Adapting Shape Parameters for Cubic Bezier Curves

NASA Technical Reports Server (NTRS)

Isacoff, D.; Bailey, M. J.

1985-01-01

Bezier curves are an established tool in Computer Aided Geometric Design. One of the drawbacks of the Bezier method is that the curves often bear little resemblance to their control polygons. As a result, it becomes increasingly difficult to obtain anything but a rough outline of the desired shape. One possible solution is tomanipulate the curve itself instead of the control polygon. The standard cubic Bezier curve form has introduced into it two shape parameters, gamma 1 and 2. These parameters give the user the ability to manipulate the curve while the control polygon retains its original form, thereby providing a more intuitive feel for the necessary changes to the curve in order to achieve the desired shape.

ADMAP (automatic data manipulation program)

NASA Technical Reports Server (NTRS)

Mann, F. I.

1971-01-01

Instructions are presented on the use of ADMAP, (automatic data manipulation program) an aerospace data manipulation computer program. The program was developed to aid in processing, reducing, plotting, and publishing electric propulsion trajectory data generated by the low thrust optimization program, HILTOP. The program has the option of generating SC4020 electric plots, and therefore requires the SC4020 routines to be available at excution time (even if not used). Several general routines are present, including a cubic spline interpolation routine, electric plotter dash line drawing routine, and single parameter and double parameter sorting routines. Many routines are tailored for the manipulation and plotting of electric propulsion data, including an automatic scale selection routine, an automatic curve labelling routine, and an automatic graph titling routine. Data are accepted from either punched cards or magnetic tape.

[Comparative study on effects of manipulation treatment and transcutaneous electrical nerve stimulation on patients with cervicogenic headache].

PubMed

Li, Chen; Zhang, Xiu-ling; Ding, Hong; Tao, Yue-qiang; Zhan, Hong-sheng

2007-07-01

To compare the effects of manipulation treatment and transcutaneous electrical nerve stimulation (TENS) on patients with cervicogenic headache. Seventy patients with cervicogenic headache were randomly allocated to receive manipulation treatment and TENS treatment, which were given every other day respectively for total 40 days. The headache degree (numeric rating scale, NRS), frequency, lasting time and the range of motion (ROM) of the cervical spine 2 weeks before treatment and 4 weeks after treatment, were compared. Before treatment, there were no significant differences in the headache NRS scores , frequency, lasting time and the ROM scores between the two groups (P>0.05). After treatment, the headache NRS score, frequency, lasting time in the manipulation group decreased significantly (P<0.01), while in the TENS group just the headache NRS score decreased significantly (P<0.05). The ROM scores in both groups showed no significant changes (P>0.05). The response rate of manipulation treatment is 94.5%, significantly higher than 64.5% of TENS treatment (P<0.05). The manipulation treatment is an effective method for patients with cervicogenic headache.

Manga Vectorization and Manipulation with Procedural Simple Screentone.

PubMed

Yao, Chih-Yuan; Hung, Shih-Hsuan; Li, Guo-Wei; Chen, I-Yu; Adhitya, Reza; Lai, Yu-Chi

2017-02-01

Manga are a popular artistic form around the world, and artists use simple line drawing and screentone to create all kinds of interesting productions. Vectorization is helpful to digitally reproduce these elements for proper content and intention delivery on electronic devices. Therefore, this study aims at transforming scanned Manga to a vector representation for interactive manipulation and real-time rendering with arbitrary resolution. Our system first decomposes the patch into rough Manga elements including possible borders and shading regions using adaptive binarization and screentone detector. We classify detected screentone into simple and complex patterns: our system extracts simple screentone properties for refining screentone borders, estimating lighting, compensating missing strokes inside screentone regions, and later resolution independently rendering with our procedural shaders. Our system treats the others as complex screentone areas and vectorizes them with our proposed line tracer which aims at locating boundaries of all shading regions and polishing all shading borders with the curve-based Gaussian refiner. A user can lay down simple scribbles to cluster Manga elements intuitively for the formation of semantic components, and our system vectorizes these components into shading meshes along with embedded Bézier curves as a unified foundation for consistent manipulation including pattern manipulation, deformation, and lighting addition. Our system can real-time and resolution independently render the shading regions with our procedural shaders and drawing borders with the curve-based shader. For Manga manipulation, the proposed vector representation can be not only magnified without artifacts but also deformed easily to generate interesting results.

Virtual knotting in proteins and other open curves

NASA Astrophysics Data System (ADS)

Alexander, Keith; Taylor, Alexander; Dennis, Mark

Long filaments naturally knot, from string to long-chain molecules. Knotting in a filament affects its properties, and may be very stable or disappear under slight manipulation. Knotting has been identified in protein backbones for which these mechanical constraints are of fundamental importance to their function, although they are open curves in which knots are not mathematically well defined; knotting can only be identified by closing the ends of the chain. We introduce a new method for resolving knotting in open curves using virtual knots, a wider class of topological objects that do not use a classical closure, capturing the topological ambiguity of open curves. Having analysed all proteins in the Protein Data Bank by this new scheme, we recover and extend previous knotting results, and identify topological interest in some new cases. The statistics of virtual knots in proteins are compared with those of Hamiltonian subchains on cubic lattices, identifying a regime of open curves in which the virtual knotting description is likely to be important. This work was supported by the Leverhulme Trust Programme Grant ``Scientific Properties of Complex Knots'' and the EPSRC.

Thawing the frozen shoulder. A randomised trial comparing manipulation under anaesthesia with hydrodilatation.

PubMed

Quraishi, N A; Johnston, P; Bayer, J; Crowe, M; Chakrabarti, A J

2007-09-01

hydrodilatation compared with 81% (13 of 16) of those receiving a manipulation. Most of our patients were treated successfully, but those undergoing hydrodilatation did better than those who were manipulated.

REMOTE CONTROL MANIPULATOR

DOEpatents

Coffman, R.T.

1962-11-27

The patent covers a remote-control manipulator in which a tool is carried on a tube at an end thereof angularly related to the main portion of the tube and joined thereto by a curved section. The main portion of the tube is mounted for rotation and axial shifting in a wall separating safe and dangerous areas. The tool is actuated to grasp and release an object in the dangerous area by means of a compound shaft extending through the tube, the shaft having a flexible section extending through the curved section of the tube. The tool is moved about in the dangerous area by rotation and axial movement of the main portion of the tube. Additional movement of the tool is obtained through axial shifting of the shaft with respect to the tube through which it extends. (AEC)

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.

pROC: an open-source package for R and S+ to analyze and compare ROC curves.

PubMed

Robin, Xavier; Turck, Natacha; Hainard, Alexandre; Tiberti, Natalia; Lisacek, Frédérique; Sanchez, Jean-Charles; Müller, Markus

2011-03-17

Receiver operating characteristic (ROC) curves are useful tools to evaluate classifiers in biomedical and bioinformatics applications. However, conclusions are often reached through inconsistent use or insufficient statistical analysis. To support researchers in their ROC curves analysis we developed pROC, a package for R and S+ that contains a set of tools displaying, analyzing, smoothing and comparing ROC curves in a user-friendly, object-oriented and flexible interface. With data previously imported into the R or S+ environment, the pROC package builds ROC curves and includes functions for computing confidence intervals, statistical tests for comparing total or partial area under the curve or the operating points of different classifiers, and methods for smoothing ROC curves. Intermediary and final results are visualised in user-friendly interfaces. A case study based on published clinical and biomarker data shows how to perform a typical ROC analysis with pROC. pROC is a package for R and S+ specifically dedicated to ROC analysis. It proposes multiple statistical tests to compare ROC curves, and in particular partial areas under the curve, allowing proper ROC interpretation. pROC is available in two versions: in the R programming language or with a graphical user interface in the S+ statistical software. It is accessible at http://expasy.org/tools/pROC/ under the GNU General Public License. It is also distributed through the CRAN and CSAN public repositories, facilitating its installation.

Power of tests for comparing trend curves with application to national immunization survey (NIS).

PubMed

Zhao, Zhen

2011-02-28

To develop statistical tests for comparing trend curves of study outcomes between two socio-demographic strata across consecutive time points, and compare statistical power of the proposed tests under different trend curves data, three statistical tests were proposed. For large sample size with independent normal assumption among strata and across consecutive time points, the Z and Chi-square test statistics were developed, which are functions of outcome estimates and the standard errors at each of the study time points for the two strata. For small sample size with independent normal assumption, the F-test statistic was generated, which is a function of sample size of the two strata and estimated parameters across study period. If two trend curves are approximately parallel, the power of Z-test is consistently higher than that of both Chi-square and F-test. If two trend curves cross at low interaction, the power of Z-test is higher than or equal to the power of both Chi-square and F-test; however, at high interaction, the powers of Chi-square and F-test are higher than that of Z-test. The measurement of interaction of two trend curves was defined. These tests were applied to the comparison of trend curves of vaccination coverage estimates of standard vaccine series with National Immunization Survey (NIS) 2000-2007 data. Copyright © 2011 John Wiley & Sons, Ltd.

Shape information from glucose curves: Functional data analysis compared with traditional summary measures

PubMed Central

2013-01-01

Background Plasma glucose levels are important measures in medical care and research, and are often obtained from oral glucose tolerance tests (OGTT) with repeated measurements over 2–3 hours. It is common practice to use simple summary measures of OGTT curves. However, different OGTT curves can yield similar summary measures, and information of physiological or clinical interest may be lost. Our mean aim was to extract information inherent in the shape of OGTT glucose curves, compare it with the information from simple summary measures, and explore the clinical usefulness of such information. Methods OGTTs with five glucose measurements over two hours were recorded for 974 healthy pregnant women in their first trimester. For each woman, the five measurements were transformed into smooth OGTT glucose curves by functional data analysis (FDA), a collection of statistical methods developed specifically to analyse curve data. The essential modes of temporal variation between OGTT glucose curves were extracted by functional principal component analysis. The resultant functional principal component (FPC) scores were compared with commonly used simple summary measures: fasting and two-hour (2-h) values, area under the curve (AUC) and simple shape index (2-h minus 90-min values, or 90-min minus 60-min values). Clinical usefulness of FDA was explored by regression analyses of glucose tolerance later in pregnancy. Results Over 99% of the variation between individually fitted curves was expressed in the first three FPCs, interpreted physiologically as “general level” (FPC1), “time to peak” (FPC2) and “oscillations” (FPC3). FPC1 scores correlated strongly with AUC (r=0.999), but less with the other simple summary measures (−0.42≤r≤0.79). FPC2 scores gave shape information not captured by simple summary measures (−0.12≤r≤0.40). FPC2 scores, but not FPC1 nor the simple summary measures, discriminated between women who did and did not develop

Shape information from glucose curves: functional data analysis compared with traditional summary measures.

PubMed

Frøslie, Kathrine Frey; Røislien, Jo; Qvigstad, Elisabeth; Godang, Kristin; Bollerslev, Jens; Voldner, Nanna; Henriksen, Tore; Veierød, Marit B

2013-01-17

Plasma glucose levels are important measures in medical care and research, and are often obtained from oral glucose tolerance tests (OGTT) with repeated measurements over 2-3  hours. It is common practice to use simple summary measures of OGTT curves. However, different OGTT curves can yield similar summary measures, and information of physiological or clinical interest may be lost. Our mean aim was to extract information inherent in the shape of OGTT glucose curves, compare it with the information from simple summary measures, and explore the clinical usefulness of such information. OGTTs with five glucose measurements over two hours were recorded for 974 healthy pregnant women in their first trimester. For each woman, the five measurements were transformed into smooth OGTT glucose curves by functional data analysis (FDA), a collection of statistical methods developed specifically to analyse curve data. The essential modes of temporal variation between OGTT glucose curves were extracted by functional principal component analysis. The resultant functional principal component (FPC) scores were compared with commonly used simple summary measures: fasting and two-hour (2-h) values, area under the curve (AUC) and simple shape index (2-h minus 90-min values, or 90-min minus 60-min values). Clinical usefulness of FDA was explored by regression analyses of glucose tolerance later in pregnancy. Over 99% of the variation between individually fitted curves was expressed in the first three FPCs, interpreted physiologically as "general level" (FPC1), "time to peak" (FPC2) and "oscillations" (FPC3). FPC1 scores correlated strongly with AUC (r=0.999), but less with the other simple summary measures (-0.42≤r≤0.79). FPC2 scores gave shape information not captured by simple summary measures (-0.12≤r≤0.40). FPC2 scores, but not FPC1 nor the simple summary measures, discriminated between women who did and did not develop gestational diabetes later in pregnancy. FDA of OGTT

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.

Role of orbital overlap in atomic manipulation

NASA Astrophysics Data System (ADS)

Jarvis, Sam; Sweetman, Adam; Bamidele, Joseph; Kantorovich, Lev; Moriarty, Philip

2012-06-01

We conduct ab initio simulations illustrating that the ability to achieve atomic manipulation using a dynamic force microscope depends on the precise orientation of the dangling bond(s) at the tip apex and their charge density with respect to those of surface atoms. Using the Si(100)-c(4×2) surface as a prototype, we demonstrate that it is possible to select tip apices capable of performing atomic manipulation tasks which are unachievable using another choice of apex. Specific tip apices can be identified via examination of F(z) curves taken at different lateral positions.

Study on force mechanism for therapeutic effect of pushing manipulation with one-finger meditation base on similarity analysis of force and waveform.

PubMed

Fang, Lei; Fang, Min; Guo, Min-Min

2016-12-27

To reveal the force mechanism for therapeutic effect of pushing manipulation with one-finger meditation. A total of 15 participants were recruited in this study and assigned to an expert group, a skilled group and a novice group, with 5 participants in each group. Mechanical signals were collected from a biomechanical testing platform, and these data were further observed via similarity analysis and cluster analysis. Comparing the force waveforms of manipulation revealed that the manipulation forces were similar between the expert group and the skilled group (P>0.05). The mean value of vertical force was 9.8 N, and 95% CI rang from 6.37 to 14.70 N, but there were significant differences compared with the novice group (P<0.05). The result of overall similarity coefficient cluster analysis showed that two kinds of manipulation forces curves were existed between the expert group and the skilled group. Pushing manipulation with one-finger meditation is a kind of light stimulation manipulation on the acupoint, and force characteristics of double waveforms continuously alternated during manual operation.

Optical Manipulation with Plasmonic Beam Shaping Antenna Structures

DOE PAGES

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.

Prospective randomized controlled trial comparing 1- versus 7-day manipulation following collagenase injection for dupuytren contracture.

PubMed

Mickelson, Dayne T; Noland, Shelley S; Watt, Andrew J; Kollitz, Kathleen M; Vedder, Nicholas B; Huang, Jerry I

2014-10-01

To compare the efficacy, tolerance, and safety of manual manipulation at day 7 to day 1 following collagenase Clostridium histolyticum (CCH) injection for Dupuytren contracture. Eligible patients were randomized to manipulation at day 1 versus day 7 following CCH injection. Preinjection, premanipulation, postmanipulation, and 30-day follow-up metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joint contractures were measured. Pain scores were recorded at each time point. Data were stratified per cohort based on primary joint treated (MCP vs PIP). Means were compared using paired and unpaired t-tests. Forty-three patients with 46 digits were eligible and were randomized to 1-day (22 digits) and 7-day (24 digits) manipulation. For MCP joints, there were no significant differences in flexion contractures between 1- and 7-day cohorts for initial (47° vs 46°), postmanipulation (0° vs 2°), or 30-day follow-up (1° vs 2°) measurements. Premanipulation, the residual contracture was significantly lower in the 7-day group (23° vs 40°). For PIP joints, there were no significant differences between 1- and 7-day cohorts for initial (63° vs 62°), premanipulation (56° vs 52°), postmanipulation (13° vs 15°), or 30-day (14° vs 16°) measurements. There were no significant differences in pain or skin tears between the 2 groups. No flexor tendon ruptures were observed. The effectiveness of CCH in achieving correction of Dupuytren contractures was preserved when manipulation was performed on day 7, with no differences in correction, pain, or skin tears. These data suggest that manipulation can be scheduled at the convenience of the patient and surgeon within the first 7 days after injection. Therapeutic I. Copyright © 2014 American Society for Surgery of the Hand. Published by Elsevier Inc. All rights reserved.

Manipulating the transmission through valve structure composed of zero-index metamaterial

NASA Astrophysics Data System (ADS)

Wang, Yongxing; Sun, Zhouzhou; Xu, Ping

2017-11-01

We propose a valve structure composed of zero-index metamaterial to manipulate the electromagnetic wave conveniently and effectively through regulating the phase of reflected waves. Both the structure and characteristics of zero-index metamaterial need not to be changed when manipulating the transmission, which maintains the stability of zero-index metamaterial. Moreover, the good performance of tuning the electromagnetic wave is not limited by the shape and size of our proposed structure. By using our proposed valve structure, we demonstrate the realization of the tunable curved anisotropic ɛ-near-zero material waveguide with irregular shape, arbitrarily sized isotropic ɛ-near-zero material waveguide with high transmittance and the curved isotropic impedance matched ɛ-near-zero material waveguide without polarization limitations.

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.

Non-manipulation quantitative designs.

PubMed

Rumrill, Phillip D

2004-01-01

The article describes non-manipulation quantitative designs of two types, correlational and causal comparative studies. Both of these designs are characterized by the absence of random assignment of research participants to conditions or groups and non-manipulation of the independent variable. Without random selection or manipulation of the independent variable, no attempt is made to draw causal inferences regarding relationships between independent and dependent variables. Nonetheless, non-manipulation studies play an important role in rehabilitation research, as described in this article. Examples from the contemporary rehabilitation literature are included. Copyright 2004 IOS Press

Robot training of upper limb in multiple sclerosis: comparing protocols with or without manipulative task components.

PubMed

Carpinella, Ilaria; Cattaneo, Davide; Bertoni, Rita; Ferrarin, Maurizio

2012-05-01

In this pilot study, we compared two protocols for robot-based rehabilitation of upper limb in multiple sclerosis (MS): a protocol involving reaching tasks (RT) requiring arm transport only and a protocol requiring both objects' reaching and manipulation (RMT). Twenty-two MS subjects were assigned to RT or RMT group. Both protocols consisted of eight sessions. During RT training, subjects moved the handle of a planar robotic manipulandum toward circular targets displayed on a screen. RMT protocol required patients to reach and manipulate real objects, by moving the robotic arm equipped with a handle which left the hand free for distal tasks. In both trainings, the robot generated resistive and perturbing forces. Subjects were evaluated with clinical and instrumental tests. The results confirmed that MS patients maintained the ability to adapt to the robot-generated forces and that the rate of motor learning increased across sessions. Robot-therapy significantly reduced arm tremor and improved arm kinematics and functional ability. Compared to RT, RMT protocol induced a significantly larger improvement in movements involving grasp (improvement in Grasp ARAT sub-score: RMT 77.4%, RT 29.5%, p=0.035) but not precision grip. Future studies are needed to evaluate if longer trainings and the use of robotic handles would significantly improve also fine manipulation.

Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

NASA Astrophysics Data System (ADS)

Yang, Z. X.; Yang, W. L.; Du, Z. J.

2018-03-01

Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and actual results proved the rationality of the models.

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…

Using the weighted area under the net benefit curve for decision curve analysis.

PubMed

Talluri, Rajesh; Shete, Sanjay

2016-07-18

Risk prediction models have been proposed for various diseases and are being improved as new predictors are identified. A major challenge is to determine whether the newly discovered predictors improve risk prediction. Decision curve analysis has been proposed as an alternative to the area under the curve and net reclassification index to evaluate the performance of prediction models in clinical scenarios. The decision curve computed using the net benefit can evaluate the predictive performance of risk models at a given or range of threshold probabilities. However, when the decision curves for 2 competing models cross in the range of interest, it is difficult to identify the best model as there is no readily available summary measure for evaluating the predictive performance. The key deterrent for using simple measures such as the area under the net benefit curve is the assumption that the threshold probabilities are uniformly distributed among patients. We propose a novel measure for performing decision curve analysis. The approach estimates the distribution of threshold probabilities without the need of additional data. Using the estimated distribution of threshold probabilities, the weighted area under the net benefit curve serves as the summary measure to compare risk prediction models in a range of interest. We compared 3 different approaches, the standard method, the area under the net benefit curve, and the weighted area under the net benefit curve. Type 1 error and power comparisons demonstrate that the weighted area under the net benefit curve has higher power compared to the other methods. Several simulation studies are presented to demonstrate the improvement in model comparison using the weighted area under the net benefit curve compared to the standard method. The proposed measure improves decision curve analysis by using the weighted area under the curve and thereby improves the power of the decision curve analysis to compare risk prediction models in

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

Spinal Manipulative Therapy for Adolescent Idiopathic Scoliosis: A Systematic Review.

PubMed

Théroux, Jean; Stomski, Norman; Losco, Christine Dominique; Khadra, Christelle; Labelle, Hubert; Le May, Sylvie

The purpose of this study was to perform a systematic review of clinical trials of spinal manipulative therapy for adolescent idiopathic scoliosis. Search strategies were developed for PubMed, CINHAL, and CENTRAL databases. Studies were included through June 2016 if they were prospective trials that evaluated spinal manipulative therapy (eg, chiropractic, osteopathic, physical therapy) for adolescent idiopathic scoliosis. Data were extracted and assessed by 2 independent reviewers. Cochrane risk of bias tools were used to assess the quality of the included studies. Data were reported qualitatively because heterogeneity prevented statistical pooling. Four studies satisfied the inclusion criteria and were critically appraised. The findings of the included studies indicated that spinal manipulative therapy might be effective for preventing curve progression or reducing Cobb angle. However, the lack of controls and small sample sizes precluded robust estimation of the interventions' effect sizes. There is currently insufficient evidence to establish whether spinal manipulative therapy may be beneficial for adolescent idiopathic scoliosis. The results of the included studies suggest that spinal manipulative therapy may be a promising treatment, but these studies were all at substantial risk of bias. Further high-quality studies are warranted to conclusively determine if spinal manipulative therapy may be effective in the management of adolescent idiopathic scoliosis. Copyright © 2017. Published by Elsevier Inc.

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...

Manipulation of Liquids Using Phased Array Generation of Acoustic Radiation Pressure

NASA Technical Reports Server (NTRS)

Oeftering, Richard C. (Inventor)

2000-01-01

A phased array of piezoelectric transducers is used to control and manipulate contained as well as uncontained fluids in space and earth applications. The transducers in the phased array are individually activated while being commonly controlled to produce acoustic radiation pressure and acoustic streaming. The phased array is activated to produce a single pulse, a pulse burst or a continuous pulse to agitate, segregate or manipulate liquids and gases. The phased array generated acoustic radiation pressure is also useful in manipulating a drop, a bubble or other object immersed in a liquid. The transducers can be arranged in any number of layouts including linear single or multi- dimensional, space curved and annular arrays. The individual transducers in the array are activated by a controller, preferably driven by a computer.

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.

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

NASA Astrophysics Data System (ADS)

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.

Visualizing Three-Dimensional Calculus Concepts: The Study of a Manipulative's Effectiveness

ERIC Educational Resources Information Center

McGee, Daniel, Jr.; Moore-Russo, Deborah; Ebersole, Dennis; Lomen, David O.; Quintero, Maider Marin

2012-01-01

With the help of the National Science Foundation, the Department of Mathematics at the University of Puerto Rico in Mayaguez has developed a set of manipulatives to help students of science and engineering visualize concepts relating to points, surfaces, curves, contours, and vectors in three dimensions. This article will present the manipulatives…

Comparing two types of engineering visualizations: task-related manipulations matter.

PubMed

Cölln, Martin C; Kusch, Kerstin; Helmert, Jens R; Kohler, Petra; Velichkovsky, Boris M; Pannasch, Sebastian

2012-01-01

This study focuses on the comparison of traditional engineering drawings with a CAD (computer aided design) visualization in terms of user performance and eye movements in an applied context. Twenty-five students of mechanical engineering completed search tasks for measures in two distinct depictions of a car engine component (engineering drawing vs. CAD model). Besides spatial dimensionality, the display types most notably differed in terms of information layout, access and interaction options. The CAD visualization yielded better performance, if users directly manipulated the object, but was inferior, if employed in a conventional static manner, i.e. inspecting only predefined views. An additional eye movement analysis revealed longer fixation durations and a stronger increase of task-relevant fixations over time when interacting with the CAD visualization. This suggests a more focused extraction and filtering of information. We conclude that the three-dimensional CAD visualization can be advantageous if its ability to manipulate is used. Copyright © 2011 Elsevier Ltd and The Ergonomics Society. All rights reserved.

A semiparametric separation curve approach for comparing correlated ROC data from multiple markers

PubMed Central

Tang, Liansheng Larry; Zhou, Xiao-Hua

2012-01-01

In this article we propose a separation curve method to identify the range of false positive rates for which two ROC curves differ or one ROC curve is superior to the other. Our method is based on a general multivariate ROC curve model, including interaction terms between discrete covariates and false positive rates. It is applicable with most existing ROC curve models. Furthermore, we introduce a semiparametric least squares ROC estimator and apply the estimator to the separation curve method. We derive a sandwich estimator for the covariance matrix of the semiparametric estimator. We illustrate the application of our separation curve method through two real life examples. PMID:23074360

Simultaneous realization of slow and fast acoustic waves using a fractal structure of Koch curve.

PubMed

Ding, Jin; Fan, Li; Zhang, Shu-Yi; Zhang, Hui; Yu, Wei-Wei

2018-01-24

An acoustic metamaterial based on a fractal structure, the Koch curve, is designed to simultaneously realize slow and fast acoustic waves. Owing to the multiple transmitting paths in the structure resembling the Koch curve, the acoustic waves travelling along different paths interfere with each other. Therefore, slow waves are created on the basis of the resonance of a Koch-curve-shaped loop, and meanwhile, fast waves even with negative group velocities are obtained due to the destructive interference of two acoustic waves with opposite phases. Thus, the transmission of acoustic wave can be freely manipulated with the Koch-curve shaped structure.

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.

Statistical properties of a utility measure of observer performance compared to area under the ROC curve

NASA Astrophysics Data System (ADS)

Abbey, Craig K.; Samuelson, Frank W.; Gallas, Brandon D.; Boone, John M.; Niklason, Loren T.

2013-03-01

The receiver operating characteristic (ROC) curve has become a common tool for evaluating diagnostic imaging technologies, and the primary endpoint of such evaluations is the area under the curve (AUC), which integrates sensitivity over the entire false positive range. An alternative figure of merit for ROC studies is expected utility (EU), which focuses on the relevant region of the ROC curve as defined by disease prevalence and the relative utility of the task. However if this measure is to be used, it must also have desirable statistical properties keep the burden of observer performance studies as low as possible. Here, we evaluate effect size and variability for EU and AUC. We use two observer performance studies recently submitted to the FDA to compare the EU and AUC endpoints. The studies were conducted using the multi-reader multi-case methodology in which all readers score all cases in all modalities. ROC curves from the study were used to generate both the AUC and EU values for each reader and modality. The EU measure was computed assuming an iso-utility slope of 1.03. We find mean effect sizes, the reader averaged difference between modalities, to be roughly 2.0 times as big for EU as AUC. The standard deviation across readers is roughly 1.4 times as large, suggesting better statistical properties for the EU endpoint. In a simple power analysis of paired comparison across readers, the utility measure required 36% fewer readers on average to achieve 80% statistical power compared to AUC.

Manipulator trajectories during orbital servicing mission: numerical simulations and experiments on microgravity simulator

NASA Astrophysics Data System (ADS)

Rybus, T.; Seweryn, K.

2018-06-01

It is considered to use a manipulator-equipped satellite for performing On-Orbit Servicing (OOS) or Active Debris Removal (ADR) missions. In this paper, several possible approaches are reviewed for end-effector (EE) trajectory planning in the Cartesian space, such as application of the Bézier curves for singularity avoidance and method for trajectory optimization. The results of numerical simulations for a satellite equipped with a 7 degree-of-freedom (DoF) manipulator and results of experiments performed on a planar air-bearing microgravity simulator for a simplified two-dimensional (2D) case with a 2-DoF manipulator are presented. Differences between the free-floating case and the case where Attitude and Orbit Control Systems (AOCS) keep constant position and orientation of the satellite are also shown.

Mechanical and electrical characterization of semiconducting ZnO nanorings by direct nano-manipulation

NASA Astrophysics Data System (ADS)

Mai, Wenjie; Zhang, Long; Gu, Yudong; Huang, Shiqing; Zhang, Zongfu; Lao, Changshi; Yang, Peihua; Qiang, Pengfei; Chen, Zhongwei

2012-08-01

With assistance from a nano-manipulator system inside a scanning electron microscope chamber, mechanical and electrical properties of ZnO nanorings were investigated. The change of a fractured nanoring to nearly straight nanobelts was strong evidence to support the previously proposed electrostatic-force-induced self-coiling model, and our computational simulation results indicated the fracture force was 25-30 μN. The contact between a tungsten tip of the manipulator and a ZnO nanoring was confirmed as the Schottky type; therefore, the change of I-V curves of the nanoring under compression was attributed to the Schottky barrier height changes.

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.

A comparative study of electric load curve changes in an urban low-voltage substation in Spain during the economic crisis (2008-2013).

PubMed

Lara-Santillán, Pedro M; Mendoza-Villena, Montserrat; Fernández-Jiménez, L Alfredo; Mañana-Canteli, Mario

2014-01-01

This paper presents a comparative study of the electricity consumption (EC) in an urban low-voltage substation before and during the economic crisis (2008-2013). This low-voltage substation supplies electric power to near 400 users. The EC was measured for an 11-year period (2002-2012) with a sampling time of 1 minute. The study described in the paper consists of detecting the changes produced in the load curves of this substation along the time due to changes in the behaviour of consumers. The EC was compared using representative curves per time period (precrisis and crisis). These representative curves were obtained after a computational process, which was based on a search for days with similar curves to the curve of a determined (base) date. This similitude was assessed by the proximity on the calendar, day of the week, daylight time, and outdoor temperature. The last selection parameter was the error between the nearest neighbour curves and the base date curve. The obtained representative curves were linearized to determine changes in their structure (maximum and minimum consumption values, duration of the daily time slot, etc.). The results primarily indicate an increase in the EC in the night slot during the summer months in the crisis period.

Comparing kinetic curves in liquid chromatography

NASA Astrophysics Data System (ADS)

Kurganov, A. A.; Kanat'eva, A. Yu.; Yakubenko, E. E.; Popova, T. P.; Shiryaeva, V. E.

2017-01-01

Five equations for kinetic curves which connect the number of theoretical plates N and time of analysis t 0 for five different versions of optimization, depending on the parameters being varied (e.g., mobile phase flow rate, pressure drop, sorbent grain size), are obtained by means of mathematical modeling. It is found that a method based on the optimization of a sorbent grain size at fixed pressure is most suitable for the optimization of rapid separations. It is noted that the advantages of the method are limited by an area of relatively low efficiency, and the advantage of optimization is transferred to a method based on the optimization of both the sorbent grain size and the drop in pressure across a column in the area of high efficiency.

Nonlinear dynamic analysis and optimal trajectory planning of a high-speed macro-micro manipulator

NASA Astrophysics Data System (ADS)

Yang, Yi-ling; Wei, Yan-ding; Lou, Jun-qiang; Fu, Lei; Zhao, Xiao-wei

2017-09-01

This paper reports the nonlinear dynamic modeling and the optimal trajectory planning for a flexure-based macro-micro manipulator, which is dedicated to the large-scale and high-speed tasks. In particular, a macro- micro manipulator composed of a servo motor, a rigid arm and a compliant microgripper is focused. Moreover, both flexure hinges and flexible beams are considered. By combining the pseudorigid-body-model method, the assumed mode method and the Lagrange equation, the overall dynamic model is derived. Then, the rigid-flexible-coupling characteristics are analyzed by numerical simulations. After that, the microscopic scale vibration excited by the large-scale motion is reduced through the trajectory planning approach. Especially, a fitness function regards the comprehensive excitation torque of the compliant microgripper is proposed. The reference curve and the interpolation curve using the quintic polynomial trajectories are adopted. Afterwards, an improved genetic algorithm is used to identify the optimal trajectory by minimizing the fitness function. Finally, the numerical simulations and experiments validate the feasibility and the effectiveness of the established dynamic model and the trajectory planning approach. The amplitude of the residual vibration reduces approximately 54.9%, and the settling time decreases 57.1%. Therefore, the operation efficiency and manipulation stability are significantly improved.

DYMAFLEX: DYnamic Manipulation FLight EXperiment

DTIC Science & Technology

2013-09-03

thrust per nozzle and minimize propellant mass and tank mass. This study compared carbon dioxide, nitrous oxide, and R134-A. These results were...equations of mo- tion of a space manipulator, showing their top- level, matrix- vector representation to be of iden- tical form to those of a fixed-base...the system inertia matrix, q is the po- sition state vector (consisting of the manipulator joint angles θ, spacecraft attitude quaternion, and

Concrete and App-Based Manipulatives to Support Students with Disabilities with Subtraction

ERIC Educational Resources Information Center

Bouck, Emily C.; Chamberlain, Courtney; Park, Jiyoon

2017-01-01

Manipulatives support students with and without disabilities in mathematics. However, as students age, concrete manipulatives can be limiting and potentially not age appropriate (Satsangi, 2015). An alternative is virtual manipulatives, including app-based manipulatives. This study compared the use of app-based manipulatives to concrete…

[Customized and non-customized French intrauterine growth curves. II - Comparison with existing curves and benefits of customization].

PubMed

Ego, A; Prunet, C; Blondel, B; Kaminski, M; Goffinet, F; Zeitlin, J

2016-02-01

Our aim is to compare the new French EPOPé intrauterine growth curves, developed to address the guidelines 2013 of the French College of Obstetricians and Gynecologists, with reference curves currently used in France, and to evaluate the consequences of their adjustment for fetal sex and maternal characteristics. Eight intrauterine and birthweight curves, used in France were compared to the EPOPé curves using data from the French Perinatal Survey 2010. The influence of adjustment on the rate of SGA births and the characteristics of these births was analysed. Due to their birthweight values and distribution, the selected intrauterine curves are less suitable for births in France than the new curves. Birthweight curves led to low rates of SGA births from 4.3 to 8.5% compared to 10.0% with the EPOPé curves. The adjustment for maternal and fetal characteristics avoids the over-representation of girls among SGA births, and reclassifies 4% of births. Among births reclassified as SGA, the frequency of medical and obstetrical risk factors for growth restriction, smoking (≥10 cigarettes/day), and neonatal transfer is higher than among non-SGA births (P<0.01). The EPOPé curves are more suitable for French births than currently used curves, and their adjustment improves the identification of mothers and babies at risk of growth restriction and poor perinatal outcomes. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

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…

A Comparative Study of Electric Load Curve Changes in an Urban Low-Voltage Substation in Spain during the Economic Crisis (2008–2013)

PubMed Central

Lara-Santillán, Pedro M.; Mendoza-Villena, Montserrat; Fernández-Jiménez, L. Alfredo; Mañana-Canteli, Mario

2014-01-01

This paper presents a comparative study of the electricity consumption (EC) in an urban low-voltage substation before and during the economic crisis (2008–2013). This low-voltage substation supplies electric power to near 400 users. The EC was measured for an 11-year period (2002–2012) with a sampling time of 1 minute. The study described in the paper consists of detecting the changes produced in the load curves of this substation along the time due to changes in the behaviour of consumers. The EC was compared using representative curves per time period (precrisis and crisis). These representative curves were obtained after a computational process, which was based on a search for days with similar curves to the curve of a determined (base) date. This similitude was assessed by the proximity on the calendar, day of the week, daylight time, and outdoor temperature. The last selection parameter was the error between the nearest neighbour curves and the base date curve. The obtained representative curves were linearized to determine changes in their structure (maximum and minimum consumption values, duration of the daily time slot, etc.). The results primarily indicate an increase in the EC in the night slot during the summer months in the crisis period. PMID:24895677

A preliminary study comparing the use of cervical/upper thoracic mobilization and manipulation for individuals with mechanical neck pain.

PubMed

Griswold, David; Learman, Ken; O'Halloran, Bryan; Cleland, Josh

2015-05-01

Neck pain is routinely managed using manual therapy (MT) to the cervical and thoracic spines. While both mobilizations and manipulations to these areas have been shown to reduce neck pain, increase cervical range of motion, and reduce disability, the most effective option remains elusive. The purpose of this preliminary trial was to compare the pragmatic use of cervical and thoracic mobilizations vs. manipulation for mechanical neck pain. This trial included 20 patients with mechanical neck pain. Each patient was randomized to receive either mobilization or manipulation to both the cervical and thoracic spines during their plan of care. Within-group analyses were made with Wilcoxon signed-rank tests and between-group analyses were made with Mann-Whitney U. There were no between-group differences for any of the dependent variables including cervical active range of motion (CAROM) (P = 0.18), deep cervical flexion (DCF) endurance (P = 0.06), numerical pain rating scale (NPRS) (P = 0.26), the neck disability index (NDI, P = 0.33), patient-specific functional scale (PSFS, P = 0.20), or the global rating of change (GROC) scale (P = 0.94). Within-group results were significant for all outcome variables (P<0.001) from initial evaluation to discharge for both groups. These findings were consistent with other trials previously conducted that applied the MT techniques in a pragmatic fashion, but varied from previous trials where the treatment was standardized. A larger experimental study is necessary to further examine the differences between mobilization and manipulation for neck pain.

