation

    PubMed Central

    Zhao, Juanying; Chremmos, Ioannis D.; Song, Daohong; Christodoulides, Demetrios N.; Efremidis, Nikolaos K.; Chen, Zhigang

    2015-01-01

    For decades, singular beams carrying angular momentum have been a topic of considerable interest. Their intriguing applications are ubiquitous in a variety of fields, ranging from optical manipulation to photon entanglement, and from microscopy and coronagraphy to free-space communications, detection of rotating black holes, and even relativistic electrons and strong-field physics. In most applications, however, singular beams travel naturally along a straight line, expanding during linear propagation or breaking up in nonlinear media. Here, we design and demonstrate diffraction-resisting singular beams that travel along arbitrary trajectories in space. These curved beams not only maintain an invariant dark “hole” in the center but also preserve their angular momentum, exhibiting combined features of optical vortex, Bessel, and Airy beams. Furthermore, we observe three-dimensional spiraling of microparticles driven by such fine-shaped dynamical beams. Our findings may open up new avenues for shaped light in various applications. PMID:26166011

  6. Curved singular beams for three-dimensional particle manipulation.

    PubMed

    Zhao, Juanying; Chremmos, Ioannis D; Song, Daohong; Christodoulides, Demetrios N; Efremidis, Nikolaos K; Chen, Zhigang

    2015-01-01

    For decades, singular beams carrying angular momentum have been a topic of considerable interest. Their intriguing applications are ubiquitous in a variety of fields, ranging from optical manipulation to photon entanglement, and from microscopy and coronagraphy to free-space communications, detection of rotating black holes, and even relativistic electrons and strong-field physics. In most applications, however, singular beams travel naturally along a straight line, expanding during linear propagation or breaking up in nonlinear media. Here, we design and demonstrate diffraction-resisting singular beams that travel along arbitrary trajectories in space. These curved beams not only maintain an invariant dark "hole" in the center but also preserve their angular momentum, exhibiting combined features of optical vortex, Bessel, and Airy beams. Furthermore, we observe three-dimensional spiraling of microparticles driven by such fine-shaped dynamical beams. Our findings may open up new avenues for shaped light in various applications. PMID:26166011

  7. Comparative power curves in bird flight.

    PubMed

    Tobalske, B W; Hedrick, T L; Dial, K P; Biewener, A A

    2003-01-23

    The relationship between mechanical power output and forward velocity in bird flight is controversial, bearing on the comparative physiology and ecology of locomotion. Applied to flying birds, aerodynamic theory predicts that mechanical power should vary as a function of forward velocity in a U-shaped curve. The only empirical test of this theory, using the black-billed magpie (Pica pica), suggests that the mechanical power curve is relatively flat over intermediate velocities. Here, by integrating in vivo measurements of pectoralis force and length change with quasi-steady aerodynamic models developed using data on wing and body movement, we present mechanical power curves for cockatiels (Nymphicus hollandicus) and ringed turtle-doves (Streptopelia risoria). In contrast to the curve reported for magpies, the power curve for cockatiels is acutely concave, whereas that for doves is intermediate in shape and shows higher mass-specific power output at most speeds. We also find that wing-beat frequency and mechanical power output do not necessarily share minima in flying birds. Thus, aspects of morphology, wing kinematics and overall style of flight can greatly affect the magnitude and shape of a species' power curve. PMID:12540899

  8. Manipulator Comparative Testing Program: Final report

    SciTech Connect

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

    1987-02-01

    The manipulator systems tested included the Meidensha BILARM 83A, the Central Research Laboratories Model M-2, and the GCA PaR Systems Model 6000. Six manipulator and control mode combinations were evaluated: (1) the BILARM in master/slave mode without force reflection, (2) the BILARM in master/slave mode with force reflection, (3) the Model M-2 in master/slave mode without force reflection, (4) the Model M-2 in master/slave mode with force reflection, (5) the BILARM with switchbox controls, and (6) the PaR 6000 with switchbox controls. The experiments examined differences between master/slave systems with and without force reflection and differences between master/slave systems and switchbox-controlled systems. A fourth experiment examined the relative contributions of the remote viewing system and the manipulator system to the performance of remote handling tasks. Results of the experiments showed that operators using the Model M-2 in master/slave mode had significantly faster times to completion than operators using the BILARM in master/slave mode, with about the same error rate per trial. Operators were slower using the BILARM with force reflection than without it, and they committed more errors. There was no statistically significant difference between force-reflection and nonforce-reflection conditions for the M-2 manipulator for any of the performance criteria. Tasks and procedures used in this testing were not sensitive to differences within any single system. No inferences about the effect of force reflection on remote task performance should be made from these data. The two manipulator systems in switchbox mode had significantly slower times to completion than any system in master/slave mode, with approximately the same error rate per trial. There were no significant differences between the BILARM in switchbox mode and the PaR arm.

  9. Studying electrons on curved surfaces by trapping and manipulating multielectron bubbles in liquid helium.

    PubMed

    Vadakkumbatt, Vaisakh; Joseph, Emil; Pal, Anustuv; Ghosh, Ambarish

    2014-01-01

    Investigations of two-dimensional electron systems (2DES) have been achieved with two model experimental systems, covering two distinct, non-overlapping regimes of the 2DES phase diagram, namely the quantum liquid phase in semiconducting heterostructures and the classical phases observed in electrons confined above the surface of liquid helium. Multielectron bubbles in liquid helium offer an exciting possibility to bridge this gap in the phase diagram, as well as to study the properties of electrons on curved flexible surfaces. However, this approach has been limited because all experimental studies have so far been transient in nature. Here we demonstrate that it is possible to trap and manipulate multielectron bubbles in a conventional Paul trap for several hundreds of milliseconds, enabling reliable measurements of their physical properties and thereby gaining valuable insight to various aspects of curved 2DES that were previously unexplored. PMID:25081283

  10. Kinematic Modeling and Function Generation for Non-linear Curves Using 5R Double Arm Parallel Manipulator

    NASA Astrophysics Data System (ADS)

    Keshavkumar Kamaliya, Parth; Patel, Yashavant Kumar Dashrathlal

    2016-01-01

    Double arm configuration using parallel manipulator mimic the human arm motions either for planar or spatial space. These configurations are currently lucrative for researchers as it also replaces human workers without major redesign of work-place in industries. Humans' joint ranges limitation of arms can be resolved by replacement of either revolute or spherical joints in manipulator. Hence, the scope of maximum workspace utilization is prevailed. Planar configuration with five revolute joints (5R) is considered to imitate human arm motions in a plane using Double Arm Manipulator (DAM). Position analysis for tool that can be held in end links of configuration is carried out using Pro/mechanism in Creo® as well as SimMechanics. D-H parameters are formulated and its results derived using developed MATLAB programs are compared with mechanism simulation as well as SimMechanics results. Inverse kinematics model is developed for trajectory planning in order to trace tool trajectory in a continuous and smooth sequence. Polynomial functions are derived for position, velocity and acceleration for linear and non-linear curves in joint space. Analytical results obtained for trajectory planning are validated with simulation results of Creo®.

  11. A Note on Comparing the Elasticities of Demand Curves.

    ERIC Educational Resources Information Center

    Nieswiadomy, Michael

    1986-01-01

    Demonstrates a simple and useful way to compare the elasticity of demand at each price (or quantity) for different demand curves. The technique is particularly useful for the intermediate microeconomic course. (Author)

  12. Manipulation of propagating spin waves in straight and curved magnetic microstrips

    NASA Astrophysics Data System (ADS)

    Haldar, Arabinda; Liu, Hau-Jian; Schultheiss, Helmut; Vogt, Katrin; Hoffmann, Axel; Buchanan, Kristen

    2012-02-01

    The main challenges in realizing magnonics devices are the generation, manipulation and detection of spin waves, especially in metallic magnetic materials where the length scales are of interest for applications. We have studied the propagation of spin waves in transversely magnetized Permalloy (Py) microstrips of different shapes using micro-Brillouin light scattering. The Py stripe was 30-nm thick, several micrometers wide and >50 μm long. Spin waves were excited in the Py strip using a 2-μm wide antenna. We compare the spin wave propagation along a straight wire to the propagation along a magnetic microstrip with a smooth bend. We will also discuss the use of a current through a gold wire under the Permalloy to provide a local magnetic field to maintain a transverse magnetization around the bend.

  13. Comparing survival curves using an easy to interpret statistic.

    PubMed

    Hess, Kenneth R

    2010-10-15

    Here, I describe a statistic for comparing two survival curves that has a clear and obvious meaning and has a long history in biostatistics. Suppose we are comparing survival times associated with two treatments A and B. The statistic operates in such a way that if it takes on the value 0.95, then the interpretation is that a randomly chosen patient treated with A has a 95% chance of surviving longer than a randomly chosen patient treated with B. This statistic was first described in the 1950s, and was generalized in the 1960s to work with right-censored survival times. It is a useful and convenient measure for assessing differences between survival curves. Software for computing the statistic is readily available on the Internet. PMID:20732962

  14. Comparing mechanisms of host manipulation across host and parasite taxa

    USGS Publications Warehouse

    Lafferty, Kevin D.; Shaw, Jenny C.

    2013-01-01

    Parasites affect host behavior in several ways. They can alter activity, microhabitats or both. For trophically transmitted parasites (the focus of our study), decreased activity might impair the ability of hosts to respond to final-host predators, and increased activity and altered microhabitat choice might increase contact rates between hosts and final-host predators. In an analysis of trophically transmitted parasites, more parasite groups altered activity than altered microhabitat choice. Parasites that infected vertebrates were more likely to impair the host’s reaction to predators, whereas parasites that infected invertebrates were more likely to increase the host’s contact with predators. The site of infection might affect how parasites manipulate their hosts. For instance, parasites in the central nervous system seem particularly suited to manipulating host behavior. Manipulative parasites commonly occupy the body cavity, muscles and central nervous systems of their hosts. Acanthocephalans in the data set differed from other taxa in that they occurred exclusively in the body cavity of invertebrates. In addition, they were more likely to alter microhabitat choice than activity. Parasites in the body cavity (across parasite types) were more likely to be associated with increased host contact with predators. Parasites can manipulate the host through energetic drain, but most parasites use more sophisticated means. For instance, parasites target four physiological systems that shape behavior in both invertebrates and vertebrates: neural, endocrine, neuromodulatory and immunomodulatory. The interconnections between these systems make it difficult to isolate specific mechanisms of host behavioral manipulation.

  15. End of Life Disposal for Three Libration Point Missions through Manipulation of the Jacobi Constant and Zero Velocity Curves

    NASA Technical Reports Server (NTRS)

    Peterson, Jeremy D.; Brown, Jonathan M.

    2015-01-01

    The aim of this investigation is to determine the feasibility of mission disposal by inserting the spacecraft into a heliocentric orbit along the unstable manifold and then manipulating the Jacobi constant to prevent the spacecraft from returning to the Earth-Moon system. This investigation focuses around L1 orbits representative of ACE, WIND, and SOHO. It will model the impulsive delta-V necessary to close the zero velocity curves after escape through the L1 gateway in the circular restricted three body model and also include full ephemeris force models and higher fidelity finite maneuver models for the three spacecraft.

  16. Domino: Extracting, Comparing, and Manipulating Subsets across Multiple Tabular Datasets

    PubMed Central

    Gratzl, Samuel; Gehlenborg, Nils; Lex, Alexander; Pfister, Hanspeter; Streit, Marc

    2016-01-01

    Answering questions about complex issues often requires analysts to take into account information contained in multiple interconnected datasets. A common strategy in analyzing and visualizing large and heterogeneous data is dividing it into meaningful subsets. Interesting subsets can then be selected and the associated data and the relationships between the subsets visualized. However, neither the extraction and manipulation nor the comparison of subsets is well supported by state-of-the-art techniques. In this paper we present Domino, a novel multiform visualization technique for effectively representing subsets and the relationships between them. By providing comprehensive tools to arrange, combine, and extract subsets, Domino allows users to create both common visualization techniques and advanced visualizations tailored to specific use cases. In addition to the novel technique, we present an implementation that enables analysts to manage the wide range of options that our approach offers. Innovative interactive features such as placeholders and live previews support rapid creation of complex analysis setups. We introduce the technique and the implementation using a simple example and demonstrate scalability and effectiveness in a use case from the field of cancer genomics. PMID:26356916

  17. A comparative study of different aspects of manipulating ratio spectra applied for ternary mixtures: derivative spectrophotometry versus wavelet transform.

    PubMed

    Salem, Hesham; Lotfy, Hayam M; Hassan, Nagiba Y; El-Zeiny, Mohamed B; Saleh, Sarah S

    2015-01-25

    This work represents a comparative study of different aspects of manipulating ratio spectra, which are: double divisor ratio spectra derivative (DR-DD), area under curve of derivative ratio (DR-AUC) and its novel approach, namely area under the curve correction method (AUCCM) applied for overlapped spectra; successive derivative of ratio spectra (SDR) and continuous wavelet transform (CWT) methods. The proposed methods represent different aspects of manipulating ratio spectra of the ternary mixture of Ofloxacin (OFX), Prednisolone acetate (PA) and Tetryzoline HCl (TZH) combined in eye drops in the presence of benzalkonium chloride as a preservative. The proposed methods were checked using laboratory-prepared mixtures and were successfully applied for the analysis of pharmaceutical formulation containing the cited drugs. The proposed methods were validated according to the ICH guidelines. A comparative study was conducted between those methods regarding simplicity, limitation and sensitivity. The obtained results were statistically compared with those obtained from the reported HPLC method, showing no significant difference with respect to accuracy and precision. PMID:25171050

  18. A comparative study of different aspects of manipulating ratio spectra applied for ternary mixtures: Derivative spectrophotometry versus wavelet transform

    NASA Astrophysics Data System (ADS)

    Salem, Hesham; Lotfy, Hayam M.; Hassan, Nagiba Y.; El-Zeiny, Mohamed B.; Saleh, Sarah S.

    2015-01-01

    This work represents a comparative study of different aspects of manipulating ratio spectra, which are: double divisor ratio spectra derivative (DR-DD), area under curve of derivative ratio (DR-AUC) and its novel approach, namely area under the curve correction method (AUCCM) applied for overlapped spectra; successive derivative of ratio spectra (SDR) and continuous wavelet transform (CWT) methods. The proposed methods represent different aspects of manipulating ratio spectra of the ternary mixture of Ofloxacin (OFX), Prednisolone acetate (PA) and Tetryzoline HCl (TZH) combined in eye drops in the presence of benzalkonium chloride as a preservative. The proposed methods were checked using laboratory-prepared mixtures and were successfully applied for the analysis of pharmaceutical formulation containing the cited drugs. The proposed methods were validated according to the ICH guidelines. A comparative study was conducted between those methods regarding simplicity, limitation and sensitivity. The obtained results were statistically compared with those obtained from the reported HPLC method, showing no significant difference with respect to accuracy and precision.

  19. Comparing the development of students' conceptions of pulleys using physical and virtual manipulatives

    NASA Astrophysics Data System (ADS)

    Rouinfar, Amy; Madsen, Adrian M.; Hoang, Tram Do Ngoc; Puntambekar, Sadhana; Rebello, N. S.

    2012-02-01

    Research has shown that the concept of force in a pulley is learned equally well by students using physical and virtual manipulatives. We report on a study in which students enrolled in a conceptual physics laboratory spent two weeks investigating pulley systems using either physical or virtual manipulatives. Students were given written materials which guided them through a series of activities which scaffolded the construction of their conceptions of pulleys. Students were required to make predictions and then test these predictions by building and comparing different pulley systems. They were presented with a challenge to design the best pulley system to lift a piano at the end of each week. We compare how the students' conceptions of pulleys develop between the physical and virtual treatments as well as investigate the ways in which they use the manipulatives while completing the scaffolding activities.

  20. Attitudes of Prairie Bible College Students toward Human Genetic Manipulation. A Survey and Comparative Study.

    ERIC Educational Resources Information Center

    Jordahl, Ron, Ed.

    This document reports a survey instituted to compare the attitudes of students at a Christian college (Prairie Bible College) in Alberta, Canada with those of college students in general concerning the possible use of genetic manipulation. Comparison was made with the findings of a 1990 study by Geremia Veglia, et al., "Public Attitudes toward…

  1. Revolute manipulator workspace optimization using a modified bacteria foraging algorithm: A comparative study

    NASA Astrophysics Data System (ADS)

    Panda, S.; Mishra, D.; Biswal, B. B.; Tripathy, M.

    2014-02-01

    Robotic manipulators with three-revolute (3R) motions to attain desired positional configurations are very common in industrial robots. The capability of these robots depends largely on the workspace of the manipulator in addition to other parameters. In this study, an evolutionary optimization algorithm based on the foraging behaviour of the Escherichia coli bacteria present in the human intestine is utilized to optimize the workspace volume of a 3R manipulator. The new optimization method is modified from the original algorithm for faster convergence. This method is also useful for optimization problems in a highly constrained environment, such as robot workspace optimization. The new approach for workspace optimization of 3R manipulators is tested using three cases. The test results are compared with standard results available using other optimization algorithms, i.e. the differential evolution algorithm, the genetic algorithm and the particle swarm optimization algorithm. The present method is found to be superior to the other methods in terms of computational efficiency.

  2. Comparative Analysis of Biologically Relevant Response Curves in Gene Expression Experiments: Heteromorphy, Heterochrony, and Heterometry

    PubMed Central

    Baker, Stuart G.

    2014-01-01

    To gain biological insights, investigators sometimes compare sequences of gene expression measurements under two scenarios (such as two drugs or species). For this situation, we developed an algorithm to fit, identify, and compare biologically relevant response curves in terms of heteromorphy (different curves), heterochrony (different transition times), and heterometry (different magnitudes). The curves are flat, linear, sigmoid, hockey-stick (sigmoid missing a steady state), transient (sigmoid missing two steady states), impulse (with peak or trough), step (with intermediate-level plateau), impulse+ (impulse with an extra parameter), step+ (step with an extra parameter), further characterized by upward or downward trend. To reduce overfitting, we fit the curves to every other response, evaluated the fit in the remaining responses, and identified the most parsimonious curves that yielded a good fit. We measured goodness of fit using a statistic comparable over different genes, namely the square root of the mean squared prediction error as a percentage of the range of responses, which we call the relative prediction error (RPE). We illustrated the algorithm using data on gene expression at 14 times in the embryonic development in two species of frogs. Software written in Mathematica is freely available.

  3. Enhancing prediction power of chemometric models through manipulation of the fed spectrophotometric data: A comparative study.

    PubMed

    Saad, Ahmed S; Hamdy, Abdallah M; Salama, Fathy M; Abdelkawy, Mohamed

    2016-10-01

    Effect of data manipulation in preprocessing step proceeding construction of chemometric models was assessed. The same set of UV spectral data was used for construction of PLS and PCR models directly and after mathematically manipulation as per well known first and second derivatives of the absorption spectra, ratio spectra and first and second derivatives of the ratio spectra spectrophotometric methods, meanwhile the optimal working wavelength ranges were carefully selected for each model and the models were constructed. Unexpectedly, number of latent variables used for models' construction varied among the different methods. The prediction power of the different models was compared using a validation set of 8 mixtures prepared as per the multilevel multifactor design and results were statistically compared using two-way ANOVA test. Root mean squares error of prediction (RMSEP) was used for further comparison of the predictability among different constructed models. Although no significant difference was found between results obtained using Partial Least Squares (PLS) and Principal Component Regression (PCR) models, however, discrepancies among results was found to be attributed to the variation in the discrimination power of adopted spectrophotometric methods on spectral data. PMID:27235828

  4. COMPARING BEHAVIORAL DOSE-EFFECT CURVES FOR HUMANS AND LABORATORY ANIMALS ACUTELY EXPOSED TO TOLUENE.

    EPA Science Inventory

    The utility of laboratory animal data in toxicology depends upon the ability to generalize the results quantitatively to humans. To compare the acute behavioral effects of inhaled toluene in humans to those in animals, dose-effect curves were fitted by meta-analysis of published...

  5. Inferring heat recirculation and albedo for exoplanetary atmospheres: Comparing optical phase curves and secondary eclipse data

    NASA Astrophysics Data System (ADS)

    von Paris, P.; Gratier, P.; Bordé, P.; Selsis, F.

    2016-03-01

    Context. Basic atmospheric properties, such as albedo and heat redistribution between day- and nightsides, have been inferred for a number of planets using observations of secondary eclipses and thermal phase curves. Optical phase curves have not yet been used to constrain these atmospheric properties consistently. Aims: We model previously published phase curves of CoRoT-1b, TrES-2b, and HAT-P-7b, and infer albedos and recirculation efficiencies. These are then compared to previous estimates based on secondary eclipse data. Methods: We use a physically consistent model to construct optical phase curves. This model takes Lambertian reflection, thermal emission, ellipsoidal variations, and Doppler boosting, into account. Results: CoRoT-1b shows a non-negligible scattering albedo (0.11 < AS < 0.3 at 95% confidence) as well as small day-night temperature contrasts, which are indicative of moderate to high re-distribution of energy between dayside and nightside. These values are contrary to previous secondary eclipse and phase curve analyses. In the case of HAT-P-7b, model results suggest a relatively high scattering albedo (AS ≈ 0.3). This confirms previous phase curve analysis; however, it is in slight contradiction to values inferred from secondary eclipse data. For TrES-2b, both approaches yield very similar estimates of albedo and heat recirculation. Discrepancies between recirculation and albedo values as inferred from secondary eclipse and optical phase curve analyses might be interpreted as a hint that optical and IR observations probe different atmospheric layers, hence temperatures.

  6. Motivation and manipulation capacities of the blue and yellow macaw and the tufted capuchin: a comparative approach.

    PubMed

    Brunon, Anaïs; Bovet, Dalila; Bourgeois, Aude; Pouydebat, Emmanuelle

    2014-09-01

    This study compared the motivation of the blue and yellow macaw (n=8) and the tufted capuchin (n=3) to manipulate objects that presented different features, their manipulative repertoires, and their ability to solve complex manipulation tasks. Results show that both species seem to be more motivated to manipulate objects that look like food items and that manipulative behavior may be considered as play behavior in the blue and yellow macaws, and would improve foraging motor skills. The tufted capuchins performed more different action styles than the macaws when manipulating objects, and performed substrate-use behavior - the object is put in relationship with a substrate - while the macaws did not. This is an interesting difference because these characteristics are supposed to be precursory of tool-use, behavior never observed in this macaw species. It may be due to the arboreal lifestyle of the macaw and its neophobic character that do not allow it to easily contact objects. Following the same method and using more individuals, further comparative studies should be conducted in order to test these hypotheses. Both species were able to solve complex manipulation tasks. PMID:25043567

  7. The Outcomes of Manipulation or Mobilization Therapy Compared with Physical Therapy or Exercise for Neck Pain: A Systematic Review

    PubMed Central

    Schroeder, Josh; Kaplan, Leon; Fischer, Dena J.; Skelly, Andrea C.

    2013-01-01

    Study Design Systematic review. Study Rationale Neck pain is a prevalent condition. Spinal manipulation and mobilization procedures are becoming an accepted treatment for neck pain. However, data on the effectiveness of these treatments have not been summarized. Objective To compare manipulation or mobilization of the cervical spine to physical therapy or exercise for symptom improvement in patients with neck pain. Methods A systematic review of the literature was performed using PubMed, the National Guideline Clearinghouse Database, and bibliographies of key articles, which compared spinal manipulation or mobilization therapy with physical therapy or exercise in patients with neck pain. Articles were included based on predetermined criteria and were appraised using a predefined quality rating scheme. Results From 197 citations, 7 articles met all inclusion and exclusion criteria. There were no differences in pain improvement when comparing spinal manipulation to exercise, and there were inconsistent reports of pain improvement in subjects who underwent mobilization therapy versus physical therapy. No disability improvement was reported between treatment groups in studies of acute or chronic neck pain patients. No functional improvement was found with manipulation therapy compared with exercise treatment or mobilization therapy compared with physical therapy groups in patients with acute pain. In chronic neck pain subjects who underwent spinal manipulation therapy compared to exercise treatment, results for short-term functional improvement were inconsistent. Conclusion The data available suggest that there are minimal short- and long-term treatment differences in pain, disability, patient-rated treatment improvement, treatment satisfaction, health status, or functional improvement when comparing manipulation or mobilization therapy to physical therapy or exercise in patients with neck pain. This systematic review is limited by the variability of

  8. Comparing the Light Curves of Simulated Type Ia Supernovae with Observations Using Data-driven Models

    NASA Astrophysics Data System (ADS)

    Diemer, Benedikt; Kessler, Richard; Graziani, Carlo; Jordan, George C., IV; Lamb, Donald Q.; Long, Min; van Rossum, Daniel R.

    2013-08-01

    We propose a robust, quantitative method to compare the synthetic light curves of a Type Ia supernova (SN Ia) explosion model with a large set of observed SNe Ia, and derive a figure of merit for the explosion model's agreement with observations. The synthetic light curves are fit with the data-driven model SALT2 which returns values for stretch, color, and magnitude at peak brightness, as well as a goodness-of-fit parameter. Each fit is performed multiple times with different choices of filter bands and epoch range in order to quantify the systematic uncertainty on the fitted parameters. We use a parametric population model for the distribution of observed SN Ia parameters from large surveys, and extend it to represent red, dim, and bright outliers found in a low-redshift SN Ia data set. We discuss the potential uncertainties of this population model and find it to be reliable given the current uncertainties on cosmological parameters. Using our population model, we assign each set of fitted parameters a likelihood of being observed in nature, and a figure of merit based on this likelihood. We define a second figure of merit based on the quality of the light curve fit, and combine the two measures into an overall figure of merit for each explosion model. We compute figures of merit for a variety of one-, two-, and three-dimensional explosion models and show that our evaluation method allows meaningful inferences across a wide range of light curve quality and fitted parameters.

  9. Rotor equivalent wind speed for power curve measurement - comparative exercise for IEA Wind Annex 32

    NASA Astrophysics Data System (ADS)

    Wagner, R.; Cañadillas, B.; Clifton, A.; Feeney, S.; Nygaard, N.; Poodt, M.; St. Martin, C.; Tüxen, E.; Wagenaar, J. W.

    2014-06-01

    A comparative exercise has been organised within the International Energy Agency (IEA) Wind Annex 32 in order to test the Rotor Equivalent Wind Speed (REWS) method under various conditions of wind shear and measurement techniques. Eight organisations from five countries participated in the exercise. Each member of the group has derived both the power curve based on the wind speed at hub height and the power curve based on the REWS. This yielded results for different wind turbines, located in diverse types of terrain and where the wind speed profile was measured with different instruments (mast or various lidars). The participants carried out two preliminary steps in order to reach consensus on how to implement the REWS method. First, they all derived the REWS for one 10 minute wind speed profile. Secondly, they all derived the power curves for one dataset. The main point requiring consensus was the definition of the segment area used as weighting for the wind speeds measured at the various heights in the calculation of the REWS. This comparative exercise showed that the REWS method results in a significant difference compared to the standard method using the wind speed at hub height in conditions with large shear and low turbulence intensity.

  10. Validation of a sham comparator for thoracic spinal manipulation in patients with shoulder pain

    PubMed Central

    Michener, Lori A.; Kardouni, Joseph R.; Sousa, Catarina O.; Ely, Jacqueline M.

    2014-01-01

    The evidence to guide use of spinal manipulative therapy (SMT) for patients with shoulder pain is limited. A validated sham comparator is needed to ascertain the unique effects of SMT. We investigated the plausibility of a thoracic sham-SMT comparator for SMT in patients with shoulder pain. Participants (n = 56) with subacromial impingement syndrome were randomized to thoracic SMT or a sham-SMT. An examiner blinded to group assignment took measures pre- and post-treatment of shoulder active range of motion (AROM) and perceived effects of the assigned intervention. Treatment consisted of six upper, middle and lower thoracic SMT or sham-SMT. The sham-SMT was identical to the SMT, except no thrust was applied. Believability as an active treatment was measured post-treatment. Believability as an active treatment was not different between groups (χ2 = 2.19; p = 0.15). Perceptions of effects were not different between groups at pre-treatment (t = 0.12; p = 0.90) or post-treatment (t = 0.40; p = 0.69), and demonstrated equivalency with 95% confidence between groups at pre- and post-treatment. There was no significant change in shoulder flexion in either group over time, or in the sham-SMT for internal rotation (p > 0.05). The SMT group had an increase of 6.49° in internal rotation over time (p = 0.04). The thoracic sham-SMT of this study is a plausible comparator for SMT in patients with shoulder pain. The sham-SMT was believable as an active treatment, perceived as having equal beneficial effects both when verbally described and after familiarization with the treatment, and has an inert effect on shoulder AROM. This comparator can be considered for used in clinical trials investigating thoracic SMT. IRB number HM 13182. PMID:25261090

  11. Comparative Study on Two Melting Simulation Methods: Melting Curve of Gold

    NASA Astrophysics Data System (ADS)

    Liu, Zhong-Li; Sun, Jun-Sheng; Li, Rui; Zhang, Xiu-Lu; Cai, Ling-Cang

    2016-05-01

    Melting simulation methods are of crucial importance to determining melting temperature of materials efficiently. A high-efficiency melting simulation method saves much simulation time and computational resources. To compare the efficiency of our newly developed shock melting (SM) method with that of the well-established two-phase (TP) method, we calculate the high-pressure melting curve of Au using the two methods based on the optimally selected interatomic potentials. Although we only use 640 atoms to determine the melting temperature of Au in the SM method, the resulting melting curve accords very well with the results from the TP method using much more atoms. Thus, this shows that a much smaller system size in SM method can still achieve a fully converged melting curve compared with the TP method, implying the robustness and efficiency of the SM method. Supported by the National Natural Science Foundation of China under Grant No. 41574076 and the NSAF of China under Grant No. U1230201/A06, and the Young Core Teacher Scheme of Henan Province under Grant No. 2014GGJS-108

  12. Urgent need for basic treatment data to make precipitation manipulation experiments comparable

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Differences in ecosystem process responses between experiments imposing the same manipulation remain attributable to differences in the perceived magnitude of the treatment as well as to differences in biological factors. Conversely, similar responses across sites could either indicate similar proce...

  13. Comparing Accuracy of Cervical Pedicle Screw Placement between a Guidance System and Manual Manipulation: A Cadaver Study

    PubMed Central

    Cong, Yu; Bao, Nirong; Zhao, Jianning; Mao, Guangping

    2015-01-01

    Background The aim of this study was to compare the accuracy of cervical pedicle screw placement between a three-dimensional guidance system and manual manipulation. Material/Methods Eighteen adult cadavers were randomized into group A (n=9) and group B (n=9). Ninety pedicle screws were placed into the C3-C7 under the guidance of a three-dimensional locator in group A, and 90 screws were inserted by manual manipulation in group B. The cervical spines were scanned using computed tomography (CT). Parallel and angular offsets of the screws were compared between the two placement methods. Results In group A, 90% of the screws were within the pedicles and 10% breached the pedicle cortex. In group B, 55.6% were within the pedicle and 44.4% breached the pedicle cortex. Locator guidance showed significantly lower parallel and angular offsets in axial CT images (P<0.01), and significantly lower angular offset in sagittal CT images (P<0.01) than manual manipulation. Conclusions Locator guidance is superior to manual manipulation in accuracy of cervical screw placement. Locator guidance might provide better safety than manual manipulation in placing cervical screws. PMID:26348197

  14. Enriching Project-Based Learning Environments with Virtual Manipulatives: A Comparative Study

    ERIC Educational Resources Information Center

    Çakiroglu, Ünal

    2014-01-01

    Problem statement: Although there is agreement on the potential of project based learning (PBL) and virtual manipulatives (VMs), their positive impact depends on how they are used. This study was based on supporting the use of online PBL environments and improving the efficacy of the instructional practices in PBL by combining the potentials of…

  15. Comparing spatial tuning curves, spectral ripple resolution, and speech perception in cochlear implant users

    PubMed Central

    Anderson, Elizabeth S.; Nelson, David A.; Kreft, Heather; Nelson, Peggy B.; Oxenham, Andrew J.

    2011-01-01

    Spectral ripple discrimination thresholds were measured in 15 cochlear-implant users with broadband (350–5600 Hz) and octave-band noise stimuli. The results were compared with spatial tuning curve (STC) bandwidths previously obtained from the same subjects. Spatial tuning curve bandwidths did not correlate significantly with broadband spectral ripple discrimination thresholds but did correlate significantly with ripple discrimination thresholds when the rippled noise was confined to an octave-wide passband, centered on the STC’s probe electrode frequency allocation. Ripple discrimination thresholds were also measured for octave-band stimuli in four contiguous octaves, with center frequencies from 500 Hz to 4000 Hz. Substantial variations in thresholds with center frequency were found in individuals, but no general trends of increasing or decreasing resolution from apex to base were observed in the pooled data. Neither ripple nor STC measures correlated consistently with speech measures in noise and quiet in the sample of subjects in this study. Overall, the results suggest that spectral ripple discrimination measures provide a reasonable measure of spectral resolution that correlates well with more direct, but more time-consuming, measures of spectral resolution, but that such measures do not always provide a clear and robust predictor of performance in speech perception tasks. PMID:21786905

  16. Frequency curves

    USGS Publications Warehouse

    Riggs, H.C.

    1968-01-01

    This manual describes graphical and mathematical procedures for preparing frequency curves from samples of hydrologic data. It also discusses the theory of frequency curves, compares advantages of graphical and mathematical fitting, suggests methods of describing graphically defined frequency curves analytically, and emphasizes the correct interpretations of a frequency curve.

  17. Cyclic fatigue resistance of two nickel-titanium instruments in different curving angles: a comparative study.

    PubMed

    Peng, Cheng; Hui, W U; Wang, Lei; Xin, H U; Deng, Shu; Li, Changyi; Zhang, Lianyun

    2015-01-01

    The cyclic resistance of ProTaper Universal (size 25/08) and ProTaper Next (size 25/06) instruments was compared in artificial canals with different curvatures in this study. A total of 30 ProTaper Universal and 30 ProTaper Next instruments were divided into 6 groups (n = 10) and were operated into artificial canals with 3 different angles of curvature (45°, 60°, 90°). The canal length was kept consistent in this study. The number of cycles to fracture (NCF) was counted until file fracture occurred, at which point, the length of the fragment was measured. The data were analyzed statistically using ANOVA complemented by the Tukey test (p < 0.05). Cross sections of the fractured files were scanned by an electron microscope. In the fatigue test, the ProTaper Next displayed more resistance in 45° and 60° canals (p < 0.05), whereas ProTaper Universal exhibited a better operability in 90° canals (p < 0.05). The average length of the fragments from ProTaper Next was significantly shorter than that from ProTaper Universal in 90° canals (p < 0.05). The cross sections of the fractured surfaces became flatter when the curvature angles decreased from 90° to 45°. ProTaper Next was more reliable when shaping in curved canals, whereas ProTaper Universal was more sui for the preparation of root canals with severe curvatures. PMID:26486770

  18. New hybrid adaptive neuro-fuzzy algorithms for manipulator control with uncertainties- comparative study.

    PubMed

    Alavandar, Srinivasan; Nigam, M J

    2009-10-01

    Control of an industrial robot includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. In this paper, some new hybrid adaptive neuro-fuzzy control algorithms (ANFIS) have been proposed for manipulator control with uncertainties. These hybrid controllers consist of adaptive neuro-fuzzy controllers and conventional controllers. The outputs of these controllers are applied to produce the final actuation signal based on current position and velocity errors. Numerical simulation using the dynamic model of six DOF puma robot arm with uncertainties shows the effectiveness of the approach in trajectory tracking problems. Performance indices of RMS error, maximum error are used for comparison. It is observed that the hybrid adaptive neuro-fuzzy controllers perform better than only conventional/adaptive controllers and in particular hybrid controller structure consisting of adaptive neuro-fuzzy controller and critically damped inverse dynamics controller. PMID:19523623

  19. Comparing Angular and Curved Shapes in Terms of Implicit Associations and Approach/Avoidance Responses.

    PubMed

    Palumbo, Letizia; Ruta, Nicole; Bertamini, Marco

    2015-01-01

    Most people prefer smoothly curved shapes over more angular shapes. We investigated the origin of this effect using abstract shapes and implicit measures of semantic association and preference. In Experiment 1 we used a multidimensional Implicit Association Test (IAT) to verify the strength of the association of curved and angular polygons with danger (safe vs. danger words), valence (positive vs. negative words) and gender (female vs. male names). Results showed that curved polygons were associated with safe and positive concepts and with female names, whereas angular polygons were associated with danger and negative concepts and with male names. Experiment 2 used a different implicit measure, which avoided any need to categorise the stimuli. Using a revised version of the Stimulus Response Compatibility (SRC) task we tested with a stick figure (i.e., the manikin) approach and avoidance reactions to curved and angular polygons. We found that RTs for approaching vs. avoiding angular polygons did not differ, even in the condition where the angles were more pronounced. By contrast participants were faster and more accurate when moving the manikin towards curved shapes. Experiment 2 suggests that preference for curvature cannot derive entirely from an association of angles with threat. We conclude that smoothly curved contours make these abstract shapes more pleasant. Further studies are needed to clarify the nature of such a preference. PMID:26460610

  20. Comparing Angular and Curved Shapes in Terms of Implicit Associations and Approach/Avoidance Responses

    PubMed Central

    Palumbo, Letizia; Ruta, Nicole; Bertamini, Marco

    2015-01-01

    Most people prefer smoothly curved shapes over more angular shapes. We investigated the origin of this effect using abstract shapes and implicit measures of semantic association and preference. In Experiment 1 we used a multidimensional Implicit Association Test (IAT) to verify the strength of the association of curved and angular polygons with danger (safe vs. danger words), valence (positive vs. negative words) and gender (female vs. male names). Results showed that curved polygons were associated with safe and positive concepts and with female names, whereas angular polygons were associated with danger and negative concepts and with male names. Experiment 2 used a different implicit measure, which avoided any need to categorise the stimuli. Using a revised version of the Stimulus Response Compatibility (SRC) task we tested with a stick figure (i.e., the manikin) approach and avoidance reactions to curved and angular polygons. We found that RTs for approaching vs. avoiding angular polygons did not differ, even in the condition where the angles were more pronounced. By contrast participants were faster and more accurate when moving the manikin towards curved shapes. Experiment 2 suggests that preference for curvature cannot derive entirely from an association of angles with threat. We conclude that smoothly curved contours make these abstract shapes more pleasant. Further studies are needed to clarify the nature of such a preference. PMID:26460610

  1. Comparing flow duration curve and rainfall-runoff modelling for predicting daily runoff in ungauged catchments

    NASA Astrophysics Data System (ADS)

    Zhang, Yongqiang; Vaze, Jai; Chiew, Francis H. S.; Li, Ming

    2015-06-01

    Predicting daily runoff time series in ungauged catchments is both important and challenging. For the last few decades, the rainfall-runoff (RR) modelling approach has been the method of choice. There have been very few studies reported in literature which attempt to use flow duration curve (FDC) to predict daily runoff time series. This study comprehensively compares the two approaches using an extensive dataset (228 catchments) for a large region of south-eastern Australia and provides guidelines for choosing the suitable method. For each approach we used the nearest neighbour method and two weightings - a 5-donor simple mathematical average (SA) and a 5-donor inverse-distance weighting (5-IDW) - to predict daily runoff time series. The results show that 5-IDW was noticeably better than a single donor to predict daily runoff time series, especially for the FDC approach. The RR modelling approach calibrated against daily runoff outperformed the FDC approach for predicting high flows. The FDC approach was better at predicting medium to low flows in traditional calibration against the Nash-Sutcliffe-Efficiency or Root Mean Square Error, but when calibrated against a low flow objective function, both the FDC and rainfall-runoff models performed equally well in simulating the low flows. These results indicate that both methods can be further improved to simulate daily hydrographs describing the range of flow metrics in ungauged catchments. Further studies should be carried out for improving the accuracy of predicted FDC in ungauged catchments, including improving the FDC model structure and parameter fitting.

  2. SonTek IQ Plus Velocity Index Discharge Compared to Historical Stage Discharge Curve

    NASA Astrophysics Data System (ADS)

    Jones, I.