LATE EVALUATION OF PATIENTS UNDERGOING MANIPULATION OF THE KNEE AFTER TOTAL ARTHROPLASTY.

PubMed

DE Sousa, Pedro Guilme Teixeira; Chisté, Yuri Lubiana; Albuquerque, Rodrigo Sattamini Pires E; Cobra, Hugo Alexandre DE Araújo Barros; Barretto, João Maurício; Cavanellas, Naasson Trindade

2017-01-01

We compared gains in range of motion in patients who underwent manipulation within 12 weeks of total knee arthroplasty (TKA) and after this period. We also evaluated maintenance of the arc obtained from knee manipulation in late follow-up, along with factors associated with poorer outcomes. The study was divided into two groups according to the time after TKA; the surgeries took place between January 2008 and December 2014. When comparing the range of motion between early and late manipulations, the group that underwent manipulation within 12 weeks of the TKA exhibited better outcomes, but these were not statistically significant. We observed that 14.3% of cases retained the same range attained at the time of manipulation. In late evaluation after manipulation, 47.7% of the sample had a range of less than 90 degrees. The significant risk factors for recurrence of knee stiffness in the long term are poor range of motion before TKA and before manipulation, female sex, and secondary arthritis. Women previously diagnosed with secondary osteoarthritis and poor range of motion before TKA or manipulation are at higher risk for late stiffness. Level of Evidence III, Retrospective Comparative Study.

3D Laser Scanner for Underwater Manipulation.

PubMed

Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

2018-04-04

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

Comparison of the Efficacy and Efficiency of the Use of Virtual Reality Simulation With High-Fidelity Mannequins for Simulation-Based Training of Fiberoptic Bronchoscope Manipulation.

PubMed

Jiang, Bailin; Ju, Hui; Zhao, Ying; Yao, Lan; Feng, Yi

2018-04-01

This study compared the efficacy and efficiency of virtual reality simulation (VRS) with high-fidelity mannequin in the simulation-based training of fiberoptic bronchoscope manipulation in novices. Forty-six anesthesia residents with no experience in fiberoptic intubation were divided into two groups: VRS (group VRS) and mannequin (group M). After a standard didactic teaching session, group VRS trained 25 times on VRS, whereas group M performed the same process on a mannequin. After training, participants' performance was assessed on a mannequin five consecutive times. Procedure times during training were recorded as pooled data to construct learning curves. Procedure time and global rating scale scores of manipulation ability were compared between groups, as well as changes in participants' confidence after training. Plateaus in the learning curves were achieved after 19 (95% confidence interval = 15-26) practice sessions in group VRS and 24 (95% confidence interval = 20-32) in group M. There was no significant difference in procedure time [13.7 (6.6) vs. 11.9 (4.1) seconds, t' = 1.101, P = 0.278] or global rating scale [3.9 (0.4) vs. 3.8 (0.4), t = 0.791, P = 0.433] between groups. Participants' confidence increased after training [group VRS: 1.8 (0.7) vs. 3.9 (0.8), t = 8.321, P < 0.001; group M = 2.0 (0.7) vs. 4.0 (0.6), t = 13.948, P < 0.001] but did not differ significantly between groups. Virtual reality simulation is more efficient than mannequin in simulation-based training of flexible fiberoptic manipulation in novices, but similar effects can be achieved in both modalities after adequate training.

Short-term combined effects of thoracic spine thrust manipulation and cervical spine nonthrust manipulation in individuals with mechanical neck pain: a randomized clinical trial.

PubMed

Masaracchio, Michael; Cleland, Joshua A; Hellman, Madeleine; Hagins, Marshall

2013-03-01

Randomized clinical trial. To investigate the short-term effects of thoracic spine thrust manipulation combined with cervical spine nonthrust manipulation (experimental group) versus cervical spine nonthrust manipulation alone (comparison group) in individuals with mechanical neck pain. Research has demonstrated improved outcomes with both nonthrust manipulation directed at the cervical spine and thrust manipulation directed at the thoracic spine in patients with neck pain. Previous studies have not determined if thoracic spine thrust manipulation may increase benefits beyond those provided by cervical nonthrust manipulation alone. Sixty-four participants with mechanical neck pain were randomized into 1 of 2 groups, an experimental or comparison group. Both groups received 2 treatment sessions of cervical spine nonthrust manipulation and a home exercise program consisting of active range-of-motion exercises, and the experimental group received additional thoracic spine thrust manipulations. Outcome measures were collected at baseline and at a 1-week follow-up, and included the numeric pain rating scale, the Neck Disability Index, and the global rating of change. Participants in the experimental group demonstrated significantly greater improvements (P<.001) on both the numeric pain rating scale and Neck Disability Index at the 1-week follow-up compared to those in the comparison group. In addition, 31 of 33 (94%) participants in the experimental group, compared to 11 of 31 participants (35%) in the comparison group, indicated a global rating of change score of +4 or higher at the 1-week follow-up, with an associated number needed to treat of 2. Individuals with neck pain who received a combination of thoracic spine thrust manipulation and cervical spine nonthrust manipulation plus exercise demonstrated better overall short-term outcomes on the numeric pain rating scale, the Neck Disability Index, and the global rating of change.

Effect of Foot Manipulation on Pregnancy-Related Pelvic Girdle Pain: A Feasibility Study.

PubMed

Melkersson, Camilla; Nasic, Salmir; Starzmann, Karin; Bengtsson Boström, Kristina

2017-09-01

The objective of this study was to investigate if the research process to evaluate the effect of foot manipulation on pregnancy-related pelvic girdle pain (PPGP) is feasible. A randomized, single-blind (patients and evaluators) pilot trial was performed to compare foot manipulation to a comparative group at 6-weekly treatment sessions at 5 physiotherapy outpatient clinics in Skaraborg primary care (Skövde, Sweden). Women at 12 to 31 weeks of pregnancy with well-defined PPGP (n = 97) and joint dysfunction or decreased range of movement in the feet were included. Women with a twin pregnancy, low back pain, rheumatoid arthritis, or other serious diseases and those who had previous foot manipulation were excluded. Visual analog scale scores were recorded before study start, before and after each treatment session, and 3 months after delivery. One-hundred and two women were eligible, and 97 were included (group 1: foot manipulation, n = 47; group 2: comparative treatment, n = 50); 40 and 36 in the foot manipulation and comparative treatment groups, respectively, completed the study. The foot manipulation group had a nonsignificant pain relief score compared with that of the comparative group, which had higher pain relief scores. The difference was most pronounced at the first and second treatment sessions. A power analysis showed that at least 250 individuals would be needed in each group to confirm the effect of foot manipulation. This study showed that it is feasible to assess the effect of foot manipulation on PPGP in a multicenter physical therapy outpatient clinic setting. A new larger study should choose a different comparative method and test this hypothesis in a full-scale trial.

Brain activation in parietal area during manipulation with a surgical robot simulator.

PubMed

Miura, Satoshi; Kobayashi, Yo; Kawamura, Kazuya; Nakashima, Yasutaka; Fujie, Masakatsu G

2015-06-01

we present an evaluation method to qualify the embodiment caused by the physical difference between master-slave surgical robots by measuring the activation of the intraparietal sulcus in the user's brain activity during surgical robot manipulation. We show the change of embodiment based on the change of the optical axis-to-target view angle in the surgical simulator to change the manipulator's appearance in the monitor in terms of hand-eye coordination. The objective is to explore the change of brain activation according to the change of the optical axis-to-target view angle. In the experiments, we used a functional near-infrared spectroscopic topography (f-NIRS) brain imaging device to measure the brain activity of the seven subjects while they moved the hand controller to insert a curved needle into a target using the manipulator in a surgical simulator. The experiment was carried out several times with a variety of optical axis-to-target view angles. Some participants showed a significant peak (P value = 0.037, F-number = 2.841) when the optical axis-to-target view angle was 75°. The positional relationship between the manipulators and endoscope at 75° would be the closest to the human physical relationship between the hands and eyes.

Manipulative therapy in addition to usual medical care accelerates recovery of shoulder complaints at higher costs: economic outcomes of a randomized trial.

PubMed

Bergman, Gert J D; Winter, Jan C; van Tulder, Maurits W; Meyboom-de Jong, Betty; Postema, Klaas; van der Heijden, Geert J M G

2010-09-06

Shoulder complaints are common in primary care and have unfavourable long term prognosis. Our objective was to evaluate the clinical effectiveness of manipulative therapy of the cervicothoracic spine and the adjacent ribs in addition to usual medical care (UMC) by the general practitioner in the treatment of shoulder complaints. This economic evaluation was conducted alongside a randomized trial in primary care. Included were 150 patients with shoulder complaints and a dysfunction of the cervicothoracic spine and adjacent ribs. Patients were treated with UMC (NSAID's, corticosteroid injection or referral to physical therapy) and were allocated at random (yes/no) to manipulative therapy (manipulation and mobilization). Patient perceived recovery, severity of main complaint, shoulder pain, disability and general health were outcome measures. Data about direct and indirect costs were collected by means of a cost diary. Manipulative therapy as add-on to UMC accelerated recovery on all outcome measures included. At 26 weeks after randomization, both groups reported similar recovery rates (41% vs. 38%), but the difference between groups in improvement of severity of the main complaint, shoulder pain and disability sustained. Compared to the UMC group the total costs were higher in the manipulative group (€1167 vs. €555). This is explained mainly by the costs of the manipulative therapy itself and the higher costs due sick leave from work. The cost effectiveness ratio showed that additional manipulative treatment is more costly but also more effective than UMC alone. The cost-effectiveness acceptability curve shows that a 50%-probability of recovery with AMT within 6 months after initiation of treatment is achieved at €2876. Manipulative therapy in addition to UMC accelerates recovery and is more effective than UMC alone on the long term, but is associated with higher costs. INTERNATIONAL STANDARD RANDOMIZED CONTROLLED TRIAL NUMBER REGISTER: ISRCTN11216.

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.

Selective Manipulation of Neural Circuits.

PubMed

Park, Hong Geun; Carmel, Jason B

2016-04-01

Unraveling the complex network of neural circuits that form the nervous system demands tools that can manipulate specific circuits. The recent evolution of genetic tools to target neural circuits allows an unprecedented precision in elucidating their function. Here we describe two general approaches for achieving circuit specificity. The first uses the genetic identity of a cell, such as a transcription factor unique to a circuit, to drive expression of a molecule that can manipulate cell function. The second uses the spatial connectivity of a circuit to achieve specificity: one genetic element is introduced at the origin of a circuit and the other at its termination. When the two genetic elements combine within a neuron, they can alter its function. These two general approaches can be combined to allow manipulation of neurons with a specific genetic identity by introducing a regulatory gene into the origin or termination of the circuit. We consider the advantages and disadvantages of both these general approaches with regard to specificity and efficacy of the manipulations. We also review the genetic techniques that allow gain- and loss-of-function within specific neural circuits. These approaches introduce light-sensitive channels (optogenetic) or drug sensitive channels (chemogenetic) into neurons that form specific circuits. We compare these tools with others developed for circuit-specific manipulation and describe the advantages of each. Finally, we discuss how these tools might be applied for identification of the neural circuits that mediate behavior and for repair of neural connections.

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

[Quantitative research on operation behavior of acupuncture manipulation].

PubMed

Li, Jing; Grierson, Lawrence; Wu, Mary X; Breuer, Ronny; Carnahan, Heather

2014-03-01

To explore a method of quantitative evaluation on operation behavior of acupuncture manipulation and further analyze behavior features of professional acupuncture manipulation. According to acupuncture basic manipulations, Scales for Operation Behavior of Acupuncture Basic Manipulation was made and Delphi method was adopted to test its validity. Two independent estimators utilized this scale to assess operation behavior of acupuncture manipulate among 12 acupuncturists and 12 acupuncture-novices and calculate interrater reliability, also the differences of total score of operation behavior in the two groups as well as single-step score, including sterilization, needle insertion, needle manipulation and needle withdrawal, were compared. The validity of this scale was satisfied. The inter-rater reliability was 0. 768. The total score of operation behavior in acupuncturist group was significantly higher than that in the acupuncture-novice group (13.80 +/- 1.05 vs 11.03 +/- 2.14, P < 0.01). The scores of needle insertion and needle manipulation in the acupuncturist group were significantly higher than those in the acupuncture-novice group (4.28 +/- 0.91 vs 2.54 +/- 1.51, P < 0.01; 2.56 +/- 0.65 vs 1.88 +/- 0.88, P < 0.05); however, the scores of sterilization and needle withdrawal in the acupuncturist group were not different from those in the acupuncture-novice group. This scale is suitable for quantitative evaluation on operation behavior of acupuncture manipulation. The behavior features of professional acupuncture manipulation are mainly presented with needle insertion and needle manipulation which has superior difficulty, high coordination and accuracy.

Salience of working-memory maintenance and manipulation deficits in schizophrenia

PubMed Central

Hill, S. K.; Griffin, G. B.; Miura, T. Kazuto; Herbener, E. S.; Sweeney, J. A.

2011-01-01

Background Encoding and maintenance of information in working memory, followed by internal manipulation of that information for planning adaptive behavior, are two key components of working-memory systems. Both processes have been reported to be impaired in schizophrenia, but few studies have directly compared the relative severity of these abnormalities, or the degree to which manipulation deficits might be secondary to alterations in maintenance processes. Method Clinically stable schizophrenia patients (n=25) and a demographically similar healthy comparison group (n=24) were administered a verbal span task with three levels of working-memory load. Maintenance was assessed using sequential position questions. Manipulation processes were assessed by requiring comparison of the relative sequential position of test items, which entailed simultaneous serial search strategies regarding item order. Results Both groups showed reduced accuracy and increased reaction time for manipulation compared with maintenance processing. There were significant patient impairments across working-memory loads. There was no differential deficit in manipulation processing, and effect sizes of relative deficit in the patient group were higher for maintenance than manipulation processing. Conclusions The strong correlation for maintenance and manipulation deficits suggest that impairments in the ability to internally manipulate information stored in working-memory systems are not greater than alterations in the encoding and maintaining of information in working memory and that disturbances in maintenance processing may contribute to deficits in higher-order working-memory operations. PMID:20214839

Estimating the Area Under ROC Curve When the Fitted Binormal Curves Demonstrate Improper Shape.

PubMed

Bandos, Andriy I; Guo, Ben; Gur, David

2017-02-01

The "binormal" model is the most frequently used tool for parametric receiver operating characteristic (ROC) analysis. The binormal ROC curves can have "improper" (non-concave) shapes that are unrealistic in many practical applications, and several tools (eg, PROPROC) have been developed to address this problem. However, due to the general robustness of binormal ROCs, the improperness of the fitted curves might carry little consequence for inferences about global summary indices, such as the area under the ROC curve (AUC). In this work, we investigate the effect of severe improperness of fitted binormal ROC curves on the reliability of AUC estimates when the data arise from an actually proper curve. We designed theoretically proper ROC scenarios that induce severely improper shape of fitted binormal curves in the presence of well-distributed empirical ROC points. The binormal curves were fitted using maximum likelihood approach. Using simulations, we estimated the frequency of severely improper fitted curves, bias of the estimated AUC, and coverage of 95% confidence intervals (CIs). In Appendix S1, we provide additional information on percentiles of the distribution of AUC estimates and bias when estimating partial AUCs. We also compared the results to a reference standard provided by empirical estimates obtained from continuous data. We observed up to 96% of severely improper curves depending on the scenario in question. The bias in the binormal AUC estimates was very small and the coverage of the CIs was close to nominal, whereas the estimates of partial AUC were biased upward in the high specificity range and downward in the low specificity range. Compared to a non-parametric approach, the binormal model led to slightly more variable AUC estimates, but at the same time to CIs with more appropriate coverage. The improper shape of the fitted binormal curve, by itself, ie, in the presence of a sufficient number of well-distributed points, does not imply

Effects of tools inserted through snake-like surgical manipulators.

PubMed

Murphy, Ryan J; Otake, Yoshito; Wolfe, Kevin C; Taylor, Russell H; Armand, Mehran

2014-01-01

Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally-and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and without a tool inserted in its lumen, images were recorded from an overhead camera in conjunction with actuation cable tension and length. To investigate the accuracy, the estimated manipulator configuration from the model and the ground-truth configuration measured from the image were compared. Additional analysis focused on the response differences for the manipulator with and without a tool inserted through the lumen. Results indicate that the energy minimization model predicts manipulator configuration with an error of 0.24 ± 0.22mm without tools in the lumen and 0.24 ± 0.19mm with tools in the lumen (no significant difference, p = 0.81). Moreover, tools did not introduce noticeable perturbations in the manipulator trajectory; however, there was an increase in requisite force required to reach a configuration. These results support the use of the proposed estimation method for calculating the shape of the manipulator with an tool inserted in its lumen when an accuracy range of at least 1mm is required.

Comparison of power curve monitoring methods

NASA Astrophysics Data System (ADS)

Cambron, Philippe; Masson, Christian; Tahan, Antoine; Torres, David; Pelletier, Francis

2017-11-01

Performance monitoring is an important aspect of operating wind farms. This can be done through the power curve monitoring (PCM) of wind turbines (WT). In the past years, important work has been conducted on PCM. Various methodologies have been proposed, each one with interesting results. However, it is difficult to compare these methods because they have been developed using their respective data sets. The objective of this actual work is to compare some of the proposed PCM methods using common data sets. The metric used to compare the PCM methods is the time needed to detect a change in the power curve. Two power curve models will be covered to establish the effect the model type has on the monitoring outcomes. Each model was tested with two control charts. Other methodologies and metrics proposed in the literature for power curve monitoring such as areas under the power curve and the use of statistical copulas have also been covered. Results demonstrate that model-based PCM methods are more reliable at the detecting a performance change than other methodologies and that the effectiveness of the control chart depends on the types of shift observed.

Development of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

NASA Technical Reports Server (NTRS)

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

2014-01-01

An invention of a new and novel space robotic manipulator is described. By using a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening, this new robotic manipulator architecture achieves compact packaging, high strength, stiffness and dexterity while being very lightweight compared to conventional manipulators. The manipulator is also very modular; easy to scale for different reach, load and stiffness requirements; enabling customization for a diverse set of applications. Novel features of the new manipulator concept are described as well as some of the approaches to implement these design features. Two diverse applications are presented to show the versatility of the concept. First generation prototype hardware was designed, manufactured and has been assembled into a working manipulator that is being used to refine and extend development efforts.

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.

Direct manipulation of tool-like masters for controlling a master-slave surgical robotic system.

PubMed

Zhang, Linan; Zhou, Ningxin; Wang, Shuxin

2014-12-01

Robotic-assisted minimally invasive surgery (MIS) can benefit both patients and surgeons. However, the learning curve for robotically assisted procedures can be long and the total system costs are high. Therefore, there is considerable interest in new methods and lower cost controllers for a surgical robotic system. In this study, a knife-master and a forceps-master, shaped similarly to a surgical knife and forceps, were developed as input devices for control of a master-slave surgical robotic system. In addition, a safety strategy was developed to eliminate the master-slave orientation difference and stabilize the surgical system. Master-slave tracking experiments and a ring-and-bar experiment showed that the safety tracking strategy could ensure that the robot system moved stably without any tremor in the tracking motion. Subjects could manipulate the surgical tool to achieve the master-slave operation with less training compared to a mechanical master. Direct manipulation of the small, light and low-cost surgical tools to control a robotic system is a possible operating mode. Surgeons can operate the robotic system in their own familiar way, without long training. The main potential safety issues can be solved by the proposed safety control strategy. Copyright © 2013 John Wiley & Sons, Ltd.

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.

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.

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.

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

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

PubMed

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

2011-07-01

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. © 2011 Acoustical Society of America

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

Characteristics of manipulative in mathematics laboratory

NASA Astrophysics Data System (ADS)

Istiandaru, A.; Istihapsari, V.; Prahmana, R. C. I.; Setyawan, F.; Hendroanto, A.

2017-12-01

A manipulative is a teaching aid designed such that students could understand mathematical concepts by manipulating it. This article aims to provide an insight to the characteristics of manipulatives produced in the mathematics laboratory of Universitas Ahmad Dahlan, Indonesia. A case study was conducted to observe the existing manipulatives produced during the latest three years and classified the manipulatives based on the characteristics found. There are four kinds of manipulatives: constructivism manipulative, virtual manipulative, informative manipulative, and game-based manipulative. Each kinds of manipulative has different characteristics and impact towards the mathematics learning.

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.

Are driving and overtaking on right curves more dangerous than on left curves?

PubMed

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

Predictors of host specificity among behavior-manipulating parasites.

PubMed

Fredensborg, B L

2014-07-01

A trade-off between resource-specialization and the breadth of the ecological niche is one of the most fundamental biological characteristics. A true generalist (Jack-of-all-trades) displays a broad ecological niche with little resource specialization while the opposite is true for a resource-specialist that has a restricted ecological niche that it masters. Parasites that manipulate hosts' behavior are often thought to represent resource-specialists based on a few spectacular examples of manipulation of the host's behavior. However, the determinants of which, and how many, hosts a manipulating parasite can exploit (i.e., niche breadth) are basically unknown. Here, I present an analysis based on published records of the use of hosts by 67 species from 38 genera of helminths inducing parasite increased trophic transmission, a widespread strategy of parasites that has been reported from many taxa of parasites and hosts. Using individual and multivariate analyses, I examined the effect of the host's and parasite's taxonomy, location of the parasite in the host, type of behavioral change, and the effect of debilitation on host-specificity, measured as the mean taxonomic relatedness of hosts that a parasite can manipulate. Host-specificity varied substantially across taxa suggesting great variation in the level of resource-specialization among manipulating parasites. Location of the parasite, level of debilitation, and type of host were all significant predictors of host-specificity. More specifically, hosts' behavioral modification that involves interaction with the central nervous system presumably restricts parasites to more closely related hosts than does manipulation of the host's behavior via debilitation of the host's physiology. The results of the analysis suggest that phylogenetic relatedness of hosts is a useful measure of host-specificity in comparative studies of the complexity of interactions taking place between manipulating parasites and their hosts. �

[Research on the stability of teaching robots of rotation-traction manipulation].

PubMed

Feng, Min-Shan; Zhu, Li-Guo; Wang, Shang-Quan; Yu, Jie; Chen, Ming; Li, Ling-Hui; Wei, Xu

2017-03-25

To evaluate the stability of teaching robot of rotation-traction manipulation. Operators were required to get the hang of rotation-traction manipulation and had clinical experience for over 5 years. The examination and data processing of the ten operators in our research were collected by the teaching robot of rotation-traction manipulation. Traction, pulling force, maximum force, pulling time, rotational amplitude and pitch range were recorded and compared for five times(G1, G2, G3, G4 and G5). The qualification rates were analyzed to evaluate the stability of teaching robot of rotation-traction manipulation. Nonconforming items were found in G1 and G2, for instance, pulling force( P =0.074), maximum force( P =0.264) and rotational amplitude ( P =0.531). There was no statistically difference. None nonconforming item was found in G3, G4 and G5. All data were processed by SPSS and One-way ANOVA was used to analysis. Pulling force was found statistically different in G1, compared with G4 and G5( P =0.015, P =0.006). Maximum force was found statistically different in G1, compared with G4 and G5 ( P =0.021, P =0.012). None differences were found in other comparisons ( P >0.05). The teaching robot of rotation-traction manipulation used in our research could provide objective and quantitative indices and was considered to be an effective tool of assessing the rotation-traction manipulation.

Preliminary Structural Design Considerations and Mass Efficiencies for Lunar Surface Manipulator Concepts

NASA Technical Reports Server (NTRS)

Dorsey, John T.; Mikulas, Martin M.; Doggett, William R.

2008-01-01

The mass and sizing characteristics of manipulators for Lunar and Mars planetary surface applications are investigated by analyzing three structural configurations: a simple cantilevered boom with a square tubular cross-section; a hybrid cable/boom configuration with a square tubular cross-section support structure; and a hybrid cable/boom configuration with a square truss cross-section support structure. Design procedures are developed for the three configurations and numerical examples are given. A new set of performance parameters are developed that relate the mass of manipulators and cranes to a loading parameter. These parameters enable the masses of different manipulator configurations to be compared over a wide range of design loads and reach envelopes (radii). The use of these parameters is demonstrated in the form of a structural efficiency chart using the newly considered manipulator configurations. To understand the performance of Lunar and Mars manipulators, the design procedures were exercised on the three manipulator configurations assuming graphite/epoxy materials for the tubes and trusses. It is also assumed that the actuators are electric motor, gear reduction systems. Numerical results for manipulator masses and sizes are presented for a variety of manipulator reach and payload mass capabilities. Results are presented that demonstrate the sensitivity of manipulator mass to operational radius, tip force, and actuator efficiency. The effect of the value of gravitational force on the ratio of manipulator-mass to payload-mass is also shown. Finally, results are presented to demonstrate the relative mass reduction for the use of graphite/epoxy compared to aluminum for the support structure.

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.

Laparoscopy Instructional Videos: The Effect of Preoperative Compared With Intraoperative Use on Learning Curves.

PubMed

Broekema, Theo H; Talsma, Aaldert K; Wevers, Kevin P; Pierie, Jean-Pierre E N

Previous studies have shown that the use of intraoperative instructional videos has a positive effect on learning laparoscopic procedures. This study investigated the effect of the timing of the instructional videos on learning curves in laparoscopic skills training. After completing a basic skills course on a virtual reality simulator, medical students and residents with less than 1 hour experience using laparoscopic instruments were randomized into 2 groups. Using an instructional video either preoperatively or intraoperatively, both groups then performed 4 repetitions of a standardized task on the TrEndo augmented reality. With the TrEndo, 9 motion analysis parameters (MAPs) were recorded for each session (4 MAPs for each hand and time). These were the primary outcome measurements for performance. The time spent watching the instructional video was also recorded. Improvement in performance was studied within and between groups. Medical Center Leeuwarden, a secondary care hospital located in Leeuwarden, The Netherlands. Right-hand dominant medical student and residents with more than 1 hour experience operating any kind of laparoscopic instruments were participated. A total of 23 persons entered the study, of which 21 completed the study course. In both groups, at least 5 of 9 MAPs showed significant improvements between repetition 1 and 4. When both groups were compared after completion of repetition 4, no significant differences in improvement were detected. The intraoperative group showed significant improvement in 3 MAPs of the left-nondominant-hand, compared with one MAP for the preoperative group. No significant differences in learning curves could be detected between the subjects who used intraoperative instructional videos and those who used preoperative instructional videos. Intraoperative video instruction may result in improved dexterity of the nondominant hand. Copyright © 2016 Association of Program Directors in Surgery. Published by Elsevier Inc

A Comparison Study of Polyominoes Explorations in a Physical and Virtual Manipulative Environment

ERIC Educational Resources Information Center

Yuan, Y.; Lee, C. -Y.; Wang, C. -H.

2010-01-01

This study develops virtual manipulative, polyominoes kits for junior high school students to explore polyominoes. The current work conducts a non-equivalent group pretest-post-test quasi-experimental design to compare the performance difference between using physical manipulatives and virtual manipulatives in finding the number of polyominoes.…

Osteopathic Manipulative Treatment

MedlinePlus

... Library Osteopathic Manipulative Treatment Becoming a DO Video Library What is Osteopathic Medicine? Osteopathic Manipulative Treatment Page Content Nearly every day, medical science unveils new discoveries from brain scans to anti- ...

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)

Underwater manipulator

DOEpatents

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.

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

2014-08-13

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.

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

Integrality and separability of multitouch interaction techniques in 3D manipulation tasks.

PubMed

Martinet, Anthony; Casiez, Géry; Grisoni, Laurent

2012-03-01

Multitouch displays represent a promising technology for the display and manipulation of data. While the manipulation of 2D data has been widely explored, 3D manipulation with multitouch displays remains largely unexplored. Based on an analysis of the integration and separation of degrees of freedom, we propose a taxonomy for 3D manipulation techniques with multitouch displays. Using that taxonomy, we introduce Depth-Separated Screen-Space (DS3), a new 3D manipulation technique based on the separation of translation and rotation. In a controlled experiment, we compared DS3 with Sticky Tools and Screen-Space. Results show that separating the control of translation and rotation significantly affects performance for 3D manipulation, with DS3 performing faster than the two other techniques.

Hydraulic manipulator research at ORNL

DOE Office of Scientific and Technical Information (OSTI.GOV)

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 Nationalmore » 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.« less

The Milky Way rotation curve revisited

NASA Astrophysics Data System (ADS)

Russeil, D.; Zavagno, A.; Mège, P.; Poulin, Y.; Molinari, S.; Cambresy, L.

2017-05-01

The Herschel survey of the Galactic Plane (Hi-GAL) is a continuum Galactic plane survey in five wavebands at 70, 160, 250, 350 and 500 μm. From such images, about 150 000 sources have been extracted for which the distance determination is a challenge. In this context the velocity of these sources has been determined thanks to a large number of molecular data cubes. But to convert the velocity to kinematic distance, one needs to adopt a rotation curve for our Galaxy. For three different samples of tracers, we test different analytical forms. We find that the power-law expression, θ(R)/θ0 = 1.022 (R/R0)0.0803 with R0, θ0 = 8.34 kpc, 240 km s-1 is a good and easily manipulated expression for the distance determination process.

Curve progression 25 years after bracing for adolescent idiopathic scoliosis: long term comparative results between two matched groups of 18 versus 23 hours daily bracing.

PubMed

Pellios, Stavros; Kenanidis, Eustathios; Potoupnis, Michael; Tsiridis, Eleftherios; Sayegh, Fares E; Kirkos, John; Kapetanos, George A

2016-01-01

Scoliotic curves do not necessarily stop progressing at skeletal maturity. The factors that influence curve behavior following bracing are not fully determined. Our objectives were to evaluate the loss of the scoliotic curve correction in a cohort of patients treated with bracing during adolescence and to compare the outcomes of 18 versus 23 h of bracing at a mean of 25 years post brace removal. Seventy-seven patients, who were successfully treated for Adolescent Idiopathic Scoliosis with Βoston brace, were re-evaluated 25 years after the end of their treatment. Patients were further divided in 2 matched groups; those wearing the brace for 23 h and those not wearing the brace at school-time, limiting the application of the brace to 18 h. The mean scoliotic curve was compared between groups before, during, just after bracing and 25 years post bracing. Validated in patients' native language forms of Short Form 36 and Oswestry Disability Index questionnaires were used to compare the quality of life between groups 25 years post bracing. The mean age of the cohort was 40.4 (±3.2) years. They underwent long term follow up at a mean of 25.16 (±2.69) years after brace removal. The mean cohort scoliotic curve increased by 3.9 (±6.69) at 25 years since brace removal. There was however no significant difference in the mean Cobb angle of the cohort between pre brace and long term follow up period (p = 0.307). The 18 and 23 h application groups were comparable according to demographics and several bracing and scoliotic curve parameters. There was no significant difference in the mean curve magnitude between 18 and 23 h application groups at brace removal (p = 0.512) and at 25 years follow-up (p = 0.878). There was also no significant difference in the mean score of Quality of Life questionnaires between groups at long term follow up. Scoliotic curves do not necessarily stop progressing after bracing. Bracing is effective treatment method with good

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

PubMed

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

Liquid-assisted tunable metasurface for simultaneous manipulation of surface elastic and acoustic waves

NASA Astrophysics Data System (ADS)

Yuan, Si-Min; Ma, Tian-Xue; Chen, A.-Li; Wang, Yue-Sheng

2018-03-01

A tunable and multi-functional one-dimensional metasurface, which is formed by engraving periodic semi-ellipse grooves on the surface of an aluminum half-space, is proposed in this paper. One characteristic of the metasurface is the manipulation of multi-physical fields, i.e. it could be utilized to manipulate surface elastic and acoustic waves simultaneously. The dispersion curves of the elastic and acoustic waves can be effectively tuned by adding liquids into the grooves. Based on the tunability different applications can be realized by adding different volumes of different liquids into the grooves. As an example, simultaneous rainbow trapping of the surface elastic and acoustic waves is demonstrated in the metasurface. Moreover, a resonant cavity where the elastic and acoustic waves are highly confined is reported. The proposed metasurface paves the way to the design of multi-functional devices for simultaneous control of elastic and acoustic waves.

Procedure for curve warning signing, delineation, and advisory speeds for horizontal curves.

DOT National Transportation Integrated Search

2010-09-30

Horizontal curves are relatively dangerous features, with collision rates at least 1.5 times that of comparable tangent : sections on average. To help make these segments safer, this research developed consistent study methods with : which field pers...

How verbal and spatial manipulation networks contribute to calculation: an fMRI study.

PubMed

Zago, Laure; Petit, Laurent; Turbelin, Marie-Renée; Andersson, Frédéric; Vigneau, Mathieu; Tzourio-Mazoyer, Nathalie

2008-01-01

The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intraparietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and nonsymbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with nonsymbolic material.

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

Transition to Turbulence in curved pipe

NASA Astrophysics Data System (ADS)

Hashemi, Amirreza; Loth, Francis

2014-11-01

Studies have shown that transitional turbulence in a curved pipe is delayed significantly compared with straight pipes. These analytical, numerical and experimental studies employed a helical geometry that is infinitely long such that the effect of the inlet and outlet can be neglected. The present study examined transition to turbulence in a finite curved pipe with a straight inlet/outlet and a 180 degrees curved pipe with a constant radius of curvature and diameter (D). We have employed the large scale direct numerical simulation (DNS) by using the spectral element method, nek5000, to simulate the flow field within curved pipe geometry with different curvature radii and Reynolds numbers to determine the point of the transition to turbulence. Long extensions for the inlet (5D) and outlet (20D) were used to diminish the effect of the boundary conditions. Our numerical results for radius of curvatures of 1.5D and 5D show transition turbulence is near Re = 3000. This is delayed compared with a straight pipe (Re = 2200) but still less that observed for helical geometries (Reynolds number less than 5000). Our research aims to describe the critical Reynolds number for transition to turbulence for a finite curved pipe at various curvature radii.

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.

Coronal deformity correction in adolescent idiopathic scoliosis patients using the fulcrum-bending radiograph: a prospective comparative analysis of the proximal thoracic, main thoracic, and thoracolumbar/lumbar curves.

PubMed

Li, Jingfeng; Dumonski, Mark L; Samartzis, Dino; Hong, Joseph; He, Shisheng; Zhu, Xiaodong; Wang, Chuanfeng; Vaccaro, Alexander R; Albert, Todd J; Li, Ming

2011-01-01

The aim of the prospective, comparative radiographic analysis was to determine the role of the fulcrum-bending radiograph (FBR) for the assessment of the proximal thoracic (PT), main thoracic (MT), and the thoracolumbar/lumbar (TL/L) curves in patients undergoing posterior spinal pedicle screw fixation and fusion for adolescent idiopathic scoliosis (AIS). The FBR demonstrated statistically better correction than other preoperative methods for the assessment of frontal plane correction of the MT curves. The fulcrum-bending correction index (FBCI) has been considered a superior method than the correction rate for comparing curve correction undergoing posterior spinal fusion because it accounts for the curve flexibility. However, their applicability to assess the PT and TL/L curves in AIS patients remains speculative. The relation between FBR and correction obtained by pedicle screws fixation is still unknown. Thirty-eight consecutive AIS patients who underwent pedicle screw fixation and posterior fusion were included in this study. The assessment of preoperative radiographs included standing posterior-anterior (PA), FBR, supine side-bending, and postoperative standing PA and lateral plain radiographs. The flexibility of the curve, as well as the FBCI, was calculated for all patients. Postoperatively, radiographs were assessed at immediate (i.e. 1 week), 3-month, 6-month, 12-month, and 2-year follow-up. Cobb angles were obtained from the PT, MT, and TL/L curves. The study consisted of 9 PT, 37 MT, and 12 TL/L curves, with a mean age of 15.1 years. The mean FBR flexibility of the PT, MT, and the TL/L curves was 42.6, 61.1, and 66.2%, respectively. The mean operative correction rates in the PT, MT, and TL/L curves were 43.4, 69.3, and 73.9%, respectively, and the mean FBCI was 103.8, 117.0, and 114.8%, respectively. Fulcrum-bending flexibility was positively correlated with the operative correction rate in PT, MT, and TL/L curves. Although the correction rate in MT and

Osteopathic manipulative treatment: A systematic review and critical appraisal of comparative effectiveness and health economics research.

PubMed

Steel, Amie; Sundberg, Tobias; Reid, Rebecca; Ward, Lesley; Bishop, Felicity L; Leach, Matthew; Cramer, Holger; Wardle, Jon; Adams, Jon

2017-02-01

In recent years, evidence has emerged regarding the effectiveness of osteopathic manipulative treatments (OMT). Despite growing evidence in this field, there is need for appropriate research designs that effectively reflect the person-centred system of care promoted in osteopathy and provide data which can inform policy decisions within the healthcare system. The purpose of this systematic review is to identify, appraise and synthesise the evidence from comparative effectiveness and economic evaluation research involving OMT. A database search was conducted using CINAHL, PubMed, PEDro, AMED, SCOPUS and OSTMED.DR, from their inception to May 2015. Two separate searches were undertaken to identify original research articles encompassing the economic evaluation and comparative effectiveness of OMT. Identified comparative effectives studies were evaluated using the Cochrane risk of bias tool and appraised using the Good Reporting of Comparative Effectiveness (GRACE) principles. Identified economic studies were assessed with the Consolidated Health Economic Evaluation Reporting Standards (CHEERS) guidelines. Sixteen studies reporting the findings of comparative effectiveness (n = 9) and economic evaluation (n = 7) research were included. The comparative effectiveness studies reported outcomes for varied health conditions and the majority (n = 6) demonstrated a high risk of bias. The economic evaluations included a range of analyses and considerable differences in the quality of reporting were evident. Despite some positive findings, published comparative effectiveness and health economic studies in OMT are of insufficient quality and quantity to inform policy and practice. High quality, well-designed, research that aligns with international best practice is greatly needed to build a pragmatic evidence base for OMT. Copyright © 2016 Elsevier Ltd. All rights reserved.

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. © 2013 American Society of Law, Medicine & Ethics, Inc.

An evolutionary resolution of manipulation conflict.

PubMed

González-Forero, Mauricio

2014-07-01

Individuals can manipulate the behavior of social partners. However, manipulation may conflict with the fitness interests of the manipulated individuals. Manipulated individuals can then be favored to resist manipulation, possibly reducing or eliminating the manipulated behavior in the long run. I use a mathematical model to show that conflicts where manipulation and resistance coevolve can disappear as a result of the coevolutionary process. I find that while manipulated individuals are selected to resist, they can simultaneously be favored to express the manipulated behavior at higher efficiency (i.e., providing increasing fitness effects to recipients of the manipulated behavior). Efficiency can increase to a point at which selection for resistance disappears. This process yields an efficient social behavior that is induced by social partners, and over which the inducing and induced individuals are no longer in conflict. A necessary factor is costly inefficiency. I develop the model to address the evolution of advanced eusociality via maternal manipulation (AEMM). The model predicts AEMM to be particularly likely in taxa with ancestrally imperfect resistance to maternal manipulation. Costly inefficiency occurs if the cost of delayed dispersal is larger than the benefit of exploiting the maternal patch. I discuss broader implications of the process. © 2014 The Author(s). Evolution © 2014 The Society for the Study of Evolution.

Perspectives on object manipulation and action grammar for percussive actions in primates

PubMed Central

Hayashi, Misato

2015-01-01

The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of object manipulation in naive chimpanzees after nut-cracking demonstrations revealed the cause of difficulties in learning nut-cracking behaviour. Various types of behaviours exhibited within a nut-cracking context can be examined in terms of the application of problem-solving strategies, focusing on their basis in causal understanding or insightful intentionality. Captive chimpanzees also exhibit complex forms of combinatory manipulation, which is the precursor of tool use. A new notation system of object manipulation was invented to assess grammatical rules in manipulative actions. The notation system of action grammar enabled direct comparisons to be made between primates including humans in a variety of object-manipulation tasks, including percussive-tool use. PMID:26483528

Perspectives on object manipulation and action grammar for percussive actions in primates.

PubMed

Hayashi, Misato

2015-11-19

The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of object manipulation in naive chimpanzees after nut-cracking demonstrations revealed the cause of difficulties in learning nut-cracking behaviour. Various types of behaviours exhibited within a nut-cracking context can be examined in terms of the application of problem-solving strategies, focusing on their basis in causal understanding or insightful intentionality. Captive chimpanzees also exhibit complex forms of combinatory manipulation, which is the precursor of tool use. A new notation system of object manipulation was invented to assess grammatical rules in manipulative actions. The notation system of action grammar enabled direct comparisons to be made between primates including humans in a variety of object-manipulation tasks, including percussive-tool use. © 2015 The Author(s).

Upper airway stabilization by osteopathic manipulation of the sphenopalatine ganglion versus sham manipulation in OSAS patients: a proof-of-concept, randomized, crossover, double-blind, controlled study.

PubMed

Jacq, Olivier; Arnulf, Isabelle; Similowski, Thomas; Attali, Valérie

2017-12-20

Osteopathic manipulative treatment (OMT) of the sphenopalatine ganglion (SPG) is used empirically for the treatment of rhinitis and snoring and is thought to increase pharyngeal stability. This trial was designed to study the effects of this treatment on pharyngeal stability evaluated by critical closing pressure in obstructive sleep apnoea syndrome. This single-centre, randomized, crossover, double-blind study compared active manipulation and sham manipulation of the SPG. Randomization was computer-generated. Patients each received one active manipulation and one sham manipulation at an interval of 21 days and were evaluated 30 min and 48 h after each session administered by a qualified osteopath. Neither the patients, nor the investigator performing the evaluations were informed about the order of the two techniques (double-blind). The primary endpoint was the percentage of responding patients presenting increased pharyngeal stability defined by a variation of critical closing pressure (Pcrit) of at least -4 cmH 2 O at 30 min. Secondary endpoints were the variation of Pcrit in absolute values, sleepiness and snoring. Others endpoints were lacrimation (Schirmer's test), induced pain, sensations experienced during OMT. Ten patients were included and nine (57 [50; 58] years, comprising 7 men, with an apnoea-hypopnoea index of 31.0 [25.5; 33.2]/h; (values are median [quartiles])) were analysed. Seven patients were analysed for the primary endpoint and nine patients were analysed for secondary endpoints. Five patients responded after active manipulation versus no patients after sham manipulation (p = 0.0209). Active manipulation induced more intense pain (p = 0.0089), increased lacrimation (ns) and more tactile, nociceptive and gustatory sensations (13 versus 1) compared to sham manipulation. No significant difference was observed for the other endpoints. Osteopathic manipulative treatment of the SPG may improve pharyngeal stability in obstructive sleep

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.

A Comparative Study of the Effects of Using Dynamic Geometry Software and Physical Manipulatives on the Spatial Visualisation Skills of Pre-Service Mathematics Teachers

ERIC Educational Resources Information Center

Baki, Adnan; Kosa, Temel; Guven, Bulent

2011-01-01

The study compared the effects of dynamic geometry software and physical manipulatives on the spatial visualisation skills of first-year pre-service mathematics teachers. A pre- and post-test quasi-experimental design was used. The Purdue Spatial Visualisation Test (PSVT) was used for the pre- and post-test. There were three treatment groups. The…

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

Comparing dark matter models, modified Newtonian dynamics and modified gravity in accounting for galaxy rotation curves

NASA Astrophysics Data System (ADS)

Li, Xin; Tang, Li; Lin, Hai-Nan

2017-05-01

We compare six models (including the baryonic model, two dark matter models, two modified Newtonian dynamics models and one modified gravity model) in accounting for galaxy rotation curves. For the dark matter models, we assume NFW profile and core-modified profile for the dark halo, respectively. For the modified Newtonian dynamics models, we discuss Milgrom’s MOND theory with two different interpolation functions, the standard and the simple interpolation functions. For the modified gravity, we focus on Moffat’s MSTG theory. We fit these models to the observed rotation curves of 9 high-surface brightness and 9 low-surface brightness galaxies. We apply the Bayesian Information Criterion and the Akaike Information Criterion to test the goodness-of-fit of each model. It is found that none of the six models can fit all the galaxy rotation curves well. Two galaxies can be best fitted by the baryonic model without involving nonluminous dark matter. MOND can fit the largest number of galaxies, and only one galaxy can be best fitted by the MSTG model. Core-modified model fits about half the LSB galaxies well, but no HSB galaxies, while the NFW model fits only a small fraction of HSB galaxies but no LSB galaxies. This may imply that the oversimplified NFW and core-modified profiles cannot model the postulated dark matter haloes well. Supported by Fundamental Research Funds for the Central Universities (106112016CDJCR301206), National Natural Science Fund of China (11305181, 11547305 and 11603005), and Open Project Program of State Key Laboratory of Theoretical Physics, Institute of Theoretical Physics, Chinese Academy of Sciences, China (Y5KF181CJ1)

Manipulation, salience, and nudges.

PubMed

Noggle, Robert

2018-03-01

Cass Sunstein and Richard Thaler recommend helping people make better decisions by employing 'nudges', which they define as noncoercive methods of influencing choice for the better. Not surprisingly, healthcare practitioners and public policy professionals have become interested in whether nudges might be a promising method of improving health-related behaviors without resorting to heavy-handed methods such as coercion, deception, or government regulation. Many nudges seem unobjectionable as they merely improve the quality and quantity available for the decision-maker. However, other nudges influence decision-making in ways that do not involve providing more and better information. Nudges of this sort raise concerns about manipulation. This paper will focus on noninformational nudges that operate by changing the salience of various options. It will survey two approaches to understanding manipulation, one which sees manipulation as a kind of pressure, and one that sees it as a kind of trickery. On the pressure view, salience nudges do not appear to be manipulative. However, on the trickery view (which the author favors), salience nudges will be manipulative if they increase the salience so that it is disproportionate to that fact's true relevance and importance for the decision at hand. By contrast, salience nudges will not be manipulative if they merely highlight some fact that is true and important for the decision at hand. The paper concludes by providing examples of both manipulative and nonmanipulative salience nudges. © 2017 John Wiley & Sons Ltd.

Visualizing Motion Patterns in Acupuncture Manipulation.

PubMed

Lee, Ye-Seul; Jung, Won-Mo; Lee, In-Seon; Lee, Hyangsook; Park, Hi-Joon; Chae, Younbyoung

2016-07-16

Acupuncture manipulation varies widely among practitioners in clinical settings, and it is difficult to teach novice students how to perform acupuncture manipulation techniques skillfully. The Acupuncture Manipulation Education System (AMES) is an open source software system designed to enhance acupuncture manipulation skills using visual feedback. Using a phantom acupoint and motion sensor, our method for acupuncture manipulation training provides visual feedback regarding the actual movement of the student's acupuncture manipulation in addition to the optimal or intended movement, regardless of whether the manipulation skill is lifting, thrusting, or rotating. Our results show that students could enhance their manipulation skills by training using this method. This video shows the process of manufacturing phantom acupoints and discusses several issues that may require the attention of individuals interested in creating phantom acupoints or operating this system.

Cell manipulation in microfluidics.

PubMed

Yun, Hoyoung; Kim, Kisoo; Lee, Won Gu

2013-06-01

Recent advances in the lab-on-a-chip field in association with nano/microfluidics have been made for new applications and functionalities to the fields of molecular biology, genetic analysis and proteomics, enabling the expansion of the cell biology field. Specifically, microfluidics has provided promising tools for enhancing cell biological research, since it has the ability to precisely control the cellular environment, to easily mimic heterogeneous cellular environment by multiplexing, and to analyze sub-cellular information by high-contents screening assays at the single-cell level. Various cell manipulation techniques in microfluidics have been developed in accordance with specific objectives and applications. In this review, we examine the latest achievements of cell manipulation techniques in microfluidics by categorizing externally applied forces for manipulation: (i) optical, (ii) magnetic, (iii) electrical, (iv) mechanical and (v) other manipulations. We furthermore focus on history where the manipulation techniques originate and also discuss future perspectives with key examples where available.

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)

Three-dimensional broadband acoustic illusion cloak for sound-hard boundaries of curved geometry

PubMed Central

Kan, Weiwei; Liang, Bin; Li, Ruiqi; Jiang, Xue; Zou, Xin-ye; Yin, Lei-lei; Cheng, Jianchun

2016-01-01

Acoustic illusion cloaks that create illusion effects by changing the scattered wave have many potential applications in a variety of scenarios. However, the experimental realization of generating three-dimensional (3D) acoustic illusions under detection of broadband signals still remains challenging despite the paramount importance for practical applications. Here we report the design and experimental demonstration of a 3D broadband cloak that can effectively manipulate the scattered field to generate the desired illusion effect near curved boundaries. The designed cloak simply comprises positive-index anisotropic materials, with parameters completely independent of either the cloaked object or the boundary. With the ability of manipulating the scattered field in 3D space and flexibility of applying to arbitrary geometries, our method may take a major step toward the real world application of acoustic cloaks and offer the possibilities of building advanced acoustic devices with versatile functionalities. PMID:27833141

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.

Rational Manipulation of the Standard Laparoscopic Instruments for Single-Incision Laparoscopic Right Colectomy

PubMed Central

Watanabe, Makoto; Murakami, Masahiko; Kato, Takashi; Onaka, Toru; Aoki, Takeshi

2013-01-01

This report clarifies the rational manipulation of standard laparoscopic instruments for single-incision laparoscopic right colectomy (SILRC) using the SILS Port. We classified the manipulations required into 4 techniques. Vertical manipulation was required for medial-to-lateral retroperitoneal dissection. Frontal manipulation was needed for extension and establishment of a retroperitoneal plane. External crossing manipulation was used for dissection or ligation of the ileocolic or right colic vessels. Internal crossing manipulation was required for mobilization from the cecum to ascending colon. We performed SILRC for a series of 30 consecutive patients. One additional port was needed in 5 of the patients (16.7%) because of severe adhesion between the ileum and abdominal wall. No intraoperative complications were encountered. Four rational manipulations of the standard laparoscopic instruments are required for SILRC using the SILS Port. However, more experience and comparative trials are needed to determine the exact role of SILRC. PMID:23971771

Response of lumbar paraspinal muscles spindles is greater to spinal manipulative loading compared with slower loading under length control.

PubMed

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

2007-01-01

was securely attached to the L6 spinous process via a forceps. 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 100-ms duration eliciting both a higher frequency discharge compared with 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 1-mm compared with the 2-mm amplitude thrust (6.2 vs. 3.3 spikes/s/mm/s). This latter finding may be related to the small versus large signal range properties of muscle spindles. The results indicate that the duration and amplitude of a spinal manipulation elicit 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.

Rotation Period of Blanco 1 Members from KELT Light Curves: Comparing Rotation-Ages to Various Stellar Chronometers at 100 Myr

NASA Astrophysics Data System (ADS)

Cargile, Phillip; James, D. J.; Pepper, J.; Kuhn, R.; Siverd, R. J.; Stassun, K. G.

2012-01-01

The age of a star is one of its most fundamental properties, and yet tragically it is also the one property that is not directly measurable in observations. We must therefore rely on age estimates based on mostly model-dependent or empirical methods. Moreover, there remains a critical need for direct comparison of different age-dating techniques using the same stars analyzed in a consistent fashion. One chronometer commonly being employed is using stellar rotation rates to measure stellar ages, i.e., gyrochronology. Although this technique is one of the better-understood chronometers, its calibration relies heavily on the solar datum, as well as benchmark open clusters with reliable ages, and also lacks a comprehensive comparative analysis to other stellar chronometers. The age of the nearby (? pc) open cluster Blanco 1 has been estimated using various techniques, including being one of only 7 clusters with an LDB age measurement, making it a unique and powerful comparative laboratory for stellar chronometry, including gyrochronology. Here, we present preliminary results from our light-curve analysis of solar-type stars in Blanco 1 in order to identify and measure rotation periods of cluster members. The light-curve data were obtained during the engineering and calibration phase of the KELT-South survey. The large area on the sky and low number of contaminating field stars makes Blanco 1 an ideal target for the extremely wide field and large pixel scale of the KELT telescope. We apply a period-finding technique using the Lomb-Scargle periodogram and FAP statistics to measure significant rotation periods in the KELT-South light curves for confirmed Blanco 1 members. These new rotation periods allow us to test and inform rotation evolution models for stellar ages at ? Myr, determining a rotation-age for Blanco 1 using gyrochronology, and compare this rotation-age to other age measurements for this cluster.

Beliefs and Practice Patterns in Spinal Manipulation and Spinal Motion Palpation Reported by Canadian Manipulative Physiotherapists

PubMed Central

Macdermid, Joy C.; Santaguida, P. Lina; Thabane, Lehana; Giulekas, Kevin; Larocque, Leo; Millard, James; Williams, Caitlin; Miller, Jack; Chesworth, Bert M.

2013-01-01

ABSTRACT Purpose: This practice survey describes how Fellows of the Canadian Academy of Manipulative Physiotherapy (FCAMPT) use spinal manipulation and mobilization and how they perceive their competence in performing spinal assessment; it also quantifies relationships between clinical experience and use of spinal manipulation. Methods: A cross-sectional survey was designed based on input from experts and the literature was administered to a random sample of the FCAMPT mailing list. Descriptive (including frequencies) and inferential statistical analyses (including linear regression) were performed. Results: The response rate was 82% (278/338 eligible FCAMPTs). Most (99%) used spinal manipulation. Two-thirds (62%) used clinical presentation as a factor when deciding to mobilize or manipulate. The least frequently manipulated spinal region was the cervical spine (2% of patients); 60% felt that cervical manipulation generated more adverse events. Increased experience was associated with increased use of upper cervical manipulation among male respondents (14% more often for every 10 years after certification; β, 95% CI=1.37, 0.89–1.85, p<0.001) but not among female respondents. Confidence in palpation accuracy decreased in lower regions of the spine. Conclusion: The use of spinal manipulation/mobilization is prevalent among FCAMPTs, but is less commonly used in the neck because of a perceived association with adverse events. PMID:24403681

Estimating thumb–index finger precision grip and manipulation potential in extant and fossil primates

PubMed Central

Feix, Thomas; Kivell, Tracy L.; Pouydebat, Emmanuelle; Dollar, Aaron M.

2015-01-01

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb–index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. PMID:25878134

Heterozygote PCR product melting curve prediction.

PubMed

Dwight, Zachary L; Palais, Robert; Kent, Jana; Wittwer, Carl T

2014-03-01

Melting curve prediction of PCR products is limited to perfectly complementary strands. Multiple domains are calculated by recursive nearest neighbor thermodynamics. However, the melting curve of an amplicon containing a heterozygous single-nucleotide variant (SNV) after PCR is the composite of four duplexes: two matched homoduplexes and two mismatched heteroduplexes. To better predict the shape of composite heterozygote melting curves, 52 experimental curves were compared with brute force in silico predictions varying two parameters simultaneously: the relative contribution of heteroduplex products and an ionic scaling factor for mismatched tetrads. Heteroduplex products contributed 25.7 ± 6.7% to the composite melting curve, varying from 23%-28% for different SNV classes. The effect of ions on mismatch tetrads scaled to 76%-96% of normal (depending on SNV class) and averaged 88 ± 16.4%. Based on uMelt (www.dna.utah.edu/umelt/umelt.html) with an expanded nearest neighbor thermodynamic set that includes mismatched base pairs, uMelt HETS calculates helicity as a function of temperature for homoduplex and heteroduplex products, as well as the composite curve expected from heterozygotes. It is an interactive Web tool for efficient genotyping design, heterozygote melting curve prediction, and quality control of melting curve experiments. The application was developed in Actionscript and can be found online at http://www.dna.utah.edu/hets/. © 2013 WILEY PERIODICALS, INC.

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.

Additive manufacturing of patient-specific tubular continuum manipulators

NASA Astrophysics Data System (ADS)

Amanov, Ernar; Nguyen, Thien-Dang; Burgner-Kahrs, Jessica

2015-03-01

Tubular continuum robots, which are composed of multiple concentric, precurved, elastic tubes, provide more dexterity than traditional surgical instruments at the same diameter. The tubes can be precurved such that the resulting manipulator fulfills surgical task requirements. Up to now the only material used for the component tubes of those manipulators is NiTi, a super-elastic shape-memory alloy of nickel and titan. NiTi is a cost-intensive material and fabrication processes are complex, requiring (proprietary) technology, e.g. for shape setting. In this paper, we evaluate component tubes made of 3 different thermoplastic materials (PLA, PCL and nylon) using fused filament fabrication technology (3D printing). This enables quick and cost-effective production of custom, patient-specific continuum manipulators, produced on site on demand. Stress-strain and deformation characteristics are evaluated experimentally for 16 fabricated tubes of each thermoplastic with diameters and shapes equivalent to those of NiTi tubes. Tubes made of PCL and nylon exhibit properties comparable to those made of NiTi. We further demonstrate a tubular continuum manipulator composed of 3 nylon tubes in a transnasal, transsphenoidal skull base surgery scenario in vitro.

Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2017-12-01

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Fang, Jing; Yuan, Jianping

2018-03-01

The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.

Cervical Spine Mechanism for Reproduction of the Biomechanical Behaviours of the Human Neck during Rotation-Traction Manipulation

PubMed Central

Zhu, Liguo

2017-01-01

Rotation-traction (RT) manipulation is a commonly used physical therapy procedure in TCM (traditional Chinese medicine) for cervical spondylosis. This procedure temporarily separates the C3 and C4 cervical vertebrae from each other when a physician applies a jerky action while the neck is voluntarily turned by the patient to a specific position as instructed by the physician, where the cervical vertebrae are twisted and locked. However, a high rate of cervical injury occurs due to inexperienced physician interns who lack sufficient training. Therefore, we developed a cervical spine mechanism that imitates the dynamic behaviours of the human neck during RT manipulation. First, in vivo and in vitro experiments were performed to acquire the biomechanical feature curves of the human neck during RT manipulation. Second, a mass-spring-damper system with an electromagnetic clutch was designed to emulate the entire dynamic response of the human neck. In this system, a spring is designed as rectilinear and nonlinear to capture the viscoelasticity of soft tissues, and an electromagnetic clutch is used to simulate the sudden disengagement of the cervical vertebrae. Test results show that the mechanism can exhibit the desired behaviour when RT manipulation is applied in the same manner as on humans. PMID:29259395

Compression of contour data through exploiting curve-to-curve dependence

NASA Technical Reports Server (NTRS)

Yalabik, N.; Cooper, D. B.

1975-01-01

An approach to exploiting curve-to-curve dependencies in order to achieve high data compression is presented. One of the approaches to date of along curve compression through use of cubic spline approximation is taken and extended by investigating the additional compressibility achievable through curve-to-curve structure exploitation. One of the models under investigation is reported on.

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.

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.

Chinese manipulation for mechanical neck pain: a systematic review.

PubMed

Lin, Jian Hua; Chiu, Thomas Tai Wing; Hu, Jia

2012-11-01

To assess whether Chinese manipulation improves pain, function/disability and global perceived effect in adults with acute/subacute/chronic neck pain. CAJ Full-text Database (Chinese), Wanfang Database (Chinese), Cochrane Database (English) and Medline (English). Literature searching was performed with the following keywords and their combination: 'manual therapy/bone setting/Chinese manipulation', 'neck/cervical pain', 'cervical vertebrae', 'cervical spondylosis/radiculopathy' and 'randomized controlled trial/review.' Two independent reviewers selected studies, extracted data and assessed risk of bias for each included study. Randomized controlled trials or quasi-randomized controlled trials on the effect of Chinese manipulation in treating adult patients with neck pain were selected. Mean differences with 95% confidence intervals (CI) were calculated. Quality of the evidence was assessed by the Grading of Recommendations, Assessment, Development and Evaluation (GRADE) approach. Four studies (610 participants) were included in this review. There was very low-quality evidence suggesting that, compared to cervical traction in sitting, Chinese manipulation produced more immediate post-intervention pain relief (mean difference: -1.06; 95% CI: -1.37~ -0.75; P < 0.001) and improvement of global signs and symptoms (mean difference: -3.81; 95% CI: -4.71 ~ -2.91; P < 0.001). Very low-quality evidence showed that Chinese manipulation alone was superior to Chinese traditional massage in immediate post-intervention pain relief (mean difference: -2.02; 95% CI: -2.78~ -1.26; P < 0.001). There was limited evidence showing Chinese manipulation could produce short-term improvement for neck pain.

Evaluation of phantom-based education system for acupuncture manipulation.

PubMed

Lee, In-Seon; Lee, Ye-Seul; Park, Hi-Joon; Lee, Hyejung; Chae, Younbyoung

2015-01-01

Although acupuncture manipulation has been regarded as one of the important factors in clinical outcome, it has been difficult to train novice students to become skillful experts due to a lack of adequate educational program and tools. In the present study, we investigated whether newly developed phantom acupoint tools would be useful to practice-naïve acupuncture students for practicing the three different types of acupuncture manipulation to enhance their skills. We recruited 12 novice students and had them practice acupuncture manipulations on the phantom acupoint (5% agarose gel). We used the Acusensor 2 and compared their acupuncture manipulation techniques, for which the target criteria were depth and time factors, at acupoint LI11 in the human body before and after 10 training sessions. The outcomes were depth of needle insertion, depth error from target criterion, time of rotating, lifting, and thrusting, time error from target criteria and the time ratio. After 10 training sessions, the students showed significantly improved outcomes in depth of needle, depth error (rotation, reducing lifting/thrusting), thumb-forward time error, thumb-backward time error (rotation), and lifting time (reinforcing lifting/thrusting). The phantom acupoint tool could be useful in a phantom-based education program for acupuncture-manipulation training for students. For advanced education programs for acupuncture manipulation, we will need to collect additional information, such as patient responses, acupoint-specific anatomical characteristics, delicate tissue-like modeling, haptic and visual feedback, and data from an acupuncture practice simulator.

Comparative effectiveness of exercise, acupuncture, and spinal manipulation for low back pain.

PubMed

Standaert, Christopher J; Friedly, Janna; Erwin, Mark W; Lee, Michael J; Rechtine, Glenn; Henrikson, Nora B; Norvell, Daniel C

2011-10-01

Systematic review. We sought to answer the following clinical questions: (1) Is structured exercise more effective in the treatment of chronic low back pain (LBP) than spinal manipulative therapy (SMT)? (2) Is structured exercise more effective in the treatment of chronic LBP than acupuncture? (3) Is SMT more effective in the treatment of chronic LBP than acupuncture? (4) Do certain subgroups respond more favorably to specific treatments? (5) Are any of these treatments more cost-effective than the others? Exercise, SMT, and acupuncture are widely used interventions in the treatment of chronic LBP. There is evidence that all of these approaches may offer some benefit for patients with chronic LBP when compared with usual care or no treatment. The relative benefits or cost-effectiveness of any one of these treatments when compared with the others are less well-defined, and it is difficult to identify specific subgroups of those with chronic LBP who may preferentially respond to a particular treatment modality. A systematic review of the literature was performed to identify randomized controlled trials comparing a structured exercise program, SMT, or acupuncture with one another in patients with chronic LBP. Two studies were identified comparing the use of structured exercise with SMT that met our inclusion criteria. Although these studies utilized different approaches for the exercise and SMT treatment groups, patients in both groups improved in terms of pain and function in both studies. Using random-effects modeling, there was no difference between the exercise and SMT groups when the data from these studies were pooled. We identified no studies meeting our inclusion criteria that compared acupuncture with either structured exercise or SMT or that addressed the relative cost-effectiveness of these approaches in the treatment of patients with chronic LBP. The studies identified indicate that structured exercise and SMT appear to offer equivalent benefits in terms

Improved access and visibility during stapling of the ultra-low rectum: a comparative human cadaver study between two curved staplers

PubMed Central

2012-01-01

Background The purpose of this study was to compare in human cadavers the applicability of a commonly used stapling device, the CONTOUR® curved cutter (CC) (Ethicon Endo-Surgery, Cincinnati, OH) to a newly released, curved stapler, the Endo GIA™ Radial Reload with Tri-Staple™ Technology (RR) (Covidien, New Haven, CT) Methods Four experienced surgeons performed deep pelvic dissection with total mesorectal excision (TME) of the rectum in twelve randomized male cadavers. Both stapling devices were applied to the ultra-low rectum in coronal and sagittal configurations. Extensive measurements were recorded of anatomic landmarks for each cadaver pelvis along with various aspects of access, visibility, and ease of placement for each device. Results The RR reached significantly lower into the pelvis in both the coronal and sagittal positions compared to the CC. The median distance from the pelvic floor was 1.0 cm compared to 2.0 cm in the coronal position, and 1.0 cm versus 3.3 cm placed sagitally, p < 0.0001. Surgeons gave a higher visibility rating with less visual impediment in the sagittal plane using the RR Stapler. Impediment of visibility occurred in only 10% (5/48) of RR applications in the coronal position, compared to a rate of 48% (23/48) using the CC, p = 0.0002. Conclusions The RR device performed significantly better when compared to the CC stapler in regards to placing the stapler further into the deep pelvis and closer to the pelvic floor, while causing less obstructing of visualization. PMID:23148602

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

Acquisition Challenge: The Importance of Incompressibility in Comparing Learning Curve Models

DTIC Science & Technology

2015-10-01

parameters for all four learning mod- els used in the study . The learning rate factor, b, is the slope of the linear regression line, which in this case is...incorporated within the DoD acquisition environment. This study tested three alternative learning models (the Stanford-B model, DeJong’s learning formula...appropriate tools to calculate accurate and reliable predictions. However, conventional learning curve methodology has been in practice since the pre

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

NASA Technical Reports Server (NTRS)

Kwon, Dong-Soo

1991-01-01

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

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

Fuzzy logic control of telerobot manipulators

NASA Technical Reports Server (NTRS)

Franke, Ernest A.; Nedungadi, Ashok

1992-01-01

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

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

Estimating thumb-index finger precision grip and manipulation potential in extant and fossil primates.

PubMed

Feix, Thomas; Kivell, Tracy L; Pouydebat, Emmanuelle; Dollar, Aaron M

2015-05-06

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb-index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Manual and Instrument Applied Cervical Manipulation for Mechanical Neck Pain: A Randomized Controlled Trial.

PubMed

Gorrell, Lindsay M; Beath, Kenneth; Engel, Roger M

2016-06-01

The purpose of this study was to compare the effects of 2 different cervical manipulation techniques for mechanical neck pain (MNP). Participants with MNP of at least 1 month's duration (n = 65) were randomly allocated to 3 groups: (1) stretching (control), (2) stretching plus manually applied manipulation (MAM), and (3) stretching plus instrument-applied manipulation (IAM). MAM consisted of a single high-velocity, low-amplitude cervical chiropractic manipulation, whereas IAM involved the application of a single cervical manipulation using an (Activator IV) adjusting instrument. Preintervention and postintervention measurements were taken of all outcomes measures. Pain was the primary outcome and was measured using visual analogue scale and pressure pain thresholds. Secondary outcomes included cervical range of motion, hand grip-strength, and wrist blood pressure. Follow-up subjective pain scores were obtained via telephone text message 7 days postintervention. Subjective pain scores decreased at 7-day follow-up in the MAM group compared with control (P = .015). Cervical rotation bilaterally (ipsilateral: P = .002; contralateral: P = .015) and lateral flexion on the contralateral side to manipulation (P = .001) increased following MAM. Hand grip-strength on the contralateral side to manipulation (P = .013) increased following IAM. No moderate or severe adverse events were reported. Mild adverse events were reported on 6 occasions (control, 4; MAM, 1; IAM, 1). This study demonstrates that a single cervical manipulation is capable of producing immediate and short-term benefits for MNP. The study also demonstrates that not all manipulative techniques have the same effect and that the differences may be mediated by neurological or biomechanical factors inherent to each technique. Copyright © 2016. Published by Elsevier Inc.

Encoding specificity manipulations do affect retrieval from memory.

PubMed

Zeelenberg, René

2005-05-01

In a recent article, P.A. Higham (2002) [Strong cues are not necessarily weak: Thomson and Tulving (1970) and the encoding specificity principle revisited. Memory &Cognition, 30, 67-80] proposed a new way to analyze cued recall performance in terms of three separable aspects of memory (retrieval, monitoring, and report bias) by comparing performance under both free-report and forced-report instructions. He used this method to derive estimates of these aspects of memory in an encoding specificity experiment similar to that reported by D.M. Thomson and E. Tulving (1970) [Associative encoding and retrieval: weak and strong cues. Journal of Experimental Psychology, 86, 255-262]. Under forced-report instructions, the encoding specificity manipulation did not affect performance. Higham concluded that the manipulation affected monitoring and report bias, but not retrieval. I argue that this interpretation of the results is problematic because the Thomson and Tulving paradigm is confounded, and show in three experiments using a more appropriate design that encoding specificity manipulations do affect performance in forced-report cued recall. Because in Higham's framework forced-report performance provides a measure of retrieval that is uncontaminated by monitoring and report bias it is concluded that encoding specificity manipulations do affect retrieval from memory.

A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics

NASA Technical Reports Server (NTRS)

Kim, Won S.; Tendick, Frank; Stark, Lawrence W.; Ellis, Stephen R.

1987-01-01

Position and rate control are the two common manual control modes in teleoperations. Human operator performance using the two modes is evaluated and compared. Simulated three-axis pick-and-place operations are used as the primary task for evaluation. First, ideal position and rate control are compared by considering several factors, such as joystick gain, joystick type, display mode, task, and manipulator work space size. Then the effects of the manipulator system dynamics are investigated by varying the natural frequency and speed limit. Experimental results show that ideal position control is superior to ideal rate control, regardless of joystick type or display mode, when the manipulation work space is small or comparable to the human operator's control space. Results also show that when the manipulator system is slow, the superiority of position control disappears. Position control is recommended for small-work-space telemanipulation tasks, while rate control is recommended for slow wide-work-space telemanipulation tasks.

Manipulation for stiffness following total knee arthroplasty: when and how often to do it?

PubMed

Desai, Aravind S; Karmegam, Anand; Dramis, Asterios; Board, Tim N; Raut, Videsh

2014-10-01

Stiffness following total knee arthroplasty is a disabling complication. One of the management options of stiffness includes manipulation under anaesthesia, but no real consensus exist on appropriate timing of intervention, and the timing and results of the manipulation under anaesthesia (MUA) are under debate in the literature. Our aim was to determine the efficacy of single and multiple manipulations under anaesthesia following total knee arthroplasty and to determine the most appropriate timing for manipulation. We retrospectively reviewed 86 patients who underwent manipulation for stiffness following primary total knee replacement with at least 1-year follow-up. Range of motion before surgery, at the time of the MUA, immediately after MUA and at 6 weeks and 1 year post-MUA were recorded. At the end of 1 year post-manipulation, manipulations performed at less than 20 weeks, following primary total knee arthroplasty, showed 31° of flexion gain as compared to only 1.5° of flexion gain when manipulation was undertaken after 20 weeks. Of the 86 patients, 21 had multiple manipulations with no significant difference in flexion gain after the second manipulation. Patients on warfarin (26%) had an increased incidence of stiffness and poor flexion gain. This study showed that better results were achieved when manipulation was performed at less than 20 weeks (particularly between 12 and 14 weeks) from primary surgery with no added benefit from re-manipulations.

Image manipulation as research misconduct.

PubMed

Parrish, Debra; Noonan, Bridget

2009-06-01

A growing number of research misconduct cases handled by the Office of Research Integrity involve image manipulations. Manipulations may include simple image enhancements, misrepresenting an image as something different from what it is, and altering specific features of an image. Through a study of specific cases, the misconduct findings associated with image manipulation, detection methods and those likely to identify such manipulations, are discussed. This article explores sanctions imposed against guilty researchers and the factors that resulted in no misconduct finding although relevant images clearly were flawed. Although new detection tools are available for universities and journals to detect questionable images, this article explores why these tools have not been embraced.

The Comparative Effectiveness of Physical, Virtual, and Virtual-Physical Manipulatives on Third-Grade Students' Science Achievement and Conceptual Understanding of Evaporation and Condensation

ERIC Educational Resources Information Center

Wang, Tzu-Ling; Tseng, Yi-Kuan

2018-01-01

The purpose of this study was to investigate the relative effectiveness of experimenting with physical manipulatives alone, virtual manipulatives alone, and virtual preceding physical manipulatives (combination environment) on third-grade students' science achievement and conceptual understanding in the domain of state changes of water, focusing…

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.

Evaluation of Phantom-Based Education System for Acupuncture Manipulation

PubMed Central

Lee, In-Seon; Lee, Ye-Seul; Park, Hi-Joon; Lee, Hyejung; Chae, Younbyoung

2015-01-01

Background Although acupuncture manipulation has been regarded as one of the important factors in clinical outcome, it has been difficult to train novice students to become skillful experts due to a lack of adequate educational program and tools. Objectives In the present study, we investigated whether newly developed phantom acupoint tools would be useful to practice-naïve acupuncture students for practicing the three different types of acupuncture manipulation to enhance their skills. Methods We recruited 12 novice students and had them practice acupuncture manipulations on the phantom acupoint (5% agarose gel). We used the Acusensor 2 and compared their acupuncture manipulation techniques, for which the target criteria were depth and time factors, at acupoint LI11 in the human body before and after 10 training sessions. The outcomes were depth of needle insertion, depth error from target criterion, time of rotating, lifting, and thrusting, time error from target criteria and the time ratio. Results After 10 training sessions, the students showed significantly improved outcomes in depth of needle, depth error (rotation, reducing lifting/thrusting), thumb-forward time error, thumb-backward time error (rotation), and lifting time (reinforcing lifting/thrusting). Conclusions The phantom acupoint tool could be useful in a phantom-based education program for acupuncture-manipulation training for students. For advanced education programs for acupuncture manipulation, we will need to collect additional information, such as patient responses, acupoint-specific anatomical characteristics, delicate tissue-like modeling, haptic and visual feedback, and data from an acupuncture practice simulator. PMID:25689598

The effect of spinal manipulation on imbalances in leg strength.