    2014-12-01

    The SonTek IQ Plus bottom-mounted, up-looking Doppler Current meter is relatively new, low profile instrument specifically designed to measure water velocity in open channels through a wide range of conditions and water depth. The predecessor to the IQ, the SonTek Argonaut SW, is a well-established tool for measuring discharge in open channels utilizing a velocity index equation. The IQ builds upon this with velocity indexing capabilities and the addition of two skew beams and the implementation of SmartPulseHD. The SonTek IQ Plus measures velocity with 4-acoustic transducers and the water level using a fifth vertically oriented transducer integrated with a pressure sensor. This improves upon previous and other bottom-mounted, up-looking, acoustic Doppler current meters by measuring the velocity at more points across the channel using its 4-monostatic acoustic transducers. Additionally, the vertically oriented transducer measures the water level and works in conjunction with the pressure sensor to provide a highly accurate water level/stage measurement. The implementation of SmartPulseHD enables the IQ to change ping type and processing technique based on water depth and velocity, in order to provide the most accurate velocity data possible. The IQ was designed specifically for measuring open channel flow in irrigation canals and similar open channels, either by utilizing SonTek's theoretical flow algorithm or using a velocity index equation. The study presented here demonstrates data collected by an IQ installed in an irrigation canal and the discharge computed using a developed index velocity equation. These data are then compared to discharge data determined by a conventional stage discharge curve developed over many years. The data presented demonstrate the capability of the SonTek IQ to compute accurate discharge values based on an index velocity equation that was developed over a relatively short period of time.

  3. Stochastic or statistic? Comparing flow duration curve models in ungauged basins and changing climates

    NASA Astrophysics Data System (ADS)

    Müller, M. F.; Thompson, S. E.

    2015-09-01

    The prediction of flow duration curves (FDCs) in ungauged basins remains an important task for hydrologists given the practical relevance of FDCs for water management and infrastructure design. Predicting FDCs in ungauged basins typically requires spatial interpolation of statistical or model parameters. This task is complicated if climate becomes non-stationary, as the prediction challenge now also requires extrapolation through time. In this context, process-based models for FDCs that mechanistically link the streamflow distribution to climate and landscape factors may have an advantage over purely statistical methods to predict FDCs. This study compares a stochastic (process-based) and statistical method for FDC prediction in both stationary and non-stationary contexts, using Nepal as a case study. Under contemporary conditions, both models perform well in predicting FDCs, with Nash-Sutcliffe coefficients above 0.80 in 75 % of the tested catchments. The main drives of uncertainty differ between the models: parameter interpolation was the main source of error for the statistical model, while violations of the assumptions of the process-based model represented the main source of its error. The process-based approach performed better than the statistical approach in numerical simulations with non-stationary climate drivers. The predictions of the statistical method under non-stationary rainfall conditions were poor if (i) local runoff coefficients were not accurately determined from the gauge network, or (ii) streamflow variability was strongly affected by changes in rainfall. A Monte Carlo analysis shows that the streamflow regimes in catchments characterized by a strong wet-season runoff and a rapid, strongly non-linear hydrologic response are particularly sensitive to changes in rainfall statistics. In these cases, process-based prediction approaches are strongly favored over statistical models.

  4. Counting Blocks or Keyboards? A Comparative Analysis of Concrete versus Virtual Manipulatives in Elementary School Mathematics Concepts

    ERIC Educational Resources Information Center

    Brown, Sonya E.

    2007-01-01

    This study was designed to investigate the impact of using computer-simulated (virtual ) manipulatives and hands-on (concrete) manipulatives on elementary students' learning skills and concepts in equivalent fractions. The researcher's primary interest was whether or not students who used virtual manipulatives would out-perform students who used…

  5. A Comparative Study in Learning Curves of Two Different Intracorporeal Knot Tying Techniques

    PubMed Central

    Thiyagarajan, Manuneethimaran; Ravindrakumar, Chandru

    2016-01-01

    Objectives. In our study we are aiming to analyse the learning curves in our surgical trainees by using two standard methods of intracorporeal knot tying. Material and Method. Two randomized groups of trainees are trained with two different intracorporeal knot tying techniques (loop and winding) by single surgeon for eight sessions. In each session participants were allowed to make as many numbers of knots in thirty minutes. The duration for each set of knots and the number of knots for each session were calculated. At the end each session, participants were asked about their frustration level, difficulty in making knot, and dexterity. Results. In winding method the number of knots tied was increasing significantly in each session with less frustration and less difficulty level. Discussion. The suturing and knotting skill improved in every session in both groups. But group B (winding method) trainees made significantly higher number of knots and they took less time for each set of knots than group A (loop method). Although both knotting methods are standard methods, the learning curve is better in loop method. Conclusion. The winding method of knotting is simpler and easier to perform, especially for the surgeons who have limited laparoscopic experience. PMID:27022482

  6. Comparative dose-survival curves of representative Clostridium botulinum type F spores with type A and B spores.

    PubMed Central

    Anellis, A; Berkowitz, D

    1977-01-01

    Radiation survival data of proteolytic (Walls 8G-F) and non-proteolytic (Eklund 83F) type F spores of Clostridium botulinum were compared with dose-response data of radiation-resistant type A (33A) and B (40B) spores. Strain Eklund 83F was as resistant as strain 33A, whereas strain Walls 8G-F was the most sensitive of the four strains tested. The methods suggested for computing both an initial shoulder and a D value for the dose-survival curves yielded results comparable to the graphic techniques used to obtain these two parameters. PMID:337901

  7. Comparative dose-survival curves of representative Clostridium botulinum type F spores with type A and B spores.

    PubMed

    Anellis, A; Berkowitz, D

    1977-11-01

    Radiation survival data of proteolytic (Walls 8G-F) and non-proteolytic (Eklund 83F) type F spores of Clostridium botulinum were compared with dose-response data of radiation-resistant type A (33A) and B (40B) spores. Strain Eklund 83F was as resistant as strain 33A, whereas strain Walls 8G-F was the most sensitive of the four strains tested. The methods suggested for computing both an initial shoulder and a D value for the dose-survival curves yielded results comparable to the graphic techniques used to obtain these two parameters. PMID:337901

  8. RESPONSE OF LUMBAR PARASPINAL MUSCLES SPINDLES IS GREATER TO SPINAL MANIPULATIVE LOADING COMPARED WITH SLOWER LOADING UNDER LENGTH CONTROL

    PubMed Central

    Pickar, Joel G.; Sung, Paul S.; Kang, Yu-Ming; Ge, Weiqing

    2007-01-01

    arm was securely attached to the L6 spinous process via a forceps. Results As thrust duration became shorter the discharge of the lumbar paraspinal muscle spindles increased in a curvilinear fashion. A concave up inflection occurred near the 100ms duration eliciting both a higher frequency discharge compared to the longer durations and a substantially faster rate of change as thrust duration was shortened. This pattern was evident in paraspinal afferents with receptive fields both close and far from the midline. Paradoxically, spindle afferents were almost twice as sensitive to the 1mm compared to the 2mm amplitude thrust (6.2 vs 3.3 spikes/s/mm/s). This latter finding may be related to the small vs large signal range properties of muscle spindles. Conclusions . The results indicate that the duration and amplitude of a spinal manipulation elicits a pattern of discharge from paraspinal muscle spindles different from slower mechanical inputs. Clinically, these parameters may be important determinants of an HVLA-SM's therapeutic benefit. PMID:17905321

  9. Spectrophotometric methods manipulating ratio spectra for simultaneous determination of binary mixtures with sever overlapping spectra: A comparative study

    NASA Astrophysics Data System (ADS)

    Moustafa, H.; Fayez, Y.

    2014-12-01

    Three simple, specific and accurate spectrophotometric methods manipulating ratio spectra were developed and validated for simultaneous determination of Rabeprazole sodium (RB) and Domperidone (DP) in their binary mixture without prior separation. Method A, is constant center spectrophotometric method (CC). Method B is a ratio difference spectrophotometric one (RD), while method C is a combined ratio isoabsorptive point-ratio difference method (RIRD). Linear correlations were obtained in range of 4-44 μg/mL for both Rabeprazole sodium and Domperidone. The mean percentage recoveries of RB were 99.69 ± 0.504 for method A, 99.83 ± 0.483 for (B) and 100.31 ± 0.499 for (C), respectively, and that of DP were 99.52 ± 0.474 for method A, 100.12 ± 0.505 for (B) and 100.16 ± 0.498 for (C), respectively. Specificity was investigated by analysis of laboratory prepared mixtures containing the cited drugs and their combined tablet dosage form. The obtained results were statistically compared with those obtained by the reported methods, showing no significant difference with respect to accuracy and precision. The three methods were validated as per ICH guidelines and can be applied for routine analysis in quality control laboratories.

  10. A new method to compare statistical tree growth curves: the PL-GMANOVA model and its application with dendrochronological data.

    PubMed

    Ricker, Martin; Peña Ramírez, Víctor M; von Rosen, Dietrich

    2014-01-01

    Growth curves are monotonically increasing functions that measure repeatedly the same subjects over time. The classical growth curve model in the statistical literature is the Generalized Multivariate Analysis of Variance (GMANOVA) model. In order to model the tree trunk radius (r) over time (t) of trees on different sites, GMANOVA is combined here with the adapted PL regression model Q = A · T+E, where for b ≠ 0 : Q = Ei[-b · r]-Ei[-b · r1] and for b = 0 : Q  = Ln[r/r1], A =  initial relative growth to be estimated, T = t-t1, and E is an error term for each tree and time point. Furthermore, Ei[-b · r]  = ∫(Exp[-b · r]/r)dr, b = -1/TPR, with TPR being the turning point radius in a sigmoid curve, and r1 at t1 is an estimated calibrating time-radius point. Advantages of the approach are that growth rates can be compared among growth curves with different turning point radiuses and different starting points, hidden outliers are easily detectable, the method is statistically robust, and heteroscedasticity of the residuals among time points is allowed. The model was implemented with dendrochronological data of 235 Pinus montezumae trees on ten Mexican volcano sites to calculate comparison intervals for the estimated initial relative growth A. One site (at the Popocatépetl volcano) stood out, with A being 3.9 times the value of the site with the slowest-growing trees. Calculating variance components for the initial relative growth, 34% of the growth variation was found among sites, 31% among trees, and 35% over time. Without the Popocatépetl site, the numbers changed to 7%, 42%, and 51%. Further explanation of differences in growth would need to focus on factors that vary within sites and over time. PMID:25402427

  11. A New Method to Compare Statistical Tree Growth Curves: The PL-GMANOVA Model and Its Application with Dendrochronological Data

    PubMed Central

    Ricker, Martin; Peña Ramírez, Víctor M.; von Rosen, Dietrich

    2014-01-01

    Growth curves are monotonically increasing functions that measure repeatedly the same subjects over time. The classical growth curve model in the statistical literature is the Generalized Multivariate Analysis of Variance (GMANOVA) model. In order to model the tree trunk radius (r) over time (t) of trees on different sites, GMANOVA is combined here with the adapted PL regression model Q = A·T+E, where for and for , A =  initial relative growth to be estimated, , and E is an error term for each tree and time point. Furthermore, Ei[–b·r]  = , , with TPR being the turning point radius in a sigmoid curve, and at is an estimated calibrating time-radius point. Advantages of the approach are that growth rates can be compared among growth curves with different turning point radiuses and different starting points, hidden outliers are easily detectable, the method is statistically robust, and heteroscedasticity of the residuals among time points is allowed. The model was implemented with dendrochronological data of 235 Pinus montezumae trees on ten Mexican volcano sites to calculate comparison intervals for the estimated initial relative growth . One site (at the Popocatépetl volcano) stood out, with being 3.9 times the value of the site with the slowest-growing trees. Calculating variance components for the initial relative growth, 34% of the growth variation was found among sites, 31% among trees, and 35% over time. Without the Popocatépetl site, the numbers changed to 7%, 42%, and 51%. Further explanation of differences in growth would need to focus on factors that vary within sites and over time. PMID:25402427

  12. Learning Curve Assessment of Robot-Assisted Radical Prostatectomy Compared with Open-Surgery Controls from the Premier Perspective Database

    PubMed Central

    Kreaden, Usha S.; Gabbert, Jessica; Thomas, Raju

    2014-01-01

    Abstract Introduction: The primary aims of this study were to assess the learning curve effect of robot-assisted radical prostatectomy (RARP) in a large administrative database consisting of multiple U.S. hospitals and surgeons, and to compare the results of RARP with open radical prostatectomy (ORP) from the same settings. Materials and Methods: The patient population of study was from the Premier Perspective Database (Premier, Inc., Charlotte, NC) and consisted of 71,312 radical prostatectomies performed at more than 300 U.S. hospitals by up to 3739 surgeons by open or robotic techniques from 2004 to 2010. The key endpoints were surgery time, inpatient length of stay, and overall complications. We compared open versus robotic, results by year of procedures, results by case volume of specific surgeons, and results of open surgery in hospitals with and without a robotic system. Results: The mean surgery time was longer for RARP (4.4 hours, standard deviation [SD] 1.7) compared with ORP (3.4 hours, SD 1.5) in the same hospitals (p<0.0001). Inpatient stay was shorter for RARP (2.2 days, SD 1.9) compared with ORP (3.2 days, SD 2.7) in the same hospitals (p<0.0001). The overall complications were less for RARP (10.6%) compared with ORP (15.8%) in the same hospitals, as were transfusion rates. ORP results in hospitals without a robot were not better than ORP with a robot, and pretreatment co-morbidity profiles were similar in all cohorts. Trending of results by year of procedure showed no differences in the three cohorts, but trending of RARP results by surgeon experience showed improvements in surgery time, hospital stay, conversion rates, and complication rates. Conclusions: During the initial 7 years of RARP development, outcomes showed decreased hospital stay, complications, and transfusion rates. Learning curve trends for RARP were evident for these endpoints when grouped by surgeon experience, but not by year of surgery. PMID:24350787

  13. Lessons Learned from a Comparative Analysis of Surgical Outcomes of and Learning Curves for Laparoscopy-Assisted Distal Gastrectomy

    PubMed Central

    Moon, Jun-Seok; Park, Man Sik; Kim, Jong-Han; Jang, You-Jin; Park, Sung-Soo; Mok, Young-Jae; Kim, Seung-Joo; Kim, Chong-Suk

    2015-01-01

    Purpose Before expanding our indications for laparoscopic gastrectomy to advanced gastric cancer and adopting reduced port laparoscopic gastrectomy, we analyzed and audited the outcomes of laparoscopy-assisted distal gastrectomy (LADG) for adenocarcinoma; this was done during the adoptive period at our institution through the comparative analysis of short-term surgical outcomes and learning curves (LCs) of two surgeons with different careers. Materials and Methods A detailed comparative analysis of the LCs and surgical outcomes was done for the respective first 95 and 111 LADGs performed by two surgeons between July, 2006 and June, 2011. The LCs were fitted by using the non-linear ordinary least squares estimation method. Results The postoperative morbidity and mortality rates were 14.6% and 0.0%, respectively, and there was no significant difference in the morbidity rates (12.6% vs. 16.2%, P=0.467). More than 25 lymph nodes were retrieved by each surgeon during LADG procedures. The LCs of both surgeons were distinct. In this study, a stable plateau of the LC was not achieved by both surgeons even after performing 90 LADGs. Conclusions Regardless of the experience with gastrectomy or laparoscopic surgery for other organs, or the age of surgeon, the outcome was quite acceptable; the learning process differ according to the surgeon's experience and individual characteristics. PMID:25861520

  14. Estimating and comparing time-dependent areas under receiver operating characteristic curves for censored event times with competing risks.

    PubMed

    Blanche, Paul; Dartigues, Jean-François; Jacqmin-Gadda, Hélène

    2013-12-30

    The area under the time-dependent ROC curve (AUC) may be used to quantify the ability of a marker to predict the onset of a clinical outcome in the future. For survival analysis with competing risks, two alternative definitions of the specificity may be proposed depending of the way to deal with subjects who undergo the competing events. In this work, we propose nonparametric inverse probability of censoring weighting estimators of the AUC corresponding to these two definitions, and we study their asymptotic properties. We derive confidence intervals and test statistics for the equality of the AUCs obtained with two markers measured on the same subjects. A simulation study is performed to investigate the finite sample behaviour of the test and the confidence intervals. The method is applied to the French cohort PAQUID to compare the abilities of two psychometric tests to predict dementia onset in the elderly accounting for death without dementia competing risk. The 'timeROC' R package is provided to make the methodology easily usable. PMID:24027076

  15. Bradford Curves.

    ERIC Educational Resources Information Center

    Rousseau, Ronald

    1994-01-01

    Discussion of informetric distributions shows that generalized Leimkuhler functions give proper fits to a large variety of Bradford curves, including those exhibiting a Groos droop or a rising tail. The Kolmogorov-Smirnov test is used to test goodness of fit, and least-square fits are compared with Egghe's method. (Contains 53 references.) (LRW)

  16. Evaluating The Role Of Flow Data On Concentration Fluctuations Through The Use Of The Comparative Information Yield Curves

    NASA Astrophysics Data System (ADS)

    de Barros, F. P.; Rubin, Y.

    2008-12-01

    The significance of quantifying concentration fluctuations due to contaminant transport in heterogeneous flows through natural porous media is addressed. The challenge relies on the fact that the concentration field in the subsurface must be modeled in a probabilistic manner since full characterization of the site is impractical. In this paper we make use of conditioning methodology introduced by Rubin [1991] (In: Prediction of Tracer Plume Migration in Disordered Porous Media by the Method of Conditional Probabilities, Water Resour. Res., 27(6), 1291-1308) to present a rational and concise approach to incorporate hydrogeological data on flow and transport processes in heterogeneous porous media. Most importantly, we wish to investigate the impact of conditioning flow data on the concentration variance as a function of the location of the environmentally sensitive target and the scale of the sampling device. It is well documented that concentration variance often presents a bimodal shape. In the past, developments have been made to investigate the factors that influence this bimodality, however, there is still further need to investigate this bimodal feature as a function of both travel distances and conditioning. This issue is of practical relevance since it has direct impact in evaluating human health risk. We extend the use of existing analytical solutions to accommodate conditioning and parametric uncertainty to address these issues. We show how these analytical solutions can improve their predictive capabilities as hydraulic data and parametric uncertainty are accounted for. Also, we illustrate how the concept of comparative information yield curves can be used to provide better understanding of assessing characterization needs as a function of different flow and transport conditions.

  17. Comparing statistical and process-based flow duration curve models in ungauged basins and changing rain regimes

    NASA Astrophysics Data System (ADS)

    Müller, M. F.; Thompson, S. E.

    2016-02-01

    The prediction of flow duration curves (FDCs) in ungauged basins remains an important task for hydrologists given the practical relevance of FDCs for water management and infrastructure design. Predicting FDCs in ungauged basins typically requires spatial interpolation of statistical or model parameters. This task is complicated if climate becomes non-stationary, as the prediction challenge now also requires extrapolation through time. In this context, process-based models for FDCs that mechanistically link the streamflow distribution to climate and landscape factors may have an advantage over purely statistical methods to predict FDCs. This study compares a stochastic (process-based) and statistical method for FDC prediction in both stationary and non-stationary contexts, using Nepal as a case study. Under contemporary conditions, both models perform well in predicting FDCs, with Nash-Sutcliffe coefficients above 0.80 in 75 % of the tested catchments. The main drivers of uncertainty differ between the models: parameter interpolation was the main source of error for the statistical model, while violations of the assumptions of the process-based model represented the main source of its error. The process-based approach performed better than the statistical approach in numerical simulations with non-stationary climate drivers. The predictions of the statistical method under non-stationary rainfall conditions were poor if (i) local runoff coefficients were not accurately determined from the gauge network, or (ii) streamflow variability was strongly affected by changes in rainfall. A Monte Carlo analysis shows that the streamflow regimes in catchments characterized by frequent wet-season runoff and a rapid, strongly non-linear hydrologic response are particularly sensitive to changes in rainfall statistics. In these cases, process-based prediction approaches are favored over statistical models.

  18. Towards more physiological manipulations of hormones in field studies: comparing the release dynamics of three kinds of testosterone implants, silastic tubing, time-release pellets and beeswax.