PubMed

Chilibeck, Philip D; Cornish, Stephen M; Schulte, Al; Jantz, Nathan; Magnus, Charlene R A; Schwanbeck, Shane; Juurlink, Bernhard H J

2011-09-01

We hypothesized that spinal manipulation (SM) would reduce strength imbalances between legs. Using an un-blinded randomized design, 28 males and 21 females (54 ± 19y) with at least a 15% difference in isometric strength between legs for hip flexion, extension, abduction, or knee flexion were randomized to treatment or placebo (mock spinal manipulation). Strength of the stronger and weaker legs for hip flexion, extension, abduction, and/or knee flexion was assessed before and after the intervention. SM reduced the relative strength difference between legs for knee flexion (mean ± SD 57 ± 53 to 5 ± 14%) and hip flexion (24 ± 12 to 11 ± 15%) compared to placebo (34 ± 29 to 24 ± 36%, and 20 ± 18 to 22 ± 26%, respectively) (p = 0.05). SM also improved strength in the weak leg for hip abduction (104 ± 43 to 116 ± 43 Nm) compared to placebo (84 ± 24 to 85 ± 31 Nm) (p = 0.03). This study suggests that spinal manipulation may reduce imbalances in strength between legs for knee and hip flexion.

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.

The Personal Mobility and Manipulation Appliance (PerMMA): a robotic wheelchair with advanced mobility and manipulation.

PubMed

Wang, Hongwu; Grindle, Garrett G; Candiotti, Jorge; Chung, Chengshiu; Shino, Motoki; Houston, Elaine; Cooper, Rory A

2012-01-01

The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot developed to provide people with disabilities and older adults enhanced assistance in both mobility and manipulation, which are two fundamental components for independently activities of daily life performing, community participation, and quality of life. Technologies to assist with mobility and manipulation are among the most important tools for clinicians, end users and caregivers; however, there are currently few systems that provide practical and coordinated assistance with mobility and manipulation tasks. The PerMMA was not only developed and evaluated to provide users and caregivers enhanced mobility and manipulation options, but also as a clinical tool as well as research platform. The development and evaluation of PerMMA are presented in the paper.

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

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

The effective forces transmitted by high-speed, low-amplitude thoracic manipulation.

PubMed

Herzog, W; Kats, M; Symons, B

2001-10-01

Twenty asymptomatic volunteers each received three spinal manipulative treatments to the thoracic spine. The treatments consisted of a straight posterior-to-anterior high-speed, low-amplitude thrust to the transverse process of T3-T10 using a reinforced hypothenar contact. All treatments were given by a full-time practicing clinician with 3 years of experience. The primary objective of this study was to quantify local measures of loading applied by the clinician on the volunteers during spinal manipulative treatments and to compare these local measures of loading with previously described global measures. The sparse information on the mechanics of spinal manipulative treatments deals exclusively with global force or pressure measurements. On the basis of these global data, incorrect conclusions may be drawn about the beneficial effects of spinal manipulative therapy, the loading of internal structures, and the risks associated with these treatments. Twenty asymptomatic subjects each received three posterior-to-anterior, high-speed, low-amplitude spinal manipulative treatments to the transverse process of the thoracic spine. Total force, local force, contact area, peak pressure, and average pressure at the contact interface between clinician and subject were measured continuously by use of a thin, flexible pressure pad. Local and global measures of loading were compared and analyzed by use of nonparametric statistics (alpha = 0.01). The average peak total force was 238.2 N. The average peak local force over a target area of 25 mm2 was 5 N, indicating that global measures of loading vastly overestimate the local effective forces at the target site. The peak pressure point moved, on average, 9.8 mm during the course of the manipulation. To the authors' best knowledge, this is the first study to quantify local, effective measures of loading and compare them with the global measures typically used. The conclusions are limited because the study used a single clinician

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…

Contrast-detail curves in chest radiography

NASA Astrophysics Data System (ADS)

Ogden, Kent; Scalzetti, Ernest; Huda, Walter; Saluja, Jasjeet; Lavallee, Robert

2005-04-01

We investigated how size and lesion location affect detection of simulated mass lesions in chest radiography. Simulated lesions were added to the center of 10 cm x 10 cm regions of digital chest radiographs, and used in 4-Alternative Forced-Choice (4-AFC) experiments. We determined the lesion contrast required to achieve a 92% correct detection rate I(92%). The mass size was manipulated to range from 1 to 10 mm, and we investigated lesion detection in the lung apex, hilar region, and in the sub-diaphragmatic region. In these experiments, the observer obtained I(92%) from randomized repeats obtained at each of seven lesion sizes, with the results plotted as I(92%) versus lesion size. In addition we investigated the effect of using the same background in the four 4-AFC experiments (twinned) and random backgrounds from the same anatomical region taken from 20 different radiographs. In all three anatomical regions investigated, the slopes of the contrast detail curve for the random background experiments were negative for lesion sizes less than 2.5, 3.5, and 5.5 mm in the hilar (slope of -0.26), apex (slope of -0.54), and sub-diaphragmatic (slope of -0.53) regions, respectively. For lesion sizes greater than these, the slopes were 0.34, 0.23, and 0.40 in the hilar, apex, and sub-diaphragmatic regions, respectively. The positive slopes for portions of the contrast-detail curves in chest radiography are a result of the anatomical background, and show that larger lesions require more contrast for visualization.

CAVITATION SOUNDS DURING CERVICOTHORACIC SPINAL MANIPULATION.

PubMed

Dunning, James; Mourad, Firas; Zingoni, Andrea; Iorio, Raffaele; Perreault, Thomas; Zacharko, Noah; de Las Peñas, César Fernández; Butts, Raymond; Cleland, Joshua A

2017-08-01

No study has previously investigated the side, duration or number of audible cavitation sounds during high-velocity low-amplitude (HVLA) thrust manipulation to the cervicothoracic spine. The primary purpose was to determine which side of the spine cavitates during cervicothoracic junction (CTJ) HVLA thrust manipulation. Secondary aims were to calculate the average number of cavitations, the duration of cervicothoracic thrust manipulation, and the duration of a single cavitation. Quasi-experimental study. Thirty-two patients with upper trapezius myalgia received two cervicothoracic HVLA thrust manipulations targeting the right and left T1-2 articulation, respectively. Two high sampling rate accelerometers were secured bilaterally 25 mm lateral to midline of the T1-2 interspace. For each manipulation, two audio signals were extracted using Short-Time Fourier Transformation (STFT) and singularly processed via spectrogram calculation in order to evaluate the frequency content and number of instantaneous energy bursts of both signals over time for each side of the CTJ. Unilateral cavitation sounds were detected in 53 (91.4%) of 58 cervicothoracic HVLA thrust manipulations and bilateral cavitation sounds were detected in just five (8.6%) of the 58 thrust manipulations; that is, cavitation was significantly (p<0.001) more likely to occur unilaterally than bilaterally. In addition, cavitation was significantly (p<0.0001) more likely to occur on the side contralateral to the clinician's short-lever applicator. The mean number of audible cavitations per manipulation was 4.35 (95% CI 2.88, 5.76). The mean duration of a single manipulation was 60.77 ms (95% CI 28.25, 97.42) and the mean duration of a single audible cavitation was 4.13 ms (95% CI 0.82, 7.46). In addition to single-peak and multi-peak energy bursts, spectrogram analysis also demonstrated high frequency sounds, low frequency sounds, and sounds of multiple frequencies for all 58 manipulations. Cavitation was

The South Carolina bridge-scour envelope curves

USGS Publications Warehouse

Benedict, Stephen T.; Feaster, Toby D.; Caldwell, Andral W.

2016-09-30

The U.S. Geological Survey, in cooperation with the South Carolina Department of Transportation, conducted a series of three field investigations to evaluate historical, riverine bridge scour in the Piedmont and Coastal Plain regions of South Carolina. These investigations included data collected at 231 riverine bridges, which lead to the development of bridge-scour envelope curves for clear-water and live-bed components of scour. The application and limitations of the South Carolina bridge-scour envelope curves were documented in four reports, each report addressing selected components of bridge scour. The current investigation (2016) synthesizes the findings of these previous reports into a guidance manual providing an integrated procedure for applying the envelope curves. Additionally, the investigation provides limited verification for selected bridge-scour envelope curves by comparing them to field data collected outside of South Carolina from previously published sources. Although the bridge-scour envelope curves have limitations, they are useful supplementary tools for assessing the potential for scour at riverine bridges in South Carolina.

Thoracic manipulation versus mobilization in patients with mechanical neck pain: a systematic review

PubMed Central

Young, Jodi L; Walker, Doug; Snyder, Shane; Daly, Kelly

2014-01-01

Objectives: Thoracic manipulation is widely used in physical therapy and has been shown to be effective at addressing mechanical neck pain. However, thoracic mobilization may produce similar effects. The purpose of this systematic review was to evaluate the current literature regarding the effectiveness of thoracic manipulation versus mobilization in patients with mechanical neck pain. Methods: ProQuest, NCBI-PubMed, APTA's Hooked on Evidence, Cochrane Library, CINAHL and SPORTDiscus were searched to identify relevant studies. Fourteen studies meeting the inclusion criteria were analyzed using the Physiotherapy Evidence Database (PEDro) scale and the GRADE approach. Results: The literature as assessed by the PEDro scale was fair and the GRADE method showed overall quality ranging from very low to moderate quality. The 14 included studies showed positive outcomes on cervical pain levels, range of motion, and/or disability with the use of thoracic manipulation or mobilization. There was a paucity of literature directly comparing thoracic manipulation and mobilization. Discussion: Current limitations in the body of research, specifically regarding the use of thoracic mobilization, limit the recommendation of its use compared to thoracic manipulation for patients with mechanical neck pain. There is, however, a significant amount of evidence, although of varied quality, for the short-term benefits of thoracic manipulation in treating patients with this condition. Further high quality research is necessary to determine which technique is more effective in treating patients with mechanical neck pain. PMID:25125936

Virtual Manipulatives in the K-12 Classroom.

ERIC Educational Resources Information Center

Moyer, Patricia S.; Bolyard, Johnna J.; Spikell, Mark A.

Innovations in technology, along with the growing prevalence of the Internet and its increasing availability in classrooms and homes throughout the world, have created a new class of manipulatives, virtual manipulatives. These "virtual manipulatives" offer a new, enhanced approach for teaching and learning mathematics using manipulatives and…

Mathematical Modeling For Control Of A Flexible Manipulator

NASA Technical Reports Server (NTRS)

Hu, Anren

1996-01-01

Improved method of mathematical modeling of dynamics of flexible robotic manipulators developed for use in controlling motions of manipulators. Involves accounting for effect, upon modes of vibration of manipulator, of changes in configuration of manipulator and manipulated payload(s). Flexible manipulator has one or more long, slender articulated link(s), like those used in outer space, method also applicable to terrestrial industrial robotic manipulators with relatively short, stiff links, or to such terrestrial machines as construction cranes.

Automated Droplet Manipulation Using Closed-Loop Axisymmetric Drop Shape Analysis.

PubMed

Yu, Kyle; Yang, Jinlong; Zuo, Yi Y

2016-05-17

Droplet manipulation plays an important role in a wide range of scientific and industrial applications, such as synthesis of thin-film materials, control of interfacial reactions, and operation of digital microfluidics. Compared to micron-sized droplets, which are commonly considered as spherical beads, millimeter-sized droplets are generally deformable by gravity, thus introducing nonlinearity into control of droplet properties. Such a nonlinear drop shape effect is especially crucial for droplet manipulation, even for small droplets, at the presence of surfactants. In this paper, we have developed a novel closed-loop axisymmetric drop shape analysis (ADSA), integrated into a constrained drop surfactometer (CDS), for manipulating millimeter-sized droplets. The closed-loop ADSA generalizes applications of the traditional drop shape analysis from a surface tension measurement methodology to a sophisticated tool for manipulating droplets in real time. We have demonstrated the feasibility and advantages of the closed-loop ADSA in three applications, including control of drop volume by automatically compensating natural evaporation, precise control of surface area variations for high-fidelity biophysical simulations of natural pulmonary surfactant, and steady control of surface pressure for in situ Langmuir-Blodgett transfer from droplets. All these applications have demonstrated the accuracy, versatility, applicability, and automation of this new ADSA-based droplet manipulation technique. Combining with CDS, the closed-loop ADSA holds great promise for advancing droplet manipulation in a variety of material and surface science applications, such as thin-film fabrication, self-assembly, and biophysical study of pulmonary surfactant.

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…

On-demand Droplet Manipulation via Triboelectrification

NASA Astrophysics Data System (ADS)

Wang, Wei; Vahabi, Hamed; Cackovic, Matthew; Jiang, Rui; Kota, Arun

2017-11-01

Controlled manipulation of liquid droplets has attracted tremendous interest across different scientific fields over the past two decades. To date, a variety of external stimuli-mediated methods such as magnetic field, electric field, and light have been developed for manipulating droplets on surfaces. However, these methods usually have drawbacks such as complex fabrication of manipulation platform, low droplet motility, expensive actuation system and lack of precise control. In this work, we demonstrate the controlled manipulation of liquid droplet with both high (e.g., water) and low (e.g., n-hexadecane) dielectric strengths on a smooth, slippery surface via triboelectric effect. Our highly simple, facile and portable methodology enables on-demand, precise manipulation of droplets using solely the electrostatic attraction or repulsion force, which is exerted on the droplet by a simple charged actuator (e.g., Teflon film). We envision that our triboelectric effect enabled droplet manipulation methodology will open a new avenue for droplet based lab-on-a-chip systems, energy harvesting devices and biomedical applications.

Detecting the manipulation of digital clinical records in dental practice.

PubMed

Díaz-Flores-García, V; Labajo-González, E; Santiago-Sáez, A; Perea-Pérez, B

2017-11-01

Radiography provides many advantages in the diagnosis and management of dental conditions. However, dental X-ray images may be subject to manipulation with malicious intent using easily accessible computer software. In this study, we sought to evaluate a dentist's ability to identify a manipulated dental X-ray images, when compared with the original, using a variant of the methodology described by Visser and Kruger. Sixty-six dentists were invited to participate and evaluate 20 intraoral dental X-ray images, 10 originals and 10 modified, manipulated using Adobe Photoshop to simulate fillings, root canal treatments, etc. Participating dentists were correct in identifying the manipulated image in 56% of cases, 6% higher than by chance and 10% more than in the study by Visser and Kruger. Malicious changes to dental X-ray images may go unnoticed even by experienced dentists. Professionals must be aware of the legal consequences of such changes. A system of detection/validation should be created for radiographic images. Copyright © 2017 The College of Radiographers. Published by Elsevier Ltd. All rights reserved.

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.

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.

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.

Bioprinting Living Biofilms through Optogenetic Manipulation.

PubMed

Huang, Yajia; Xia, Aiguo; Yang, Guang; Jin, Fan

2018-04-18

In this paper, we present a new strategy for microprinting dense bacterial communities with a prescribed organization on a substrate. Unlike conventional bioprinting techniques that require bioinks, through optogenetic manipulation, we directly manipulated the behaviors of Pseudomonas aeruginosa to allow these living bacteria to autonomically form patterned biofilms following prescribed illumination. The results showed that through optogenetic manipulation, patterned bacterial communities with high spatial resolution (approximately 10 μm) could be constructed in 6 h. Thus, optogenetic manipulation greatly increases the range of available bioprinting techniques.

CAVITATION SOUNDS DURING CERVICOTHORACIC SPINAL MANIPULATION

PubMed Central

Mourad, Firas; Zingoni, Andrea; Iorio, Raffaele; Perreault, Thomas; Zacharko, Noah; de las Peñas, César Fernández; Butts, Raymond; Cleland, Joshua A.

2017-01-01

Background No study has previously investigated the side, duration or number of audible cavitation sounds during high-velocity low-amplitude (HVLA) thrust manipulation to the cervicothoracic spine. Purpose The primary purpose was to determine which side of the spine cavitates during cervicothoracic junction (CTJ) HVLA thrust manipulation. Secondary aims were to calculate the average number of cavitations, the duration of cervicothoracic thrust manipulation, and the duration of a single cavitation. Study Design Quasi-experimental study Methods Thirty-two patients with upper trapezius myalgia received two cervicothoracic HVLA thrust manipulations targeting the right and left T1-2 articulation, respectively. Two high sampling rate accelerometers were secured bilaterally 25 mm lateral to midline of the T1-2 interspace. For each manipulation, two audio signals were extracted using Short-Time Fourier Transformation (STFT) and singularly processed via spectrogram calculation in order to evaluate the frequency content and number of instantaneous energy bursts of both signals over time for each side of the CTJ. Result Unilateral cavitation sounds were detected in 53 (91.4%) of 58 cervicothoracic HVLA thrust manipulations and bilateral cavitation sounds were detected in just five (8.6%) of the 58 thrust manipulations; that is, cavitation was significantly (p<0.001) more likely to occur unilaterally than bilaterally. In addition, cavitation was significantly (p<0.0001) more likely to occur on the side contralateral to the clinician's short-lever applicator. The mean number of audible cavitations per manipulation was 4.35 (95% CI 2.88, 5.76). The mean duration of a single manipulation was 60.77 ms (95% CI 28.25, 97.42) and the mean duration of a single audible cavitation was 4.13 ms (95% CI 0.82, 7.46). In addition to single-peak and multi-peak energy bursts, spectrogram analysis also demonstrated high frequency sounds, low frequency sounds, and sounds of multiple

COMPARISON OF THE EFFECTS OF NICOTINE AND NON-PHARMACOLOGICAL MANIPULATIONS ON REPEATED ACQUISITION IN RATS.

EPA Science Inventory

Non-pharmacological manipulations may be useful in identifying the behavioral mechanisms of drug action. We therefore compared the effect of nicotine with several manipulations of reinforcer efficacy on the repeated acquisition of response sequences in rats. Adult male Long-Eva...

A comparison of site index curves for northern hardwood species.

Treesearch

Willard H. Carmean

1979-01-01

Gives an inventory and compares site index curves for 13 northern hardwood species. Differences illustrate the need for more precise site index curves that are applicable to local soil and site conditions.

The locating ways of laying pipe manipulator

NASA Astrophysics Data System (ADS)

Wang, Dan; Li, Bin; Lei, DongLiang

2010-01-01

The laying pipe manipulator is a new equipment to lay concrete pipe. This kind of manipulator makes the work of laying pipes mechanized and automated. We report here a new laying pipe manipulator. The manipulator has 5 free degrees, and is driven by the hydraulic system. In the paper, one critical question of manipulator is studied: the locating ways of the manipulator to lay concrete pipe. During the process of laying concrete pipe, how to locate the manipulator is realized by the locating system of manipulator. The locating system consists of photoelectric target, laser producer, and computer. According to different construction condition, one or two or three photoelectric targets can be used. During the process of laying concrete pipe, if the interface of pipes are jointed together, and the other segment of pipe deviates from the pipe way, one target can be used, if the angle that the manipulator rotates around the holding pipe's axes is 0°, two targets can be used, three targets can be used at any site. In the paper, according to each locating way, the theory analysis is done. And the mathematical models of the manipulator moving from original position to goal position are obtained by different locating way. And the locating experiment was done. According to the experiment result, the work principle and mathematical models of different locating way was turned out to be well adopted for requirement, the mathematical model of different locating way supplies the basic control theory for the manipulator to lay and joint concrete pipe automatically.

A global approach for using kinematic redundancy to minimize base reactions of manipulators

NASA Technical Reports Server (NTRS)

Chung, C. L.; Desa, S.

1989-01-01

An important consideration in the use of manipulators in microgravity environments is the minimization of the base reactions, i.e. the magnitude of the force and the moment exerted by the manipulator on its base as it performs its tasks. One approach which was proposed and implemented is to use the redundant degree of freedom in a kinematically redundant manipulator to plan manipulator trajectories to minimize base reactions. A global approach was developed for minimizing the magnitude of the base reactions for kinematically redundant manipulators which integrates the Partitioned Jacobian method of redundancy resolution, a 4-3-4 joint-trajectory representation and the minimization of a cost function which is the time-integral of the magnitude of the base reactions. The global approach was also compared with a local approach developed earlier for the case of point-to-point motion of a three degree-of-freedom planar manipulator with one redundant degree-of-freedom. The results show that the global approach is more effective in reducing and smoothing the base force while the local approach is superior in reducing the base moment.

Manipulation and mobilization for treating chronic low back pain: a systematic review and meta-analysis.

PubMed

Coulter, Ian D; Crawford, Cindy; Hurwitz, Eric L; Vernon, Howard; Khorsan, Raheleh; Suttorp Booth, Marika; Herman, Patricia M

2018-05-01

Mobilization and manipulation therapies are widely used to benefit patients with chronic low back pain. However, questions remain about their efficacy, dosing, safety, and how these approaches compare with other therapies. The present study aims to determine the efficacy, effectiveness, and safety of various mobilization and manipulation therapies for treatment of chronic low back pain. This is a systematic literature review and meta-analysis. The present study measures self-reported pain, function, health-related quality of life, and adverse events. We identified studies by searching multiple electronic databases from January 2000 to March 2017, examining reference lists, and communicating with experts. We selected randomized controlled trials comparing manipulation or mobilization therapies with sham, no treatment, other active therapies, and multimodal therapeutic approaches. We assessed risk of bias using Scottish Intercollegiate Guidelines Network criteria. Where possible, we pooled data using random-effects meta-analysis. Grading of Recommendations, Assessment, Development, and Evaluation (GRADE) was applied to determine the confidence in effect estimates. This project is funded by the National Center for Complementary and Integrative Health under Award Number U19AT007912. Fifty-one trials were included in the systematic review. Nine trials (1,176 patients) provided sufficient data and were judged similar enough to be pooled for meta-analysis. The standardized mean difference for a reduction of pain was SMD=-0.28, 95% confidence interval (CI) -0.47 to -0.09, p=.004; I 2 =57% after treatment; within seven trials (923 patients), the reduction in disability was SMD=-0.33, 95% CI -0.63 to -0.03, p=.03; I 2 =78% for manipulation or mobilization compared with other active therapies. Subgroup analyses showed that manipulation significantly reduced pain and disability, compared with other active comparators including exercise and physical therapy (SMD=-0.43, 95% CI

Mouse Curve Biometrics

DOE Office of Scientific and Technical Information (OSTI.GOV)

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.

HoloHands: games console interface for controlling holographic optical manipulation

NASA Astrophysics Data System (ADS)

McDonald, C.; McPherson, M.; McDougall, C.; McGloin, D.

2013-03-01

The increasing number of applications for holographic manipulation techniques has sparked the development of more accessible control interfaces. Here, we describe a holographic optical tweezers experiment which is controlled by gestures that are detected by a Microsoft Kinect. We demonstrate that this technique can be used to calibrate the tweezers using the Stokes drag method and compare this to automated calibrations. We also show that multiple particle manipulation can be handled. This is a promising new line of research for gesture-based control which could find applications in a wide variety of experimental situations.

Limitations to maximum running speed on flat curves.

PubMed

Chang, Young-Hui; Kram, Rodger

2007-03-01

Why is maximal running speed reduced on curved paths? The leading explanation proposes that an increase in lateral ground reaction force necessitates a decrease in peak vertical ground reaction force, assuming that maximum leg extension force is the limiting factor. Yet, no studies have directly measured these forces or tested this critical assumption. We measured maximum sprint velocities and ground reaction forces for five male humans sprinting along a straight track and compared them to sprints along circular tracks of 1, 2, 3, 4 and 6 m radii. Circular track sprint trials were performed either with or without a tether that applied centripetal force to the center of mass. Sprinters generated significantly smaller peak resultant ground reaction forces during normal curve sprinting compared to straight sprinting. This provides direct evidence against the idea that maximum leg extension force is always achieved and is the limiting factor. Use of the tether increased sprint speed, but not to expected values. During curve sprinting, the inside leg consistently generated smaller peak forces compared to the outside leg. Several competing biomechanical constraints placed on the stance leg during curve sprinting likely make the inside leg particularly ineffective at generating the ground reaction forces necessary to attain maximum velocities comparable to straight path sprinting. The ability of quadrupeds to redistribute function across multiple stance legs and decouple these multiple constraints may provide a distinct advantage for turning performance.

Ankle injury manipulation before or after X-ray--does it influence success?

PubMed

Hastie, G R; Divecha, H; Javed, S; Zubairy, A

2014-03-01

Many acute, deformed ankle injuries are manipulated in the Emergency Department (ED) before X-rays are taken to confirm the nature of the injury. This often occurs in the absence of neurovascular or skin compromise without consideration of other possible injuries such as talar, subtalar or calcaneal injuries. We believe that an inappropriate manipulation of an unknown injury pattern may place the patient at increased risk. A balance needs to be struck between making the correct diagnosis and preventing any further neurovascular or skin compromise. We prospectively reviewed 197 patients admitted to the Royal Blackburn Hospital with acute ankle injuries. Their ED notes were reviewed, specifically assessing whether a manipulation was performed; if so, was it performed before X-rays and the documented reasons. A total of 90 ankle fractures were manipulated and 31 of these were performed before X-ray. One manipulation was performed for vascular compromise, one for nerve symptoms, three for critical skin and 25 for undocumented reasons. Outcomes (re-manipulation, delay to surgery and need for open reduction and internal fixation (ORIF)) were compared between injuries manipulated before or after X-ray. Re-manipulation was found to be significant (44% before X-ray vs. 18% after X-ray; chi-squared test: p=0.03; relative risk (RR)=2.72; 95% confidence interval (CI): 1.15-6.44). Delay to surgery and need for ORIF were not statistically different. We conclude that performing ankle injury X-rays before an attempt at manipulation, in the absence of neurovascular deficit or critical skin, may constitute best practice as it provides a better assessment of fracture configuration, guides initial reduction and significantly lowers the risk of re-manipulation and the potential risks associated with sedation without delaying surgery. Copyright © 2013 Elsevier Ltd. All rights reserved.

A comparative study on entrepreneurial attitudes modeled with logistic regression and Bayes nets.

PubMed

López Puga, Jorge; García García, Juan

2012-11-01

Entrepreneurship research is receiving increasing attention in our context, as entrepreneurs are key social agents involved in economic development. We compare the success of the dichotomic logistic regression model and the Bayes simple classifier to predict entrepreneurship, after manipulating the percentage of missing data and the level of categorization in predictors. A sample of undergraduate university students (N = 1230) completed five scales (motivation, attitude towards business creation, obstacles, deficiencies, and training needs) and we found that each of them predicted different aspects of the tendency to business creation. Additionally, our results show that the receiver operating characteristic (ROC) curve is affected by the rate of missing data in both techniques, but logistic regression seems to be more vulnerable when faced with missing data, whereas Bayes nets underperform slightly when categorization has been manipulated. Our study sheds light on the potential entrepreneur profile and we propose to use Bayesian networks as an additional alternative to overcome the weaknesses of logistic regression when missing data are present in applied research.

In-silico prediction of concentration-dependent viscosity curves for monoclonal antibody solutions

PubMed Central

Tomar, Dheeraj S.; Li, Li; Broulidakis, Matthew P.; Luksha, Nicholas G.; Burns, Christopher T.; Singh, Satish K.; Kumar, Sandeep

2017-01-01

ABSTRACT Early stage developability assessments of monoclonal antibody (mAb) candidates can help reduce risks and costs associated with their product development. Forecasting viscosity of highly concentrated mAb solutions is an important aspect of such developability assessments. Reliable predictions of concentration-dependent viscosity behaviors for mAb solutions in platform formulations can help screen or optimize drug candidates for flexible manufacturing and drug delivery options. Here, we present a computational method to predict concentration-dependent viscosity curves for mAbs solely from their sequence—structural attributes. This method was developed using experimental data on 16 different mAbs whose concentration-dependent viscosity curves were experimentally obtained under standardized conditions. Each concentration-dependent viscosity curve was fitted with a straight line, via logarithmic manipulations, and the values for intercept and slope were obtained. Intercept, which relates to antibody diffusivity, was found to be nearly constant. In contrast, slope, the rate of increase in solution viscosity with solute concentration, varied significantly across different mAbs, demonstrating the importance of intermolecular interactions toward viscosity. Next, several molecular descriptors for electrostatic and hydrophobic properties of the 16 mAbs derived using their full-length homology models were examined for potential correlations with the slope. An equation consisting of hydrophobic surface area of full-length antibody and charges on VH, VL, and hinge regions was found to be capable of predicting the concentration-dependent viscosity curves of the antibody solutions. Availability of this computational tool may facilitate material-free high-throughput screening of antibody candidates during early stages of drug discovery and development. PMID:28125318

In-silico prediction of concentration-dependent viscosity curves for monoclonal antibody solutions.

PubMed

Tomar, Dheeraj S; Li, Li; Broulidakis, Matthew P; Luksha, Nicholas G; Burns, Christopher T; Singh, Satish K; Kumar, Sandeep

2017-04-01

Early stage developability assessments of monoclonal antibody (mAb) candidates can help reduce risks and costs associated with their product development. Forecasting viscosity of highly concentrated mAb solutions is an important aspect of such developability assessments. Reliable predictions of concentration-dependent viscosity behaviors for mAb solutions in platform formulations can help screen or optimize drug candidates for flexible manufacturing and drug delivery options. Here, we present a computational method to predict concentration-dependent viscosity curves for mAbs solely from their sequence-structural attributes. This method was developed using experimental data on 16 different mAbs whose concentration-dependent viscosity curves were experimentally obtained under standardized conditions. Each concentration-dependent viscosity curve was fitted with a straight line, via logarithmic manipulations, and the values for intercept and slope were obtained. Intercept, which relates to antibody diffusivity, was found to be nearly constant. In contrast, slope, the rate of increase in solution viscosity with solute concentration, varied significantly across different mAbs, demonstrating the importance of intermolecular interactions toward viscosity. Next, several molecular descriptors for electrostatic and hydrophobic properties of the 16 mAbs derived using their full-length homology models were examined for potential correlations with the slope. An equation consisting of hydrophobic surface area of full-length antibody and charges on V H , V L , and hinge regions was found to be capable of predicting the concentration-dependent viscosity curves of the antibody solutions. Availability of this computational tool may facilitate material-free high-throughput screening of antibody candidates during early stages of drug discovery and development.

Collision Detection for Underwater ROV Manipulator Systems

PubMed Central

Rossi, Matija; Dooly, Gerard; Toal, Daniel

2018-01-01

Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations. PMID:29642396

Collision Detection for Underwater ROV Manipulator Systems.

PubMed

Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel

2018-04-06

Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

Cocaine Versus Food Choice Procedure in Rats: Environmental Manipulations and Effects of Amphetamine

PubMed Central

Thomsen, Morgane; Barrett, Andrew C.; Negus, S. Stevens; Caine, S. Barak

2014-01-01

We have adapted a nonhuman primate model of cocaine versus food choice to the rat species. To evaluate the procedure, we tested cocaine versus food choice under a variety of environmental manipulations as well as pharmacological pretreatments. Complete cocaine-choice dose-effect curves (0–1.0 mg/kg/infusion) were obtained for each condition under concurrent fixed ratio schedules of reinforcement. Percentage of responding emitted on the cocaine-reinforced lever was not affected significantly by removal of cocaine-associated visual or auditory cues, but it was decreased after removal of response-contingent or response-independent cocaine infusions. Cocaine choice was sensitive to the magnitude and fixed ratio requirement of both the cocaine and food reinforcers. We also tested the effects of acute (0.32, 0.56, 1.0, 1.8 mg/kg) and chronic (0.1, 0.32 mg/kg/hr) d-amphetamine treatment on cocaine choice. Acute and chronic d-amphetamine had opposite effects, with acute increasing and chronic decreasing cocaine choice, similar to observations in humans and in nonhuman primates. The results suggest feasibility and utility of the choice procedure in rats and support its comparability to similar procedures used in humans and monkeys. PMID:23319458

Local performance optimization for a class of redundant eight-degree-of-freedom manipulators

NASA Technical Reports Server (NTRS)

Williams, Robert L., II

1994-01-01

Local performance optimization for joint limit avoidance and manipulability maximization (singularity avoidance) is obtained by using the Jacobian matrix pseudoinverse and by projecting the gradient of an objective function into the Jacobian null space. Real-time redundancy optimization control is achieved for an eight-joint redundant manipulator having a three-axis spherical shoulder, a single elbow joint, and a four-axis spherical wrist. Symbolic solutions are used for both full-Jacobian and wrist-partitioned pseudoinverses, partitioned null-space projection matrices, and all objective function gradients. A kinematic limitation of this class of manipulators and the limitation's effect on redundancy resolution are discussed. Results obtained with graphical simulation are presented to demonstrate the effectiveness of local redundant manipulator performance optimization. Actual hardware experiments performed to verify the simulated results are also discussed. A major result is that the partitioned solution is desirable because of low computation requirements. The partitioned solution is suboptimal compared with the full solution because translational and rotational terms are optimized separately; however, the results show that the difference is not significant. Singularity analysis reveals that no algorithmic singularities exist for the partitioned solution. The partitioned and full solutions share the same physical manipulator singular conditions. When compared with the full solution, the partitioned solution is shown to be ill-conditioned in smaller neighborhoods of the shared singularities.

Analysis of the curve of Spee and the curve of Wilson in adult Indian population: A three-dimensional measurement study.

PubMed

Surendran, Sowmya Velekkatt; Hussain, Sharmila; Bhoominthan, S; Nayar, Sanjna; Jayesh, Ragavendra

2016-01-01

When reconstructing the occlusal curvatures dentists often use a 4-inch radii arc as a rough standard based on Monson spherical theory. The use of an identical radius for the curve of Spee for all patients may not be appropriate because each patient is individually different. The validity of application of this theory in the Indian population and the present study has been undertaken. This study is an attempt to evaluate the curve of Spee and curve of Wilson in young Indian population using three dimensional analysis. This study compared the radius and the depth of right and left, maxillary and mandibular curves of Spee and the radius of maxillary and mandibular curves of Wilson in males and females. The cusp tips of canines, buccal cusp tips of premolars and molars and palatal/lingual cusp tips of second molars of 60 maxillary and 60 mandibular casts were obtained. Three-dimensional (x, y, z) coordinates of the cusp tips of the molars, premolars, and canines of the right and left sides of the maxilla and mandible were obtained with three dimensional coordinate measuring machine. The radius and the depth of right and left, maxillary and mandibular curves of Spee and the radius of maxillary and mandibular curves of Wilson were measured by means of computer software Metrologic-XG. Pearson's correlation test and Independent t-test were used to test the statistical significance (α=.05). The values of curve of Spee and curve of Wilson in Indian population obtained from this study were higher than the 4 inch (100 mm) radius proposed by Monson. These findings suggest ethnic differences in the radius of curve of Spee and curve of Wilson.

A Comparison of Concrete and Virtual Manipulative Use in Third- and Fourth-Grade Mathematics

ERIC Educational Resources Information Center

Burns, Barbara A.; Hamm, Ellen M.

2011-01-01

The primary purpose of this classroom experiment was to examine the effectiveness of concrete (hands-on) manipulatives as compared with virtual (computer-based) manipulatives on student review of fraction concepts in third grade and introduction of symmetry concepts in fourth grade. A pretest-posttest design was employed with a sample of 91…

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. Copyright © 2015 Elsevier Inc. All rights reserved.

Comparison of two correlated ROC curves at a given specificity or sensitivity level

PubMed Central

Bantis, Leonidas E.; Feng, Ziding

2017-01-01

The receiver operating characteristic (ROC) curve is the most popular statistical tool for evaluating the discriminatory capability of a given continuous biomarker. The need to compare two correlated ROC curves arises when individuals are measured with two biomarkers, which induces paired and thus correlated measurements. Many researchers have focused on comparing two correlated ROC curves in terms of the area under the curve (AUC), which summarizes the overall performance of the marker. However, particular values of specificity may be of interest. We focus on comparing two correlated ROC curves at a given specificity level. We propose parametric approaches, transformations to normality, and nonparametric kernel-based approaches. Our methods can be straightforwardly extended for inference in terms of ROC−1(t). This is of particular interest for comparing the accuracy of two correlated biomarkers at a given sensitivity level. Extensions also involve inference for the AUC and accommodating covariates. We evaluate the robustness of our techniques through simulations, compare to other known approaches and present a real data application involving prostate cancer screening. PMID:27324068

EVEREST: Pixel Level Decorrelation of K2 Light Curves

NASA Astrophysics Data System (ADS)

Luger, Rodrigo; Agol, Eric; Kruse, Ethan; Barnes, Rory; Becker, Andrew; Foreman-Mackey, Daniel; Deming, Drake

2016-10-01

We present EPIC Variability Extraction and Removal for Exoplanet Science Targets (EVEREST), an open-source pipeline for removing instrumental noise from K2 light curves. EVEREST employs a variant of pixel level decorrelation to remove systematics introduced by the spacecraft’s pointing error and a Gaussian process to capture astrophysical variability. We apply EVEREST to all K2 targets in campaigns 0-7, yielding light curves with precision comparable to that of the original Kepler mission for stars brighter than {K}p≈ 13, and within a factor of two of the Kepler precision for fainter targets. We perform cross-validation and transit injection and recovery tests to validate the pipeline, and compare our light curves to the other de-trended light curves available for download at the MAST High Level Science Products archive. We find that EVEREST achieves the highest average precision of any of these pipelines for unsaturated K2 stars. The improved precision of these light curves will aid in exoplanet detection and characterization, investigations of stellar variability, asteroseismology, and other photometric studies. The EVEREST pipeline can also easily be applied to future surveys, such as the TESS mission, to correct for instrumental systematics and enable the detection of low signal-to-noise transiting exoplanets. The EVEREST light curves and the source code used to generate them are freely available online.

Evaluation of viewing experiences induced by a curved three-dimensional display

NASA Astrophysics Data System (ADS)

Mun, Sungchul; Park, Min-Chul; Yano, Sumio

2015-10-01

Despite an increased need for three-dimensional (3-D) functionality in curved displays, comparisons pertinent to human factors between curved and flat panel 3-D displays have rarely been tested. This study compared stereoscopic 3-D viewing experiences induced by a curved display with those of a flat panel display by evaluating subjective and objective measures. Twenty-four participants took part in the experiments and viewed 3-D content with two different displays (flat and curved 3-D display) within a counterbalanced and within-subject design. For the 30-min viewing condition, a paired t-test showed significantly reduced P300 amplitudes, which were caused by engagement rather than cognitive fatigue, in the curved 3-D viewing condition compared to the flat 3-D viewing condition at P3 and P4. No significant differences in P300 amplitudes were observed for 60-min viewing. Subjective ratings of realness and engagement were also significantly higher in the curved 3-D viewing condition than in the flat 3-D viewing condition for 30-min viewing. Our findings support that curved 3-D displays can be effective for enhancing engagement among viewers based on specific viewing times and environments.

Design, Fabrication and Test of Composite Curved Frames for Helicopter Fuselage Structure

NASA Technical Reports Server (NTRS)

Lowry, D. W.; Krebs, N. E.; Dobyns, A. L.

1984-01-01

Aspects of curved beam effects and their importance in designing composite frame structures are discussed. The curved beam effect induces radial flange loadings which in turn causes flange curling. This curling increases the axial flange stresses and induces transverse bending. These effects are more important in composite structures due to their general inability to redistribute stresses by general yielding, such as in metal structures. A detailed finite element analysis was conducted and used in the design of composite curved frame specimens. Five specimens were statically tested and compared with predicted and test strains. The curved frame effects must be accurately accounted for to avoid premature fracture; finite element methods can accurately predict most of the stresses and no elastic relief from curved beam effects occurred in the composite frames tested. Finite element studies are presented for comparative curved beam effects on composite and metal frames.

IMU-based online kinematic calibration of robot manipulator.

PubMed

Du, Guanglong; Zhang, Ping

2013-01-01

Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

IMU-Based Online Kinematic Calibration of Robot Manipulator

PubMed Central

2013-01-01

Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods. PMID:24302854

Modeling manipulation in medical education.

PubMed

Dailey, Jason I

2010-05-01

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 professional development. Yet manipulation need not be a skill necessary to practice medicine, and steps should be taken by both individuals and institutions to combat the view that the way medicine must be practiced "in the real world" is somehow different from what one's affective moral sense implores.

Visceral responses to spinal manipulation.

PubMed

Bolton, Philip S; Budgell, Brian

2012-10-01

While spinal manipulation is widely seen as a reasonable treatment option for biomechanical disorders of the spine, such as neck pain and low back pain, the use of spinal manipulation to treat non-musculoskeletal complaints remains controversial. This controversy is due in part to the perception that there is no robust neurobiological rationale to justify using a biomechanical treatment of the spine to address a disorder of visceral function. This paper therefore looks at the physiological evidence that spinal manipulation can impact visceral function. A structured search was conducted, using PubMed and the Index to Chiropractic Literature, to construct of corpus of primary data studies in healthy human subjects of the effects of spinal manipulation on visceral function. The corpus of literature is not large, and the greatest number of papers concerns cardiovascular function. Authors often attribute visceral effects of spinal manipulation to somato-autonomic reflexes. While this is not unreasonable, little attention is paid to alternative mechanisms such as somato-humoural pathways. Thus, while the literature confirms that mechanical stimulation of the spine modulates some organ functions in some cohorts, a comprehensive neurobiological rationale for this general phenomenon has yet to appear. Copyright © 2012 Elsevier Ltd. All rights reserved.

Pneumatic artificial muscle actuators for compliant robotic manipulators

NASA Astrophysics Data System (ADS)

Robinson, Ryan Michael

Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

Professional responsibility in relation to cervical spine manipulation.

PubMed

Refshauge, Kathryn M; Parry, Sharon; Shirley, Debra; Larsen, Dale; Rivett, Darren A; Boland, Rob

2002-01-01

Manipulation of the cervical spine is one of the few potentially life-threatening procedures performed by physiotherapists. Is it worth the risk? A comparison of risks versus benefits indicates that at present, the risks of cervical manipulation outweigh the benefits: manipulation has yet to be shown to be more effective for neck pain and headache than other interventions such as mobilisation, whereas the risks, although infrequent, are serious. This analysis is of particular concern because the conditions for which manipulation is indicated are benign and usually self-limiting. Because physiotherapists have legal and ethical obligations to the community to avoid foreseeable harm and provide optimum care, it may be prudent to determine who in our profession should perform cervical manipulation. That is, the profession could restrict the practice of cervical spine manipulation. Although all registered physiotherapists in Australia are entitled to perform cervical manipulation, few choose to use this intervention. Therefore, it might be feasible to encourage those practitioners who wish to use cervical manipulation to undertake formal education programs. Such a requirement could be embodied in a code of practice that discourages those without formal training from performing cervical manipulation. By taking such measures, we could ensure that our profession exercises wisdom in its monitoring and use of cervical manipulation.

Spatial-Operator Algebra For Robotic Manipulators

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Mechanical evaluation of articulating instruments and cross-handed manipulation in laparoendoscopic single-site surgery.

PubMed

Xu, An An; Zhu, Jiang Fan; Xie, Xiaofeng; Su, Yuantao

2014-08-01

Laparoendoscopic single-site surgery (LESS) is limited by loss of triangulation and internal instruments conflict. To overcome these difficulties, some concepts have been introduced, namely, articulating instruments and cross-handed manipulation, which causes the right hand to control the left instrument tip and vice versa. The aim of this study was to compare task performance with different approaches based on a mechanical evaluation platform. A LESS mechanical evaluation platform was set up to investigate the performance of 2 tasks (suture pass-through rings and clip-cut) with 3 different settings: uncrossed manipulation with straight instruments (group A, the control group), uncrossed manipulation with articulating instruments (group B), and cross-handed manipulation with articulating instruments (group C). The operation time and average load required for accomplishment of the standard tasks were measured. Group A presented significantly better time scores than group B, and group C consumed the longest time to accomplish the 2 tasks (P < .05). Comparing of average load required to perform the suture pass-through rings task, it differed significantly between dominant and nondominant hand in all groups (P < .01) and was less in group A and group B than group C in dominant hand (P < .01), while it was almost the same in all groups in the nondominant hand. In terms of average load requirement to accomplish clip-cut task, it was almost equal not only between group A and B but also between dominant and nondominant hand while the increase reached statistical significance when comparing group C with other groups (P < .05). Compared with conventional devices and maneuvering techniques, articulating instruments and cross-handed manipulation are associated with longer operation time and higher workload. Instruments with better maneuverability should be developed in the future for LESS. © The Author(s) 2013.

A disturbance observer-based adaptive control approach for flexure beam nano manipulators.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-01-01

This paper presents a systematic modeling and control methodology for a two-dimensional flexure beam-based servo stage supporting micro/nano manipulations. Compared with conventional mechatronic systems, such systems have major control challenges including cross-axis coupling, dynamical uncertainties, as well as input saturations, which may have adverse effects on system performance unless effectively eliminated. A novel disturbance observer-based adaptive backstepping-like control approach is developed for high precision servo manipulation purposes, which effectively accommodates model uncertainties and coupling dynamics. An auxiliary system is also introduced, on top of the proposed control scheme, to compensate the input saturations. The proposed control architecture is deployed on a customized-designed nano manipulating system featured with a flexure beam structure and voice coil actuators (VCA). Real time experiments on various manipulating tasks, such as trajectory/contour tracking, demonstrate precision errors of less than 1%. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Finite indentation of highly curved elastic shells

NASA Astrophysics Data System (ADS)

Pearce, S. P.; King, J. R.; Steinbrecher, T.; Leubner-Metzger, G.; Everitt, N. M.; Holdsworth, M. J.

2018-01-01

Experimentally measuring the elastic properties of thin biological surfaces is non-trivial, particularly when they are curved. One technique that may be used is the indentation of a thin sheet of material by a rigid indenter, while measuring the applied force and displacement. This gives immediate information on the fracture strength of the material (from the force required to puncture), but it is also theoretically possible to determine the elastic properties by comparing the resulting force-displacement curves with a mathematical model. Existing mathematical studies generally assume that the elastic surface is initially flat, which is often not the case for biological membranes. We previously outlined a theory for the indentation of curved isotropic, incompressible, hyperelastic membranes (with no bending stiffness) which breaks down for highly curved surfaces, as the entire membrane becomes wrinkled. Here, we introduce the effect of bending stiffness, ensuring that energy is required to change the shell shape without stretching, and find that commonly neglected terms in the shell equilibrium equation must be included. The theory presented here allows for the estimation of shape- and size-independent elastic properties of highly curved surfaces via indentation experiments, and is particularly relevant for biological surfaces.

Finite indentation of highly curved elastic shells

PubMed Central

2018-01-01

Experimentally measuring the elastic properties of thin biological surfaces is non-trivial, particularly when they are curved. One technique that may be used is the indentation of a thin sheet of material by a rigid indenter, while measuring the applied force and displacement. This gives immediate information on the fracture strength of the material (from the force required to puncture), but it is also theoretically possible to determine the elastic properties by comparing the resulting force–displacement curves with a mathematical model. Existing mathematical studies generally assume that the elastic surface is initially flat, which is often not the case for biological membranes. We previously outlined a theory for the indentation of curved isotropic, incompressible, hyperelastic membranes (with no bending stiffness) which breaks down for highly curved surfaces, as the entire membrane becomes wrinkled. Here, we introduce the effect of bending stiffness, ensuring that energy is required to change the shell shape without stretching, and find that commonly neglected terms in the shell equilibrium equation must be included. The theory presented here allows for the estimation of shape- and size-independent elastic properties of highly curved surfaces via indentation experiments, and is particularly relevant for biological surfaces. PMID:29434505

Comparing the Effectiveness of Virtual and Concrete Manipulatives to Teach Algebra to Secondary Students with Learning Disabilities

ERIC Educational Resources Information Center

Satsangi, Rajiv; Bouck, Emily C.; Taber-Doughty, Teresa; Bofferding, Laura; Roberts, Carly A.

2016-01-01

A sizable body of literature exists studying various technologies and pedagogical practices for teaching secondary mathematics curriculum to students with a learning disability in mathematics. However, with the growing footprint of computer-based technologies in today's classrooms, some areas of study, such as the use of virtual manipulatives,…

A novel design for a hybrid space manipulator

NASA Technical Reports Server (NTRS)

Shahinpoor, MO

1991-01-01

Described are the structural design, kinematics, and characteristics of a robot manipulator for space applications and use as an articulate and powerful space shuttle manipulator. Hybrid manipulators are parallel-serial connection robots that give rise to a multitude of highly precise robot manipulators. These manipulators are modular and can be extended by additional modules over large distances. Every module has a hemispherical work space and collective modules give rise to highly dexterous symmetrical work space. Some basic designs and kinematic structures of these robot manipulators are discussed, the associated direct and inverse kinematics formulations are presented, and solutions to the inverse kinematic problem are obtained explicitly and elaborated upon. These robot manipulators are shown to have a strength-to-weight ratio that is many times larger than the value that is currently available with industrial or research manipulators. This is due to the fact that these hybrid manipulators are stress-compensated and have an ultralight weight, yet, they are extremely stiff due to the fact that force distribution in their structure is mostly axial. Actuation is prismatic and can be provided by ball screws for maximum precision.

Light extraction block with curved surface

DOEpatents

Levermore, Peter; Krall, Emory; Silvernail, Jeffrey; Rajan, Kamala; Brown, Julia J.

2016-03-22

Light extraction blocks, and OLED lighting panels using light extraction blocks, are described, in which the light extraction blocks include various curved shapes that provide improved light extraction properties compared to parallel emissive surface, and a thinner form factor and better light extraction than a hemisphere. Lighting systems described herein may include a light source with an OLED panel. A light extraction block with a three-dimensional light emitting surface may be optically coupled to the light source. The three-dimensional light emitting surface of the block may includes a substantially curved surface, with further characteristics related to the curvature of the surface at given points. A first radius of curvature corresponding to a maximum principal curvature k.sub.1 at a point p on the substantially curved surface may be greater than a maximum height of the light extraction block. A maximum height of the light extraction block may be less than 50% of a maximum width of the light extraction block. Surfaces with cross sections made up of line segments and inflection points may also be fit to approximated curves for calculating the radius of curvature.

Comparison of two correlated ROC curves at a given specificity or sensitivity level.

PubMed

Bantis, Leonidas E; Feng, Ziding

2016-10-30

The receiver operating characteristic (ROC) curve is the most popular statistical tool for evaluating the discriminatory capability of a given continuous biomarker. The need to compare two correlated ROC curves arises when individuals are measured with two biomarkers, which induces paired and thus correlated measurements. Many researchers have focused on comparing two correlated ROC curves in terms of the area under the curve (AUC), which summarizes the overall performance of the marker. However, particular values of specificity may be of interest. We focus on comparing two correlated ROC curves at a given specificity level. We propose parametric approaches, transformations to normality, and nonparametric kernel-based approaches. Our methods can be straightforwardly extended for inference in terms of ROC -1 (t). This is of particular interest for comparing the accuracy of two correlated biomarkers at a given sensitivity level. Extensions also involve inference for the AUC and accommodating covariates. We evaluate the robustness of our techniques through simulations, compare them with other known approaches, and present a real-data application involving prostate cancer screening. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Stenting for curved lesions using a novel curved balloon: Preliminary experimental study.

PubMed

Tomita, Hideshi; Higaki, Takashi; Kobayashi, Toshiki; Fujii, Takanari; Fujimoto, Kazuto

2015-08-01

Stenting may be a compelling approach to dilating curved lesions in congenital heart diseases. However, balloon-expandable stents, which are commonly used for congenital heart diseases, are usually deployed in a straight orientation. In this study, we evaluated the effect of stenting with a novel curved balloon considered to provide better conformability to the curved-angled lesion. In vitro experiments: A Palmaz Genesis(®) stent (Johnson & Johnson, Cordis Co, Bridgewater, NJ, USA) mounted on the Goku(®) curve (Tokai Medical Co. Nagoya, Japan) was dilated in vitro to observe directly the behavior of the stent and balloon assembly during expansion. Animal experiment: A short Express(®) Vascular SD (Boston Scientific Co, Marlborough, MA, USA) stent and a long Express(®) Vascular LD stent (Boston Scientific) mounted on the curved balloon were deployed in the curved vessel of a pig to observe the effect of stenting in vivo. In vitro experiments: Although the stent was dilated in a curved fashion, stent and balloon assembly also rotated conjointly during expansion of its curved portion. In the primary stenting of the short stent, the stent was dilated with rotation of the curved portion. The excised stent conformed to the curved vessel. As the long stent could not be negotiated across the mid-portion with the balloon in expansion when it started curving, the mid-portion of the stent failed to expand fully. Furthermore, the balloon, which became entangled with the stent strut, could not be retrieved even after complete deflation. This novel curved balloon catheter might be used for implantation of the short stent in a curved lesion; however, it should not be used for primary stenting of the long stent. Post-dilation to conform the stent to the angled vessel would be safer than primary stenting irrespective of stent length. Copyright © 2014 Japanese College of Cardiology. Published by Elsevier Ltd. All rights reserved.

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.

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.

Curve Boxplot: Generalization of Boxplot for Ensembles of Curves.

PubMed

Mirzargar, Mahsa; Whitaker, Ross T; Kirby, Robert M

2014-12-01

In simulation science, computational scientists often study the behavior of their simulations by repeated solutions with variations in parameters and/or boundary values or initial conditions. Through such simulation ensembles, one can try to understand or quantify the variability or uncertainty in a solution as a function of the various inputs or model assumptions. In response to a growing interest in simulation ensembles, the visualization community has developed a suite of methods for allowing users to observe and understand the properties of these ensembles in an efficient and effective manner. An important aspect of visualizing simulations is the analysis of derived features, often represented as points, surfaces, or curves. In this paper, we present a novel, nonparametric method for summarizing ensembles of 2D and 3D curves. We propose an extension of a method from descriptive statistics, data depth, to curves. We also demonstrate a set of rendering and visualization strategies for showing rank statistics of an ensemble of curves, which is a generalization of traditional whisker plots or boxplots to multidimensional curves. Results are presented for applications in neuroimaging, hurricane forecasting and fluid dynamics.

lcps: Light curve pre-selection

NASA Astrophysics Data System (ADS)

Schlecker, Martin

2018-05-01

lcps searches for transit-like features (i.e., dips) in photometric data. Its main purpose is to restrict large sets of light curves to a number of files that show interesting behavior, such as drops in flux. While lcps is adaptable to any format of time series, its I/O module is designed specifically for photometry of the Kepler spacecraft. It extracts the pre-conditioned PDCSAP data from light curves files created by the standard Kepler pipeline. It can also handle csv-formatted ascii files. lcps uses a sliding window technique to compare a section of flux time series with its surroundings. A dip is detected if the flux within the window is lower than a threshold fraction of the surrounding fluxes.

Virtual Manipulative Materials in Secondary Mathematics: A Theoretical Discussion

ERIC Educational Resources Information Center

Namukasa, Immacukate K.; Stanley, Darren; Tuchtie, Martin

2009-01-01

With the increased use of computer manipulatives in teaching there is need for theoretical discussions on the role of manipulatives. This paper reviews theoretical rationales for using manipulatives and illustrates how earlier distinctions of manipulative materials are broadened to include new forms of materials such as virtual manipulatives.…

Positional control of space robot manipulator

NASA Astrophysics Data System (ADS)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

Why do spinal manipulation techniques take the form they do? Towards a general model of spinal manipulation.

PubMed

Evans, David W

2010-06-01

For centuries, techniques used to manipulate joints in the spine have been passed down from one generation of manipulators to the next. Today, spinal manipulation is in the curious position that positive clinical effects have now been demonstrated, yet the theoretical base underpinning every aspect of its use is still underdeveloped. An important question is posed in this masterclass: why do spinal manipulation techniques take the form they do? From the available literature, two factors appear to provide an answer: 1. Action of a force upon vertebrae. Any 'direct' spinal manipulation technique requires that the patient be orientated in such a way that force is applied perpendicular to the overlying skin surface so as to act upon the vertebrae beneath. If the vertebral motion produced by 'directly' applied force is insufficient to produce the desired effect (e.g. cavitation), then force must be applied 'indirectly', often through remote body segments such as the head, thorax, abdomen, pelvis, and extremities. 2. Spinal segment morphology. A new hypothesis is presented. Spinal manipulation techniques exploit the morphology of vertebrae by inducing rotation at a spinal segment, about an axis that is always parallel to the articular surfaces of the constituent zygapophysial joints. In doing so, the articular surfaces of one zygapophysial joint appose to the point of contact, resulting in migration of the axis of rotation towards these contacting surfaces, and in turn this facilitates gapping of the other (target) zygapophysial joint. Other variations in the form of spinal manipulation techniques are likely to depend upon the personal style and individual choices of the practitioner.

Better with Byzantine: Manipulation-Optimal Mechanisms

NASA Astrophysics Data System (ADS)

Othman, Abraham; Sandholm, Tuomas

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

Greater Activity in the Frontal Cortex on Left Curves: A Vector-Based fNIRS Study of Left and Right Curve Driving.

PubMed

Oka, Noriyuki; Yoshino, Kayoko; Yamamoto, Kouji; Takahashi, Hideki; Li, Shuguang; Sugimachi, Toshiyuki; Nakano, Kimihiko; Suda, Yoshihiro; Kato, Toshinori

2015-01-01

In the brain, the mechanisms of attention to the left and the right are known to be different. It is possible that brain activity when driving also differs with different horizontal road alignments (left or right curves), but little is known about this. We found driver brain activity to be different when driving on left and right curves, in an experiment using a large-scale driving simulator and functional near-infrared spectroscopy (fNIRS). The participants were fifteen healthy adults. We created a course simulating an expressway, comprising straight line driving and gentle left and right curves, and monitored the participants under driving conditions, in which they drove at a constant speed of 100 km/h, and under non-driving conditions, in which they simply watched the screen (visual task). Changes in hemoglobin concentrations were monitored at 48 channels including the prefrontal cortex, the premotor cortex, the primary motor cortex and the parietal cortex. From orthogonal vectors of changes in deoxyhemoglobin and changes in oxyhemoglobin, we calculated changes in cerebral oxygen exchange, reflecting neural activity, and statistically compared the resulting values from the right and left curve sections. Under driving conditions, there were no sites where cerebral oxygen exchange increased significantly more during right curves than during left curves (p > 0.05), but cerebral oxygen exchange increased significantly more during left curves (p < 0.05) in the right premotor cortex, the right frontal eye field and the bilateral prefrontal cortex. Under non-driving conditions, increases were significantly greater during left curves (p < 0.05) only in the right frontal eye field. Left curve driving was thus found to require more brain activity at multiple sites, suggesting that left curve driving may require more visual attention than right curve driving. The right frontal eye field was activated under both driving and non-driving conditions.

Functional assessment and performance evaluation for assistive robotic manipulators: Literature review.

PubMed

Chung, Cheng-Shiu; Wang, Hongwu; Cooper, Rory A

2013-07-01

The user interface development of assistive robotic manipulators can be traced back to the 1960s. Studies include kinematic designs, cost-efficiency, user experience involvements, and performance evaluation. This paper is to review studies conducted with clinical trials using activities of daily living (ADLs) tasks to evaluate performance categorized using the International Classification of Functioning, Disability, and Health (ICF) frameworks, in order to give the scope of current research and provide suggestions for future studies. We conducted a literature search of assistive robotic manipulators from 1970 to 2012 in PubMed, Google Scholar, and University of Pittsburgh Library System - PITTCat. Twenty relevant studies were identified. Studies were separated into two broad categories: user task preferences and user-interface performance measurements of commercialized and developing assistive robotic manipulators. The outcome measures and ICF codes associated with the performance evaluations are reported. Suggestions for the future studies include (1) standardized ADL tasks for the quantitative and qualitative evaluation of task efficiency and performance to build comparable measures between research groups, (2) studies relevant to the tasks from user priority lists and ICF codes, and (3) appropriate clinical functional assessment tests with consideration of constraints in assistive robotic manipulator user interfaces. In addition, these outcome measures will help physicians and therapists build standardized tools while prescribing and assessing assistive robotic manipulators.

Functional assessment and performance evaluation for assistive robotic manipulators: Literature review

PubMed Central

Chung, Cheng-Shiu; Wang, Hongwu; Cooper, Rory A.

2013-01-01

Context The user interface development of assistive robotic manipulators can be traced back to the 1960s. Studies include kinematic designs, cost-efficiency, user experience involvements, and performance evaluation. This paper is to review studies conducted with clinical trials using activities of daily living (ADLs) tasks to evaluate performance categorized using the International Classification of Functioning, Disability, and Health (ICF) frameworks, in order to give the scope of current research and provide suggestions for future studies. Methods We conducted a literature search of assistive robotic manipulators from 1970 to 2012 in PubMed, Google Scholar, and University of Pittsburgh Library System – PITTCat. Results Twenty relevant studies were identified. Conclusion Studies were separated into two broad categories: user task preferences and user-interface performance measurements of commercialized and developing assistive robotic manipulators. The outcome measures and ICF codes associated with the performance evaluations are reported. Suggestions for the future studies include (1) standardized ADL tasks for the quantitative and qualitative evaluation of task efficiency and performance to build comparable measures between research groups, (2) studies relevant to the tasks from user priority lists and ICF codes, and (3) appropriate clinical functional assessment tests with consideration of constraints in assistive robotic manipulator user interfaces. In addition, these outcome measures will help physicians and therapists build standardized tools while prescribing and assessing assistive robotic manipulators. PMID:23820143

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…

Adaptive zero-tree structure for curved wavelet image coding

NASA Astrophysics Data System (ADS)

Zhang, Liang; Wang, Demin; Vincent, André

2006-02-01

We investigate the issue of efficient data organization and representation of the curved wavelet coefficients [curved wavelet transform (WT)]. We present an adaptive zero-tree structure that exploits the cross-subband similarity of the curved wavelet transform. In the embedded zero-tree wavelet (EZW) and the set partitioning in hierarchical trees (SPIHT), the parent-child relationship is defined in such a way that a parent has four children, restricted to a square of 2×2 pixels, the parent-child relationship in the adaptive zero-tree structure varies according to the curves along which the curved WT is performed. Five child patterns were determined based on different combinations of curve orientation. A new image coder was then developed based on this adaptive zero-tree structure and the set-partitioning technique. Experimental results using synthetic and natural images showed the effectiveness of the proposed adaptive zero-tree structure for encoding of the curved wavelet coefficients. The coding gain of the proposed coder can be up to 1.2 dB in terms of peak SNR (PSNR) compared to the SPIHT coder. Subjective evaluation shows that the proposed coder preserves lines and edges better than the SPIHT coder.

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

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)

Dynamic whole-body robotic manipulation

NASA Astrophysics Data System (ADS)

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

2013-05-01

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

Spinal Manipulation for Low-Back Pain

MedlinePlus

... often have limited benefit in managing back and neck pain. The AHRQ analysis also found that spinal manipulation ... manipulation and mobilization for low back pain and neck pain: a systematic review and best evidence synthesis. Spine ...

W-curve alignments for HIV-1 genomic comparisons.

PubMed

Cork, Douglas J; Lembark, Steven; Tovanabutra, Sodsai; Robb, Merlin L; Kim, Jerome H

2010-06-01

The W-curve was originally developed as a graphical visualization technique for viewing DNA and RNA sequences. Its ability to render features of DNA also makes it suitable for computational studies. Its main advantage in this area is utilizing a single-pass algorithm for comparing the sequences. Avoiding recursion during sequence alignments offers advantages for speed and in-process resources. The graphical technique also allows for multiple models of comparison to be used depending on the nucleotide patterns embedded in similar whole genomic sequences. The W-curve approach allows us to compare large numbers of samples quickly. We are currently tuning the algorithm to accommodate quirks specific to HIV-1 genomic sequences so that it can be used to aid in diagnostic and vaccine efforts. Tracking the molecular evolution of the virus has been greatly hampered by gap associated problems predominantly embedded within the envelope gene of the virus. Gaps and hypermutation of the virus slow conventional string based alignments of the whole genome. This paper describes the W-curve algorithm itself, and how we have adapted it for comparison of similar HIV-1 genomes. A treebuilding method is developed with the W-curve that utilizes a novel Cylindrical Coordinate distance method and gap analysis method. HIV-1 C2-V5 env sequence regions from a Mother/Infant cohort study are used in the comparison. The output distance matrix and neighbor results produced by the W-curve are functionally equivalent to those from Clustal for C2-V5 sequences in the mother/infant pairs infected with CRF01_AE. Significant potential exists for utilizing this method in place of conventional string based alignment of HIV-1 genomes, such as Clustal X. With W-curve heuristic alignment, it may be possible to obtain clinically useful results in a short time-short enough to affect clinical choices for acute treatment. A description of the W-curve generation process, including a comparison technique of

Research on conformal dome of Karman-curve shape

NASA Astrophysics Data System (ADS)

Zhang, Yunqiang; Chang, Jun; Niu, Yajun

2018-01-01

Because the conformal optical technology can obviously improve the aerodynamic performance of the infrared guidance missile, it has been studied deeply in recent years. By comparing the performance of the missiles with conformal dome and conventional missiles, the advantages of the conformal optical technology are demonstrated in the maneuverability and stealth of the missile. At present, the study of conformal optical systems focuses on ellipsoid or quadratic curve types. But in actual use, the dome using these curves is not the best choice. In this paper, the influence of different shape of the dome on aerodynamic performance, aerodynamic heating, internal space volume and other properties is discussed. The result shows infrared optical system with conformal dome of Karman-curve shape has a good application prospect, is the future direction of development. Finally, the difficult problems of conformal dome of Karman-curve shape are discussed.

Unidirectional Wave Vector Manipulation in Two-Dimensional Space with an All Passive Acoustic Parity-Time-Symmetric Metamaterials Crystal

NASA Astrophysics Data System (ADS)

Liu, Tuo; Zhu, Xuefeng; Chen, Fei; Liang, Shanjun; Zhu, Jie

2018-03-01

Exploring the concept of non-Hermitian Hamiltonians respecting parity-time symmetry with classical wave systems is of great interest as it enables the experimental investigation of parity-time-symmetric systems through the quantum-classical analogue. Here, we demonstrate unidirectional wave vector manipulation in two-dimensional space, with an all passive acoustic parity-time-symmetric metamaterials crystal. The metamaterials crystal is constructed through interleaving groove- and holey-structured acoustic metamaterials to provide an intrinsic parity-time-symmetric potential that is two-dimensionally extended and curved, which allows the flexible manipulation of unpaired wave vectors. At the transition point from the unbroken to broken parity-time symmetry phase, the unidirectional sound focusing effect (along with reflectionless acoustic transparency in the opposite direction) is experimentally realized over the spectrum. This demonstration confirms the capability of passive acoustic systems to carry the experimental studies on general parity-time symmetry physics and further reveals the unique functionalities enabled by the judiciously tailored unidirectional wave vectors in space.

Manipulative and rehabilitative therapy as a treatment of idiopathic scoliosis without psychological sequelae: a case report

PubMed Central

Villafañe, Jorge H.; Silva, Guillermo B.; Dughera, Andrea

2012-01-01

Objective The purpose of this case report is to describe management and outcomes of a patient with scoliosis. Clinical Features A 9-year-old female patient with a double curve pattern with Cobb angles of 18° and 24° (thoracic/thoracolumbar) compatible with scoliosis presented for physical therapy treatment. Intervention and Outcome Physiotherapy treatment with a combination of manipulative and rehabilitation techniques was used. After finishing the treatment, the patient had Cobb angles of 7° and 11°, an improvement of 55% and 54%, respectively. After 6 months, these effects were maintained, as the patient had Cobb angles of 11° and 11°. The clinical appearance of the patient improved after the course of care. The patient was evaluated for psychological outcomes by applying the following tests: Scoliosis Research Society 22, Bad Sobernheim Stress, and the Brace Questionnaire The patient had the maximum score in all tests at the conclusion of therapy. Conclusion The patient responded favorably to manipulative and rehabilitation techniques. At the end of care, the patient did not show psychological sequelae with selected outcome measures. PMID:23204954

Comparison of two methods to determine fan performance curves using computational fluid dynamics

NASA Astrophysics Data System (ADS)

Onma, Patinya; Chantrasmi, Tonkid

2018-01-01

This work investigates a systematic numerical approach that employs Computational Fluid Dynamics (CFD) to obtain performance curves of a backward-curved centrifugal fan. Generating the performance curves requires a number of three-dimensional simulations with varying system loads at a fixed rotational speed. Two methods were used and their results compared to experimental data. The first method incrementally changes the mass flow late through the inlet boundary condition while the second method utilizes a series of meshes representing the physical damper blade at various angles. The generated performance curves from both methods are compared with an experiment setup in accordance with the AMCA fan performance testing standard.

Sensorimotor Learning of Acupuncture Needle Manipulation Using Visual Feedback

PubMed Central

Jung, Won-Mo; Lim, Jinwoong; Lee, In-Seon; Park, Hi-Joon; Wallraven, Christian; Chae, Younbyoung

2015-01-01

Objective Humans can acquire a wide variety of motor skills using sensory feedback pertaining to discrepancies between intended and actual movements. Acupuncture needle manipulation involves sophisticated hand movements and represents a fundamental skill for acupuncturists. We investigated whether untrained students could improve their motor performance during acupuncture needle manipulation using visual feedback (VF). Methods Twenty-one untrained medical students were included, randomly divided into concurrent (n = 10) and post-trial (n = 11) VF groups. Both groups were trained in simple lift/thrusting techniques during session 1, and in complicated lift/thrusting techniques in session 2 (eight training trials per session). We compared the motion patterns and error magnitudes of pre- and post-training tests. Results During motion pattern analysis, both the concurrent and post-trial VF groups exhibited greater improvements in motion patterns during the complicated lifting/thrusting session. In the magnitude error analysis, both groups also exhibited reduced error magnitudes during the simple lifting/thrusting session. For the training period, the concurrent VF group exhibited reduced error magnitudes across all training trials, whereas the post-trial VF group was characterized by greater error magnitudes during initial trials, which gradually reduced during later trials. Conclusions Our findings suggest that novices can improve the sophisticated hand movements required for acupuncture needle manipulation using sensorimotor learning with VF. Use of two types of VF can be beneficial for untrained students in terms of learning how to manipulate acupuncture needles, using either automatic or cognitive processes. PMID:26406248

Tension Stiffened and Tendon Actuated Manipulator

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

Cocaine versus food choice procedure in rats: environmental manipulations and effects of amphetamine.

PubMed

Thomsen, Morgane; Barrett, Andrew C; Negus, S Stevens; Caine, S Barak

2013-03-01

We have adapted a nonhuman primate model of cocaine versus food choice to the rat species. To evaluate the procedure, we tested cocaine versus food choice under a variety of environmental manipulations as well as pharmacological pretreatments. Complete cocaine-choice dose-effect curves (0-1.0 mg/kg/infusion) were obtained for each condition under concurrent fixed ratio schedules of reinforcement. Percentage of responding emitted on the cocaine-reinforced lever was not affected significantly by removal of cocaine-associated visual or auditory cues, but it was decreased after removal of response-contingent or response-independent cocaine infusions. Cocaine choice was sensitive to the magnitude and fixed ratio requirement of both the cocaine and food reinforcers. We also tested the effects of acute (0.32, 0.56, 1.0, 1.8 mg/kg) and chronic (0.1, 0.32 mg/kg/hr) d-amphetamine treatment on cocaine choice. Acute and chronic d-amphetamine had opposite effects, with acute increasing and chronic decreasing cocaine choice, similar to observations in humans and in nonhuman primates. The results suggest feasibility and utility of the choice procedure in rats and support its comparability to similar procedures used in humans and monkeys. © Society for the Experimental Analysis of Behavior.

Acute effects of single and multiple level thoracic manipulations on chronic mechanical neck pain: a randomized controlled trial

PubMed Central

Puntumetakul, Rungthip; Suvarnnato, Thavatchai; Werasirirat, Phurichaya; Uthaikhup, Sureeporn; Yamauchi, Junichiro; Boucaut, Rose

2015-01-01

Background Thoracic spine manipulation has become a popular alternative to local cervical manipulative therapy for mechanical neck pain. This study investigated the acute effects of single-level and multiple-level thoracic manipulations on chronic mechanical neck pain (CMNP). Methods Forty-eight patients with CMNP were randomly allocated to single-level thoracic manipulation (STM) at T6–T7 or multiple-level thoracic manipulation (MTM), or to a control group (prone lying). Cervical range of motion (CROM), visual analog scale (VAS), and the Thai version of the Neck Disability Index (NDI-TH) scores were measured at baseline, and at 24-hour and at 1-week follow-up. Results At 24-hour and 1-week follow-up, neck disability and pain levels were significantly (P<0.05) improved in the STM and MTM groups compared with the control group. CROM in flexion and left lateral flexion were increased significantly (P<0.05) in the STM group when compared with the control group at 1-week follow-up. The CROM in right rotation was increased significantly after MTM compared to the control group (P<0.05) at 24-hour follow-up. There were no statistically significant differences in neck disability, pain level at rest, and CROM between the STM and MTM groups. Conclusion These results suggest that both single-level and multiple-level thoracic manipulation improve neck disability, pain levels, and CROM at 24-hour and 1-week follow-up in patients with CMNP. PMID:25624764

Particle Manipulation Methods in Droplet Microfluidics.