    PubMed

    Quispe, Rene; Trappschuh, Monika; Gahr, Manfred; Goymann, Wolfgang

    2015-02-01

    Hormone manipulations are of increasing interest in the areas of physiological ecology and evolution, because hormones are mediators of complex phenotypic changes. Often, however, hormone manipulations in field settings follow the approaches that have been used in classical endocrinology, potentially using supra-physiological doses. To answer ecological and evolutionary questions, it may be important to manipulate hormones within their physiological range. We compare the release dynamics of three kinds of implants, silastic tubing, time-release pellets, and beeswax pellets, each containing 3mg of testosterone. These implants were placed into female Japanese quail, and plasma levels of testosterone measured over a period of 30 days. Testosterone in silastic tubing led to supraphysiological levels. Also, testosterone concentrations were highly variable between individuals. Time-release pellets led to levels of testosterone that were slightly supraphysiological during the first days. Over the period of 30 days, however, testosterone concentrations were more consistent. Beeswax implants led to a physiological increase in testosterone and a relatively constant release. The study demonstrated that hormone implants in 10mm silastic tubing led to a supraphysiological peak in female quail. Thus, the use of similar-sized or even larger silastic implants in males or in other smaller vertebrates needs careful assessment. Time-release pellets and beeswax implants provide a more controlled release and degrade within the body. Thus, it is not necessary to recapture the animal to remove the implant. We propose beeswax implants as an appropriate procedure to manipulate testosterone levels within the physiological range. Hence, such implants may be an effective alternative for field studies. PMID:25623144

  19. Extracellular enzyme activities during lignocellulose degradation by Streptomyces spp. : a comparative study of wild-type and genetically manipulated strains

    SciTech Connect

    Ramachandra, M.; Crawford, D.L.; Pometto, A.L. III

    1987-12-01

    The wild-type ligninolytic actinomycete Streptomyces viridosporus T7A and two genetically manipulated strains with enhanced abilities to produce a water-soluble lignin degradation intermediate, an acid-precipitable polymeric lignin (APPL), were grown on lignocellulose in solid-state fermentation cultures. Culture filtrates were periodically collected, analyzed for APPL, and assayed for extracellular lignocellulose-catabolizing enzyme activities. Two APPL-overproducing strains, UV irradiation mutant T7A-81 and protoplast fusion recombinant SR-10, had higher and longer persisting peroxidase, esterase, and endoglucanase activities than did the wild-type strain T7A. Results implicated one or more of these enzymes in lignin solubilization. Only mutant T7A-81 had higher xylanase activity than the wild type. The peroxidase was induced by both lignocellulose and APPL. This extracellular enzyme has some similarities to previously described ligninases in fungi. This is the first report of such an enzyme in Streptomyces spp. Four peroxidase isozymes were present, and all catalyzed the oxidation of 3,4-dihydroxyphenylalanine, while one also catalyzed hydrogen peroxide-dependent oxidation of homoprotocatechuic acid and caffeic acid. Three constitutive esterase isozymes were produced which differed in substrate specificity toward ..cap alpha..-naphthyl acetate and ..cap alpha..-naphthyl butyrate. Three endoglucanase bands, which also exhibited a low level of xylanase activity, were identified on polyacrylamide gels as was one xylanase-specific band. There were no major differences in the isoenzymes produced by the different strains. The probable role of each enzyme in lignocellulose degradation is discussed.

  20. Comparing the precision 2009 and 2012 light curves of the precontact W UMa binary V1001 Cassiopeia

    SciTech Connect

    Samec, R. G.; Koenke, S. S.; Faulkner, D. R.

    2015-01-01

    A 2012 follow up to the analysis of 2009 observations is presented for the very short period (∼0.43 days) precontact W UMa binary (PCWB) V1001 Cassiopeia. Its short period, similar to the majority of W UMa binaries, and its distinct EA light curve make it a very rare and interesting system for continuing photometric investigation. Previous photometric VRI standard magnitudes give a K4 spectral type. Our solutions of light curves separated by some three years give approximately the same physical parameters. However, the spots have radically changed in temperature, area, and position. While only one dark spot was used to model the first curves, two hot spots are now needed. This affects the overall shape of the light curve, especially in the secondary eclipses in B and V. Additional eclipse timings now show that the orbital period is changing. We conclude that spots are very active on this solar-type dwarf system and that it may mimic its larger cousins, the RS CVn binaries. The conclusion is that analysis now needs to be directed at the continuous time evolution of PCWBs.

  1. Comparative study of spectrophotometric methods manipulating ratio spectra: An application on pharmaceutical binary mixture of cinnarizine and dimenhydrinate

    NASA Astrophysics Data System (ADS)

    Lamie, Nesrine T.

    2015-04-01

    Four simple, specific, accurate and precise spectrophotometric methods are developed and validated for simultaneous determination of cinnarizine (CIN) and dimenhydrinate (DIM) in a binary mixture with overlapping spectra, without preliminary separation. The first method is dual wavelength spectrophotometry (DW), the second is a ratio difference spectrophotometric one (RD) which measures the difference in amplitudes between 250 and 270 nm of ratio spectrum, the third one is novel constant center spectrophotometric method (CC) and the fourth method is mean centering of ratio spectra (MCR). The calibration curve is linear over the concentration range of 4-20 and 10-45 μg/ml for CIN and DIM, respectively. These methods are tested by analyzing synthetic mixtures of the above drugs and they are applied to commercial pharmaceutical preparation of the subjected drugs. The validity of results was assessed by applying standard addition technique. The results obtained were found to agree statistically with those obtained by a reported method, showing no significant difference with respect to accuracy and precision.

  2. 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.

  3. Effect of spinal manipulative therapy with stretching compared with stretching alone on full-swing performance of golf players: a randomized pilot trial☆

    PubMed Central

    Costa, Soraya M.V.; Chibana, Yumi E.T.; Giavarotti, Leandro; Compagnoni, Débora S.; Shiono, Adriana H.; Satie, Janice; Bracher, Eduardo S.B.

    2009-01-01

    Abstract Objective There has been a steady growth of chiropractic treatment using spinal manipulative therapy (SMT) that aims to increase the performance of athletes in various sports. This study evaluates the effect of SMT by chiropractors on the performance of golf players. Methods Golfers of 2 golf clubs in São Paulo, Brazil, participated in this study. They were randomized to 1 of 2 groups: Group I received a stretch program, and group II received a stretch program in addition to SMT. Participants in both groups performed the same standardized stretching program. Spinal manipulative therapy to dysfunctional spinal segments was performed on group II only. All golfers performed 3 full-swing maneuvers. Ball range was considered as the average distance for the 3 shots. Treatment was performed after the initial measurement, and the same maneuvers were performed afterward. Each participant repeated these procedures for a 4-week period. Student t test, Mann-Whitney nonparametric test, and 1-way analysis of variance for repeated measures with significance level of 5% were used to analyze the study. Results Forty-three golfers completed the protocol. Twenty participants were allocated to group I and 23 to group II. Average age, handicap, and initial swing were comparable. No improvement of full-swing performance was observed during the 4 sessions on group I (stretch only). An improvement was observed at the fourth session of group II (P = .005); when comparing the posttreatment, group II had statistical significance at all phases (P = .003). Conclusions Chiropractic SMT in association with muscle stretching may be associated with an improvement of full-swing performance when compared with muscle stretching alone. PMID:19948307

  4. Different approaches in manipulating ratio spectra applied for the analysis of Cefprozil in presence of its alkaline-induced degradation product: A comparative study

    NASA Astrophysics Data System (ADS)

    Attia, Khalid A. M.; Nassar, Mohammed W. I.; El-Zeiny, Mohamed B.; Serag, Ahmed

    2015-06-01

    Four simple, accurate and precise stability-indicating spectrophotometric methods manipulating ratio spectra were developed and validated for simultaneous determination of Cefprozil (CZ) and its alkaline-induced degradation product (DCZ) without prior separation namely; ratio difference, mean centering, derivative ratio using Savitsky-Golay filter and continuous wavelet transform. The accuracy, precision and linearity ranges of the proposed methods were determined. The methods were validated and the specificity was assessed by analyzing synthetic mixtures containing the drug and its degradate. The four methods were applied for the determination of the cited drug in tablets and the obtained results were statistically compared with those of a reported method. The comparison showed that there are no significant differences between the proposed methods and the reported method regarding both accuracy and precision.

  5. Value of Information: Comparing Surface-Wave Dispersion Curves Estimated from Conventional Seismometers Versus Distributed Acoustic Sensing

    NASA Astrophysics Data System (ADS)

    Trainor Guitton, W.; Lancelle, C.; Wang, H. F.; Feigl, K. L.

    2015-12-01

    The efficacy of geophysical data to estimate key subsurface parameters is difficult to quantify given the complexity of both the signal and the earth, among many other factors. To address this, we utilize a metric from decision analysis known as the value of information (VOI). We analyze the uncertainty of surface-wave dispersion curves derived from travel times recorded by two types of seismological sensors: 3-component seismometers and Distributed Acoustic Sensing (DAS), a technique for measuring longitudinal strain in fiber-optic cables. Both data types were recorded at the Garner Valley test site in California. A 45 kN shear-shaker source produced a swept-frequency input from a few Hz to 10 Hz and back over 60 seconds. The geophone and DAS traces were filtered to remove harmonics from the source, traffic and other external noise. Source-Synchronous Filtering (Lord et al., AGU 2015) was applied to obtain waveforms. To measure the travel time from the source to the sensor, multiple zero-crossings are picked for frequencies between 4 and 20 Hz. These picks are used to estimate phase velocities as a function of frequency for both data types by plotting the travel times versus the distance of the sensor from the source. The slope of the best-fitting line provides an estimate of the phase velocity at a given frequency. To assess its uncertainty, we use a nonparametric bootstrap procedure [Efron & Tibshirani, 1986]. The resulting distributions of phase velocities describe the precision of the estimates for each data type. We then plot the phase velocities as a function of their frequency to generate many dispersion curves. These dispersion curves are inverted to estimate the posterior distribution of shear wave velocity with depth for each type of data. We hypothesize that this information is used to make a decision (e.g. how to develop a geothermal field), and therefore the VOI technique can be applied. This approach provides a metric for evaluating the VOI of each

  6. 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.

  7. 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.

  8. 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.

  9. Curved Beam Computed Tomography based Structural Rigidity Analysis of Bones with Simulated Lytic Defect: A Comparative Study with Finite Element Analysis.

    PubMed

    Oftadeh, R; Karimi, Z; Villa-Camacho, J; Tanck, E; Verdonschot, N; Goebel, R; Snyder, B D; Hashemi, H N; Vaziri, A; Nazarian, A

    2016-01-01

    In this paper, a CT based structural rigidity analysis (CTRA) method that incorporates bone intrinsic local curvature is introduced to assess the compressive failure load of human femur with simulated lytic defects. The proposed CTRA is based on a three dimensional curved beam theory to obtain critical stresses within the human femur model. To test the proposed method, ten human cadaveric femurs with and without simulated defects were mechanically tested under axial compression to failure. Quantitative computed tomography images were acquired from the samples, and CTRA and finite element analysis were performed to obtain the failure load as well as rigidities in both straight and curved cross sections. Experimental results were compared to the results obtained from FEA and CTRA. The failure loads predicated by curved beam CTRA and FEA are in agreement with experimental results. The results also show that the proposed method is an efficient and reliable method to find both the location and magnitude of failure load. Moreover, the results show that the proposed curved CTRA outperforms the regular straight beam CTRA, which ignores the bone intrinsic curvature and can be used as a useful tool in clinical practices. PMID:27585495

  10. Curved Beam Computed Tomography based Structural Rigidity Analysis of Bones with Simulated Lytic Defect: A Comparative Study with Finite Element Analysis

    PubMed Central

    Oftadeh, R.; Karimi, Z.; Villa-Camacho, J.; Tanck, E.; Verdonschot, N.; Goebel, R.; Snyder, B. D.; Hashemi, H. N.; Vaziri, A.; Nazarian, A.

    2016-01-01

    In this paper, a CT based structural rigidity analysis (CTRA) method that incorporates bone intrinsic local curvature is introduced to assess the compressive failure load of human femur with simulated lytic defects. The proposed CTRA is based on a three dimensional curved beam theory to obtain critical stresses within the human femur model. To test the proposed method, ten human cadaveric femurs with and without simulated defects were mechanically tested under axial compression to failure. Quantitative computed tomography images were acquired from the samples, and CTRA and finite element analysis were performed to obtain the failure load as well as rigidities in both straight and curved cross sections. Experimental results were compared to the results obtained from FEA and CTRA. The failure loads predicated by curved beam CTRA and FEA are in agreement with experimental results. The results also show that the proposed method is an efficient and reliable method to find both the location and magnitude of failure load. Moreover, the results show that the proposed curved CTRA outperforms the regular straight beam CTRA, which ignores the bone intrinsic curvature and can be used as a useful tool in clinical practices. PMID:27585495

  11. 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.

  12. Evaluating the efficiency of spectral resolution of univariate methods manipulating ratio spectra and comparing to multivariate methods: an application to ternary mixture in common cold preparation.

    PubMed

    Moustafa, Azza Aziz; Salem, Hesham; Hegazy, Maha; Ali, Omnia

    2015-02-25

    Simple, accurate, and selective methods have been developed and validated for simultaneous determination of a ternary mixture of Chlorpheniramine maleate (CPM), Pseudoephedrine HCl (PSE) and Ibuprofen (IBF), in tablet dosage form. Four univariate methods manipulating ratio spectra were applied, method A is the double divisor-ratio difference spectrophotometric method (DD-RD). Method B is double divisor-derivative ratio spectrophotometric method (DD-RD). Method C is derivative ratio spectrum-zero crossing method (DRZC), while method D is mean centering of ratio spectra (MCR). Two multivariate methods were also developed and validated, methods E and F are Principal Component Regression (PCR) and Partial Least Squares (PLSs). The proposed methods have the advantage of simultaneous determination of the mentioned drugs without prior separation steps. They were successfully applied to laboratory-prepared mixtures and to commercial pharmaceutical preparation without any interference from additives. The proposed methods were validated according to the ICH guidelines. The obtained results were statistically compared with the official methods where no significant difference was observed regarding both accuracy and precision. PMID:25306132

  13. Evaluating the efficiency of spectral resolution of univariate methods manipulating ratio spectra and comparing to multivariate methods: An application to ternary mixture in common cold preparation

    NASA Astrophysics Data System (ADS)

    Moustafa, Azza Aziz; Salem, Hesham; Hegazy, Maha; Ali, Omnia

    2015-02-01

    Simple, accurate, and selective methods have been developed and validated for simultaneous determination of a ternary mixture of Chlorpheniramine maleate (CPM), Pseudoephedrine HCl (PSE) and Ibuprofen (IBF), in tablet dosage form. Four univariate methods manipulating ratio spectra were applied, method A is the double divisor-ratio difference spectrophotometric method (DD-RD). Method B is double divisor-derivative ratio spectrophotometric method (DD-RD). Method C is derivative ratio spectrum-zero crossing method (DRZC), while method D is mean centering of ratio spectra (MCR). Two multivariate methods were also developed and validated, methods E and F are Principal Component Regression (PCR) and Partial Least Squares (PLSs). The proposed methods have the advantage of simultaneous determination of the mentioned drugs without prior separation steps. They were successfully applied to laboratory-prepared mixtures and to commercial pharmaceutical preparation without any interference from additives. The proposed methods were validated according to the ICH guidelines. The obtained results were statistically compared with the official methods where no significant difference was observed regarding both accuracy and precision.

  14. Comparative lethality kinetic curves and predictive models of F-value for Listeria monocytogenes using different sanitizers

    PubMed Central

    Beltrame, Cezar A; Kubiak, Gabriela B; Rottava, Ieda; Toniazzo, Geciane; Cansian, Rogério L; Lerin, Lindomar A; de Oliveira, Débora; Treichel, Helen

    2013-01-01

    The objective of this work was to evaluate the kinetic of inactivation of Listeria monocytogenes using peracetic acid, chlorhexidine, and organic acids as active agent, determining the respective D-, Z-, and F-values. From our knowledge, these important results from an industrial view point are not available in the current literature, mainly for organic acids, pointing out the main contribution of the present work. Lower D-values were obtained for peracetic acid and chlorhexidine, compared with the organic acids. For the reduction of 6 log10 of L. monocytogenes using peracetic acid, at 0.2, 0.1, and 0.05% are necessary 7.08, 31.08, and 130.44 min of contact, respectively. The mathematical models of F-values showed that at concentrations lower than 0.15% one can verify an exponential increase in F-values, for both de chlorhexidine and peracetic acid. The organic acids presented a linear behavior, showing slight variation in F-values, is even more effective in under dosage. The results obtained are of fundamental importance in terms of industrial strategy for sanitization procedure, permitting to choose the best relation product concentration/exposure time, aiming at reducing costs without compromising the disinfectant efficiency. PMID:24804011

  15. Analysis of water retention curve as a potential tool in comparing the effect of different soil management in two olive orchard in southern Spain

    NASA Astrophysics Data System (ADS)

    Guzmán, G.; Gómez, J. A.; Giráldez, J. V.

    2010-05-01

    Water soil erosion is one of the major concerns in agricultural areas in Southern Spain, and the use of cover crops has been recommended as an alternative to tillage to prevent, or mitigate, soil erosion. This change of soil management implies a progressive modification of soil chemical, biological and physical properties which to date, have been documented by a limited number of studies. In this communication we describe a methodology based on the modification of the water retention curves of intact cores, present the results obtained in two olive orchards in Southern Spain, and compare them with several chemical and physical properties measured simultaneously in the orchards. The experimental areas were located in Benacazón and Pedrera, Seville province in Southern Spain, and at each location two experimental plots were established. One of the plots was under traditional tillage management and the other under cover crop soil management. The slope at the plots was 12 and 4% respectively. Soil samples were taken at both plots differentiating between the inter tree areas and the under the olive canopy areas, between two different depths: 0-10 cm and 10-20 cm. These resulted in eight different sampling areas (2x2x2). Samples were taken three year after establishing the experiments. Water retention curves of soils were obtained as the average of replications per and using the Eijkelkamp Sand and Sand/Kaolin suction tables (0-500 hPa) and a Decagon's WP4-T dewpoint potentiometer (0-300•106 hPa). The latest was used to determine the residual water content. Experimental water retention curves were to two different models: van Genuchten (1980) and Kosugi (1994). Once modeling was done, the slope value of the curves at the inflexion point, proposed by Dexter (2004a, b, c) to estimate physical quality of soils, was calculated. This study presents and discusses the advantages and problems of the different approaches for determining the water retention curves, the

  16. Comparative short-term effects of two thoracic spinal manipulation techniques in subjects with chronic mechanical neck pain: a randomized controlled trial.