PubMed

Tenje, Maria; Fornell, Anna; Ohlin, Mathias; Nilsson, Johan

2018-02-06

This Feature describes the different particle manipulation techniques available in the droplet microfluidics toolbox to handle particles encapsulated inside droplets and to manipulate whole droplets. We address the advantages and disadvantages of the different techniques to guide new users.

Characteristics of manipulator for industrial robot with three rotational pairs having parallel axes

NASA Astrophysics Data System (ADS)

Poteyev, M. I.

1986-01-01

The dynamics of a manipulator with three rotatinal kinematic pairs having parallel axes are analyzed, for application in an industrial robot. The system of Lagrange equations of the second kind, describing the motion of such a mechanism in terms of kinetic energy in generalized coordinates, is reduced to equations of motion in terms of Newton's laws. These are useful not only for either determining the moments of force couples which will produce a prescribed motion or, conversely determining the motion which given force couples will produce but also for solving optimization problems under constraints in both cases and for estimating dynamic errors. As a specific example, a manipulator with all three axes of vertical rotation is considered. The performance of this manipulator, namely the parameters of its motion as functions of time, is compared with that of a manipulator having one rotational and two translational kinematic pairs. Computer aided simulation of their motion on the basis of ideal models, with all three links represented by identical homogeneous bars, has yielded velocity time diagrams which indicate that the manipulator with three rotational pairs is 4.5 times faster.

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots.

PubMed

Hannan, Michael W; Walker, Ian D

2003-02-01

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

NASA Technical Reports Server (NTRS)

Hannan, Michael W.; Walker, Ian D.

2003-01-01

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

Manipulation and mobilisation for neck pain contrasted against an inactive control or another active treatment.

PubMed

Gross, Anita; Langevin, Pierre; Burnie, Stephen J; Bédard-Brochu, Marie-Sophie; Empey, Brian; Dugas, Estelle; Faber-Dobrescu, Michael; Andres, Cristy; Graham, Nadine; Goldsmith, Charles H; Brønfort, Gert; Hoving, Jan L; LeBlanc, Francis

2015-09-23

Manipulation and mobilisation are commonly used to treat neck pain. This is an update of a Cochrane review first published in 2003, and previously updated in 2010. To assess the effects of manipulation or mobilisation alone compared wiith those of an inactive control or another active treatment on pain, function, disability, patient satisfaction, quality of life and global perceived effect in adults experiencing neck pain with or without radicular symptoms and cervicogenic headache (CGH) at immediate- to long-term follow-up. When appropriate, to assess the influence of treatment characteristics (i.e. technique, dosage), methodological quality, symptom duration and subtypes of neck disorder on treatment outcomes. Review authors searched the following computerised databases to November 2014 to identify additional studies: the Cochrane Central Register of Controlled Trials (CENTRAL), MEDLINE, EMBASE and the Cumulative Index to Nursing and Allied Health Literature (CINAHL). We also searched ClinicalTrials.gov, checked references, searched citations and contacted study authors to find relevant studies. We updated this search in June 2015, but these results have not yet been incorporated. Randomised controlled trials (RCTs) undertaken to assess whether manipulation or mobilisation improves clinical outcomes for adults with acute/subacute/chronic neck pain. Two review authors independently selected studies, abstracted data, assessed risk of bias and applied Grades of Recommendation, Assessment, Development and Evaluation (GRADE) methods (very low, low, moderate, high quality). We calculated pooled risk ratios (RRs) and standardised mean differences (SMDs). We included 51 trials (2920 participants, 18 trials of manipulation/mobilisation versus control; 34 trials of manipulation/mobilisation versus another treatment, 1 trial had two comparisons). Cervical manipulation versus inactive control: For subacute and chronic neck pain, a single manipulation (three trials, no meta

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.

Optical manipulation of valley pseudospin

DOE PAGES

Ye, Ziliang; Sun, Dezheng; Heinz, Tony F.

2016-09-19

The coherent manipulation of spin and pseudospin underlies existing and emerging quantum technologies, including quantum communication and quantum computation. Valley polarization, associated with the occupancy of degenerate, but quantum mechanically distinct valleys in momentum space, closely resembles spin polarization and has been proposed as a pseudospin carrier for the future quantum electronics. Valley exciton polarization has been created in the transition metal dichalcogenide monolayers using excitation by circularly polarized light and has been detected both optically and electrically. In addition, the existence of coherence in the valley pseudospin has been identified experimentally. The manipulation of such valley coherence has, however,more » remained out of reach. In this paper, we demonstrate all-optical control of the valley coherence by means of the pseudomagnetic field associated with the optical Stark effect. Using below-bandgap circularly polarized light, we rotate the valley exciton pseudospin in monolayer WSe 2 on the femtosecond timescale. Both the direction and speed of the rotation can be manipulated optically by tuning the dynamic phase of excitons in opposite valleys. Finally, this study unveils the possibility of generation, manipulation, and detection of the valley pseudospin by coupling to photons.« less

On the reduction of occultation light curves. [stellar occultations by planets

NASA Technical Reports Server (NTRS)

Wasserman, L.; Veverka, J.

1973-01-01

The two basic methods of reducing occultation light curves - curve fitting and inversion - are reviewed and compared. It is shown that the curve fitting methods have severe problems of nonuniqueness. In addition, in the case of occultation curves dominated by spikes, it is not clear that such solutions are meaningful. The inversion method does not suffer from these drawbacks. Methods of deriving temperature profiles from refractivity profiles are then examined. It is shown that, although the temperature profiles are sensitive to small errors in the refractivity profile, accurate temperatures can be obtained, particularly at the deeper levels of the atmosphere. The ambiguities that arise when the occultation curve straddles the turbopause are briefly discussed.

Computerised curve deconvolution of TL/OSL curves using a popular spreadsheet program.

PubMed

Afouxenidis, D; Polymeris, G S; Tsirliganis, N C; Kitis, G

2012-05-01

This paper exploits the possibility of using commercial software for thermoluminescence and optically stimulated luminescence curve deconvolution analysis. The widely used software package Microsoft Excel, with the Solver utility has been used to perform deconvolution analysis to both experimental and reference glow curves resulted from the GLOw Curve ANalysis INtercomparison project. The simple interface of this programme combined with the powerful Solver utility, allows the analysis of complex stimulated luminescence curves into their components and the evaluation of the associated luminescence parameters.

Application of identification techniques to remote manipulator system flight data

NASA Technical Reports Server (NTRS)

Shepard, G. D.; Lepanto, J. A.; Metzinger, R. W.; Fogel, E.

1983-01-01

This paper addresses the application of identification techniques to flight data from the Space Shuttle Remote Manipulator System (RMS). A description of the remote manipulator, including structural and control system characteristics, sensors, and actuators is given. A brief overview of system identification procedures is presented, and the practical aspects of implementing system identification algorithms are discussed. In particular, the problems posed by desampling rate, numerical error, and system nonlinearities are considered. Simulation predictions of damping, frequency, and system order are compared with values identified from flight data to support an evaluation of RMS structural and control system models. Finally, conclusions are drawn regarding the application of identification techniques to flight data obtained from a flexible space structure.

Place-pitch manipulations with cochlear implants

PubMed Central

Macherey, Olivier; Carlyon, Robert P.

2012-01-01

Pitch can be conveyed to cochlear implant (CI) listeners via both place of excitation and temporal cues. The transmission of place cues may be hampered by several factors including limitations on the insertion depth and number of implanted electrodes, and the broad current spread produced by monopolar stimulation. The following series of experiments investigate several methods to partially overcome these limitations. Experiment 1 compares two recently published techniques that aim to activate more apical fibers than produced by monopolar or bipolar stimulation of the most apical contacts. The first technique (phantom stimulation) manipulates the current spread by simultaneously stimulating two electrodes with opposite-polarity pulses of different amplitudes. The second technique manipulates the neural spread of excitation by using asymmetric pulses and exploiting the polarity-sensitive properties of auditory nerve fibers. The two techniques yielded similar results and were shown to produce lower place pitch percepts than stimulation of monopolar and bipolar symmetric pulses. Furthermore, combining these two techniques may be advantageous in a clinical setting. Experiment 2 proposes a novel method to create place pitches intermediate to those produced by physical electrodes by using charge-balanced asymmetric pulses in bipolar mode with different degrees of asymmetry. PMID:22423718

Precision manipulation with a dextrous robot hand

NASA Astrophysics Data System (ADS)

Michelman, Paul

1994-01-01

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

Interaction Analysis of Longevity Interventions Using Survival Curves.

PubMed

Nowak, Stefan; Neidhart, Johannes; Szendro, Ivan G; Rzezonka, Jonas; Marathe, Rahul; Krug, Joachim

2018-01-06

A long-standing problem in ageing research is to understand how different factors contributing to longevity should be expected to act in combination under the assumption that they are independent. Standard interaction analysis compares the extension of mean lifespan achieved by a combination of interventions to the prediction under an additive or multiplicative null model, but neither model is fundamentally justified. Moreover, the target of longevity interventions is not mean life span but the entire survival curve. Here we formulate a mathematical approach for predicting the survival curve resulting from a combination of two independent interventions based on the survival curves of the individual treatments, and quantify interaction between interventions as the deviation from this prediction. We test the method on a published data set comprising survival curves for all combinations of four different longevity interventions in Caenorhabditis elegans . We find that interactions are generally weak even when the standard analysis indicates otherwise.

Interaction Analysis of Longevity Interventions Using Survival Curves

PubMed Central

Nowak, Stefan; Neidhart, Johannes; Szendro, Ivan G.; Rzezonka, Jonas; Marathe, Rahul; Krug, Joachim

2018-01-01

A long-standing problem in ageing research is to understand how different factors contributing to longevity should be expected to act in combination under the assumption that they are independent. Standard interaction analysis compares the extension of mean lifespan achieved by a combination of interventions to the prediction under an additive or multiplicative null model, but neither model is fundamentally justified. Moreover, the target of longevity interventions is not mean life span but the entire survival curve. Here we formulate a mathematical approach for predicting the survival curve resulting from a combination of two independent interventions based on the survival curves of the individual treatments, and quantify interaction between interventions as the deviation from this prediction. We test the method on a published data set comprising survival curves for all combinations of four different longevity interventions in Caenorhabditis elegans. We find that interactions are generally weak even when the standard analysis indicates otherwise. PMID:29316622

A Molecular Analysis of Training Multiple versus Single Manipulations to Establish a Generalized Manipulative Imitation Repertoire

ERIC Educational Resources Information Center

Hartley, Breanne K.

2009-01-01

This study evaluates the necessity of training multiple versus single manipulative-imitations per object in order to establish generalized manipulative-imitation. Training took place in Croyden Avenue School's Early Childhood Developmental Delay preschool classroom in Kalamazoo, MI. Two groups of 3 children each were trained to imitate in order to…

Greater Activity in the Frontal Cortex on Left Curves: A Vector-Based fNIRS Study of Left and Right Curve Driving

PubMed Central

Oka, Noriyuki; Yoshino, Kayoko; Yamamoto, Kouji; Takahashi, Hideki; Li, Shuguang; Sugimachi, Toshiyuki; Nakano, Kimihiko; Suda, Yoshihiro; Kato, Toshinori

2015-01-01

Objectives In the brain, the mechanisms of attention to the left and the right are known to be different. It is possible that brain activity when driving also differs with different horizontal road alignments (left or right curves), but little is known about this. We found driver brain activity to be different when driving on left and right curves, in an experiment using a large-scale driving simulator and functional near-infrared spectroscopy (fNIRS). Research Design and Methods The participants were fifteen healthy adults. We created a course simulating an expressway, comprising straight line driving and gentle left and right curves, and monitored the participants under driving conditions, in which they drove at a constant speed of 100 km/h, and under non-driving conditions, in which they simply watched the screen (visual task). Changes in hemoglobin concentrations were monitored at 48 channels including the prefrontal cortex, the premotor cortex, the primary motor cortex and the parietal cortex. From orthogonal vectors of changes in deoxyhemoglobin and changes in oxyhemoglobin, we calculated changes in cerebral oxygen exchange, reflecting neural activity, and statistically compared the resulting values from the right and left curve sections. Results Under driving conditions, there were no sites where cerebral oxygen exchange increased significantly more during right curves than during left curves (p > 0.05), but cerebral oxygen exchange increased significantly more during left curves (p < 0.05) in the right premotor cortex, the right frontal eye field and the bilateral prefrontal cortex. Under non-driving conditions, increases were significantly greater during left curves (p < 0.05) only in the right frontal eye field. Conclusions Left curve driving was thus found to require more brain activity at multiple sites, suggesting that left curve driving may require more visual attention than right curve driving. The right frontal eye field was activated under both

Resolution of seven-axis manipulator redundancy: A heuristic issue

NASA Technical Reports Server (NTRS)

Chen, I.

1990-01-01

An approach is presented for the resolution of the redundancy of a seven-axis manipulator arm from the AI and expert systems point of view. This approach is heuristic, analytical, and globally resolves the redundancy at the position level. When compared with other approaches, this approach has several improved performance capabilities, including singularity avoidance, repeatability, stability, and simplicity.

PyMOL mControl: Manipulating molecular visualization with mobile devices.

PubMed

Lam, Wendy W T; Siu, Shirley W I

2017-01-02

Viewing and manipulating three-dimensional (3D) structures in molecular graphics software are essential tasks for researchers and students to understand the functions of molecules. Currently, the way to manipulate a 3D molecular object is mainly based on mouse-and-keyboard control that is usually difficult and tedious to learn. While gesture-based and touch-based interactions are increasingly popular in interactive software systems, their suitability in handling molecular graphics has not yet been sufficiently explored. Here, we designed the gesture-based and touch-based interaction methods to manipulate virtual objects in PyMOL utilizing the motion and touch sensors in a mobile device. Three fundamental viewing controls-zooming, translation and rotation-and frequently used functions were implemented. Results from a pilot user study reveal that task performances on viewing controls using a mobile device are slightly reduced as compared to mouse-and-keyboard method. However, it is considered to be more suitable for oral presentations and equally suitable for education scenarios such as school classes. Overall, PyMOL mControl provides an alternative way to manipulate objects in molecular graphic software with new user experiences. The software is freely available at http://cbbio.cis.umac.mo/mcontrol.html. © 2016 by The International Union of Biochemistry and Molecular Biology, 45(1):76-83, 2017. © 2016 The International Union of Biochemistry and Molecular Biology.

Comparing the influence of physical and virtual manipulatives in the context of the Physics by Inquiry curriculum: The case of undergraduate students' conceptual understanding of heat and temperature

NASA Astrophysics Data System (ADS)

Zacharia, Zacharias C.; Constantinou, Constantinos P.

2008-04-01

We compare the effect of experimenting with physical or virtual manipulatives on undergraduate students' conceptual understanding of heat and temperature. A pre-post comparison study design was used to replicate all aspects of a guided inquiry classroom except the mode in which students performed their experiments. This study is the first on physical and virtual manipulative experimentation in physics in which the curriculum, method of instruction, and resource capabilities were explicitly controlled. The participants were 68 undergraduates in an introductory course and were randomly assigned to an experimental or a control group. Conceptual tests were administered to both groups to assess students' understanding before, during, and after instruction. The result indicates that both modes of experimentation are equally effective in enhancing students' conceptual understanding. This result is discussed in the context of an ongoing debate on the relative importance of virtual and real laboratory work in physics education.

Tilt/Tip/Piston Manipulator with Base-Mounted Actuators

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad

2006-01-01

A proposed three-degree-of-freedom (tilt/tip/piston) manipulator, suitable for aligning an optical or mechanical component, would offer several advantages over prior such manipulators: Unlike in some other manipulators, no actuator would support the weight of another actuator: All of the actuators would be mounted on a base. Hence, there would be less manipulated weight. The basic geometry of the manipulator would afford mechanical advantage: that is, actuator motions would be larger than the motions they produce in the manipulated object. Mechanical advantage inherently increases the accuracy and resolution of manipulation. Unlike in some other manipulators, it would not be necessary to route power and/or data lines through manipulator joints. The proposed manipulator (see figure) would include three prismatic actuators (T1N1, T2N2, and T3N3) mounted on the base and operating in the same plane. Examples of suitable prismatic actuators include lead-screw mechanisms, linear hydraulic motors, piezoelectric linear drives, inchworm-movement linear stepping motors, and linear flexure drives. The actuators would control the lengths of links R1T1, R2T2, and R3T3. Three spherical joints (P1, P2, and P3) would be located at the corners of an equilateral triangle of side length q on the platform holding the object to be manipulated. Three inextensible limbs (R1P1, R2P2, and R3P3) having length r would connect the spherical joints on the platform to revolute joints (R1, R2, and R3) at the ends of the actuator-controlled links R1T1, R2T2, and R3T3. By varying the lengths of these links, one could control the tilt, tip, and piston coordinates of the platform. Closed-form equations for direct or forward kinematics of the manipulator (given the lengths of the variable links, find the tilt, tip, and piston coordinates) have been derived. The equations of inverse kinematics (find the variable link lengths needed to obtain the desired tilt, tip, and piston coordinates) have also

Effects of Experimenting with Physical and Virtual Manipulatives on Students' Conceptual Understanding in Heat and Temperature

ERIC Educational Resources Information Center

Zacharia, Zacharias C.; Olympiou, Georgios; Papaevripidou, Marios

2008-01-01

This study aimed to investigate the comparative value of experimenting with physical manipulatives (PM) in a sequential combination with virtual manipulatives (VM), with the use of PM preceding the use of VM, and of experimenting with PM alone, with respect to changes in students' conceptual understanding in the domain of heat and temperature. A…

Taking behavioralism seriously: some evidence of market manipulation.

PubMed

Hanson, J D; Kysar, D A

1999-05-01

Over the last ten to fifteen years, economists and legal scholars have become increasingly interested in and sensitive to behavioralist insights. In a companion article, Jon Hanson and Douglas Kysar argued that those scholars have nevertheless given short shrift to what is, at least for policymaking purposes, perhaps the most important lesson of the behavioralist research: individuals' perceptions and preferences are highly manipulable. According to Hanson and Kysar, one theoretical implication of that insight for products liability law is that manufacturers and marketers will manipulate the risk perceptions of consumers. Indeed, to survive in a competitive market, manufacturers and marketers must do so. In this Article, Hanson and Kysar present empirical evidence of market manipulation--a previously unrecognized source of market failure. The Article begins by surveying the extensive qualitative and quantitative marketing research and consumer behavioral studies that discern and influence consumer perceptions. It then provides evidence of market manipulation by reviewing common practices in everyday market settings, such as gas stations and supermarkets, and by examining familiar marketing approaches, such as environmentally oriented and fear-based advertising. Although consumers may be well-aware of those practices and approaches, they appear to be generally unaware of the extent to which those tactics are manipulative. The Article then focuses on the industry that has most depended upon market manipulation: the cigarette industry. Through decades of sophisticated marketing and public relations efforts, cigarette manufacturers have heightened consumer demand and lowered consumer risk perceptions. Because consumers are aware that smoking may pose significant health risks, the tobacco industry's success in manipulating risk perceptions constitutes especially strong evidence of the power of market manipulation. The Article concludes by arguing that the evidence of

The Mental Manipulation of Cognitive Maps in Children and Adults.

ERIC Educational Resources Information Center

Hardwick, Douglas A.; McIntyre, Curtis W.

Two experiments compared the cognitive maps (mental representations of the spatial environment) of first graders, fifth graders and college students, and investigated developmental changes in the ability to manipulate cognitive maps mentally. In the first experiment, subjects were asked to move from stationpoint to stationpoint and at each, to…

Observation of Metal Nanoparticles for Acoustic Manipulation

PubMed Central

Chen, Mian; Cai, Feiyan; Wang, Chen; Wang, Zhiyong; Meng, Long; Li, Fei; Zhang, Pengfei; Liu, Xin

2017-01-01

Use of acoustic trapping for the manipulation of objects is invaluable to many applications from cellular subdivision to biological assays. Despite remarkable progress in a wide size range, the precise acoustic manipulation of 0D nanoparticles where all the structural dimensions are much smaller than the acoustic wavelength is still present challenges. This study reports on the observation of metal nanoparticles with different nanostructures for acoustic manipulation. Results for the first time exhibit that the hollow nanostructures play more important factor than size in the nanoscale acoustic manipulation. The acoustic levitation and swarm aggregations of the metal nanoparticles can be easily realized at low energy and clinically acceptable acoustic frequency by hollowing their nanostructures. In addition, the behaviors of swarm aggregations can be flexibly regulated by the applied voltage and frequency. This study anticipates that the strategy based on the unique properties of the metal hollow nanostructures and the manipulation method will be highly desirable for many applications. PMID:28546912

Observation of Metal Nanoparticles for Acoustic Manipulation.

PubMed

Chen, Mian; Cai, Feiyan; Wang, Chen; Wang, Zhiyong; Meng, Long; Li, Fei; Zhang, Pengfei; Liu, Xin; Zheng, Hairong

2017-05-01

Use of acoustic trapping for the manipulation of objects is invaluable to many applications from cellular subdivision to biological assays. Despite remarkable progress in a wide size range, the precise acoustic manipulation of 0D nanoparticles where all the structural dimensions are much smaller than the acoustic wavelength is still present challenges. This study reports on the observation of metal nanoparticles with different nanostructures for acoustic manipulation. Results for the first time exhibit that the hollow nanostructures play more important factor than size in the nanoscale acoustic manipulation. The acoustic levitation and swarm aggregations of the metal nanoparticles can be easily realized at low energy and clinically acceptable acoustic frequency by hollowing their nanostructures. In addition, the behaviors of swarm aggregations can be flexibly regulated by the applied voltage and frequency. This study anticipates that the strategy based on the unique properties of the metal hollow nanostructures and the manipulation method will be highly desirable for many applications.

Hydraulic Robotic Surgical Tool Changing Manipulator

PubMed Central

Pourghodrat, Abolfazl; Nelson, Carl A.; Oleynikov, Dmitry

2017-01-01

Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform “scarless” abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments. PMID:28450979

Genetic analysis of growth curves for a woody perennial species, Pinus taeda L.

Treesearch

D.P. Gwaze; F.E. Bridgwater; C.G. Williams

2002-01-01

Inheritance of growth curves is critical for understanding evolutionary change and formulating efficient breeding plans, yet has received limited attention. Growth curves, like other characters that change in concert with development, often have higher heritability than age-specific traits. This study compared genetic parameters of height-growth curves with those of...

Improving Children's Listening Comprehension with a Manipulation Strategy

ERIC Educational Resources Information Center

Marley, Scott C.; Szabo, Zsuzsanna

2010-01-01

The authors examined the cognitive benefits of physical manipulation. Participants were 76 kindergarten and first-grade students randomly assigned to 2 strategies: stories with pictures or manipulation. In the pictures strategy, participants listened to story content and viewed pictures. In the manipulation strategy, participants moved…

High pressure melting curve of platinum up to 35 GPa

NASA Astrophysics Data System (ADS)

Patel, Nishant N.; Sunder, Meenakshi

2018-04-01

Melting curve of Platinum (Pt) has been measured up to 35 GPa using our laboratory based laser heated diamond anvil cell (LHDAC) facility. Laser speckle method has been employed to detect onset of melting. High pressure melting curve of Pt obtained in the present study has been compared with previously reported experimental and theoretical results. The melting curve measured agrees well within experimental error with the results of Kavner et al. The experimental data fitted with simon equation gives (∂Tm/∂P) ˜25 K/GPa at P˜1 MPa.

Interpretation of OAO-2 ultraviolet light curves of beta Doradus

NASA Technical Reports Server (NTRS)

Hutchinson, J. L.; Lillie, C. F.; Hill, S. J.

1975-01-01

Middle-ultraviolet light curves of beta Doradus, obtained by OAO-2, are presented along with other evidence indicating that the small additional bumps observed on the rising branches of these curves have their origin in shock-wave phenomena in the upper atmosphere of this classical Cepheid. A simple piston-driven spherical hydrodynamic model of the atmosphere is developed to explain the bumps, and the calculations are compared with observations. The model is found to be consistent with the shapes of the light curves as well as with measurements of the H-alpha radial velocities.

Methods of Muscle Activation Onset Timing Recorded During Spinal Manipulation.

PubMed

Currie, Stuart J; Myers, Casey A; Krishnamurthy, Ashok; Enebo, Brian A; Davidson, Bradley S

2016-05-01

The purpose of this study was to determine electromyographic threshold parameters that most reliably characterize the muscular response to spinal manipulation and compare 2 methods that detect muscle activity onset delay: the double-threshold method and cross-correlation method. Surface and indwelling electromyography were recorded during lumbar side-lying manipulations in 17 asymptomatic participants. Muscle activity onset delays in relation to the thrusting force were compared across methods and muscles using a generalized linear model. The threshold combinations that resulted in the lowest Detection Failures were the "8 SD-0 milliseconds" threshold (Detection Failures = 8) and the "8 SD-10 milliseconds" threshold (Detection Failures = 9). The average muscle activity onset delay for the double-threshold method across all participants was 149 ± 152 milliseconds for the multifidus and 252 ± 204 milliseconds for the erector spinae. The average onset delay for the cross-correlation method was 26 ± 101 for the multifidus and 67 ± 116 for the erector spinae. There were no statistical interactions, and a main effect of method demonstrated that the delays were higher when using the double-threshold method compared with cross-correlation. The threshold parameters that best characterized activity onset delays were an 8-SD amplitude and a 10-millisecond duration threshold. The double-threshold method correlated well with visual supervision of muscle activity. The cross-correlation method provides several advantages in signal processing; however, supervision was required for some results, negating this advantage. These results help standardize methods when recording neuromuscular responses of spinal manipulation and improve comparisons within and across investigations. Copyright © 2016 National University of Health Sciences. Published by Elsevier Inc. All rights reserved.

Alternate methods for FAAT S-curve generation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kaufman, A.M.

The FAAT (Foreign Asset Assessment Team) assessment methodology attempts to derive a probability of effect as a function of incident field strength. The probability of effect is the likelihood that the stress put on a system exceeds its strength. In the FAAT methodology, both the stress and strength are random variables whose statistical properties are estimated by experts. Each random variable has two components of uncertainty: systematic and random. The systematic uncertainty drives the confidence bounds in the FAAT assessment. Its variance can be reduced by improved information. The variance of the random uncertainty is not reducible. The FAAT methodologymore » uses an assessment code called ARES to generate probability of effect curves (S-curves) at various confidence levels. ARES assumes log normal distributions for all random variables. The S-curves themselves are log normal cumulants associated with the random portion of the uncertainty. The placement of the S-curves depends on confidence bounds. The systematic uncertainty in both stress and strength is usually described by a mode and an upper and lower variance. Such a description is not consistent with the log normal assumption of ARES and an unsatisfactory work around solution is used to obtain the required placement of the S-curves at each confidence level. We have looked into this situation and have found that significant errors are introduced by this work around. These errors are at least several dB-W/cm{sup 2} at all confidence levels, but they are especially bad in the estimate of the median. In this paper, we suggest two alternate solutions for the placement of S-curves. To compare these calculational methods, we have tabulated the common combinations of upper and lower variances and generated the relevant S-curves offsets from the mode difference of stress and strength.« less

Innovation & evaluation of tangible direct manipulation digital drawing pens for children.

PubMed

Lee, Tai-Hua; Wu, Fong-Gong; Chen, Huei-Tsz

2017-04-01

Focusing on the theme of direct manipulation, in this study, we proposed a new and innovative tangible user interface (TUI) design concept for a manipulative digital drawing pen. Based on interviews with focus groups brainstorming and experts and the results of a field survey, we selected the most suitable tangible user interface for children between 4 and 7 years of age. Using the new tangible user interface, children could choose between the brush tools after touching and feeling the various patterns. The thickness of the brush could be adjusted by changing the tilt angle. In a subsequent experimental process we compared the differences in performance and subjective user satisfaction. A total of sixteen children, aged 4-7 years participated in the experiment. Two operating system experiments (the new designed tangible digital drawing pen and traditional visual interface-icon-clicking digital drawing pens) were performed at random and in turns. We assessed their manipulation performance, accuracy, brush stroke richness and subjective evaluations. During the experimental process we found that operating functions using the direct manipulation method, and adding shapes and semantic models to explain the purpose of each function, enabled the children to perform stroke switches relatively smoothly. By using direct manipulation digital pens, the children could improve their stroke-switching performance for digital drawing. Additionally, by using various patterns to represent different brushes or tools, the children were able to make selections using their sense of touch, thereby reducing the time required to move along the drawing pens and select icons (The significant differences (p = 0.000, p < 0.01) existed in the manipulation times for drawing thick lines using the crayon function of the two (new and old) drawing pens (new 5.8750 < old 10.7500)). The addition of direct manipulation movements to drawing operations enhanced the drawing results, thereby

Count on It: Congruent Manipulative Displays

ERIC Educational Resources Information Center

Morin, Joe; Samelson, Vicki M.

2015-01-01

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

Wheelset curving guidance using H∞ control

NASA Astrophysics Data System (ADS)

Qazizadeh, Alireza; Stichel, Sebastian; Feyzmahdavian, Hamid Reza

2018-03-01

This study shows how to design an active suspension system for guidance of a rail vehicle wheelset in curve. The main focus of the study is on designing the controller and afterwards studying its effect on the wheel wear behaviour. The controller is designed based on the closed-loop transfer function shaping method and ? control strategy. The study discusses designing of the controller for both nominal and uncertain plants and considers both stability and performance. The designed controllers in Simulink are then applied to the vehicle model in Simpack to study the wheel wear behaviour in curve. The vehicle type selected for this study is a two-axle rail vehicle. This is because this type of vehicle is known to have very poor curving performance and high wheel wear. On the other hand, the relative simpler structure of this type of vehicle compared to bogie vehicles make it a more economic choice. Hence, equipping this type of vehicle with the active wheelset steering is believed to show high enough benefit to cost ratio to remain attractive to rail vehicle manufacturers and operators.

Site-selective substitutional doping with atomic precision on stepped Al (111) surface by single-atom manipulation

PubMed Central

2014-01-01

In fabrication of nano- and quantum devices, it is sometimes critical to position individual dopants at certain sites precisely to obtain the specific or enhanced functionalities. With first-principles simulations, we propose a method for substitutional doping of individual atom at a certain position on a stepped metal surface by single-atom manipulation. A selected atom at the step of Al (111) surface could be extracted vertically with an Al trimer-apex tip, and then the dopant atom will be positioned to this site. The details of the entire process including potential energy curves are given, which suggests the reliability of the proposed single-atom doping method. PMID:24899871

Site-selective substitutional doping with atomic precision on stepped Al (111) surface by single-atom manipulation.

PubMed

Chen, Chang; Zhang, Jinhu; Dong, Guofeng; Shao, Hezhu; Ning, Bo-Yuan; Zhao, Li; Ning, Xi-Jing; Zhuang, Jun

2014-01-01

In fabrication of nano- and quantum devices, it is sometimes critical to position individual dopants at certain sites precisely to obtain the specific or enhanced functionalities. With first-principles simulations, we propose a method for substitutional doping of individual atom at a certain position on a stepped metal surface by single-atom manipulation. A selected atom at the step of Al (111) surface could be extracted vertically with an Al trimer-apex tip, and then the dopant atom will be positioned to this site. The details of the entire process including potential energy curves are given, which suggests the reliability of the proposed single-atom doping method.

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1991-01-01

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

Physical versus Virtual Manipulative Experimentation in Physics Learning

ERIC Educational Resources Information Center

Zacharia, Zacharias C.; Olympiou, Georgios

2011-01-01

The aim of this study was to investigate whether physical or virtual manipulative experimentation can differentiate physics learning. There were four experimental conditions, namely Physical Manipulative Experimentation (PME), Virtual Manipulative Experimentation (VME), and two sequential combinations of PME and VME, as well as a control condition…

Investigating Preservice Mathematics Teachers' Manipulative Material Design Processes

ERIC Educational Resources Information Center

Sandir, Hakan

2016-01-01

Students use concrete manipulatives to form an imperative affiliation between conceptual and procedural knowledge (Balka, 1993). Hence, it is necessary to design specific mathematics manipulatives that focus on different mathematical concepts. Preservice teachers need to know how to make and use manipulatives that stimulate students' thinking as…

Digital Manipulation in Scientific Images: Some Ethical Considerations.

ERIC Educational Resources Information Center

Hayden, James E.

2000-01-01

Discusses the importance of images in the publishing and presentation of scientific research. Explains the use of photographs as scientific data in research. Lists some reasons for the manipulation of images, and clarifies the acceptable and unacceptable limits of manipulation and image manipulation policy. (Author/YDS)

Mathematical Manipulative Models: In Defense of "Beanbag Biology"

ERIC Educational Resources Information Center

Jungck, John R.; Gaff, Holly; Weisstein, Anton E.

2010-01-01

Mathematical manipulative models have had a long history of influence in biological research and in secondary school education, but they are frequently neglected in undergraduate biology education. By linking mathematical manipulative models in a four-step process--1) use of physical manipulatives, 2) interactive exploration of computer…

BILL-E: Robotic Platform for Locomotion and Manipulation of Lightweight Space Structures

NASA Technical Reports Server (NTRS)

Jenett, Benjamin; Cheung, Kenneth

2017-01-01

We describe a robotic platform for traversing and manipulating a modular 3D lattice structure. The robot is designed to operate within a specifically structured environment, which enables low numbers of degrees of freedom (DOF) compared to robots performing comparable tasks in an unstructured environment. This allows for simple controls, as well as low mass and cost. This approach, designing the robot relative to the local environment in which it operates, results in a type of robot we call a "relative robot." We describe a bipedal robot that can locomote across a periodic lattice structure, as well as being able to handle, manipulate, and transport building block parts that compose the lattice structure. Based on a general inchworm design, the robot has added functionality for traveling over and operating on a host structure.

Ankle moment generation and maximum-effort curved sprinting performance.

PubMed

Luo, Geng; Stefanyshyn, Darren

2012-11-15

Turning at high speed along acute curves is crucial for athletic performance. One determinant of curved sprinting speed is the ground reaction force that can be created by the supporting limb; the moment generated at the ankle joint may influence such force generation. Body lean associated with curved sprints positions the ankle joints in extreme in-/eversion, and may hinder the ankle moment generation. To examine the influence of ankle moment generation on curved sprinting performance, 17 male subjects performed maximum-effort curved sprints in footwear with and without a wedge. The wedged footwear was constructed with the intention to align the ankle joints closer to their neutral frontal-plane configuration during counter-clockwise curved sprints so greater joint moments might be generated. We found, with the wedged footwear, the average eversion angle of the inside leg ankle was reduced, and the plantarflexion moment generation increased significantly. Meanwhile, the knee extension moment remained unchanged. With the wedged footwear, stance-average centripetal ground reaction force increased significantly while no difference in the vertical ground reaction force was detected. The subjects created a greater centripetal ground reaction impulse in the wedged footwear despite a shortened stance phase when compared to the control. Stance-average curved sprinting speed improved by 4.3% with the wedged footwear. The changes in ankle moment and curved sprinting speed observed in the current study supports the notion that the moment generation at the ankle joint may be a performance constraint for curved sprinting. Copyright © 2012 Elsevier Ltd. All rights reserved.

Analysis of a closed-kinematic chain robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

Ultrafast Magnetization Manipulation Using Single Femtosecond Light and Hot-Electron Pulses.

PubMed

Xu, Yong; Deb, Marwan; Malinowski, Grégory; Hehn, Michel; Zhao, Weisheng; Mangin, Stéphane

2017-11-01

Current-induced magnetization manipulation is a key issue for spintronic applications. This manipulation must be fast, deterministic, and nondestructive in order to function in device applications. Therefore, single- electronic-pulse-driven deterministic switching of the magnetization on the picosecond timescale represents a major step toward future developments of ultrafast spintronic systems. Here, the ultrafast magnetization dynamics in engineered Gd x [FeCo] 1- x -based structures are studied to compare the effect of femtosecond laser and hot-electron pulses. It is demonstrated that a single femtosecond hot-electron pulse causes deterministic magnetization reversal in either Gd-rich and FeCo-rich alloys similarly to a femtosecond laser pulse. In addition, it is shown that the limiting factor of such manipulation for perpendicular magnetized films arises from the formation of a multidomain state due to dipolar interactions. By performing time-resolved measurements under various magnetic fields, it is demonstrated that the same magnetization dynamics are observed for both light and hot-electron excitation, and that the full magnetization reversal takes place within 40 ps. The efficiency of the ultrafast current-induced magnetization manipulation is enhanced due to the ballistic transport of hot electrons before reaching the GdFeCo magnetic layer. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Joseph W. Geisinger, Ph.D.

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 developmentmore » 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.« less

Manipulation of biological samples using micro and nano techniques.

PubMed

Castillo, Jaime; Dimaki, Maria; Svendsen, Winnie Edith

2009-01-01

The constant interest in handling, integrating and understanding biological systems of interest for the biomedical field, the pharmaceutical industry and the biomaterial researchers demand the use of techniques that allow the manipulation of biological samples causing minimal or no damage to their natural structure. Thanks to the advances in micro- and nanofabrication during the last decades several manipulation techniques offer us the possibility to image, characterize and manipulate biological material in a controlled way. Using these techniques the integration of biomaterials with remarkable properties with physical transducers has been possible, giving rise to new and highly sensitive biosensing devices. This article reviews the different techniques available to manipulate and integrate biological materials in a controlled manner either by sliding them along a surface (2-D manipulation), by grapping them and moving them to a new position (3-D manipulation), or by manipulating and relocating them applying external forces. The advantages and drawbacks are mentioned together with examples that reflect the state of the art of manipulation techniques for biological samples (171 references).

Manipulations of Totalitarian Nazi Architecture

NASA Astrophysics Data System (ADS)

Antoszczyszyn, Marek

2017-10-01

The paper takes under considerations controversies surrounding German architecture designed during Nazi period between 1933-45. This architecture is commonly criticized for being out of innovation, taste & elementary sense of beauty. Moreover, it has been consequently wiped out from architectural manuals, probably for its undoubted associations with the totalitarian system considered as the most maleficent in the whole history. But in the meantime the architecture of another totalitarian system which appeared to be not less sinister than Nazi one is not stigmatized with such verve. It is Socrealism architecture, developed especially in East Europe & reportedly containing lots of similarities with Nazi architecture. Socrealism totalitarian architecture was never condemned like Nazi one, probably due to politically manipulated propaganda that influenced postwar public opinion. This observation leads to reflection that maybe in the same propaganda way some values of Nazi architecture are still consciously dissembled in order to hide the fact that some rules used by Nazi German architects have been also consciously used after the war. Those are especially manipulations that allegedly Nazi architecture consisted of. The paper provides some definitions around totalitarian manipulations as well as ideological assumptions for their implementation. Finally, the register of confirmed manipulations is provided with use of photo case study.

Manipulation Detection and Preference Alterations in a Choice Blindness Paradigm

PubMed Central

Taya, Fumihiko; Gupta, Swati; Farber, Ilya; Mullette-Gillman, O'Dhaniel A.

2014-01-01

Objectives It is commonly believed that individuals make choices based upon their preferences and have access to the reasons for their choices. Recent studies in several areas suggest that this is not always the case. In choice blindness paradigms, two-alternative forced-choice in which chosen-options are later replaced by the unselected option, individuals often fail to notice replacement of their chosen option, confabulate explanations for why they chose the unselected option, and even show increased preferences for the unselected-but-replaced options immediately after choice (seconds). Although choice blindness has been replicated across a variety of domains, there are numerous outstanding questions. Firstly, we sought to investigate how individual- or trial-factors modulated detection of the manipulations. Secondly, we examined the nature and temporal duration (minutes vs. days) of the preference alterations induced by these manipulations. Methods Participants performed a computerized choice blindness task, selecting the more attractive face between presented pairs of female faces, and providing a typewritten explanation for their choice on half of the trials. Chosen-face cue manipulations were produced on a subset of trials by presenting the unselected face during the choice explanation as if it had been selected. Following all choice trials, participants rated the attractiveness of each face individually, and rated the similarity of each face pair. After approximately two weeks, participants re-rated the attractiveness of each individual face online. Results Participants detected manipulations on only a small proportion of trials, with detections by fewer than half of participants. Detection rates increased with the number of prior detections, and detection rates subsequent to first detection were modulated by the choice certainty. We show clear short-term modulation of preferences in both manipulated and non-manipulated explanation trials compared to choice

Detecting time-specific differences between temporal nonlinear curves: Analyzing data from the visual world paradigm

PubMed Central

Oleson, Jacob J; Cavanaugh, Joseph E; McMurray, Bob; Brown, Grant

2015-01-01

In multiple fields of study, time series measured at high frequencies are used to estimate population curves that describe the temporal evolution of some characteristic of interest. These curves are typically nonlinear, and the deviations of each series from the corresponding curve are highly autocorrelated. In this scenario, we propose a procedure to compare the response curves for different groups at specific points in time. The method involves fitting the curves, performing potentially hundreds of serially correlated tests, and appropriately adjusting the overall alpha level of the tests. Our motivating application comes from psycholinguistics and the visual world paradigm. We describe how the proposed technique can be adapted to compare fixation curves within subjects as well as between groups. Our results lead to conclusions beyond the scope of previous analyses. PMID:26400088

Comparison of Paired ROC Curves through a Two-Stage Test.

PubMed

Yu, Wenbao; Park, Eunsik; Chang, Yuan-Chin Ivan

2015-01-01

The area under the receiver operating characteristic (ROC) curve (AUC) is a popularly used index when comparing two ROC curves. Statistical tests based on it for analyzing the difference have been well developed. However, this index is less informative when two ROC curves cross and have similar AUCs. In order to detect differences between ROC curves in such situations, a two-stage nonparametric test that uses a shifted area under the ROC curve (sAUC), along with AUCs, is proposed for paired designs. The new procedure is shown, numerically, to be effective in terms of power under a wide range of scenarios; additionally, it outperforms two conventional ROC-type tests, especially when two ROC curves cross each other and have similar AUCs. Larger sAUC implies larger partial AUC at the range of low false-positive rates in this case. Because high specificity is important in many classification tasks, such as medical diagnosis, this is an appealing characteristic. The test also implicitly analyzes the equality of two commonly used binormal ROC curves at every operating point. We also apply the proposed method to synthesized data and two real examples to illustrate its usefulness in practice.

More Unusual Light Curves from Kepler

NASA Astrophysics Data System (ADS)

Kohler, Susanna

2017-03-01

-main-sequence stars ever obtained.In these light curves, Stauffer and collaborators found a set of 23 very low-mass, mid-to-late-type M dwarfs with unusual variability in their light curves. The variability is consistent with the stars rotation period where measured which suggests that whatever causes the dips in the light curve, its orbiting at the same rate as the star spins.Causes of Variability?These plots show how the properties of these 23 stars compare to those of the rest of the stars in their cluster (click for a closer look!). For all but the rotation rate, they are typical. But the stars with scallop-shaped light curves have among the shortest periods in Upper Sco, with somenear the theoretical break-up for stars of their age. [Stauffer et al. 2017]The authors categorize the 23 stars into two main groups.The first group consists of 19 stars with short periods; more than half of them rotate within a factor of two of their predicted breakup period! Many of these show sudden changes in their light-curve morphology, often after a stellar flare. The authors propose that the variability in these light curves might be caused by warm coronal gas clouds that are organized into a structured toroidal shape around the star.The second group consists of the remaining four stars, which have slightly longer periods. The light curves show a single short-duration flux dip with highly variable depth and shape superposed on normal, spotted-star light curves. The authors best guess for these four stars is that there are clouds of dusty debris circling the star, possibly orbiting a close-in planet or resulting from a recent collisional event.Stauffer and collaborators are currently developing more detailed models for these stars based on the possible variability scenarios. The next step, they state, is to determine if the gas in these structures have properties necessary to generate the light-curve features we see.CitationJohn Stauffer et al 2017 AJ 153 152. doi:10.3847/1538-3881/aa5eb9

Light curve variations of the eclipsing binary V367 Cygni

NASA Astrophysics Data System (ADS)

Akan, M. C.

1987-07-01

The long-period eclipsing binary star V367 Cygni has been observed photoelectrically in two colours, B and V, in 1984, 1985, and 1986. These new light curves of the system have been discussed and compared for the light-variability with the earlier ones presented by Heiser (1962). Using some of the previously published photoelectric light curves and the present ones, several primary minima times have been derived to calculate the light elements. Any attempt to obtain a photometric solution of the binary is complicated by the peculiar nature of the light curve caused by the presence of the circumstellar matter in the system. Despite this difficulty, however, some approaches are being carried out to solve the light curves which are briefly discussed.

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

Maximum safe speed estimation using planar quintic Bezier curve with C2 continuity

NASA Astrophysics Data System (ADS)

Ibrahim, Mohamad Fakharuddin; Misro, Md Yushalify; Ramli, Ahmad; Ali, Jamaludin Md

2017-08-01

This paper describes an alternative way in estimating design speed or the maximum speed allowed for a vehicle to drive safely on a road using curvature information from Bezier curve fitting on a map. We had tested on some route in Tun Sardon Road, Balik Pulau, Penang, Malaysia. We had proposed to use piecewise planar quintic Bezier curve while satisfying the curvature continuity between joined curves in the process of mapping the road. By finding the derivatives of quintic Bezier curve, the value of curvature was calculated and design speed was derived. In this paper, a higher order of Bezier Curve had been used. A higher degree of curve will give more freedom for users to control the shape of the curve compared to curve in lower degree.

Comparative study between different simple methods manipulating ratio spectra for the analysis of alogliptin and metformin co-formulated with highly different concentrations

NASA Astrophysics Data System (ADS)

Zaghary, Wafaa A.; Mowaka, Shereen; Hassan, Mostafa A.; Ayoub, Bassam M.

2017-11-01

Different simple spectrophotometric methods were developed for simultaneous determination of alogliptin and metformin manipulating their ratio spectra with successful application on recently approved combination, Kazano® tablets. Spiking was implemented to detect alogliptin in spite of its low contribution in the pharmaceutical formulation as low quantity in comparison to metformin. Linearity was acceptable over the concentration range of 2.5-25.0 μg/mL and 2.5-15.0 μg/mL for alogliptin and metformin, respectively using derivative ratio, ratio subtraction coupled with extended ratio subtraction and spectrum subtraction coupled with constant multiplication. The optimized methods were compared using one-way analysis of variance (ANOVA) and proved to be accurate for assay of the investigated drugs in their pharmaceutical dosage form.

Algorithmic formulation of control problems in manipulation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1975-01-01

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

Features and perspectives of automatized construction crane-manipulators

NASA Astrophysics Data System (ADS)

Stepanov, Mikhail A.; Ilukhin, Peter A.

2018-03-01

Modern construction industry still has a high percentage of manual labor, and the greatest prospects of improving the construction process are lying in the field of automatization. In this article automatized construction manipulator-cranes are being studied in order to achieve the most rational design scheme. This is done through formulating a list of general conditions necessary for such cranes and a set of specialized kinematical conditions. A variety of kinematical schemes is evaluated via these conditions, and some are taken for further dynamical analisys. The comparative dynamical analisys of taken schemes was made and the most rational scheme was defined. Therefore a basis for a more complex and practical research of manipulator-cranes design is given and ways to implement them on practical level can now be calculated properly. Also, the perspectives of implementation of automated control systems and informational networks on construction sites in order to boost the quality of construction works, safety of labour and ecological safety are shown.

Recent Data Sets on Object Manipulation: A Survey.

PubMed

Huang, Yongqiang; Bianchi, Matteo; Liarokapis, Minas; Sun, Yu

2016-12-01

Data sets is crucial not only for model learning and evaluation but also to advance knowledge on human behavior, thus fostering mutual inspiration between neuroscience and robotics. However, choosing the right data set to use or creating a new data set is not an easy task, because of the variety of data that can be found in the related literature. The first step to tackle this issue is to collect and organize those that are available. In this work, we take a significant step forward by reviewing data sets that were published in the past 10 years and that are directly related to object manipulation and grasping. We report on modalities, activities, and annotations for each individual data set and we discuss our view on its use for object manipulation. We also compare the data sets and summarize them. Finally, we conclude the survey by providing suggestions and discussing the best practices for the creation of new data sets.

Deficient manipulation of working memory in remitted depressed individuals: Behavioral and electrophysiological evidence.

PubMed

Liu, Mingfan; Zhou, Li; Wang, Xiumei; Jiang, Ying; Liu, Qiaosheng

2017-07-01

The study aimed to examine whether remitted depressed (RMD) individuals show a dysfunction of valence-dependent manipulation and its neurophysiological correlates. Event-related potentials were conducted on 25 individuals with remitted depression and 27 controls during a working memory manipulation task. The sorting costs and the P3b and slow wave (SW) amplitudes were analyzed. Compared to the control subjects, the RMD individuals revealed higher sorting costs, particularly when they were shown negative targets. The control individuals exhibited reduced P3b and SW amplitudes in response to the backward negative pictures, whereas the RMD participants exhibited increased central-parietal and lateral P3b and SW amplitudes in the backward condition. Both groups exhibited overall decreased P3b and SW amplitudes in response to the backward positive pictures. RMD individuals are associated with a deficient manipulation for negative material and an unimpaired manipulation for positive material. This study extends current knowledge that deficits in cognitive control persist after the remission of depressive symptoms. Copyright © 2017 International Federation of Clinical Neurophysiology. Published by Elsevier B.V. All rights reserved.

Part II: morphological analysis of embryonic development following femtosecond laser manipulation

NASA Astrophysics Data System (ADS)

Kohli, V.; Elezzabi, A. Y.

2008-02-01

The zebrafish (Danio rerio) is an attractive model system that has received wide attention for its usefulness in the study of development and disease. This organism represents a closer analog to humans than the common invetebrates Drosophila melanogaster and Caenorhabditis elegans, making this species an ideal model for human health research. Non-invasive manipulation of the zebrafish has been challenging, owing to the outer proteinaceous membrane and multiple embryonic barriers. A novel tool capable of manipulating early cleavage stage embryonic cells would be important for future advancements in medial research and the aquaculture industry. Herein, we demonstrate the laser surgery of early cleavage stage (2-cell) blastomere cells using a range of average laser powers and beam dwell times. Since the novelty of this manipulation tool depends on its non-invasive application, we examined short- and long-term laser-induced developmental defects following embryonic surgery. Laser-manipulated embryos were reared to 2 and 7 days post-fertilization and compared to control embryos at the same developmental stages. Morphological analysis was performed using light microscopy and scanning electron microscopy. Developmental features that were examined included the antero- and dorsal-lateral whole body views of the larvae, the olfactory pit, dorsal, ventral and pectoral fins, notochord, pectoral fin buds, otic capsule, otic vesicle, neuromast patterning, and kinocilia of the olfactory pit rim and cristae of the lateral wall of the ear. Laser-manipulated embryos developed normally relative to the controls, with developmental patterning and morphology at 2 and 7 days indistinguishable from control larvae.

Three-dimensional holographic optical manipulation through a high-numerical-aperture soft-glass multimode fibre

NASA Astrophysics Data System (ADS)

Leite, Ivo T.; Turtaev, Sergey; Jiang, Xin; Šiler, Martin; Cuschieri, Alfred; Russell, Philip St. J.; Čižmár, Tomáš

2018-01-01

Holographic optical tweezers (HOT) hold great promise for many applications in biophotonics, allowing the creation and measurement of minuscule forces on biomolecules, molecular motors and cells. Geometries used in HOT currently rely on bulk optics, and their exploitation in vivo is compromised by the optically turbid nature of tissues. We present an alternative HOT approach in which multiple three-dimensional (3D) traps are introduced through a high-numerical-aperture multimode optical fibre, thus enabling an equally versatile means of manipulation through channels having cross-section comparable to the size of a single cell. Our work demonstrates real-time manipulation of 3D arrangements of micro-objects, as well as manipulation inside otherwise inaccessible cavities. We show that the traps can be formed over fibre lengths exceeding 100 mm and positioned with nanometric resolution. The results provide the basis for holographic manipulation and other high-numerical-aperture techniques, including advanced microscopy, through single-core-fibre endoscopes deep inside living tissues and other complex environments.

Transformation-invariant and nonparametric monotone smooth estimation of ROC curves.

PubMed

Du, Pang; Tang, Liansheng

2009-01-30

When a new diagnostic test is developed, it is of interest to evaluate its accuracy in distinguishing diseased subjects from non-diseased subjects. The accuracy of the test is often evaluated by receiver operating characteristic (ROC) curves. Smooth ROC estimates are often preferable for continuous test results when the underlying ROC curves are in fact continuous. Nonparametric and parametric methods have been proposed by various authors to obtain smooth ROC curve estimates. However, there are certain drawbacks with the existing methods. Parametric methods need specific model assumptions. Nonparametric methods do not always satisfy the inherent properties of the ROC curves, such as monotonicity and transformation invariance. In this paper we propose a monotone spline approach to obtain smooth monotone ROC curves. Our method ensures important inherent properties of the underlying ROC curves, which include monotonicity, transformation invariance, and boundary constraints. We compare the finite sample performance of the newly proposed ROC method with other ROC smoothing methods in large-scale simulation studies. We illustrate our method through a real life example. Copyright (c) 2008 John Wiley & Sons, Ltd.

Area under precision-recall curves for weighted and unweighted data.

PubMed

Keilwagen, Jens; Grosse, Ivo; Grau, Jan

2014-01-01

Precision-recall curves are highly informative about the performance of binary classifiers, and the area under these curves is a popular scalar performance measure for comparing different classifiers. However, for many applications class labels are not provided with absolute certainty, but with some degree of confidence, often reflected by weights or soft labels assigned to data points. Computing the area under the precision-recall curve requires interpolating between adjacent supporting points, but previous interpolation schemes are not directly applicable to weighted data. Hence, even in cases where weights were available, they had to be neglected for assessing classifiers using precision-recall curves. Here, we propose an interpolation for precision-recall curves that can also be used for weighted data, and we derive conditions for classification scores yielding the maximum and minimum area under the precision-recall curve. We investigate accordances and differences of the proposed interpolation and previous ones, and we demonstrate that taking into account existing weights of test data is important for the comparison of classifiers.

Area under Precision-Recall Curves for Weighted and Unweighted Data

PubMed Central

Grosse, Ivo

2014-01-01

Precision-recall curves are highly informative about the performance of binary classifiers, and the area under these curves is a popular scalar performance measure for comparing different classifiers. However, for many applications class labels are not provided with absolute certainty, but with some degree of confidence, often reflected by weights or soft labels assigned to data points. Computing the area under the precision-recall curve requires interpolating between adjacent supporting points, but previous interpolation schemes are not directly applicable to weighted data. Hence, even in cases where weights were available, they had to be neglected for assessing classifiers using precision-recall curves. Here, we propose an interpolation for precision-recall curves that can also be used for weighted data, and we derive conditions for classification scores yielding the maximum and minimum area under the precision-recall curve. We investigate accordances and differences of the proposed interpolation and previous ones, and we demonstrate that taking into account existing weights of test data is important for the comparison of classifiers. PMID:24651729

Manipulation in the enrollment of research participants.

PubMed

Mandava, Amulya; Millum, Joseph

2013-01-01

Researchers can design recruitment and consent processes so that potential participants are more likely to decide to enroll. These strategies work by subtly manipulating the participants. But how much manipulation is acceptable?

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…

Disease risk curves.

PubMed

Hughes, G; Burnett, F J; Havis, N D

2013-11-01

Disease risk curves are simple graphical relationships between the probability of need for treatment and evidence related to risk factors. In the context of the present article, our focus is on factors related to the occurrence of disease in crops. Risk is the probability of adverse consequences; specifically in the present context it denotes the chance that disease will reach a threshold level at which crop protection measures can be justified. This article describes disease risk curves that arise when risk is modeled as a function of more than one risk factor, and when risk is modeled as a function of a single factor (specifically the level of disease at an early disease assessment). In both cases, disease risk curves serve as calibration curves that allow the accumulated evidence related to risk to be expressed on a probability scale. When risk is modeled as a function of the level of disease at an early disease assessment, the resulting disease risk curve provides a crop loss assessment model in which the downside is denominated in terms of risk rather than in terms of yield loss.

Chiropractic Manipulation Increases Maximal Bite Force in Healthy Individuals.

PubMed

Haavik, Heidi; Özyurt, Mustafa Görkem; Niazi, Imran Khan; Holt, Kelly; Nedergaard, Rasmus Wiberg; Yilmaz, Gizem; Türker, Kemal Sitki

2018-04-27

Recent research has shown that chiropractic spinal manipulation can alter central sensorimotor integration and motor cortical drive to human voluntary muscles of the upper and lower limb. The aim of this paper was to explore whether spinal manipulation could also influence maximal bite force. Twenty-eight people were divided into two groups of 14, one that received chiropractic care and one that received sham chiropractic care. All subjects were naive to chiropractic. Maximum bite force was assessed pre- and post-intervention and at 1-week follow up. Bite force in the chiropractic group increased compared to the control group ( p = 0.02) post-intervention and this between-group difference was also present at the 1-week follow-up ( p < 0.01). Bite force in the chiropractic group increased significantly by 11.0% (±18.6%) post-intervention ( p = 0.04) and remained increased by 13.0% (±12.9%, p = 0.04) at the 1 week follow up. Bite force did not change significantly in the control group immediately after the intervention (−2.3 ± 9.0%, p = 0.20), and decreased by 6.3% (±3.4%, p = 0.01) at the 1-week follow-up. These results indicate that chiropractic spinal manipulation can increase maximal bite force.

First Results From The Ultimate Spitzer Phase Curve Survey

NASA Astrophysics Data System (ADS)

Stevenson, Kevin B.; Bean, Jacob; Deming, Drake; Desert, Jean-Michel; Fortney, Jonathan J.; Kataria, Tiffany; Kempton, Eliza; Lewis, Nikole; Line, Michael R.; Morley, Caroline; Rauscher, Emily; Showman, Adam P.

2017-10-01

Exoplanet phase curves provide a wealth of information about exoplanet atmospheres, including longitudinal constraints on atmospheric composition, thermal structure, and energy transport, that continue to open new doors of scientific inquiry and propel future investigations. The measured heat redistribution efficiency (or ability to transport energy from a planet's highly-irradiated dayside to its eternally-dark nightside) shows considerable variation between exoplanets. Theoretical models predict a correlation between heat redistribution efficiency and planet temperature; however, the latest results are inconsistent with current predictions. We will present first results from a 660-hour Spitzer phase curve survey program that is targeting six short-period extrasolar planets. We will compare the measured heat redistribution efficiencies with planet temperature and rotation rate, examine trends in the phase curve peak offset, and discuss cloud coverage constraints. We will conclude with how to move forward with phase curve observations in the era of JWST.

Modeling Patterns of Activities using Activity Curves

PubMed Central

Dawadi, Prafulla N.; Cook, Diane J.; Schmitter-Edgecombe, Maureen

2016-01-01

Pervasive computing offers an unprecedented opportunity to unobtrusively monitor behavior and use the large amount of collected data to perform analysis of activity-based behavioral patterns. In this paper, we introduce the notion of an activity curve, which represents an abstraction of an individual’s normal daily routine based on automatically-recognized activities. We propose methods to detect changes in behavioral routines by comparing activity curves and use these changes to analyze the possibility of changes in cognitive or physical health. We demonstrate our model and evaluate our change detection approach using a longitudinal smart home sensor dataset collected from 18 smart homes with older adult residents. Finally, we demonstrate how big data-based pervasive analytics such as activity curve-based change detection can be used to perform functional health assessment. Our evaluation indicates that correlations do exist between behavior and health changes and that these changes can be automatically detected using smart homes, machine learning, and big data-based pervasive analytics. PMID:27346990

Modeling Patterns of Activities using Activity Curves.

PubMed

Dawadi, Prafulla N; Cook, Diane J; Schmitter-Edgecombe, Maureen

2016-06-01

Pervasive computing offers an unprecedented opportunity to unobtrusively monitor behavior and use the large amount of collected data to perform analysis of activity-based behavioral patterns. In this paper, we introduce the notion of an activity curve , which represents an abstraction of an individual's normal daily routine based on automatically-recognized activities. We propose methods to detect changes in behavioral routines by comparing activity curves and use these changes to analyze the possibility of changes in cognitive or physical health. We demonstrate our model and evaluate our change detection approach using a longitudinal smart home sensor dataset collected from 18 smart homes with older adult residents. Finally, we demonstrate how big data-based pervasive analytics such as activity curve-based change detection can be used to perform functional health assessment. Our evaluation indicates that correlations do exist between behavior and health changes and that these changes can be automatically detected using smart homes, machine learning, and big data-based pervasive analytics.

The missing link in parasite manipulation of host behaviour.

PubMed

Herbison, Ryan; Lagrue, Clement; Poulin, Robert

2018-04-03

The observation that certain species of parasite my adaptively manipulate its host behaviour is a fascinating phenomenon. As a result, the recently established field of 'host manipulation' has seen rapid expansion over the past few decades with public and scientific interest steadily increasing. However, progress appears to falter when researchers ask how parasites manipulate behaviour, rather than why. A vast majority of the published literature investigating the mechanistic basis underlying behavioural manipulation fails to connect the establishment of the parasite with the reported physiological changes in its host. This has left researchers unable to empirically distinguish/identify adaptive physiological changes enforced by the parasites from pathological side effects of infection, resulting in scientists relying on narratives to explain results, rather than empirical evidence. By contrasting correlative mechanistic evidence for host manipulation against rare cases of causative evidence and drawing from the advanced understanding of physiological systems from other disciplines it is clear we are often skipping over a crucial step in host-manipulation: the production, potential storage, and release of molecules (manipulation factors) that must create the observed physiological changes in hosts if they are adaptive. Identifying these manipulation factors, via associating gene expression shifts in the parasite with behavioural changes in the host and following their effects will provide researchers with a bottom-up approach to unraveling the mechanisms of behavioural manipulation and by extension behaviour itself.

Ecological consequences of manipulative parasites: chapter 9

USGS Publications Warehouse

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

2012-01-01

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

Inertial-space disturbance rejection for robotic manipulators

NASA Technical Reports Server (NTRS)

Holt, Kevin

1992-01-01

The disturbance rejection control problem for a 6-DOF (degree of freedom) PUMA manipulator mounted on a 3-DOF platform is investigated. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Conditions for the stability of the closed-loop system are derived. The performance of the controller is compared for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities.

Tornado-Shaped Curves

ERIC Educational Resources Information Center

Martínez, Sol Sáez; de la Rosa, Félix Martínez; Rojas, Sergio

2017-01-01

In Advanced Calculus, our students wonder if it is possible to graphically represent a tornado by means of a three-dimensional curve. In this paper, we show it is possible by providing the parametric equations of such tornado-shaped curves.

Tele-Manipulation with Two Asymmetric Slaves: Two Operators Perform Better Than One.

PubMed

van Oosterhout, Jeroen; Heemskerk, Cock J M; de Baar, Marco R; van der Helm, Frans C T; Abbink, David A

2018-01-01

Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example, a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bi-manual control over the two subtasks, and a uni-manual control approach. In a human factors experiment, participants performed a heavy load maneuvering and mounting task using a vertical crane and a robotic arm. We hypothesize that bi-manual control yields worse task performance and control activity compared to co-operation, because of conflicting spatial and temporal constraints. Literature suggests that uni-manual operators should perform better than co-operation, as co-operators critically depend on each other's actions. However, other literature provides evidence that individual operators have limited capabilities in controlling asymmetric axes of two dynamic systems. The results show that the two co-operators perform the maneuvering and mounting task faster than either bi- or uni-manual operators. Compared to co-operators, uni-manual operators required more control activity for the vertical crane and less for the robotic arm. In conclusion, this study suggests that when controlling two asymmetric slaves, a co-operating pair of operators performs better than a single operator.

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.

Light-driven 3D droplet manipulation on flexible optoelectrowetting devices fabricated by a simple spin-coating method.

PubMed

Jiang, Dongyue; Park, Sung-Yong

2016-05-21

, vertical, upside-down, and curved surfaces. Our flexible SCOEW technology offers the benefits of device simplicity, flexibility, and functionality over conventional EWOD and OEW devices by enabling optical droplet manipulations on a 3D featureless surface.

[Impacts of rotating or lifting-thrusting manipulation on distant vision of naked eye in patients of juvenile myopia: a randomized controlled trial].

PubMed

Tao, Xiao-Yan; Zhao, Bai-Yiao; Han, Xiao; Dong, Xiao-Yu; Yan, An; Ren, Xu-Ru; Liu, Yan-Wen; Qu, Chang; Xia, Shu-Fen; Yang, Jia-Le

2014-05-01

To compare the differences in the efficacy on distant version of naked eye in the patients of juvenile myopia between rotating manipulation and lifting-thrusting manipulation of acupuncture. One hundred and twenty cases (240 eyes) were randomized into a rotating manipulation group and a lifting-thrusting manipulation group, 60 cases (120 eyes) in each group. Additionally, a corrective lenses group, 60 cases (120 eyes), was set up as the control. In both manipulation groups, Cuanzhu (BL 2),Yuyao (EX-HN 4), Sizhukong (TE 23), Taiyang (EX-HN 5), Fengchi (GB 20), Zusanli (ST 36), Guangming (GB 37) and Sanyinjiao (SP 6) were punctured, but stimulated with rotating manipulation and lifting-thrusting manipulation respectively three times per week, 10 times as a treatment session and totally one session was required. In the corrective lenses group, the glasses were applied at daytime. The clinical efficacy and the changes in distant vision of naked eye before and after treatment were compared among the three groups. The total effective rate was 87.5% (105/120) in the rotating manipulation group, which was better than 69.2% (83/120) in the lifting-thrusting manipulation group (P < 0.05). The distant vision of naked eye was improved apparently in the rotating manipulation group and the lifting-thrusting manipulation group after treatment (both P < 0.05). But it was not improved in the corrective lenses group (P > 0.05). The distant vision of naked eye was improved more apparently after treatment in the rotating manipulation group as compared with that in the lifting-thrusting manipulation group (0.75 +/- 0.23 vs 0.68 +/- 0.24, P < 0.05). For 96 cases (192 eyes) with acupuncture treatment, in 3-month follow-up, 87.0% (167/192) of the cases maintained the stable vision as the original level and 13.0% (25/192) of them were reduced in the vision In the acupuncture groups, it was found that the improvement of distant vision of naked eye was more obvious after treatment with

Surgical manipulation of mammalian embryos in vitro.

PubMed

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

Whole-embryo culture systems are useful in the fields of not only embryology but also teratology, toxicology, pharmacology, and physiology. Of the many advantages of whole-embryo culture, we focus here on the surgical manipulation of mammalian embryos. Whole-embryo culture allows us to manipulate mammalian embryos, similarly to fish, amphibian and avian embryos. Many surgical experiments have been performed in mammalian embryos in vitro. Such surgical manipulation alters the destiny of morphogenesis of the embryos and can answer many questions concerning developmental issues. As an example of surgical manipulation using whole-embryo culture systems, one of our experiments is described. Microsurgical electrocauterization of the deep preaxial mesodermal programmed cell death zone (fpp) in the footplate prevented the manifestation of polydactyly in genetic polydactyly mouse embryos (Pdn/Pdn), in which fpp was abolished.

Manipulation in the Treatment of Plantar Digital Neuralgia: A Retrospective Study of 38 Cases

PubMed Central

Cashley, David G.; Cochrane, Lynda

2015-01-01

Objective The purpose of this retrospective case series is to describe treatment outcomes for patients with plantar digital neuralgia (PDN) (Morton’s neuroma) who were treated using foot manipulation. Methods Charts were reviewed retrospectively for patients with a diagnosis of PDN and who received a minimum of 6 treatments consisting of manipulation alone. Visual analogue pain scales (VAS) and pressure threshold meter readings (PTM) were extracted as outcome measures. Results Thirty-eight cases met inclusion criteria. Mean pretreatment duration of pain was 28 months. Mean pretreatment VAS was 69.5/100 mm. Mean pretreatment PTM was 2.54 Kp. By the sixth treatment, 30 (79%) of the 38 patients scored a VAS of 0 mm and a further 4 (10%) were below 10 mm. Contralateral limb PTM showed a mean pre-treatment score of 5.5 Kp, which rose slightly to 5.85 Kp. This compared to a pre-treatment score of 2.54 Kp rising to 5.86 Kp in the affected limb. This represents a 126% increase in the affected side compared to 6.5% in the unaffected limb. Statistical analysis demonstrated a significant linear trend between decreasing VAS and manipulation (P < .001). Conclusion The patients with PDN who were included in this case series improved with conservative care that included only foot manipulation. PMID:26257593

A systematic review of the use of dosage form manipulation to obtain required doses to inform use of manipulation in paediatric practice.

PubMed

Richey, Roberta H; Hughes, Clare; Craig, Jean V; Shah, Utpal U; Ford, James L; Barker, Catrin E; Peak, Matthew; Nunn, Anthony J; Turner, Mark A

2017-02-25

This study sought to determine whether there is an evidence base for drug manipulation to obtain the required dose, a common feature of paediatric clinical practice. A systematic review of the data sources, PubMed, EMBASE, CINAHL, IPA and the Cochrane database of systematic reviews, was used. Studies that considered the dose accuracy of manipulated medicines of any dosage form, evidence of safety or harm, bioavailability, patient experience, tolerability, contamination and comparison of methods of manipulation were included. Case studies and letters were excluded. Fifty studies were eligible for inclusion, 49 of which involved tablets being cut, split, crushed or dispersed. The remaining one study involved the manipulation of suppositories of one drug. No eligible studies concerning manipulation of oral capsules or liquids, rectal enemas, nebuliser solutions, injections or transdermal patches were identified. Twenty four of the tablet studies considered dose accuracy using weight and/or drug content. In studies that considered weight using adapted pharmacopoeial specifications, the percentage of halved tablets meeting these specifications ranged from 30% to 100%. Eighteen studies investigated bioavailability, pharmacokinetics or clinical outcomes following manipulations which included nine delayed or modified release formulations. In each of these nine studies the entirety of the dosage form was administered. Only one of the 18 studies was identified where drugs were manipulated to obtain a proportion of the dosage form, and that proportion administered. The five studies that considered patient perception found that having to manipulate the tablets did not have a negative impact on adherence. Of the 49 studies only two studies reported investigating children. This review yielded limited evidence to support manipulation of medicines for children. The results cannot be extrapolated between dosage forms, methods of manipulation or between different brands of the same

Coordinated Control Of Mobile Robotic Manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1995-01-01

Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Virtual and concrete manipulatives: a comparison of approaches for solving mathematics problems for students with autism spectrum disorder.

PubMed

Bouck, Emily C; Satsangi, Rajiv; Doughty, Teresa Taber; Courtney, William T

2014-01-01

Students with autism spectrum disorder (ASD) are included in general education classes and expected to participate in general education content, such as mathematics. Yet, little research explores academically-based mathematics instruction for this population. This single subject alternating treatment design study explored the effectiveness of concrete (physical objects that can be manipulated) and virtual (3-D objects from the Internet that can be manipulated) manipulatives to teach single- and double-digit subtraction skills. Participants in this study included three elementary-aged students (ages ranging from 6 to 10) diagnosed with ASD. Students were selected from a clinic-based setting, where all participants received medically necessary intensive services provided via one-to-one, trained therapists. Both forms of manipulatives successfully assisted students in accurately and independently solving subtraction problem. However, all three students demonstrated greater accuracy and faster independence with the virtual manipulatives as compared to the concrete manipulatives. Beyond correctly solving the subtraction problems, students were also able to generalize their learning of subtraction through concrete and virtual manipulatives to more real-world applications.

Full kinetic chain manual and manipulative therapy plus exercise compared with targeted manual and manipulative therapy plus exercise for symptomatic osteoarthritis of the hip: a randomized controlled trial.

PubMed

Brantingham, James W; Parkin-Smith, Gregory; Cassa, Tammy Kay; Globe, Gary A; Globe, Denise; Pollard, Henry; deLuca, Katie; Jensen, Muffit; Mayer, Stephan; Korporaal, Charmaine

2012-02-01

To determine the short-term effectiveness of full kinematic chain manual and manipulative therapy (MMT) plus exercise compared with targeted hip MMT plus exercise for symptomatic mild to moderate hip osteoarthritis (OA). Parallel-group randomized trial with 3-month follow-up. Two chiropractic outpatient teaching clinics. Convenience sample of eligible participants (N=111) with symptomatic hip OA were consented and randomly allocated to receive either the experimental or comparison treatment, respectively. Participants in the experimental group received full kinematic chain MMT plus exercise while those in the comparison group received targeted hip MMT plus exercise. Participants in both groups received 9 treatments over a 5-week period. Western Ontario and McMasters Osteoarthritis Index (WOMAC), Harris hip score (HHS), and Overall Therapy Effectiveness, alongside estimation of clinically meaningful outcomes. Total dropout was 9% (n=10) with 7% of total data missing, replaced using a multiple imputation method. No statistically significant differences were found between the 2 groups for any of the outcome measures (analysis of covariance, P=.45 and P=.79 for the WOMAC and HHS, respectively). There were no statistically significant differences in the primary or secondary outcome scores when comparing full kinematic chain MMT plus exercise with targeted hip MMT plus exercise for mild to moderate symptomatic hip OA. Consequently, the nonsignificant findings suggest that there would also be no clinically meaningful difference between the 2 groups. The results of this study provides guidance to musculoskeletal practitioners who regularly use MMT that the full kinematic chain approach does not appear to have any benefit over targeted treatment. Copyright © 2012 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Curve fitting air sample filter decay curves to estimate transuranic content.