    PubMed

    Casanova-Méndez, Amaloha; Oliva-Pascual-Vaca, Angel; Rodriguez-Blanco, Cleofás; Heredia-Rizo, Alberto Marcos; Gogorza-Arroitaonandia, Kristobal; Almazán-Campos, Ginés

    2014-08-01

    Spinal Manipulation (SM) has been purported to decrease pain and improve function in subjects with non-specific neck pain. Previous research has investigated which individuals with non-specific neck pain will be more likely to benefit from SM. It has not yet been proven whether or not the effectiveness of thoracic SM depends on the specific technique being used. This double-blind randomized trial has compared the short-term effects of two thoracic SM maneuvers in subjects with chronic non-specific neck pain. Sixty participants were distributed randomly into two groups. One group received the Dog technique (n = 30), with the subject in supine position, and the other group underwent the Toggle-Recoil technique (n = 30), with the participant lying prone, T4 being the targeted area in both cases. Evaluations were made of self-reported neck pain (Visual Analogue Scale); neck mobility (Cervical Range of Motion); and pressure pain threshold at the cervical and thoracic levels (C4 and T4 spinous process) and over the site described for location of tense bands of the upper trapezius muscle. Measurements were taken before intervention, immediately afterward, and 20 min later. Both maneuvers improved neck mobility and mechanosensitivity and reduced pain in the short term. No major or clinical differences were found between the groups. In the between-groups comparison slightly better results were observed in the Toggle-Recoil group only for cervical extension (p = 0.009), right lateral flexion (p = 0.004) and left rotation (p < 0.05). PMID:24679838

  17. Learning curves of percutaneous endoscopic lumbar discectomy in transforaminal approach at the L4/5 and L5/S1 levels: a comparative study

    PubMed Central

    Wu, Xin-bo; Fan, Guo-xin; Gu, Xin; Shen, Tu-gang; Guan, Xiao-fei; Hu, An-nan; Zhang, Hai-long; He, Shi-sheng

    2016-01-01

    Objectives: This study aimed to compare the learning curves of percutaneous endoscopic lumbar discectomy (PELD) in a transforaminal approach at the L4/5 and L5/S1 levels. Methods: We retrospectively reviewed the first 60 cases at the L4/5 level (Group I) and the first 60 cases at the L5/S1 level (Group II) of PELD performed by one spine surgeon. The patients were divided into subgroups A, B, and C (Group I: A cases 1–20, B cases 21–40, C cases 41–60; Group II: A cases 1–20, B cases 21–40, C cases 41–60). Operation time was thoroughly analyzed. Results: Compared with the L4/5 level, the learning curve of transforaminal PELD at the L5/S1 level was flatter. The mean operation times of Groups IA, IB, and IC were (88.75±17.02), (67.75±6.16), and (64.85±7.82) min, respectively. There was a significant difference between Groups A and B (P<0.05), but no significant difference between Groups B and C (P=0.20). The mean operation times of Groups IIA, IIB, and IIC were (117.25±13.62), (109.50±11.20), and (92.15±11.94) min, respectively. There was no significant difference between Groups A and B (P=0.06), but there was a significant difference between Groups B and C (P<0.05). There were 6 cases of postoperative dysesthesia (POD) in Group I and 2 cases in Group IIA (P=0.27). There were 2 cases of residual disc in Group I, and 4 cases in Group II (P=0.67). There were 3 cases of recurrence in Group I, and 2 cases in Group II (P>0.05). Conclusions: Compared with the L5/S1 level, the learning curve of PELD in a transforaminal approach at the L4/5 level was steeper, suggesting that the L4/5 level might be easier to master after short-term professional training. PMID:27381732

  18. Variations of high frequency parameter of heart rate variability following osteopathic manipulative treatment in healthy subjects compared to control group and sham therapy: randomized controlled trial

    PubMed Central

    Ruffini, Nuria; D'Alessandro, Giandomenico; Mariani, Nicolò; Pollastrelli, Alberto; Cardinali, Lucia; Cerritelli, Francesco

    2015-01-01

    Context: Heart Rate Variability (HRV) indicates how heart rate changes in response to inner and external stimuli. HRV is linked to health status and it is an indirect marker of the autonomic nervous system (ANS) function. Objective: To investigate the influence of osteopathic manipulative treatment (OMT) on cardiac autonomic modulation in healthy subjects, compared with sham therapy and control group. Methods: Sixty-six healthy subjects, both male and female, were included in the present 3-armed randomized placebo controlled within subject cross-over single blinded study. Participants were asymptomatic adults (26.7 ± 8.4 y, 51% male, BMI 18.5 ± 4.8), both smokers and non-smokers and not on medications. At enrollment subjects were randomized in three groups: A, B, C. Standardized structural evaluation followed by a patient need-based osteopathic treatment was performed in the first session of group A and in the second session of group B. Standardized evaluation followed by a protocoled sham treatment was provided in the second session of group A and in the first session of group B. No intervention was performed in the two sessions of group C, acting as a time-control. The trial was registered on clinicaltrials.gov identifier: NCT01908920. Main Outcomes Measures: HRV was calculated from electrocardiography before, during and after the intervention, for a total amount time of 25 min and considering frequency domain as well as linear and non-linear methods as outcome measures. Results: OMT engendered a statistically significant increase of parasympathetic activity, as shown by High Frequency power (p < 0.001), expressed in normalized and absolute unit, and possibly decrease of sympathetic activity, as revealed by Low Frequency power (p < 0.01); results also showed a reduction of Low Frequency/High Frequency ratio (p < 0.001) and Detrended fluctuation scaling exponent (p < 0.05). Conclusions: Findings suggested that OMT can influence ANS activity increasing

  19. 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

  20. 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

  1. The Comparative Effects of Spinal and Peripheral Thrust Manipulation and Exercise on Pain Sensitivity and the Relation to Clinical Outcome: A Mechanistic Trial Using a Shoulder Pain Model

    PubMed Central

    Coronado, Rogelio A.; Bialosky, Joel E.; Bishop, Mark D.; Riley, Joseph L.; Robinson, Michael E.; Michener, Lori A.; George, Steven Z.

    2016-01-01

    STUDY DESIGN Single-blind randomized trial. OBJECTIVES To compare the effects of cervical and shoulder thrust manipulation (TM) and exercise on pain sensitivity, and to explore associations with clinical outcomes in patients with shoulder pain. BACKGROUND Experimental studies indicate that spinal TM has an influence on central pain processes, supporting its application for treatment of extremity conditions. Direct comparison of spinal and peripheral TM on pain sensitivity has not been widely examined. METHODS Seventy-eight participants with shoulder pain (36 female; mean ± SD age, 39.0 ± 14.5 years) were randomized to receive 3 treatments of cervical TM (n = 26), shoulder TM (n = 27), or shoulder exercise (n = 25) over 2 weeks. Twenty-five healthy participants (13 female; mean ± SD age, 35.2 ± 11.1 years) were assessed to compare pain sensitivity with that in clinical participants at baseline. Primary outcomes were changes in local (eg, shoulder) and remote (eg, tibialis anterior) pressure pain threshold and heat pain threshold occurring over 2 weeks. Secondary outcomes were shoulder pain intensity and patient-rated function at 4, 8, and 12 weeks. Analysis-of-variance models and partial-correlation analyses were conducted to examine comparative effects and the relationship between measures. RESULTS At baseline, clinical participants demonstrated lower local (mean difference, −1.63 kg; 95% confidence interval [CI]: −2.40, −0.86) and remote pressure pain threshold (mean difference, −1.96 kg; 95% CI: −3.09, −0.82) and heat pain threshold (mean difference, −1.15°C; 95% CI: −2.06, −0.24) compared to controls, suggesting enhanced pain sensitivity. Following intervention, there were no between-group differences in pain sensitivity or clinical outcome (P>.05). However, improvements were noted, regardless of intervention, for pressure pain threshold (range of mean differences, 0.22–0.32 kg; 95% CI: 0.03, 0.43), heat pain threshold (range of mean

  2. Evaluating and comparing biomarkers with respect to the area under the receiver operating characteristics curve in two-phase case–control studies

    PubMed Central

    Huang, Ying

    2016-01-01

    Two-phase sampling design, where biomarkers are subsampled from a phase-one cohort sample representative of the target population, has become the gold standard in biomarker evaluation. Many two-phase case–control studies involve biased sampling of cases and/or controls in the second phase. For example, controls are often frequency-matched to cases with respect to other covariates. Ignoring biased sampling of cases and/or controls can lead to biased inference regarding biomarkers' classification accuracy. Considering the problems of estimating and comparing the area under the receiver operating characteristics curve (AUC) for a binary disease outcome, the impact of biased sampling of cases and/or controls on inference and the strategy to efficiently account for the sampling scheme have not been well studied. In this project, we investigate the inverse-probability-weighted method to adjust for biased sampling in estimating and comparing AUC. Asymptotic properties of the estimator and its inference procedure are developed for both Bernoulli sampling and finite-population stratified sampling. In simulation studies, the weighted estimators provide valid inference for estimation and hypothesis testing, while the standard empirical estimators can generate invalid inference. We demonstrate the use of the analytical variance formula for optimizing sampling schemes in biomarker study design and the application of the proposed AUC estimators to examples in HIV vaccine research and prostate cancer research. PMID:26883772

  3. Evaluating and comparing biomarkers with respect to the area under the receiver operating characteristics curve in two-phase case-control studies.

    PubMed

    Huang, Ying

    2016-07-01

    Two-phase sampling design, where biomarkers are subsampled from a phase-one cohort sample representative of the target population, has become the gold standard in biomarker evaluation. Many two-phase case-control studies involve biased sampling of cases and/or controls in the second phase. For example, controls are often frequency-matched to cases with respect to other covariates. Ignoring biased sampling of cases and/or controls can lead to biased inference regarding biomarkers' classification accuracy. Considering the problems of estimating and comparing the area under the receiver operating characteristics curve (AUC) for a binary disease outcome, the impact of biased sampling of cases and/or controls on inference and the strategy to efficiently account for the sampling scheme have not been well studied. In this project, we investigate the inverse-probability-weighted method to adjust for biased sampling in estimating and comparing AUC. Asymptotic properties of the estimator and its inference procedure are developed for both Bernoulli sampling and finite-population stratified sampling. In simulation studies, the weighted estimators provide valid inference for estimation and hypothesis testing, while the standard empirical estimators can generate invalid inference. We demonstrate the use of the analytical variance formula for optimizing sampling schemes in biomarker study design and the application of the proposed AUC estimators to examples in HIV vaccine research and prostate cancer research. PMID:26883772

  4. Comparing large scale CCS deployment potential in the USA and China: a detailed analysis based on country-specific CO2 transport & storage cost curves

    SciTech Connect

    Dahowski, Robert T.; Davidson, Casie L.; Dooley, James J.

    2011-04-18

    The United States and China are the two largest emitters of greenhouse gases in the world and their projected continued growth and reliance on fossil fuels, especially coal, make them strong candidates for CCS. Previous work has revealed that both nations have over 1600 large electric utility and other industrial point CO2 sources as well as very large CO2 storage resources on the order of 2,000 billion metric tons (Gt) of onshore storage capacity. In each case, the vast majority of this capacity is found in deep saline formations. In both the USA and China, candidate storage reservoirs are likely to be accessible by most sources with over 80% of these large industrial CO2 sources having a CO2 storage option within just 80 km. This suggests a strong potential for CCS deployment as a meaningful option to efforts to reduce CO2 emissions from these large, vibrant economies. However, while the USA and China possess many similarities with regards to the potential value that CCS might provide, including the range of costs at which CCS may be available to most large CO2 sources in each nation, there are a number of more subtle differences that may help us to understand the ways in which CCS deployment may differ between these two countries in order for the USA and China to work together - and in step with the rest of the world - to most efficiently reduce greenhouse gas emissions. This paper details the first ever analysis of CCS deployment costs in these two countries based on methodologically comparable CO2 source and sink inventories, economic analysis, geospatial source-sink matching and cost curve modeling. This type of analysis provides a valuable insight into the degree to which early and sustained opportunities for climate change mitigation via commercial-scale CCS are available to the two countries, and could facilitate greater collaboration in areas where those opportunities overlap.

  5. 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.

  6. Comparative study of CEA and CA19-9 in esophageal, gastric and colon cancers individually and in combination (ROC curve analysis)

    PubMed Central

    Bagaria, Bhawna; Sood, Sadhna; Sharma, Rameshwaram; Lalwani, Soniya

    2013-01-01

    Objective To determine the clinical serum levels of carcinoembryonic antigen (CEA) and carbohydrate antigen 19-9 (CA19-9), individually and in combination, for the diagnosis of 50 healthy subjects and 150 cases of esophageal, gastric, and colon cancers. Methods The sensitivities of the two markers were compared individually and in combination, with specificity set at 100%. Receiver operating characteristic (ROC) curves were plotted. Results Serum CEA levels were significantly higher in cancer patients than in the control group. The sensitivity of CEA was determined: in esophageal cancer, sensitivity=28%, negative predictive value (NPV)=61.72%, and AUC=0.742 
(SE=0.05), with a significance level of P<0.0001; in gastric cancer, sensitivity=30%, NPV=58.82%, and AUC=0.734 (SE=0.05), with a significance level of P<0.0001; in colon cancer, sensitivity=74%, NPV=79.36%, and AUC=0.856 
(SE=0.04), with a significance level of P<0.0001. The sensitivity of CA19-9 was also evaluated: in esophageal cancer, sensitivity=18%, NPV=54.94%, and AUC=0.573 (SE =0.05), with a significance level of P=0.2054. In gastric cancer, sensitivity=42%, NPV=63.29%, and AUC=0.679 (SE =0.05), with a significance level of P<0.0011. In colon cancer, sensitivity=26%, NPV=57.47%, and AUC=0.580 (SE =0.05), with a significance level of P=0.1670. The following were the sensitivities of CEA/CA19-9 combined: in esophageal cancer, sensitivity=42%, NPV=63.29%, SE=0.078 (95% CI: 0.0159-0.322); gastric cancer, sensitivity=58%, NPV=70.42%, SE=0.072 (95% CI: -0.0866-0.198); and colon cancer, sensitivity=72%, NPV=78.12%, SE=0.070 (95% CI: 0.137-0.415). Conclusion CEA exhibited the highest sensitivity for colon cancer, and CA19-9 exhibited the highest sensitivity for gastric cancer. Combined analysis indicated an increase in diagnostic sensitivity in esophageal and gastric cancer compared with that in colon cancer. PMID:24379990

  7. COGNITION, ACTION, AND OBJECT MANIPULATION

    PubMed Central

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

    2012-01-01

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

  8. The existence of inflection points for generalized log-aesthetic curves satisfying G1 data

    NASA Astrophysics Data System (ADS)

    Karpagavalli, R.; Gobithaasan, R. U.; Miura, K. T.; Shanmugavel, Madhavan

    2015-12-01

    Log-Aesthetic (LA) curves have been implemented in a CAD/CAM system for various design feats. LA curves possess linear Logarithmic Curvature Graph (LCG) with gradient (shape parameter) denoted as α. In 2009, a generalized form of LA curves called Generalized Log-Aesthetic Curves (GLAC) has been proposed which has an extra shape parameter as ν compared to LA curves. Recently, G1 continuous GLAC algorithm has been proposed which utilizes the extra shape parameter using four control points. This paper discusses on the existence of inflection points in a GLAC segment satisfying G1 Hermite data and the effect of inflection point on convex hull property. It is found that the existence of inflection point can be avoided by manipulating the value of α. Numerical experiments show that the increase of α may remove the inflection point (if any) in a GLAC segment.

  9. Highly curved microchannel plates

    NASA Technical Reports Server (NTRS)

    Siegmund, O. H. W.; Cully, S.; Warren, J.; Gaines, G. A.; Priedhorsky, W.; Bloch, J.

    1990-01-01

    Several spherically curved microchannel plate (MCP) stack configurations were studied as part of an ongoing astrophysical detector development program, and as part of the development of the ALEXIS satellite payload. MCP pairs with surface radii of curvature as small as 7 cm, and diameters up to 46 mm have been evaluated. The experiments show that the gain (greater than 1.5 x 10 exp 7) and background characteristics (about 0.5 events/sq cm per sec) of highly curved MCP stacks are in general equivalent to the performance achieved with flat MCP stacks of similar configuration. However, gain variations across the curved MCP's due to variations in the channel length to diameter ratio are observed. The overall pulse height distribution of a highly curved surface MCP stack (greater than 50 percent FWHM) is thus broader than its flat counterpart (less than 30 percent). Preconditioning of curved MCP stacks gives comparable results to flat MCP stacks, but it also decreases the overall gain variations. Flat fields of curved MCP stacks have the same general characteristics as flat MCP stacks.

  10. 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.

  11. Development and validation of different methods manipulating zero order and first order spectra for determination of the partially overlapped mixture benazepril and amlodipine: A comparative study.

    PubMed

    Hemdan, A

    2016-07-01

    Three simple, selective, and accurate spectrophotometric methods have been developed and then validated for the analysis of Benazepril (BENZ) and Amlodipine (AML) in bulk powder and pharmaceutical dosage form. The first method is the absorption factor (AF) for zero order and amplitude factor (P-F) for first order spectrum, where both BENZ and AML can be measured from their resolved zero order spectra at 238nm or from their first order spectra at 253nm. The second method is the constant multiplication coupled with constant subtraction (CM-CS) for zero order and successive derivative subtraction-constant multiplication (SDS-CM) for first order spectrum, where both BENZ and AML can be measured from their resolved zero order spectra at 240nm and 238nm, respectively, or from their first order spectra at 214nm and 253nm for Benazepril and Amlodipine respectively. The third method is the novel constant multiplication coupled with derivative zero crossing (CM-DZC) which is a stability indicating assay method for determination of Benazepril and Amlodipine in presence of the main degradation product of Benazepril which is Benazeprilate (BENZT). The three methods were validated as per the ICH guidelines and the standard curves were found to be linear in the range of 5-60μg/mL for Benazepril and 5-30 for Amlodipine, with well accepted mean correlation coefficient for each analyte. The intra-day and inter-day precision and accuracy results were well within the acceptable limits. PMID:27078209

  12. Development and validation of different methods manipulating zero order and first order spectra for determination of the partially overlapped mixture benazepril and amlodipine: A comparative study

    NASA Astrophysics Data System (ADS)

    Hemdan, A.

    2016-07-01

    Three simple, selective, and accurate spectrophotometric methods have been developed and then validated for the analysis of Benazepril (BENZ) and Amlodipine (AML) in bulk powder and pharmaceutical dosage form. The first method is the absorption factor (AF) for zero order and amplitude factor (P-F) for first order spectrum, where both BENZ and AML can be measured from their resolved zero order spectra at 238 nm or from their first order spectra at 253 nm. The second method is the constant multiplication coupled with constant subtraction (CM-CS) for zero order and successive derivative subtraction-constant multiplication (SDS-CM) for first order spectrum, where both BENZ and AML can be measured from their resolved zero order spectra at 240 nm and 238 nm, respectively, or from their first order spectra at 214 nm and 253 nm for Benazepril and Amlodipine respectively. The third method is the novel constant multiplication coupled with derivative zero crossing (CM-DZC) which is a stability indicating assay method for determination of Benazepril and Amlodipine in presence of the main degradation product of Benazepril which is Benazeprilate (BENZT). The three methods were validated as per the ICH guidelines and the standard curves were found to be linear in the range of 5-60 μg/mL for Benazepril and 5-30 for Amlodipine, with well accepted mean correlation coefficient for each analyte. The intra-day and inter-day precision and accuracy results were well within the acceptable limits.

  13. 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.

  14. Comparative study between recent methods manipulating ratio spectra and classical methods based on two-wavelength selection for the determination of binary mixture of antazoline hydrochloride and tetryzoline hydrochloride

    NASA Astrophysics Data System (ADS)

    Abdel-Halim, Lamia M.; Abd-El Rahman, Mohamed K.; Ramadan, Nesrin K.; EL Sanabary, Hoda F. A.; Salem, Maissa Y.

    2016-04-01

    A comparative study was developed between two classical spectrophotometric methods (dual wavelength method and Vierordt's method) and two recent methods manipulating ratio spectra (ratio difference method and first derivative of ratio spectra method) for simultaneous determination of Antazoline hydrochloride (AN) and Tetryzoline hydrochloride (TZ) in their combined pharmaceutical formulation and in the presence of benzalkonium chloride as a preservative without preliminary separation. The dual wavelength method depends on choosing two wavelengths for each drug in a way so that the difference in absorbance at those two wavelengths is zero for the other drug. While Vierordt's method, is based upon measuring the absorbance and the absorptivity values of the two drugs at their λmax (248.0 and 219.0 nm for AN and TZ, respectively), followed by substitution in the corresponding Vierordt's equation. Recent methods manipulating ratio spectra depend on either measuring the difference in amplitudes of ratio spectra between 255.5 and 269.5 nm for AN and 220.0 and 273.0 nm for TZ in case of ratio difference method or computing first derivative of the ratio spectra for each drug then measuring the peak amplitude at 250.0 nm for AN and at 224.0 nm for TZ in case of first derivative of ratio spectrophotometry. The specificity of the developed methods was investigated by analyzing different laboratory prepared mixtures of the two drugs. All methods were applied successfully for the determination of the selected drugs in their combined dosage form proving that the classical spectrophotometric methods can still be used successfully in analysis of binary mixture using minimal data manipulation rather than recent methods which require relatively more steps. Furthermore, validation of the proposed methods was performed according to ICH guidelines; accuracy, precision and repeatability are found to be within the acceptable limits. Statistical studies showed that the methods can be

  15. Comparative study between recent methods manipulating ratio spectra and classical methods based on two-wavelength selection for the determination of binary mixture of antazoline hydrochloride and tetryzoline hydrochloride.

    PubMed

    Abdel-Halim, Lamia M; Abd-El Rahman, Mohamed K; Ramadan, Nesrin K; El Sanabary, Hoda F A; Salem, Maissa Y

    2016-04-15

    A comparative study was developed between two classical spectrophotometric methods (dual wavelength method and Vierordt's method) and two recent methods manipulating ratio spectra (ratio difference method and first derivative of ratio spectra method) for simultaneous determination of Antazoline hydrochloride (AN) and Tetryzoline hydrochloride (TZ) in their combined pharmaceutical formulation and in the presence of benzalkonium chloride as a preservative without preliminary separation. The dual wavelength method depends on choosing two wavelengths for each drug in a way so that the difference in absorbance at those two wavelengths is zero for the other drug. While Vierordt's method, is based upon measuring the absorbance and the absorptivity values of the two drugs at their λ(max) (248.0 and 219.0 nm for AN and TZ, respectively), followed by substitution in the corresponding Vierordt's equation. Recent methods manipulating ratio spectra depend on either measuring the difference in amplitudes of ratio spectra between 255.5 and 269.5 nm for AN and 220.0 and 273.0 nm for TZ in case of ratio difference method or computing first derivative of the ratio spectra for each drug then measuring the peak amplitude at 250.0 nm for AN and at 224.0 nm for TZ in case of first derivative of ratio spectrophotometry. The specificity of the developed methods was investigated by analyzing different laboratory prepared mixtures of the two drugs. All methods were applied successfully for the determination of the selected drugs in their combined dosage form proving that the classical spectrophotometric methods can still be used successfully in analysis of binary mixture using minimal data manipulation rather than recent methods which require relatively more steps. Furthermore, validation of the proposed methods was performed according to ICH guidelines; accuracy, precision and repeatability are found to be within the acceptable limits. Statistical studies showed that the methods can be

  16. Birational maps that send biquadratic curves to biquadratic curves

    NASA Astrophysics Data System (ADS)

    Roberts, John A. G.; Jogia, Danesh

    2015-02-01

    Recently, many papers have begun to consider so-called non-Quispel-Roberts-Thompson (QRT) birational maps of the plane. Compared to the QRT family of maps which preserve each biquadratic curve in a fibration of the plane, non-QRT maps send a biquadratic curve to another biquadratic curve belonging to the same fibration or to a biquadratic curve from a different fibration of the plane. In this communication, we give the general form of a birational map derived from a difference equation that sends a biquadratic curve to another. The necessary and sufficient condition for such a map to exist is that the discriminants of the two biquadratic curves are the same (and hence so are the j-invariants). The result allows existing examples in the literature to be better understood and allows some statements to be made concerning their generality.

  17. Response of soil CO2 efflux to precipitation manipulation in a semiarid grassland.

    PubMed

    Wei, Xiaorong; Zhang, Yanjiang; Liu, Jian; Gao, Hailong; Fan, Jun; Jia, Xiaoxu; Cheng, Jimin; Shao, Mingan; Zhang, Xingchang

    2016-07-01

    Soil CO2 efflux (SCE) is an important component of ecosystem CO2 exchange and is largely temperature and moisture dependent, providing feedback between C cycling and the climate system. We used a precipitation manipulation experiment to examine the effects of precipitation treatment on SCE and its dependences on soil temperature and moisture in a semiarid grassland. Precipitation manipulation included ambient precipitation, decreased precipitation (-43%), or increased precipitation (+17%). The SCE was measured from July 2013 to December 2014, and CO2 emission during the experimental period was assessed. The response curves of SCE to soil temperature and moisture were analyzed to determine whether the dependence of SCE on soil temperature or moisture varied with precipitation manipulation. The SCE significantly varied seasonally but was not affected by precipitation treatments regardless of season. Increasing precipitation resulted in an upward shift of SCE-temperature response curves and rightward shift of SCE-moisture response curves, while decreasing precipitation resulted in opposite shifts of such response curves. These shifts in the SCE response curves suggested that increasing precipitation strengthened the dependence of SCE on temperature or moisture, and decreasing precipitation weakened such dependences. Such shifts affected the predictions in soil CO2 emissions for different precipitation treatments. When considering such shifts, decreasing or increasing precipitation resulted in 43 or 75% less change, respectively, in CO2 emission compared with changes in emissions predicted without considering such shifts. Furthermore, the effects of shifts in SCE response curves on CO2 emission prediction were greater during the growing than the non-growing season. PMID:27372135

  18. Fat and lean BMI reference curves in children and adolescents and their utility in identifying excess adiposity compared with BMI and percentage body fat1234

    PubMed Central

    Weber, David R; Moore, Reneé H; Leonard, Mary B

    2013-01-01

    Background: Body mass index (BMI) and percentage body fat (%BF) are widely used to assess adiposity. These indexes fail to account for independent contributions of fat mass (FM) and lean body mass (LBM) to body weight, which vary according to age, sex, pubertal status, and population ancestry in the pediatric population. Objective: The objective was to develop pediatric reference curves for fat mass index (FMI) and lean body mass index (LBMI) and evaluate the effects of population ancestry and LBM on measures of excess adiposity (BMI, %BF, and FMI). Design: Sex-specific FMI and LBMI reference curves relative to age for children and adolescents aged 8–20 y were generated from cross-sectional body-composition data measured by dual-energy X-ray absorptiometry from NHANES. Results: The mean LBMI z score was higher in blacks (males: 0.26; females: 0.45) than in whites (males: −0.07; females: −0.09) and Mexican Americans (males: 0.05; females: −0.09). The positive predictive value of overweight by BMI to identify excess adiposity defined by FMI was lower in blacks (males: 35.9%; females: 30.3%) than in whites (males: 65.4%; females: 52.2%) and Mexican Americans (males: 73.3%; females: 68.3%). Participants classified as having excess adiposity by FMI but normal adiposity by %BF had significantly higher BMI, LBMI, and height z scores than did those classified as having excess adiposity by %BF but normal adiposity by FMI. Conclusions: Relative to FMI, the prevalence of excess adiposity is overestimated by BMI in blacks and underestimated by %BF in individuals with high LBM. The use of FMI and LBMI improves on the use of %BF and BMI by allowing for the independent assessment of FM and LBM. PMID:23697708

  19. Curves and Their Properties.

    ERIC Educational Resources Information Center

    Yates, Robert C.

    This volume, a reprinting of a classic first published in 1952, presents detailed discussions of 26 curves or families of curves, and 17 analytic systems of curves. For each curve the author provides a historical note, a sketch or sketches, a description of the curve, a discussion of pertinent facts, and a bibliography. Depending upon the curve,…

  20. Mouse Curve Biometrics

    SciTech Connect

    Schulz, Douglas A.

    2007-10-08

    A biometric system suitable for validating user identity using only mouse movements and no specialized equipment is presented. Mouse curves (mouse movements with little or no pause between them) are individually classied and used to develop classication histograms, which are representative of an individual's typical mouse use. These classication histograms can then be compared to validate identity. This classication approach is suitable for providing continuous identity validation during an entire user session.

  1. Shape control of manipulators with hyper degrees of freedom

    SciTech Connect

    Mochiyama, Hiromi; Shimemura, Etsujiro; Kobayashi, Hisato

    1999-06-01

    This paper provides a theoretical framework for controlling a manipulator with hyper degrees of freedom (HDOF) . An HDOF manipulator has the capability to achieve various kinds of tasks. To make full use of its capability, shape control is proposed here; that is, not only the tip of a manipulator, but also its whole body is controlled. To formulate control objectives for shape control, the authors define a shape correspondence between an HDOF manipulator and a spatial curve that prescribes a desired shape. The shape correspondence is defined by using solutions of a nonlinear optimization problem termed the shape-inverse problem. They give theorems on the existence of the solutions, and on an existence region that allows them to convert shape-control problems into more tractable ones. A shape-regulation control problem is considered first to bring an HDOF manipulator onto a given time-invariant curve. The idea of estimating the desired curve parameters is the crucial key to solving the problem by Lyapunov design. The derived shape-regulation law includes the estimator, which infers the desired curve parameters corresponding to the desired joint positions on the curve. The idea of the desired curve-parameter estimation is also effective for shape tracking where a time-varying curve is used for prescribing a moving desired shape. Considering an estimator with second-order dynamics enables the authors to find two shape-tracking control laws by utilizing conventional tracking methods in manipulator control. They show the simulation results of applying the derived shape-tracking control laws to a 20-DOF manipulator.

  2. 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…

  3. 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.…

  4. 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

  5. Standard Mastery Curves and Skew Curves.

    ERIC Educational Resources Information Center

    Warries, Egbert

    The objective of the study is to convince educational researchers of the necessity for "standard mastery curves" for the graphical representation of scores on summative tests for a group of students. Attention is drawn to the study of theoretical and empirical skew curves in education and biology. Use of standard mastery curves and study of skew…

  6. A Comparative SEM Investigation of Smear Layer Remaining on Dentinal Walls by Three Rotary NiTi Files with Different Cross Sectional Designs in Moderately Curved Canals

    PubMed Central

    Kakkar, Pooja; Vats, Asit

    2015-01-01

    Objective: The objective of this study was to compare the smear layer formed on root canal walls during canal preparation of extracted human teeth by Twisted, Mtwo, and ProTaper rotary nickel titanium instruments. Materials and Methods: Sixty single rooted human premolar teeth with root curvature <250 were selected and randomly divided into three Groups (n= 20 teeth per Group). Three types of rotary nickel titanium instruments were used, Twisted (SybronEndo, Orange, CA, USA), Mtwo (VDW, Munich, Germany) and ProTaper (Dentsply Maillefer, Ballaigues, Switzerland) according to manufacturer’s instructions to instrument the root canals. Irrigation for all groups was performed after each instrument change with 3ml of 3% sodium hypochlorite followed by Glyde (File Prep, Dentsply, Maillefer, Ballaigues, Switzerland) as chelator paste and lubricant. Three different areas (coronal, middle and apical thirds) of the root canal were evaluated using scanning electron microscopy (SEM). The canal wall of each sample was assessed and compared using a predefined scale for the presence or absence of smear layer. Data were analysed statistically using ANOVA and Tukey HSD test Results: All three groups showed statistically significant more smear layer in the apical thirds of the canal as compared to the coronal and middle thirds (p<0.001). Mtwo rotary file system produced significantly less smear layer (p<0.001) compared to Twisted and ProTaper rotary instruments in the apical portion. Twisted Files resulted in less smear layer formation in the apical thirds of the canal compared to ProTaper rotary instruments but were statistically insignificant. Conclusion: Completely clean root canals were not found after instrumentation with any of the three instruments. Under the confines of this study Mtwo instruments produced significantly cleaner dentin wall surfaces throughout the canal length in comparison to Twisted and ProTaper rotary files. Twisted Files proved to be comparable to Pro

  7. 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)

  8. Explicit superconic curves.

    PubMed

    Cho, Sunggoo

    2016-09-01

    Conics and Cartesian ovals are extremely important curves in various fields of science. In addition, aspheric curves based on conics are useful in optical design. Superconic curves, recently suggested by Greynolds, are extensions of both conics and Cartesian ovals and have been applied to optical design. However, they are not extensions of aspheric curves based on conics. In this work, we investigate another type of superconic curves. These superconic curves are extensions of not only conics and Cartesian ovals but also aspheric curves based on conics. Moreover, these are represented in explicit form, while Greynolds's superconic curves are in implicit form. PMID:27607506

  9. 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

  10. 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 ...

  11. 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

  12. 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

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. Inertial focusing of particles in curved microchannels

    NASA Astrophysics Data System (ADS)

    Joshi, Ketaki Neelkanth

    Since the beginning of microfluidics, the ability to control motion of particles in microchannels has always been fascinating. Microfluidic techniques such as dielectrophoresis, magnetophoresis rely on externally applied fields to separate particles while others like hydrophoresis and deterministic lateral displacement depend on low Reynolds number operation for particle manipulation. One of these techniques is inertial focusing of particles in microchannels. The particles and channel interact to cause lateral migration of particles to equilibrium positions within channel cross-section in flow regime where inertia and viscosity of fluid are finite. Inertial focusing has wide range of applications in fields of chemical synthesis, biological analysis, multiphase flows, cell biology and many more. This thesis presents the study of inertial focusing of particles in spiral microchannels. Particle focusing in curved channel depends on number of parameters such as channel cross section, curvature of channel, size and shape of particles and flow parameters like channel Reynolds number. Effect of some of above mentioned parameters on inertial focusing of particles have been discussed in detail in this thesis. Effect of curvature of channel on inertial focusing in spiral channels has been studied. Microchannels with square and rectangular cross-section are considered in this study. Study of hydrodynamic focusing of particles in non-Newtonian fluid in curved channel is performed. The results are compared with those obtained for inertial focusing of particles in Newtonian fluids in spiral microchannel. The understanding of different factors influencing the particle behavior in spiral channels can be used to develop new and improved technologies in biomedical applications.

  20. Manipulating the Gradient

    ERIC Educational Resources Information Center

    Gaze, Eric C.

    2005-01-01

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

  1. Manipulating Combinatorial Structures.

    ERIC Educational Resources Information Center

    Labelle, Gilbert

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

  2. Trust versus Manipulation

    ERIC Educational Resources Information Center

    Lewis, Anne C.

    2005-01-01

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

  3. Kinematically redundant robot manipulators

    NASA Technical Reports Server (NTRS)

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

    1987-01-01

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

  4. Computer Algebra versus Manipulation

    ERIC Educational Resources Information Center

    Zand, Hossein; Crowe, David

    2004-01-01

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

  5. Door breaching robotic manipulator

    NASA Astrophysics Data System (ADS)

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

    2008-04-01

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

  6. Equivalent Fraction Learning Trajectories for Students with Mathematical Learning Difficulties When Using Manipulatives

    ERIC Educational Resources Information Center

    Westenskow, Arla

    2012-01-01

    This study identified variations in the learning trajectories of Tier II students when learning equivalent fraction concepts using physical and virtual manipulatives. The study compared three interventions: physical manipulatives, virtual manipulatives, and a combination of physical and virtual manipulatives. The research used a sequential…

  7. 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)

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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

  14. 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

  15. 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.

  16. Learning Curve of Percutaneous Endoscopic Lumbar Discectomy Based on the Period (Early vs. Late) and Technique (in-and-out vs. in-and-out-and-in): A Retrospective Comparative Study

    PubMed Central

    Kim, Sang-Hyeon; Kim, Dong-Won

    2015-01-01

    Objective To report the learning curve of percutaneous endoscopic lumbar discectomy (PELD) for a surgeon who had not been previously exposed to this procedure based on the period and detailed technique with a retrospective matched comparative design. Methods Of 213 patients with lumbar disc herniation encountered during the reference period, 35 patients who were followed up for 1 year after PELD were enrolled in this study. The patients were categorized by the period and technique of operation : group A, the first 15 cases, who underwent by the 'in-and-out' technique; group B, the next 20 cases, who underwent by the 'in-and-out-and-in' technique. The operation time, failure rate, blood loss, complication rate, re-herniation rate, the Visual Analogue Scale (VAS) for back and leg were checked. The alteration of dural sac cross-sectional area (DSCSA) between the preoperative and the postoperative MRI was checked. Results Operative time was rapidly reduced in the early phase, and then tapered to a steady state for the 35 cases receiving the PELD. After surgery, VAS scores for the back and leg were decreased significantly in both groups. Complications occurred in 2 patients in group A and 2 patients in group B. Between the two groups, there were significant differences in operative time, improvement of leg VAS, and expansion of DSCSA. Conclusion PELD learning curve seems to be acceptable with sufficient preparation. However, because of their high tendency to delayed operation time, operation failure, and re-herniation, caution should be exercised at the early phase of the procedure. PMID:26819689

  17. 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…

  18. Buckling Analysis of Anisotropic Curved Panels and Shells with Variable Curvature

    NASA Technical Reports Server (NTRS)

    Jaunky, Navin; Knight, Norman F., Jr.; Ambur, Damodar R.

    1998-01-01

    A buckling formulation for anisotropic curved panels with variable curvature is presented in this paper. The variable curvature panel is assumed to consists of two or more panels of constant but different curvatures. Bezier functions are used as Ritz functions Displacement (C(sup 0)), and slope (C(sup 1)) continuities between segments are imposed by manipulation of the Bezier control points. A first-order shear-deformation theory is used in the buckling formulation. Results obtained from the present formulation are compared with those from finite element simulations and are found to be in good agreement.

  19. 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

  20. 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

  1. 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.

  2. Dispersion curve-based sensitivity engineering for enhanced surface plasmon resonance detection

    NASA Astrophysics Data System (ADS)

    El-Gohary, Sherif H.; Eom, Seyoung; Lee, Soo Yeol; Byun, Kyung Min

    2016-07-01

    Manipulation of dispersion curve for enhancing surface plasmon resonance (SPR) detection is proposed. Based on strong correlation between slope of dispersion curve and SPR angle shift, it is confirmed that dispersion curve characteristics can be employed as an analysis tool to evaluate SPR sensor performance and to predict anomalous plasmonic behaviors. Complicated resonance shift in SPR angle, especially in the presence of metallic nanograting, such as negative shift, can be controlled reliably by engineering the dispersion curve. As it has a dependence on geometrical parameters of metallic films and gratings, dispersion relation engineering is also useful in optimizing the sensor sensitivity. For a wavelength of λ=630 nm, introduction of a gold nanograting shows a significant improvement in sensitivity by more than 5 times, compared to a traditional thin-film-based SPR structure. In addition, we find that use of a longer wavelength in near-infrared region can be advantageous for avoiding a negative SPR shift and obtaining a narrow and deep SPR curve. Our approach is expected to extend the applicability of dispersion-based sensitivity engineering technique to a variety of SPR platforms for highly enhanced SPR detection.

  3. 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

  4. 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.

  5. Flow-duration curves

    USGS Publications Warehouse

    Searcy, James Kincheon

    1959-01-01

    The flow-duration curve is a cumulative frequency curve that shows the percent of time specified discharges were equaled or exceeded during a given period. It combines in one curve the flow characteristics of a stream throughout the range of discharge, without regard to the sequence of occurrence. If the period upon which the curve is based represents the long-term flow of a stream, the curve may be used to predict the distribution of future flows for water- power, water-supply, and pollution studies. This report shows that differences in geology affect the low-flow ends of flow-duration curves of streams in adjacent basins. Thus, duration curves are useful in appraising the geologic characteristics of drainage basins. A method for adjusting flow-duration curves of short periods to represent long-term conditions is presented. The adjustment is made by correlating the records of a short-term station with those of a long-term station.

  6. Anodic Polarization Curves Revisited

    ERIC Educational Resources Information Center

    Liu, Yue; Drew, Michael G. B.; Liu, Ying; Liu, Lin

    2013-01-01

    An experiment published in this "Journal" has been revisited and it is found that the curve pattern of the anodic polarization curve for iron repeats itself successively when the potential scan is repeated. It is surprising that this observation has not been reported previously in the literature because it immediately brings into…

  7. The Skipping Rope Curve

    ERIC Educational Resources Information Center

    Nordmark, Arne; Essen, Hanno

    2007-01-01

    The equilibrium of a flexible inextensible string, or chain, in the centrifugal force field of a rotating reference frame is investigated. It is assumed that the end points are fixed on the rotation axis. The shape of the curve, the skipping rope curve or "troposkien", is given by the Jacobi elliptic function sn. (Contains 3 figures.)

  8. 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.

  9. 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

  10. 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

  11. 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.

  12. Symmetry Properties of Potentiometric Titration Curves.

    ERIC Educational Resources Information Center

    Macca, Carlo; Bombi, G. Giorgio

    1983-01-01

    Demonstrates how the symmetry properties of titration curves can be efficiently and rigorously treated by means of a simple method, assisted by the use of logarithmic diagrams. Discusses the symmetry properties of several typical titration curves, comparing the graphical approach and an explicit mathematical treatment. (Author/JM)

  13. Composite curved frames for helicopter fuselage structure

    NASA Technical Reports Server (NTRS)

    Rich, M. J.; Lowry, D. W.

    1984-01-01

    This paper presents the results of analysis and testing of composite curved frames. A major frame was selected from the UH-60 Black Hawk helicopter and designed as a composite structure. The curved beam effects were expected to increase flange axial stresses and induce transverse bending. A NASTRAN finite element analysis was conducted and the results were used in the design of composite curved frame specimens. Three specimens were fabricated and five static tests were conducted. The NASTRAN analysis and test results are compared for axial, transverse, and Web strains. Results show the curved beam effects are closely predicted by a NASTRAN analysis and the effects increase with loading on the composite frames.

  14. Grid Generation Techniques Utilizing the Volume Grid Manipulator

    NASA Technical Reports Server (NTRS)

    Alter, Stephen J.

    1998-01-01

    This paper presents grid generation techniques available in the Volume Grid Manipulation (VGM) code. The VGM code is designed to manipulate existing line, surface and volume grids to improve the quality of the data. It embodies an easy to read rich language of commands that enables such alterations as topology changes, grid adaption and smoothing. Additionally, the VGM code can be used to construct simplified straight lines, splines, and conic sections which are common curves used in the generation and manipulation of points, lines, surfaces and volumes (i.e., grid data). These simple geometric curves are essential in the construction of domain discretizations for computational fluid dynamic simulations. By comparison to previously established methods of generating these curves interactively, the VGM code provides control of slope continuity and grid point-to-point stretchings as well as quick changes in the controlling parameters. The VGM code offers the capability to couple the generation of these geometries with an extensive manipulation methodology in a scripting language. The scripting language allows parametric studies of a vehicle geometry to be efficiently performed to evaluate favorable trends in the design process. As examples of the powerful capabilities of the VGM code, a wake flow field domain will be appended to an existing X33 Venturestar volume grid; negative volumes resulting from grid expansions to enable flow field capture on a simple geometry, will be corrected; and geometrical changes to a vehicle component of the X33 Venturestar will be shown.

  15. 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

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. Mechanics of Curved Folds

    NASA Astrophysics Data System (ADS)

    Dias, Marcelo A.; Santangelo, Christian D.

    2011-03-01

    Despite an almost two thousand year history, origami, the art of folding paper, remains a challenge both artistically and scientifically. Traditionally, origami is practiced by folding along straight creases. A whole new set of shapes can be explored, however, if, instead of straight creases, one folds along arbitrary curves. We present a mechanical model for curved fold origami in which the energy of a plastically-deformed crease is balanced by the bending energy of developable regions on either side of the crease. Though geometry requires that a sheet buckle when folded along a closed curve, its shape depends on the elasticity of the sheet. NSF DMR-0846582.

  5. 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.

  6. 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.

  7. Gravitational-wave sensitivity curves

    NASA Astrophysics Data System (ADS)

    Moore, C. J.; Cole, R. H.; Berry, C. P. L.

    2015-01-01

    There are several common conventions in use by the gravitational-wave community to describe the amplitude of sources and the sensitivity of detectors. These are frequently confused. We outline the merits of and differences between the various quantities used for parameterizing noise curves and characterizing gravitational-wave amplitudes. We conclude by producing plots that consistently compare different detectors. Similar figures can be generated on-line for general use at http://rhcole.com/apps/GWplotter.

  8. Optical Manipulation with Plasmonic Beam Shaping Antenna Structures

    DOE PAGESBeta

    Jun, Young Chul; Brener, Igal

    2012-01-01

    Near-field optical trapping of objects using plasmonic antenna structures has recently attracted great attention. However, metal nanostructures also provide a compact platform for general wavefront engineering of intermediate and far-field beams. Here, we analyze optical forces generated by plasmonic beam shaping antenna structures and show that they can be used for general optical manipulation such as guiding of a dielectric particle along a linear or curved trajectory. This removes the need for bulky diffractive optical components and facilitates the integration of optical force manipulation into a highly functional, compact system.

  9. A global motion planner for curve-tracing robots

    SciTech Connect

    Hwang, Y.K.; Chen, P.C.; Neidigk, D.D.; Maciejewski, A.A.

    1993-11-01

    We present a global motion planner for tracing curves in three dimensions with robot manipulator tool frames. This planner generates an efficient motion satisfying three types of constraints; constraints on the tool tip for curve tracing, robot kinematic constraints and robot-link collision constraints. Motions are planned using a global search algorithm and a local planner based on a potential-field approach. This planner can be used with potential-field approach. This planner can be used with any robots including redundant manipulators, and can any robots including redundant manipulators, and can control the trade-offs between its algorithmic completeness and computation time. It can be applied in many robotic tasks such as seam welding, caulking, edge deburrring and chamfering, and is expected to reduce motion programming times from days to minutes.

  10. Curve Stitching in LOGO.

    ERIC Educational Resources Information Center

    Muscat, Jean-Paul

    1992-01-01

    Uses LOGO to enhance the applicability of curve stitching in the mathematics curriculum. Presents the formulas and computer programs for the construction of parabolas, concentric circles, and epicycloids. Diagrams of constructed figures are provided. (MDH)

  11. 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

  12. Electrostatic Transport and Manipulation of Lunar Soil and Dust

    SciTech Connect

    Kawamoto, Hiroyuki

    2008-01-21

    Transport and manipulation technologies of lunar soil and dust are under development utilizing the electrostatic force. Transport of particles is realized by an electrostatic conveyer consisting of parallel electrodes. Four-phase traveling electrostatic wave was applied to the electrodes to transport particles upon the conveyer and it was demonstrated that particles were efficiently transported under conditions of low frequency, high voltage, and the application of rectangular wave. Not only linear but also curved and closed transport was demonstrated. Numerical investigation was carried out with a three-dimensional hard-sphere model of the Distinct Element Method to clarify the mechanism of the transport and to predict performances in the lunar environment. This technology is expected to be utilized not only for the transport of bulk soil but also for the cleaning of a solar panel and an optical lens. Another technology is an electrostatic manipulation system to manipulate single particle. A manipulator consisted of two parallel pin electrodes. When voltage was applied between the electrodes, electrophoresis force generated in non-uniform electrostatic field was applied to the particle near the tip of the electrode. The particle was captured by the application of the voltage and released from the manipulator by turning off the voltage. It was possible to manipulate not only insulative but also conductive particles. Three-dimensional electrostatic field calculation was conducted to calculate the electrophoresis force and the Coulomb force.

  13. 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…

  14. 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…

  15. 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

  16. 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.

  17. 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

  18. 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

  19. Kinematic analysis of platform-type robotic manipulators

    NASA Astrophysics Data System (ADS)

    Shi, Xiaolun

    New methods are developed for the kinematic analysis of serial and platform-type parallel robotic manipulators, including forward and inverse kinematic solutions, singularity identifications and workspace evaluation. Differences between serial and platform-type parallel manipulators, which can provide substantially improved end-point rigidity compared with the conventional serial robotic arms, are addressed. The problem of determining the screw parameters of rigid body motion from initial and final position data is discussed, as a basis to search for a general and efficient procedure to solve the complex forward kinematics problem of platform-type manipulators. Several Screw-Theory based approaches for solving the inverse instantaneous problem of 6 DOF serial manipulators are studied and compared in terms of their computational efficiency, accuracy, sensitivity to data error and capability of dealing with singularities. A modified Vector Decomposition method is then proposed for solving the IIK problem and for singularity analysis of serial kinematic chains, the method is especially effective when applied to the wrist partitioned serial manipulators, which are essential components to any platform-type parallel manipulators. By using the data of three point positions, velocities, and accelerations of the end effector a general method is developed for solving the forward kinematics problem, including position, velocity and acceleration kinematics, of platform-type manipulators. The solution procedure can be applied to a wide variety of platform-type manipulators such as the 6 DOF Steward Platform manipulator and other models. It is found that while the solution for the forward position kinematics of a platform-type manipulator can be obtained by solving a non-linear system of equations, the closed-form solutions for forward rate and acceleration kinematics can be found by solving a system of linear equations. Based on the proposed kinematic formulations, an algorithm

  20. 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

  1. 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.

  2. Computerized symbolic manipulation in nonlinear finite element analysis

    NASA Technical Reports Server (NTRS)

    Noor, A. K.; Andersen, C. M.

    1981-01-01

    The potential of using computerized symbolic manipulation in the development of nonlinear finite elements is discussed. Three tasks which can be efficiently performed using computerized symbolic manipulation are identified: (1) generation of algebraic expressions for the stiffness coefficients of nonlinear finite elements, (2) generation of FORTRAN source code for numerical evaluation of stiffness coefficients, and (3) checking the correctness of the FORTRAN statements for the arrays of coefficients. The symbolic and algebraic manipulation system MACSYMA is used in the present study. Two sample MACSYMA programs are presented for the development of the nonlinear stiffness coefficients of two-dimensional, shear-flexible, doubly-curved deep shell elements. The first program is for displacement models and the second program is for mixed models with discontinuous stress-resultant fields at interelement boundaries.

  3. Are Driving and Overtaking on Right Curves More Dangerous than on Left Curves?

    PubMed Central

    Othman, Sarbaz; Thomson, Robert; Lannér, Gunnar

    2010-01-01

    It is well known that crashes on horizontal curves are a cause for concern in all countries due to the frequency and severity of crashes at curves compared to road tangents. A recent study of crashes in western Sweden reported a higher rate of crashes in right curves than left curves. To further understand this result, this paper reports the results of novel analyses of the responses of vehicles and drivers during negotiating and overtaking maneuvers on curves for right hand traffic. The overall objectives of the study were to find road parameters for curves that affect vehicle dynamic responses, to analyze these responses during overtaking maneuvers on curves, and to link the results with driver behavior for different curve directions. The studied road features were speed, super-elevation, radius and friction including their interactions, while the analyzed vehicle dynamic factors were lateral acceleration and yaw angular velocity. A simulation program, PC-Crash, has been used to simulate road parameters and vehicle response interaction in curves. Overtaking maneuvers have been simulated for all road feature combinations in a total of 108 runs. Analysis of variances (ANOVA) was performed, using two sided randomized block design, to find differences in vehicle responses for the curve parameters. To study driver response, a field test using an instrumented vehicle and 32 participants was reviewed as it contained longitudinal speed and acceleration data for analysis. The simulation results showed that road features affect overtaking performance in right and left curves differently. Overtaking on right curves was sensitive to radius and the interaction of radius with road condition; while overtaking on left curves was more sensitive to super-elevation. Comparisons of lateral acceleration and yaw angular velocity during these maneuvers showed different vehicle response configurations depending on curve direction and maneuver path. The field test experiments also showed

  4. Active damping of oscillations in a long compliant manipulator link

    NASA Astrophysics Data System (ADS)

    Baker, C. P.; Evans, M. S.; Trudnowski, D. J.; Magee, D. P.

    1993-07-01

    A flexible manipulator test bed consisting of a fifteen foot long fixed-free compliant beam (representing a compliant manipulator link) with a Shilling Titan II dextrous manipulator mounted on its free end has been constructed at Pacific Northwest Laboratory (PNL). A comprehensive dynamic model which includes flexible body effects has been developed at PNL using a commercially available multibody dynamics code. A linearized version of the model is used to develop control strategies which use inertial forces generated by movements of the dextrous manipulator to damp out induced oscillations in the beam. These control strategies are tested on the model and shown to be feasible, and then implemented in the flexible manipulator testbed. Results from the hardware experiments are analyzed and compared with the model results.

  5. IGMtransmission: Transmission curve computation

    NASA Astrophysics Data System (ADS)

    Harrison, Christopher M.; Meiksin, Avery; Stock, David

    2015-04-01

    IGMtransmission is a Java graphical user interface that implements Monte Carlo simulations to compute the corrections to colors of high-redshift galaxies due to intergalactic attenuation based on current models of the Intergalactic Medium. The effects of absorption due to neutral hydrogen are considered, with particular attention to the stochastic effects of Lyman Limit Systems. Attenuation curves are produced, as well as colors for a wide range of filter responses and model galaxy spectra. Photometric filters are included for the Hubble Space Telescope, the Keck telescope, the Mt. Palomar 200-inch, the SUBARU telescope and UKIRT; alternative filter response curves and spectra may be readily uploaded.

  6. 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.

  7. 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

  8. 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.

  9. 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.

  10. Graphing Polar Curves

    ERIC Educational Resources Information Center

    Lawes, Jonathan F.

    2013-01-01

    Graphing polar curves typically involves a combination of three traditional techniques, all of which can be time-consuming and tedious. However, an alternative method--graphing the polar function on a rectangular plane--simplifies graphing, increases student understanding of the polar coordinate system, and reinforces graphing techniques learned…

  11. The Bacterial Growth Curve.

    ERIC Educational Resources Information Center

    Paulton, Richard J. L.

    1991-01-01

    A procedure that allows students to view an entire bacterial growth curve during a two- to three-hour student laboratory period is described. Observations of the lag phase, logarithmic phase, maximum stationary phase, and phase of decline are possible. A nonpathogenic, marine bacterium is used in the investigation. (KR)

  12. Textbook Factor Demand Curves.

    ERIC Educational Resources Information Center

    Davis, Joe C.

    1994-01-01

    Maintains that teachers and textbook graphics follow the same basic pattern in illustrating changes in demand curves when product prices increase. Asserts that the use of computer graphics will enable teachers to be more precise in their graphic presentation of price elasticity. (CFR)

  13. 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

  14. Multiple Optical Traps with a Single-Beam Optical Tweezer Utilizing Surface Micromachined Planar Curved Grating

    NASA Astrophysics Data System (ADS)

    Kuo, Ju-Nan; Chen, Kuan-Yu

    2010-11-01

    In this paper, we present a single-beam optical tweezer integrated with a planar curved diffraction grating for microbead manipulation. Various curvatures of the surface micromachined planar curved grating are systematically investigated. The planar curved grating was fabricated using multiuser micro-electro-mechanical-system (MEMS) processes (MUMPs). The angular separation and the number of diffracted orders were determined. Experimental results indicate that the diffraction patterns and curvature of the planar curved grating are closely related. As the curvature of the planar curved grating increases, the vertical diffraction angle increases, resulting in the strip patterns of the planar curved grating. A single-beam optical tweezer integrated with a planar curved diffraction grating was developed. We demonstrate a technique for creating multiple optical traps from a single laser beam using the developed planar curved grating. The strip patterns of the planar curved grating that resulted from diffraction were used to trap one row of polystyrene beads.

  15. 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)

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. Preterm infants' manipulative exploration of objects.

    PubMed

    Ruff, H A; McCarton, C; Kurtzberg, D; Vaughan, H G

    1984-08-01

    Because manipulative exploration of objects may be important to the infant's perception and conceptualization of objects, this study compared full-term infants with preterm infants who are considered to be at risk for cognitive deficits. 30 preterms at 9 months, with age corrected for prematurity, and 20 9-month-old full-terms were videotaped while they explored novel objects; the videotapes were scored for behaviors such as looking, handling, mouthing, turning the object around, fingering, transferring from hand to hand, and banging. There were no differences between the preterms and the full-terms. A "low-risk" subgroup and a "high-risk" subgroup of preterms were then compared with each other as well as to the full-terms. The low-risk subgroup was essentially the same as the full-terms. The high-risk preterms, however, fingered, rotated, and transferred the objects less than either the full-terms or the low-risk preterms. There was a relationship between manipulative exploration at 9 months and later cognitive functioning, suggesting that lower levels of manipulation may be one way in which cognitive deficits originate or are maintained. PMID:6488951

  1. Factorization with genus 2 curves

    NASA Astrophysics Data System (ADS)

    Cosset, Romain

    2010-04-01

    The elliptic curve method (ECM) is one of the best factorization methods available. It is possible to use hyperelliptic curves instead of elliptic curves but it is in theory slower. We use special hyperelliptic curves and Kummer surfaces to reduce the complexity of the algorithm. Our implementation GMP-HECM is faster than GMP-ECM for factoring large numbers.

  2. A Plasmonic Spanner for Metal Particle Manipulation

    PubMed Central

    Zhang, Yuquan; Shi, Wei; Shen, Zhe; Man, Zhongsheng; Min, Changjun; Shen, Junfeng; Zhu, Siwei; Urbach, H. Paul; Yuan, Xiaocong

    2015-01-01

    Typically, metal particles are difficult to manipulate with conventional optical vortex (OV) tweezers, because of their strong absorption and scattering. However, it has been shown that the vortex field of surface plasmonic polaritons, called plasmonic vortex (PV), is capable of stable trapping and dynamic rotation of metal particles, especially those of mesoscopic and Mie size. To uncover the different physical mechanisms of OV and PV tweezers, we investigated the force distribution and trapping potential of metal particles. In OV tweezers the stronger scattering force causes a positive potential barrier that repels particles, whereas in PV tweezers the dominant gradient force contributes to a negative potential well, resulting in stably trapped particles. Compared with OV, the orbital angular momentum of PV produces an azimuthal scattering force that rotates the trapped particles with more precise radius and position. Our results demonstrate that PV tweezers are superior in manipulation of metal particles. PMID:26481689

  3. A Plasmonic Spanner for Metal Particle Manipulation.

    PubMed

    Zhang, Yuquan; Shi, Wei; Shen, Zhe; Man, Zhongsheng; Min, Changjun; Shen, Junfeng; Zhu, Siwei; Urbach, H Paul; Yuan, Xiaocong

    2015-01-01

    Typically, metal particles are difficult to manipulate with conventional optical vortex (OV) tweezers, because of their strong absorption and scattering. However, it has been shown that the vortex field of surface plasmonic polaritons, called plasmonic vortex (PV), is capable of stable trapping and dynamic rotation of metal particles, especially those of mesoscopic and Mie size. To uncover the different physical mechanisms of OV and PV tweezers, we investigated the force distribution and trapping potential of metal particles. In OV tweezers the stronger scattering force causes a positive potential barrier that repels particles, whereas in PV tweezers the dominant gradient force contributes to a negative potential well, resulting in stably trapped particles. Compared with OV, the orbital angular momentum of PV produces an azimuthal scattering force that rotates the trapped particles with more precise radius and position. Our results demonstrate that PV tweezers are superior in manipulation of metal particles. PMID:26481689

  4. Is manipulative therapy more effective than sham manipulation in adults?: a systematic review and meta-analysis

    PubMed Central

    2013-01-01

    Background Manipulative therapy is widely used in the treatment of spinal disorders. Manipulative techniques are under debate because of the possibility of adverse events. To date, the efficacy of manipulations compared to sham manipulations is unclear. The purpose of the study is: to assess the efficacy of manipulative therapy compared to sham in adults with a variety of complaints. Study design Systematic review and meta-analysis. Methods Bibliographic databases (PubMed, EMBASE, CINAHL, PEDro, Central) along with a hand search of selected bibliographies were searched from inception up to April 2012. Two reviewers independently selected randomized clinical trials (RCTs) that evaluated manipulative therapy compared to sham manipulative therapy in adults, assessed risk of bias and extracted data concerning participants, intervention, kind of sham, outcome measures, duration of follow-up, profession, data on efficacy and adverse events. Pooled (standardized) mean differences or risk differences were calculated were possible using a random effects model. The primary outcomes were pain, disability, and perceived recovery. The overall quality of the body of evidence was evaluated using GRADE. Results In total 965 references were screened for eligibility and 19 RCTs (n = 1080) met the selection criteria. Eight studies were considered of low risk of bias. There is moderate level of evidence that manipulative therapy has a significant effect in adults on pain relief immediately after treatment (standardized mean difference [SMD] - 0.68, 95% confidence interval (-1.06 to -0.31). There is low level of evidence that manipulative therapy has a significant effect in adults on pain relief (SMD - 0.37, -0.69 to -0.04) at short- term follow-up. In patients with musculoskeletal disorders, we found moderate level of evidence for pain relief (SMD - 0.73, -1.21 to -0.25) immediate after treatment and low level of evidence for pain relief (SMD - 0.52, -0.87 to -0.17) at short term

  5. Study to design and develop remote manipulator system

    NASA Technical Reports Server (NTRS)

    Hill, J. W.; Sword, A. J.

    1973-01-01

    Human performance measurement techniques for remote manipulation tasks and remote sensing techniques for manipulators are described for common manipulation tasks, performance is monitored by means of an on-line computer capable of measuring the joint angles of both master and slave arms as a function of time. The computer programs allow measurements of the operator's strategy and physical quantities such as task time and power consumed. The results are printed out after a test run to compare different experimental conditions. For tracking tasks, we describe a method of displaying errors in three dimensions and measuring the end-effector position in three dimensions.

  6. Spider diffraction: a comparison of curved and straight legs

    SciTech Connect

    Richter, J.L.

    1984-06-15

    It has been known for some time that, if curved legs rather than the usual straight ones are used in the spider that supports the secondary optics in certain telescopes, the visible diffraction effect is reduced. Fraunhofer theory is used to calculate the diffraction effects due to the curved leg spider. Calculated and photographic diffraction patterns are compared for straight and curved leg spiders.

  7. Atlas of fatigue curves

    SciTech Connect

    Boyer, H.E.

    1986-01-01

    This Atlas was developed to serve engineers who are looking for fatigue data on a particular metal or alloy. Having these curves compiled in a single book will also facilitate the computerization of the involved data. It is pointed out that plans are under way to make the data in this book available in ASCII files for analysis by computer programs. S-N curves which typify effects of major variables are considered along with low-carbon steels, medium-carbon steels, alloy steels, HSLA steels, high-strength alloy steels, heat-resisting steels, stainless steels, maraging steels, cast irons, and heat-resisting alloys. Attention is also given to aluminum alloys, copper alloys, magnesium alloys, molybdenum, tin alloys, titanium and titanium alloys, zirconium, steel castings, closed-die forgings, powder metallurgy parts, composites, effects of surface treatments, and test results for component parts.

  8. Spinal curves and scoliosis.

    PubMed

    Anderson, Susan M

    2007-01-01

    Scoliosis, an abnormal side-to-side curve of the spine with associated vertebral rotation, affects as many as 4% of all adolescents. Several different categories of scoliosis exist, and treatment can range from observation and follow-up to bracing and surgical correction. This article discusses special imaging series for scoliosis and emphasizes the need for proper radiation protection techniques for patients with scoliosis, most of whom are girls in their early to mid-teens. PMID:17848532

  9. Experimental verification of a large flexible manipulator

    NASA Technical Reports Server (NTRS)

    Lee, Jac Won; Huggins, James D.; Book, Wayne J.

    1988-01-01

    A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure, such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. A verification of the modeling using the assumed mode method is presented. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator is verified.

  10. The Stephan Curve revisited.

    PubMed

    Bowen, William H

    2013-01-01

    The Stephan Curve has played a dominant role in caries research over the past several decades. What is so remarkable about the Stephan Curve is the plethora of interactions it illustrates and yet acid production remains the dominant focus. Using sophisticated technology, it is possible to measure pH changes in plaque; however, these observations may carry a false sense of accuracy. Recent observations have shown that there may be multiple pH values within the plaque matrix, thus emphasizing the importance of the milieu within which acid is formed. Although acid production is indeed the immediate proximate cause of tooth dissolution, the influence of alkali production within plaque has received relative scant attention. Excessive reliance on Stephan Curve leads to describing foods as "safe" if they do not lower the pH below the so-called "critical pH" at which point it is postulated enamel dissolves. Acid production is just one of many biological processes that occur within plaque when exposed to sugar. Exploration of methods to enhance alkali production could produce rich research dividends. PMID:23224410

  11. Smarandache curves according to Sabban frame of fixed pole curve belonging to the Bertrand curves pair

    NASA Astrophysics Data System (ADS)

    Şenyurt, Süleyman; Altun, Yasin; Cevahir, Ceyda

    2016-04-01

    In this paper, we investigate the Smarandache curves according to Sabban frame of fixed pole curve which drawn by the unit Darboux vector of the Bertrand partner curve. Some results have been obtained. These results were expressed as the depends Bertrand curve.

  12. Research and optimization on stator curve for roller pump

    NASA Astrophysics Data System (ADS)

    Yang, G. L.; Zhang, J. F.; Su, H. S.; Zhang, L. Q.

    2013-12-01

    By analyzing the advantages and disadvantages of common roller pump's stator curve (assuming that the roller on this stator curve has eliminated the void point), using curve fitting transitional method to pass the soft and hard impact point, then we can obtain a high order stator curve which has lower noise. By creating a smooth stator curve (and an inflection point with a common tangent) radial velocity mutation is eliminated. In order to avoid radial velocity mutation a symmetrical radial acceleration curve is used. In order to eliminate radial acceleration mutation, both ends of the radial acceleration change rate curve are valued zero. The results showed that due to the catastrophe point of the roller's stator curve, improving its stator curve eliminates the void point and the soft and hard impact point of the roller on the stator transitional curve. Compare the eighth-power stator curve with the improved stator curve, the improved curve also has the same superior performance. On the improved stator curve, the flow pulsation could be decreased by 241.39mL/min, with which the abrasion of the roller, the impact of the pump and the noise of the pump can be reduced.

  13. A comparison of force sensing techniques for planetary manipulation

    NASA Technical Reports Server (NTRS)

    Helmick, Daniel; Okon, Avi; DiCicco, Matt

    2006-01-01

    Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability fo each technique is quantified and compared.

  14. 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.

  15. 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.

  16. 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.

  17. 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…

  18. 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.

  19. A Research on the Primary Mirror Manipulator of Large Segmented-mirror Telescope

    NASA Astrophysics Data System (ADS)

    Zuo, H.

    2012-09-01

    Since Galileo firstly used the telescope to observe the sky 400 years ago, the aperture of the telescope has become larger and larger to observe the deeper universe, and the segmented-mirror telescope is becoming more and more popular with increasing aperture. In the early 21st century, a series of segmented-mirror telescopes have been constructed including the Large Sky Area Multi-object Fiber Spectroscopic Telescope (LAMOST) of China. LAMOST is a meridian reflecting Schmidt telescope, and the dimension of the primary mirror is about 6.7 m× 6 m, which is composed of 37 hexagonal sub-mirrors. However, a problem about the mirror installation appears with the increasing aperture. If there are hundreds of sub-mirrors in the telescope, it is a challenging job to mount and dismount them to the truss. This problem is discussed in this paper and a manipulator for the primary mirror of LAMOST is designed to perform the mount and dismount work. In chapter 1, all the segmented-mirror telescopes in the world are introduced and how the sub-mirrors of these telescopes are installed has been investigated. After comparing with the serial and the parallel robot, a serial robot manipulator proposal, which has several redundant degrees of freedom (DOFs), has been chosen from a series of design proposals. In chapter 2, the theoretical analysis has been carried out on the basis of the design proposal, which includes the forward kinematics and the inverse kinematics. Firstly the D-H coordinate is built according to the structure of the manipulator, so it is possible to obtain the end-effector position and orientation from the individual joint motion thanks to the forward kinematics. Because of the redundant DOFs of the manipulator, the inverse kinematics solution can be a very trick task, and the result may not be only, therefore a kind of simulation is carried out to get the numerical solution using ADAMS (Automatic Dynamic Analysis of Mechanical System). In the dynamics analysis the

  20. 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

  1. 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.

  2. 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

  3. 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

  4. Manipulators inspired by the tongue of the chameleon.

    PubMed

    Debray, Alexis

    2011-06-01

    Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s(-1) and accelerations 350 m s(-2), with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s(-1) with an acceleration of 573 m s(-2) while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators. PMID:21422504

  5. Dynamic manipulation of particles via transformative optofluidic waveguides

    NASA Astrophysics Data System (ADS)

    Lee, Kang Soo; Lee, Kyung Heon; Kim, Sang Bok; Ha, Byung Hang; Jung, Jin Ho; Sung, Hyung Jin; Kim, Sang Soo

    2015-10-01

    Optofluidics is one of the most remarkable areas in the field of microfluidic research. Particle manipulation with optofluidic platforms has become central to optical chromatography, biotechnology, and μ-total analysis systems. Optical manipulation of particles depends on their sizes and refractive indices (n), which occasionally leads to undesirable separation consequences when their optical mobilities are identical. Here, we demonstrate rapid and dynamic particle manipulation according to n, regardless of size. Integrated liquid-core/solid-cladding (LS) and liquid-core/liquid-cladding (L2) waveguides were fabricated and their characteristics were experimentally and theoretically determined. The high and low n particles showed the opposite behaviors by controlling the contrast of their n values to those of the working fluids. The LS waveguide was found to successfully manipulate particles according to n, and the L2 waveguide was found to provide additional system stability and flexibility, compared to the LS system.

  6. Dynamic manipulation of particles via transformative optofluidic waveguides

    PubMed Central

    Lee, Kang Soo; Lee, Kyung Heon; Kim, Sang Bok; Ha, Byung Hang; Jung, Jin Ho; Sung, Hyung Jin; Kim, Sang Soo

    2015-01-01

    Optofluidics is one of the most remarkable areas in the field of microfluidic research. Particle manipulation with optofluidic platforms has become central to optical chromatography, biotechnology, and μ-total analysis systems. Optical manipulation of particles depends on their sizes and refractive indices (n), which occasionally leads to undesirable separation consequences when their optical mobilities are identical. Here, we demonstrate rapid and dynamic particle manipulation according to n, regardless of size. Integrated liquid-core/solid-cladding (LS) and liquid-core/liquid-cladding (L2) waveguides were fabricated and their characteristics were experimentally and theoretically determined. The high and low n particles showed the opposite behaviors by controlling the contrast of their n values to those of the working fluids. The LS waveguide was found to successfully manipulate particles according to n, and the L2 waveguide was found to provide additional system stability and flexibility, compared to the LS system. PMID:26471003

  7. Object impedance control for cooperative manipulation - Theory and experimental results

    NASA Technical Reports Server (NTRS)

    Schneider, Stanley A.; Cannon, Robert H., Jr.

    1992-01-01

    This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

  8. The Characteristic Curves of Water

    NASA Astrophysics Data System (ADS)

    Neumaier, Arnold; Deiters, Ulrich K.

    2016-09-01

    In 1960, E. H. Brown defined a set of characteristic curves (also known as ideal curves) of pure fluids, along which some thermodynamic properties match those of an ideal gas. These curves are used for testing the extrapolation behaviour of equations of state. This work is revisited, and an elegant representation of the first-order characteristic curves as level curves of a master function is proposed. It is shown that Brown's postulate—that these curves are unique and dome-shaped in a double-logarithmic p, T representation—may fail for fluids exhibiting a density anomaly. A careful study of the Amagat curve (Joule inversion curve) generated from the IAPWS-95 reference equation of state for water reveals the existence of an additional branch.

  9. From Laboratory Manipulations To Earth System Models

    NASA Astrophysics Data System (ADS)

    Ridgwell, A.; Schmidt, D.

    2008-12-01

    The apparent incongruence between coccolithophore calcification responses observed across different experimental manipulations, particularly those involving Emiliania huxleyi, raises new challenges particularly for modellers. This is because the global models used for predicting future fossil fuel CO2 uptake by the ocean base their parameterizations for plankton calcification and carbonate export from the ocean surface closely on laboratory results. Predictions of such models will be unreliable if rooted in unrepresentative and/or poorly understood laboratory experiments. The difficulty in making sense of the differing responses reported and thus correctly informing models is compounded by fundamental differences between laboratory culture studies, particularly in the strain (ecotype or likely even genotype) of E. huxleyi cultured. However, two pertinent observations offer the promise of resolving these difficulties: (1) experiments using other coccolithophore species have delineated the existence of a calcification 'optimum' in environmental conditions (pH), and (2) there is an unambiguous direction to the calcification-CO2 response in mesocosm and shipboard incubations. We propose that an equivalence can be drawn between species or even ecosystem integrated phytoplankton calcification rate as a function of pH (or saturation), and widely used descriptions of plankton growth rate vs. temperature (the Eppley curve). An 'Eppley' like calcification formulation provides not only a conceptual framework for reconciling the results of available experimental manipulations of coccolithophores, but also a means of constructing a simple quasi-empirical relationship for describing ocean acidification impacts on planktonic carbonate production in carbon cycle models. The implications of this for future fossil fuel CO2 uptake by the ocean are assessed in an Earth system model.

  10. Elegant Gaussian beams for enhanced optical manipulation

    SciTech Connect

    Alpmann, Christina Schöler, Christoph; Denz, Cornelia

    2015-06-15

    Generation of micro- and nanostructured complex light beams attains increasing impact in photonics and laser applications. In this contribution, we demonstrate the implementation and experimental realization of the relatively unknown, but highly versatile class of complex-valued Elegant Hermite- and Laguerre-Gaussian beams. These beams create higher trapping forces compared to standard Gaussian light fields due to their propagation changing properties. We demonstrate optical trapping and alignment of complex functional particles as nanocontainers with standard and Elegant Gaussian light beams. Elegant Gaussian beams will inspire manifold applications in optical manipulation, direct laser writing, or microscopy, where the design of the point-spread function is relevant.

  11. Manipulation of microstructure in laser additive manufacturing

    NASA Astrophysics Data System (ADS)

    Bai, Shuang; Yang, Lihmei; Liu, Jian

    2016-05-01

    In this paper, additive manufacturing (AM) of tungsten parts is investigated by using femtosecond fiber lasers. For the first time, manipulating microstructures of AM parts is systematically investigated and reported. Various processing conditions are studied, which leads to desired characteristics in terms of morphology, porosity, hardness, and microstructural and mechanical properties of the processed components. Fully dense tungsten part with refined grain and increased hardness was obtained for femtosecond laser, compared with parts made with different pulse widths and CW laser. Micro-hardness is investigated for the fabricated samples. This can greatly benefit to the make of complicated structures and materials that could not be achieved before.

  12. Molecular Genetic Manipulation of Vector Mosquitoes

    PubMed Central

    Terenius, Olle; Marinotti, Osvaldo; Sieglaff, Douglas; James, Anthony A.

    2008-01-01

    Genetic strategies for reducing populations of vector mosquitoes or replacing them with those that are not able to transmit pathogens benefit greatly from molecular tools that allow gene manipulation and transgenesis. Mosquito genome sequences and associated EST (Expressed Sequence Tags) databases enable large-scale investigations to provide new insights into evolutionary, biochemical, genetic, metabolic and physiological pathways. Additionally, comparative genomics reveals the bases for evolutionary mechanisms with particular focus on specific interactions between vectors and pathogens. We discuss how this information may be exploited for the optimization of transgenes that interfere with the propagation and development of pathogens in their mosquito hosts. PMID:18996342

  13. 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.

  14. 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).

  15. 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)

  16. 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…

  17. 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...

  18. 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.

  19. 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…

  20. 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.

  1. Titration Curves: Fact and Fiction.

    ERIC Educational Resources Information Center

    Chamberlain, John

    1997-01-01

    Discusses ways in which datalogging equipment can enable titration curves to be measured accurately and how computing power can be used to predict the shape of curves. Highlights include sources of error, use of spreadsheets to generate titration curves, titration of a weak acid with a strong alkali, dibasic acids, weak acid and weak base, and…

  2. Temporal Dynamics of Activation of Thematic and Functional Knowledge During Conceptual Processing of Manipulable Artifacts

    PubMed Central

    Kalénine, Solène; Mirman, Daniel; Middleton, Erica L.; Buxbaum, Laurel J.

    2012-01-01

    The current research aimed at specifying the activation time course of different types of semantic information during object conceptual processing and the effect of context on this time course. We distinguished between thematic and functional knowledge and the specificity of functional similarity. Two experiments were conducted with healthy older adults using eye tracking in a word-to-picture matching task. The time course of gaze fixations was used to assess activation of distractor objects during the identification of manipulable artifact targets (e.g., broom). Distractors were (a) thematically related (e.g., dustpan), (b) related by a specific function (e.g., vacuum cleaner), or (c) related by a general function (e.g., sponge). Growth curve analyses were used to assess competition effects when target words were presented in isolation (Experiment 1) and embedded in contextual sentences of different generality levels (Experiment 2). In the absence of context, there was earlier and shorter lasting activation of thematically related as compared to functionally related objects. The time course difference was more pronounced for general functions than specific functions. When contexts were provided, functional similarities that were congruent with context generality level increased in salience with earlier activation of those objects. Context had little impact on thematic activation time course. These data demonstrate that processing a single manipulable artifact concept implicitly activates thematic and functional knowledge with different time courses and that context speeds activation of context-congruent functional similarity. PMID:22449134

  3. 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.

  4. Learning hybrid force and position control of robot manipulators

    SciTech Connect

    Jeon, Doyoung; Tomizuka, Masayoshi

    1993-08-01

    When a robot performs the same task repeatedly, a learning controller can enhance the performance of the system significantly. The learning control, however, has not been studied in the force control of robot manipulators as extensively as in the position control of robot manipulators. In this paper, the learning control is applied to hybrid force and position control of robot manipulators. When the geometry and position of a constraint surface is known, the hybrid force and position controller and the feedforward compensator can be designed in the constraint coordinates. When the operation is periodic, the learning hybrid force and position control enhances the control performance as the feedforward compensator is updated in each cycle by the force and position error in the preceding trials. This scheme is proved to be asymptotically stable. A two degree of freedom SCARA-type direct-drive robot manipulator is used to test the learning hybrid force and position control. The deburring tool mounted on the upper link of the robot could follow a flat, tilted flat, and curved 1/4 inch aluminum plate with a desired contact force of 10 N (within the root-mean-square force error of 1.95 N) and with a desired tangential velocity. The experiments confirmed the effectiveness of the learning hybrid force and position controller.

  5. Acoustic devices for particle and cell manipulation and sensing.

    PubMed

    Qiu, Yongqiang; Wang, Han; Demore, Christine E M; Hughes, David A; Glynne-Jones, Peter; Gebhardt, Sylvia; Bolhovitins, Aleksandrs; Poltarjonoks, Romans; Weijer, Kees; Schönecker, Andreas; Hill, Martyn; Cochran, Sandy

    2014-01-01

    An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz) ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed. PMID:25123465

  6. Acoustic Devices for Particle and Cell Manipulation and Sensing

    PubMed Central

    Qiu, Yongqiang; Wang, Han; Demore, Christine E. M.; Hughes, David A.; Glynne-Jones, Peter; Gebhardt, Sylvia; Bolhovitins, Aleksandrs; Poltarjonoks, Romans; Weijer, Kees; Schönecker, Andreas; Hill, Martyn; Cochran, Sandy

    2014-01-01

    An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz) ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed. PMID:25123465

  7. Double-mass curves; with a section fitting curves to cyclic data

    USGS Publications Warehouse

    Searcy, James K.; Hardison, Clayton H.; Langein, Walter B.

    1960-01-01

    The double.-mass curve is used to check the consistency of many kinds of hydrologic data by comparing data for a single station with that of a pattern composed of the data from several other stations in the area The double-mass curve can be used to adjust inconsistent precipitation data. The graph of the cumulative data of one variable versus the cumulative data of a related variable is a straight line so long as the relation between the variables is a fixed ratio. Breaks in the double-mass curve of such variables are caused by changes in the relation between the variables. These changes may be due to changes in the method of data collection or to physical changes that affect the relation. Applications of the double-mass curve to precipitation, streamflow, and sediment data, and to precipitation-runoff relations are described. A statistical test for significance of an apparent break in the slope of the double-mass curve is described by an example. Poor correlation between the variables can prevent detection of inconsistencies in a record, but an increase in the length of record tends to offset the effect of poor correlation. The residual-mass curve, which is a modification of the double-mass curve, magnifies imperceptible breaks in the double-mass curve for detailed study. Of the several methods of fitting a smooth curve to cyclic or periodic data, the moving-arc method and the double-integration method deserve greater use in hydrology. Both methods are described in this manual. The moving-arc method has general applicability, and the double integration method is useful in fitting a curve to cycles of sinusoidal form.

  8. Measuring Systematic Error with Curve Fits

    ERIC Educational Resources Information Center

    Rupright, Mark E.

    2011-01-01

    Systematic errors are often unavoidable in the introductory physics laboratory. As has been demonstrated in many papers in this journal, such errors can present a fundamental problem for data analysis, particularly when comparing the data to a given model. In this paper I give three examples in which my students use popular curve-fitting software…

  9. An inverse kinematics algorithm for a highly redundant variable-geometry-truss manipulator

    NASA Technical Reports Server (NTRS)

    Naccarato, Frank; Hughes, Peter

    1989-01-01

    A new class of robotic arm consists of a periodic sequence of truss substructures, each of which has several variable-length members. Such variable-geometry-truss manipulator (VGTMs) are inherently highly redundant and promise a significant increase in dexterity over conventional anthropomorphic manipulators. This dexterity may be exploited for both obstacle avoidance and controlled deployment in complex workspaces. The inverse kinematics problem for such unorthodox manipulators, however, becomes complex because of the large number of degrees of freedom, and conventional solutions to the inverse kinematics problem become inefficient because of the high degree of redundancy. A solution is presented to this problem based on a spline-like reference curve for the manipulator's shape. Such an approach has a number of advantages: (1) direct, intuitive manipulation of shape; (2) reduced calculation time; and (3) direct control over the effective degree of redundancy of the manipulator. Furthermore, although the algorithm was developed primarily for variable-geometry-truss manipulators, it is general enough for application to a number of manipulator designs.

  10. 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.