PubMed

Hayes, Robert B; Chiou, Hung Cheng

2004-01-01

By testing industry standard techniques for radon progeny evaluation on air sample filters, a new technique is developed to evaluate transuranic activity on air filters by curve fitting the decay curves. The industry method modified here is simply the use of filter activity measurements at different times to estimate the air concentrations of radon progeny. The primary modification was to not look for specific radon progeny values but rather transuranic activity. By using a method that will provide reasonably conservative estimates of the transuranic activity present on a filter, some credit for the decay curve shape can then be taken. By carrying out rigorous statistical analysis of the curve fits to over 65 samples having no transuranic activity taken over a 10-mo period, an optimization of the fitting function and quality tests for this purpose was attained.

Dynamics and Manipulation of Nanomagnets

NASA Astrophysics Data System (ADS)

Cai, Liufei

This thesis presents my work on the spin dynamics of nanomagnets and investigates the possibility of manipulating nanomagnets by various means. Most of the work has been published. Some has been submitted for publication. The structure of this thesis is as follows. In Chapter 1, I present the theory of manipulation of a nanomagnet by rotating ac fields whose frequency is time dependent. Theory has been developed that maps the problem onto Landau-Zener problem. For the linear frequency sweep the switching phase diagrams are obtained on the amplitude of the ac field and the frequency sweep rate. Switching conditions have been obtained numerically and analytically. For the nonlinear frequency sweep, the optimal time dependence of the frequency is obtained analytically with account of damping that gives the fastest controllable switching of the magnetization. In Chapter 2, interaction between a nanomagnet and a Josephson junction has been studied. The I-V curve of the Josephson junction in the proximity of a nanomagnet shows Shapiro-like steps due to the ac field generated by the precessing magnetic moment. Possibility of switching of the magnetic moment by a time-linear voltage in the Josephson junction is demonstrated. Realization of the optimal switching is suggested that employs two perpendicular Josephson junctions with time-dependent voltage signals. The result is shown to be robust against voltage noises. Quantum-mechanical coupling between the nanomagnet considered as a two-level system and a Josephson junction has been studied and quantum oscillations of the populations of the spin states have been computed. In Chapter 3, the switching dynamics of a nanomagnet embedded in a torsional oscillator that serves as a conducting wire for a spin current has been investigated. Generalized Slonczewski's equation is derived. The coupling of the nanomagnet, the torsional oscillator and the spin current generates a number of interesting phenomena. The mechanically

Common data manipulations with R in biological researches

PubMed Central

Liu, Qin

2017-01-01

R is a computer language and has been widely used in science community due to the powerful capability in data analysis and visualization; and these functions are mainly provided by the developed packages. Because every package has strict format definitions on the inputted data, it is always required to appropriately manipulate the original data in advance. Unfortunately, users, especially for the beginners, are always confused by the extreme flexibility with R in data manipulation. In the present paper, we roughly categorize the common manipulations with R for biological data into four classes, including overview of data, transformation, summarization, and reshaping. Subsequently, these manipulations are exemplified in a sample data of clinical records of diabetic patients. Our main purpose is to provide a better landscape on the data manipulation with R and hence facilitate the practical applications in biological researches. PMID:28840022

A magnetic micro-manipulator for application of three dimensional forces

DOE Office of Scientific and Technical Information (OSTI.GOV)

Punyabrahma, P.; Jayanth, G. R.

2015-02-15

Magnetic manipulation finds diverse applications in actuation, characterization, and manipulation of micro- and nano-scale samples. This paper presents the design and development of a novel magnetic micro-manipulator for application of three-dimensional forces on a magnetic micro-bead. A simple analytical model is proposed to obtain the forces of interaction between the magnetic micro-manipulator and a magnetic micro-bead. Subsequently, guidelines are proposed to perform systematic design and analysis of the micro-manipulator. The designed micro-manipulator is fabricated and evaluated. The manipulator is experimentally demonstrated to possess an electrical bandwidth of about 1 MHz. The ability of the micro-manipulator to apply both in-plane andmore » out-of-plane forces is demonstrated by actuating permanent-magnet micro-beads attached to micro-cantilever beams. The deformations of the micro-cantilevers are also employed to calibrate the dependence of in-plane and out-of-plane forces on the position of the micro-bead relative to the micro-manipulator. The experimentally obtained dependences are found to agree well with theory.« less

Self-Efficacy Manipulation Influences Physical Activity Enjoyment in Chinese Adolescents.

PubMed

Hu, Liang; Cheng, Shoubin; Lu, Jiaying; Zhu, Lele; Chen, Ling

2016-02-01

In this study, we examined the effect of the manipulation of exercise self-efficacy on the enjoyment of physical activity in a sample of 44 Chinese adolescents (age = 14.27 ± .87 y), including 22 boys and 22 girls. The participants were randomized into a low-efficacy or high-efficacy condition, and their self-efficacy beliefs for engaging in moderate-intensity physical activity were manipulated by providing false feedback after a submaximal exercise test. The participants' self-efficacy was measured and compared before and after the exercise test and the participants' enjoyment of physical activity was assessed after the exercise test. It was found that exercise self-efficacy was successfully manipulated in the expected direction in both conditions, which significantly influenced the participants' enjoyment of physical activity. After the exercise test, the participants in the low-efficacy condition reported lower enjoyment scores relative to the high-efficacy participants. These results suggest that self-efficacy may have an important influence on the enjoyment of physical activity among Chinese adolescents. We recommend that physical activity promotion programs should be tailored to enhance adolescents' self-efficacy beliefs and enjoyment of the experience of physical activity.

Free and open source software for the manipulation of digital images.

PubMed

Solomon, Robert W

2009-06-01

Free and open source software is a type of software that is nearly as powerful as commercial software but is freely downloadable. This software can do almost everything that the expensive programs can. GIMP (gnu image manipulation program) is the free program that is comparable to Photoshop, and versions are available for Windows, Macintosh, and Linux platforms. This article briefly describes how GIMP can be installed and used to manipulate radiology images. It is no longer necessary to budget large amounts of money for high-quality software to achieve the goals of image processing and document creation because free and open source software is available for the user to download at will.

Innovative Multimodal Physical Therapy Reduces Incidence of Repeat Manipulation under Anesthesia in Post-Total Knee Arthroplasty Patients Who Had an Initial Manipulation under Anesthesia.

PubMed

Chughtai, Morad; McGinn, Tanner; Bhave, Anil; Khan, Sabahat; Vashist, Megha; Khlopas, Anton; Mont, Michael A

2016-11-01

Manipulation under anesthesia (MUA) is performed for knee stiffness following a total knee arthroplasty (TKA) when nonoperative treatments fail. It is important to develop an optimal outpatient physical therapy protocol following an MUA, to avoid a repeat procedure. The purpose of this study was to evaluate and compare: (1) range of motion and (2) the rate of repeat MUA in patients who either underwent innovative multimodal physical therapy (IMMPT) or standard-of-care physical therapy (standard) following an MUA after a TKA. We performed a retrospective database study of patients who underwent an MUA following a TKA between January 2013 to December 2014 ( N  = 57). There were 16 (28%) men and 41 (72%) women who had a mean age of 59 years (range, 32-81 years). The patients were stratified into those who underwent IMMPT ( n  = 22) and those who underwent standard physical therapy ( n  = 35). The 6-month range of motion and rate of repeat manipulation between the two cohorts was analyzed by using Student t-test and Chi-square tests. In addition, we performed a Kaplan-Meier analysis of time to repeat MUA. The IMMPT cohort had a statistically significant higher proportion of TKAs with an optimal range of motion as compared with the standard cohort. There was statistically significant lower proportion of patients who underwent a repeat MUA in the IMMPT as compared with the standard cohort. There was also a significantly lower incidence and longer time to MUA in the IMMPT cohort as compared with the standard cohort in the Kaplan-Meier analysis. The group who underwent IMMPT utilizing Astym therapy had a significantly higher proportion of patients with optimal range of motion, which implies the potential efficacy of this regimen to improve range of motion. Furthermore, the IMMPT cohort had a significantly lower proportion of repeat manipulations as compared with the standard cohort, which implies that an IMMPT approach could potentially reduce the need for a

In-Vehicle Dynamic Curve-Speed Warnings at High-Risk Rural Curves

DOT National Transportation Integrated Search

2018-03-01

Lane-departure crashes at horizontal curves represent a significant portion of fatal crashes on rural Minnesota roads. Because of this, solutions are needed to aid drivers in identifying upcoming curves and inform them of a safe speed at which they s...

Comparison of Learning Curves for Major and Minor Laparoscopic Liver Resection.

PubMed

Lee, Woohyung; Woo, Jung-Woo; Lee, Jin-Kwon; Park, Ji-Ho; Kim, Ju-Yeon; Kwag, Seung-Jin; Park, Taejin; Jeong, Sang-Ho; Ju, Young-Tae; Jeong, Eun-Jung; Lee, Young-Joon; Choi, Sang-Kyung; Hong, Soon-Chan; Jeong, Chi-Young

2016-06-01

Because laparoscopic liver resection (LLR) has a steep learning curve, analyzing experience is important for trainees. Several authors have described the learning curve of LLR, without comparing the learning curves between major and minor LLR. Perioperative data were retrieved from the medical records of 170 consecutive patients who underwent LLR by a single surgeon at a tertiary hospital. Learning curves were generated and compared between major and minor LLR using cumulative sum control charts and the moving average. Major and minor LLR was performed in 96 and 74 patients, respectively. The learning curves showed a steady state after case 50 for major LLR. Because of discordant results in minor LLR, subgroup analyses were performed, showing competency in LLR after cases 25 and 35 for left lateral sectionectomy and tumorectomy, respectively. Transfused red blood cell volume (0.6 versus 2.2 packs, P < .001) decreased after achievement of competence in major LLR. Blood loss exceeding 500 mL (odds ratio 2.395, 95% confidence interval 1.096-5.233, P = .028) was independently associated with LLR failure. The number of cases required to accomplish LLR differed according to the extent of resection. Extensive blood loss was independently associated with LLR failure.

The Volume Grid Manipulator (VGM): A Grid Reusability Tool

NASA Technical Reports Server (NTRS)

Alter, Stephen J.

1997-01-01

This document is a manual describing how to use the Volume Grid Manipulation (VGM) software. The code is specifically designed to alter or manipulate existing surface and volume structured grids to improve grid quality through the reduction of grid line skewness, removal of negative volumes, and adaption of surface and volume grids to flow field gradients. The software uses a command language to perform all manipulations thereby offering the capability of executing multiple manipulations on a single grid during an execution of the code. The command language can be input to the VGM code by a UNIX style redirected file, or interactively while the code is executing. The manual consists of 14 sections. The first is an introduction to grid manipulation; where it is most applicable and where the strengths of such software can be utilized. The next two sections describe the memory management and the manipulation command language. The following 8 sections describe simple and complex manipulations that can be used in conjunction with one another to smooth, adapt, and reuse existing grids for various computations. These are accompanied by a tutorial section that describes how to use the commands and manipulations to solve actual grid generation problems. The last two sections are a command reference guide and trouble shooting sections to aid in the use of the code as well as describe problems associated with generated scripts for manipulation control.

Detection and manipulation of phosphoinositides☆

PubMed Central

Idevall-Hagren, Olof; Camilli, Pietro De

2016-01-01

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

Dynamic coupling of underactuated manipulators

NASA Astrophysics Data System (ADS)

Bergerman, Marcel; Lee, Christopher; Xu, Yangsheng

1994-08-01

In recent years, researchers have been turning their attention to so called underactuated systems, where the term underactuated refers to the fact that the system has more joints than control actuators. Some examples of underactuated systems are robot manipulators with failed actuators; free-floating space robots, where the base can be considered as a virtual passive linkage in inertia space; legged robots with passive joints; hyper-redundant (snake-like) robots with passive joints, etc. From the examples above, it is possible to justify the importance of the study of underactuated systems. For example, if some actuators of a conventional manipulator fail, the loss of one or more degrees of freedom may compromise an entire operation. In free-floating space systems, the base (satellite) can be considered as a 6-DOF device without positioning actuators. Finally, manipulators with passive joints and hyper-redundant robots with few actuators are important from the viewpoint of energy saving, lightweight design and compactness.

Spitzer Space Telescope Mid-IR Light Curves of Neptune

NASA Technical Reports Server (NTRS)

Stauffer, John; Marley, Mark S.; Gizis, John E.; Rebull, Luisa; Carey, Sean J.; Krick, Jessica; Ingalls, James G.; Lowrance, Patrick; Glaccum, William; Kirkpatrick, J. Davy;

Assessing manual dexterity: Comparing the WorkAbility Rate of Manipulation Test with the Minnesota Manual Dexterity Test.

PubMed

Wang, Ying-Chih; Wickstrom, Rick; Yen, Sheng-Che; Kapellusch, Jay; Grogan, Kimberly A

2017-05-10

Cross-sectional study. The WorkAbility Rate of Manipulation Test (WRMT), an adaptation of the Minnesota Manual Dexterity Test (MMDT), contains a revised board and protocols to improve its utility for therapy or fitness assessment. To describe the development and preliminary psychometric properties of WRMT. Sixty-six healthy participants completed MMDT and WRMT in a random order followed by a user experience survey. We compared tests using repeated-measures analysis of variance, test-retest reliability, and examined agreement between tests. Despite the similarities of these 2 instruments, the different administration protocols resulted in statistically different score distributions (P < .001). Results supported good test-retest reliability of WRMT (placing test ICC = 0.88-0.90 and turning test ICC = 0.68-0.82). The WRMT correlated moderately with MMDT (r = 0.81 in placing test and r = 0.44-0.57 in turning test). Bland-Altman plot showed that the differences in completion time were 3.8 seconds between placing tests and 19.6 (both hands), 0.3 (right hand), and 3.9 (left hand) seconds between turning tests. Overall, participants felt that the instruction of WRMT was easier to follow (44%) and preferred its setup, color, and depth of the test board (49%). Time required to complete 1 panel of 20 disks correlated highly with the time needed to finish a complete trial of 60 disks in both MMDT (r = 0.91-0.97) and WRMT (r = 0.88-0.95). Caution is warranted in comparing scores from these 2 test variants. 3b. Copyright © 2017 Hanley & Belfus. Published by Elsevier Inc. All rights reserved.

Low-Fatigue Hand Controller For Remote Manipulator

NASA Technical Reports Server (NTRS)

Maclaren, Brice; Mcmurray, Gary; Lipkin, Harvey

1993-01-01

Universal master controller used in brace mode, in which user's forearm rests atop upper (forearm) module. Alternatively, user manipulates hand controller in side mode, which gives greater latitude for motion but requires more muscular effort. Controller provides six degrees of freedom and reflects, back to user, scaled versions of forces experienced by manipulator. Manipulator designed to condense work space into user's natural work volume. Operated by both right-handed and left-handed users. Does not interfere with user's natural movements or obstruct line of sight. Controller compact and portable.

Experiments with conjugate gradient algorithms for homotopy curve tracking

NASA Technical Reports Server (NTRS)

Irani, Kashmira M.; Ribbens, Calvin J.; Watson, Layne T.; Kamat, Manohar P.; Walker, Homer F.

1991-01-01

There are algorithms for finding zeros or fixed points of nonlinear systems of equations that are globally convergent for almost all starting points, i.e., with probability one. The essence of all such algorithms is the construction of an appropriate homotopy map and then tracking some smooth curve in the zero set of this homotopy map. HOMPACK is a mathematical software package implementing globally convergent homotopy algorithms with three different techniques for tracking a homotopy zero curve, and has separate routines for dense and sparse Jacobian matrices. The HOMPACK algorithms for sparse Jacobian matrices use a preconditioned conjugate gradient algorithm for the computation of the kernel of the homotopy Jacobian matrix, a required linear algebra step for homotopy curve tracking. Here, variants of the conjugate gradient algorithm are implemented in the context of homotopy curve tracking and compared with Craig's preconditioned conjugate gradient method used in HOMPACK. The test problems used include actual large scale, sparse structural mechanics problems.

Immediate effects of manipulation of the talocrural joint on stabilometry and baropodometry in patients with ankle sprain.

PubMed

López-Rodríguez, Sandra; Fernández de-Las-Peñas, César; Alburquerque-Sendín, Francisco; Rodríguez-Blanco, Cleofás; Palomeque-del-Cerro, Luis

2007-01-01

This study assessed the immediate effects of talocrural joint manipulation on stabilometric and baropodometric outcomes in patients with grade II ankle sprain. Fifty-two field hockey players (35 men and 17 women) between 18 and 40 years old (mean = 22.5 years, SD = 3.6 years) were included in this study. A simple blind, intrapatient, placebo-controlled, and repeated-measures study was carried out. All the patients underwent a baropodometric study performed with a Foot Work force platform (4 times; pre-post placebo group and pre-post intervention group). The sample was subjected to two techniques of manipulative treatment: (a) talocrural joint manipulation and (b) posterior gliding manipulation over the talus. In a second instance, placebo manipulation was applied. Unilateral analysis of variance and multivariate analysis of variance were used for statistical analysis. The results in the intervention group revealed significant differences in the percentage of posterior load on the foot (P = .015) and the percentage of bilateral anterior load (P = .02) before and after the manipulation. The placebo group did not show any change in any of the variables except for area (P = .045). Intergroup comparison revealed statistically significant differences in the increase in percentage of posterior load on the manipulated foot, percentage of bilateral posterior load, percentage of anterior load on the manipulated foot, and percentage of bilateral anterior load (with the exception of the total load on the foot). The application of caudal talocrural joint manipulation, as compared with placebo manipulation, in athletic patients with grade II ankle sprain redistributed the load supports at the level of the foot.

Comparative study between different simple methods manipulating ratio spectra for the analysis of alogliptin and metformin co-formulated with highly different concentrations.

PubMed

Zaghary, Wafaa A; Mowaka, Shereen; Hassan, Mostafa A; Ayoub, Bassam M

2017-11-05

Different simple spectrophotometric methods were developed for simultaneous determination of alogliptin and metformin manipulating their ratio spectra with successful application on recently approved combination, Kazano® tablets. Spiking was implemented to detect alogliptin in spite of its low contribution in the pharmaceutical formulation as low quantity in comparison to metformin. Linearity was acceptable over the concentration range of 2.5-25.0μg/mL and 2.5-15.0μg/mL for alogliptin and metformin, respectively using derivative ratio, ratio subtraction coupled with extended ratio subtraction and spectrum subtraction coupled with constant multiplication. The optimized methods were compared using one-way analysis of variance (ANOVA) and proved to be accurate for assay of the investigated drugs in their pharmaceutical dosage form. Copyright © 2017 Elsevier B.V. All rights reserved.

Precision Manipulation with Cooperative Robots

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghzarian, Hrand

2005-01-01

This work addresses several challenges of cooperative transportThis work addresses several challenges of cooperative transport and precision manipulation. Precision manipulation requires a rigid grasp, which places a hard constraint on the relative rover formation that must be accommodated, even though the rovers cannot directly observe their relative poses. Additionally, rovers must jointly select appropriate actions based on all available sensor information. Lastly, rovers cannot act on independent sensor information, but must fuse information to move jointly; the methods for fusing information must be determined.

I-V Curves from Photovoltaic Modules Deployed in Tucson

NASA Astrophysics Data System (ADS)

Kopp, Emily; Brooks, Adria; Lonij, Vincent; Cronin, Alex

2011-10-01

More than 30 Mega Watts of photo-voltaic (PV) modules are connected to the electric power grid in Tucson, AZ. However, predictions of PV system electrical yields are uncertain, in part because PV modules degrade at various rates (observed typically in the range 0% to 3 %/yr). We present I-V curves (PV output current as a function of PV output voltage) as a means to study PV module efficiency, de-ratings, and degradation. A student-made I-V curve tracer for 100-Watt modules will be described. We present I-V curves for several different PV technologies operated at an outdoor test yard, and we compare new modules to modules that have been operated in the field for 10 years.

Observational evidence of dust evolution in galactic extinction curves

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cecchi-Pestellini, Cesare; Casu, Silvia; Mulas, Giacomo

Although structural and optical properties of hydrogenated amorphous carbons are known to respond to varying physical conditions, most conventional extinction models are basically curve fits with modest predictive power. We compare an evolutionary model of the physical properties of carbonaceous grain mantles with their determination by homogeneously fitting observationally derived Galactic extinction curves with the same physically well-defined dust model. We find that a large sample of observed Galactic extinction curves are compatible with the evolutionary scenario underlying such a model, requiring physical conditions fully consistent with standard density, temperature, radiation field intensity, and average age of diffuse interstellar clouds.more » Hence, through the study of interstellar extinction we may, in principle, understand the evolutionary history of the diffuse interstellar clouds.« less

Automatic generation and analysis of solar cell IV curves

DOEpatents

Kraft, Steven M.; Jones, Jason C.

2014-06-03

A photovoltaic system includes multiple strings of solar panels and a device presenting a DC load to the strings of solar panels. Output currents of the strings of solar panels may be sensed and provided to a computer that generates current-voltage (IV) curves of the strings of solar panels. Output voltages of the string of solar panels may be sensed at the string or at the device presenting the DC load. The DC load may be varied. Output currents of the strings of solar panels responsive to the variation of the DC load are sensed to generate IV curves of the strings of solar panels. IV curves may be compared and analyzed to evaluate performance of and detect problems with a string of solar panels.

Accuracy of AFM force distance curves via direct solution of the Euler-Bernoulli equation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Eppell, Steven J., E-mail: steven.eppell@case.edu; Liu, Yehe; Zypman, Fredy R.

2016-03-15

In an effort to improve the accuracy of force-separation curves obtained from atomic force microscope data, we compare force-separation curves computed using two methods to solve the Euler-Bernoulli equation. A recently introduced method using a direct sequential forward solution, Causal Time-Domain Analysis, is compared against a previously introduced Tikhonov Regularization method. Using the direct solution as a benchmark, it is found that the regularization technique is unable to reproduce accurate curve shapes. Using L-curve analysis and adjusting the regularization parameter, λ, to match either the depth or the full width at half maximum of the force curves, the two techniquesmore » are contrasted. Matched depths result in full width at half maxima that are off by an average of 27% and matched full width at half maxima produce depths that are off by an average of 109%.« less

The diversity effect of inductive reasoning under segment manipulation of complex cognition.

PubMed

Chen, Antao; Li, Hong; Feng, Tingyong; Gao, Xuemei; Zhang, Zhongming; Li, Fuhong; Yang, Dong

2005-12-01

The present study proposed the idea of segment manipulation of complex cognition (SMCC), and technically made it possible the quantitative treatment and systematical manipulation on the premise diversity. The segment manipulation of complex cognition divides the previous inductive strengths judgment task into three distinct steps, attempting to particularly distinguish the psychological processes and their rules. The results in Experiment 1 showed that compared with the traditional method, the quantitative treatment and systematical manipulation of SMCC on the diversity did not change the task's nature, and remain rational and a good measurement of inductive strength judgment. The results in Experiment 2 showed that the participants' response rules in the triple-step task were expected from our proposal, and that in Step 2 the "feeling of surprise" (FOS), which seems implausible but predicted from the diversity premises, was measured, and its component might be the critical part that produced the diversity effect. The "feeling of surprise" may reflect the impact of emotion on cognition, representing a strong revision to premise probability principle of pure rational hypothesis proposed by Lo et al., and its roles in the diversity effect are worthy of further research. In this regards were discussed the mistakes that the premise probability principle makes when it takes posterity probability as prior probability.

Comparative evaluation of the shaping ability of two different nickel-titanium rotary files in curved root canals of extracted human molar teeth.

PubMed

Ferrara, Giulia; Taschieri, Silvio; Corbella, Stefano; Ceci, Caterina; Del Fabbro, Massimo; Machtou, Pierre

2017-02-01

The aim of the present study was to compare the shaping ability of two different nickel-titanium rotary files in the curved root canals of extracted human molar teeth. Thirty root canals of 17 extracted human molars teeth were randomly assigned to two experimental groups (n = 15): ProTaper Next and ProTaper Universal (PTU), on the basis of the rotary files system used. The final size of all apical foramina was 0.25 mm in diameter. Standardized digital radiographs were taken before and after instrumentation in both clinical and proximal views, with a size 10 K-file inserted into the canal for the determination of the angle of curvature and apical transportation. Preparation time and fractured or deformed instruments were also recorded. The unpaired Student's t-test was used to compare results. There was no significant difference between the two instruments with respect to canal straightening and apical transportation before and after instrumentation (P > 0.05). The use of both instruments resulted in a significant reduction in the angle of curvature after instrumentation (P < 0.05). Instrumentation time was significantly greater for PTU (P < 0.05). The ProTaper Universal and ProTaper Next systems performed similarly with regard to the straightening of curved root canals and apical transportation. ProTaper Next was significantly faster than ProTaper Universal. © 2015 Wiley Publishing Asia Pty Ltd.

Modeling and simulation of three dimensional manipulations of biological micro/nanoparticles by applying cylindrical contact mechanics models by means of AFM

NASA Astrophysics Data System (ADS)

Korayem, M. H.; Saraee, M. B.; Mahmoodi, Z.; Dehghani, S.

2015-11-01

This paper has attempted to investigate the effective forces in 3D manipulation of biological micro/nano particles. Most of the recent researches have only examined 2D spherical geometries but in this paper, the cylindrical geometries, which are much closer to the real geometries, were considered. For achieving a more accurate modeling, manipulation dynamics was also considered to be three dimensional which have been done for the first time. Because of the sensibility to the amount of endurable applied forces, manipulation process of biological micro/nano particles has some restrictions. Therefore, applied forces exerted on the particles in all different directions were simulated in order to restrict all those possible damages cause by operator of the AFM. Those data from simulated forces will bring a more accurate and sensible understanding for the operator to operate. For the validation of results, the proposed model was compared with the model presented for manipulation of gold nanoparticle and then, by reducing the effective parameters in the 3D manipulation, the results were compared with those obtained for the 2D cylindrical model and with the experimental results of spherical nanoparticle in the 2D manipulation.

Flexible manipulator control experiments and analysis

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

Postural Effects of Vestibular Manipulation Depend on the Physical Activity Status

PubMed Central

Maitre, Julien; Paillard, Thierry

2016-01-01

The purpose of this study was to compare the effects of galvanic vestibular stimulation (GVS) on postural control for participants of different physical activity status (i.e. active and non-active). Two groups of participants were recruited: one group of participants who regularly practised sports activities (active group, n = 17), and one group of participants who did not practise physical and/or sports activities (non-active group, n = 17). They were compared in a reference condition (i.e bipedal stance with eyes open) and four vestibular manipulation condition (i.e. GVS at 0.5 mA and 3 mA, in accordance with two designs) lasting 20 seconds. The centre of foot pressure displacement velocities were compared between the two groups. The main results indicate that the regular practice of sports activities counteracts postural control disruption caused by GVS. The active group demonstrated better postural control than the non-active group when subjected to higher vestibular manipulation. The active group may have developed their ability to reduce the influence of inaccurate vestibular signals. The active participants could identify the relevant sensory input, thought a better central integration, which enables them to switch faster between sensory inputs. PMID:27627441

The Chaotic Light Curves of Accreting Black Holes

NASA Technical Reports Server (NTRS)

Kazanas, Demosthenes

2007-01-01

We present model light curves for accreting Black Hole Candidates (BHC) based on a recently developed model of these sources. According to this model, the observed light curves and aperiodic variability of BHC are due to a series of soft photon injections at random (Poisson) intervals and the stochastic nature of the Comptonization process in converting these soft photons to the observed high energy radiation. The additional assumption of our model is that the Comptonization process takes place in an extended but non-uniform hot plasma corona surrounding the compact object. We compute the corresponding Power Spectral Densities (PSD), autocorrelation functions, time skewness of the light curves and time lags between the light curves of the sources at different photon energies and compare our results to observation. Our model reproduces the observed light curves well, in that it provides good fits to their overall morphology (as manifest by the autocorrelation and time skewness) and also to their PSDs and time lags, by producing most of the variability power at time scales 2 a few seconds, while at the same time allowing for shots of a few msec in duration, in accordance with observation. We suggest that refinement of this type of model along with spectral and phase lag information can be used to probe the structure of this class of high energy sources.

Planning perception and action for cognitive mobile manipulators

NASA Astrophysics Data System (ADS)

Gaschler, Andre; Nogina, Svetlana; Petrick, Ronald P. A.; Knoll, Alois

2013-12-01

We present a general approach to perception and manipulation planning for cognitive mobile manipulators. Rather than hard-coding single purpose robot applications, a robot should be able to reason about its basic skills in order to solve complex problems autonomously. Humans intuitively solve tasks in real-world scenarios by breaking down abstract problems into smaller sub-tasks and use heuristics based on their previous experience. We apply a similar idea for planning perception and manipulation to cognitive mobile robots. Our approach is based on contingent planning and run-time sensing, integrated in our knowledge of volumes" planning framework, called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as tasks themselves. We demonstrate the e ectiveness of our approach on two scenarios covering visual and force sensing on a real mobile manipulator.

Pushing typists back on the learning curve: revealing chunking in skilled typewriting.

PubMed

Yamaguchi, Motonori; Logan, Gordon D

2014-04-01

Theories of skilled performance propose that highly trained skills involve hierarchically structured control processes. The present study examined and demonstrated hierarchical control at several levels of processing in skilled typewriting. In the first two experiments, we scrambled the order of letters in words to prevent skilled typists from chunking letters, and compared typing words and scrambled words. Experiment 1 manipulated stimulus quality to reveal chunking in perception, and Experiment 2 manipulated concurrent memory load to reveal chunking in short-term memory (STM). Both experiments manipulated the number of letters in words and nonwords to reveal chunking in motor planning. In the next two experiments, we degraded typing skill by altering the usual haptic feedback by using a laser-projection keyboard, so that typists had to monitor keystrokes. Neither the number of motor chunks (Experiment 3) nor the number of STM items (Experiment 4) was influenced by the manipulation. The results indicate that the utilization of hierarchical control depends on whether the input allows chunking but not on whether the output is generated automatically. We consider the role of automaticity in hierarchical control of skilled performance.

Inter- and intraspecific conflicts between parasites over host manipulation

PubMed Central

Hafer, Nina; Milinski, Manfred

2016-01-01

Host manipulation is a common strategy by which parasites alter the behaviour of their host to enhance their own fitness. In nature, hosts are usually infected by multiple parasites. This can result in a conflict over host manipulation. Studies of such a conflict in experimentally infected hosts are rare. The cestode Schistocephalus solidus (S) and the nematode Camallanus lacustris (C) use copepods as their first intermediate host. They need to grow for some time inside this host before they are infective and ready to be trophically transmitted to their subsequent fish host. Accordingly, not yet infective parasites manipulate to suppress predation. Infective ones manipulate to enhance predation. We experimentally infected laboratory-bred copepods in a manner that resulted in copepods harbouring (i) an infective C plus a not yet infective C or S, or (ii) an infective S plus a not yet infective C. An infective C completely sabotaged host manipulation by any not yet infective parasite. An infective S partially reduced host manipulation by a not yet infective C. We hence show experimentally that a parasite can reduce or even sabotage host manipulation exerted by a parasite from a different species. PMID:26842574

An investigation into the kinematics of 2 cervical manipulation techniques.

PubMed

Williams, Jonathan M; Cuesta-Vargas, Antonio I

2013-01-01

The purpose of this study was to quantify the kinematics of the premanipulative position, the angular displacement, and velocity of thrust of 2 commonly used cervical spine manipulative procedures using inertial sensor technology. Thirteen asymptomatic subjects (7 females; mean age, 25.3 years; mean height, 170.9 cm; mean weight, 65.3 kg) received a right-handed and left-handed downslope and upslope manipulation, aimed at C4/5 while cervical kinematics were measured using an inertial sensor mounted on the forehead of the subject. One therapist used the upslope, and another therapist, the downslope, as was their preferred method. t tests were used to compare techniques and handiness. The results demonstrated differences in the kinematics between the 2 techniques. The downslope manipulation was associated with a mean premanipulative position of 24.8° side bending and 2.7° rotation, thrust displacement magnitude comprising of 4.5° side bending and 5.4° rotation with thrust velocity comprising, on average, of 57.5°/s side bending and 74.8°/s rotation. Upslope premanipulation was on average comprised of 30.1° side bending and 8.4° rotation, thrust displacement comprised of 4.5° side bending and 12.7° rotation with thrust velocity comprising of 75.9°/s side bending and 194.7°/s rotation. The results of this study demonstrate that there are different kinematic patterns for these 2 manipulative techniques. Copyright © 2013 National University of Health Sciences. Published by Mosby, Inc. All rights reserved.

Efficient Computation Of Manipulator Inertia Matrix

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1991-01-01

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

Combining single-molecule manipulation and single-molecule detection.

PubMed

Cordova, Juan Carlos; Das, Dibyendu Kumar; Manning, Harris W; Lang, Matthew J

2014-10-01

Single molecule force manipulation combined with fluorescence techniques offers much promise in revealing mechanistic details of biomolecular machinery. Here, we review force-fluorescence microscopy, which combines the best features of manipulation and detection techniques. Three of the mainstay manipulation methods (optical traps, magnetic traps and atomic force microscopy) are discussed with respect to milestones in combination developments, in addition to highlight recent contributions to the field. An overview of additional strategies is discussed, including fluorescence based force sensors for force measurement in vivo. Armed with recent exciting demonstrations of this technology, the field of combined single-molecule manipulation and single-molecule detection is poised to provide unprecedented views of molecular machinery. Copyright © 2014 Elsevier Ltd. All rights reserved.

Developing Novel Reservoir Rule Curves Using Seasonal Inflow Projections

NASA Astrophysics Data System (ADS)

Tseng, Hsin-yi; Tung, Ching-pin

2015-04-01

Due to significant seasonal rainfall variations, reservoirs and their flexible operational rules are indispensable to Taiwan. Furthermore, with the intensifying impacts of climate change on extreme climate, the frequency of droughts in Taiwan has been increasing in recent years. Drought is a creeping phenomenon, the slow onset character of drought makes it difficult to detect at an early stage, and causes delays on making the best decision of allocating water. For these reasons, novel reservoir rule curves using projected seasonal streamflow are proposed in this study, which can potentially reduce the adverse effects of drought. This study dedicated establishing new rule curves which consider both current available storage and anticipated monthly inflows with leading time of two months to reduce the risk of water shortage. The monthly inflows are projected based on the seasonal climate forecasts from Central Weather Bureau (CWB), which a weather generation model is used to produce daily weather data for the hydrological component of the GWLF. To incorporate future monthly inflow projections into rule curves, this study designs a decision flow index which is a linear combination of current available storage and inflow projections with leading time of 2 months. By optimizing linear relationship coefficients of decision flow index, the shape of rule curves and the percent of water supply in each zone, the best rule curves to decrease water shortage risk and impacts can be developed. The Shimen Reservoir in the northern Taiwan is used as a case study to demonstrate the proposed method. Existing rule curves (M5 curves) of Shimen Reservoir are compared with two cases of new rule curves, including hindcast simulations and historic seasonal forecasts. The results show new rule curves can decrease the total water shortage ratio, and in addition, it can also allocate shortage amount to preceding months to avoid extreme shortage events. Even though some uncertainties in

Issues in advanced automation for manipulator control

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1976-01-01

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

Spatial-Operator Algebra For Flexible-Link Manipulators

NASA Technical Reports Server (NTRS)

Jain, Abhinandan; Rodriguez, Guillermo

1994-01-01

Method of computing dynamics of multiple-flexible-link robotic manipulators based on spatial-operator algebra, which originally applied to rigid-link manipulators. Aspects of spatial-operator-algebra approach described in several previous articles in NASA Tech Briefs-most recently "Robot Control Based on Spatial-Operator Algebra" (NPO-17918). In extension of spatial-operator algebra to manipulators with flexible links, each link represented by finite-element model: mass of flexible link apportioned among smaller, lumped-mass rigid bodies, coupling of motions expressed in terms of vibrational modes. This leads to operator expression for modal-mass matrix of link.

Decision curve analysis to compare 3 versions of Partin Tables to predict final pathologic stage.

PubMed

Augustin, Herbert; Sun, Maxine; Isbarn, Hendrik; Pummer, Karl; Karakiewicz, Pierre

2012-01-01

To perform a decision curve analysis (DCA) to compare the Partin Tables 1997, 2001, and 2007 for their clinical applicability. Clinical and pathologic data of 687 consecutive patients treated with open radical prostatectomy for clinically localized prostate cancer between 2003 and 2008 at a single institution were used. DCA quantified the net benefit relating to specific threshold probabilities of extraprostatic extension (EPE), seminal vesicle involvement (SVI), and lymph node involvement (LNI). Overall, EPE, SVI, and LNI were recorded in 17.8, 6.0, and 1.2%, respectively. For EPE predictions, the DCA favored the 2007 version vs. 1997 for SVI vs. none of the versions for LNI. DCA indicate that for very low prevalence conditions such as LNI (1.2%), decision models are not useful. For low prevalence rates such as SVI, the use of different versions of the Partin Tables does not translate into meaningful net gains differences. Finally, for intermediate prevalence conditions such as EPE (18%), despite apparent performance differences, the net benefit differences were also marginal. In consequence, the current analysis could not confirm an important benefit from the use of the Partin Tables and it could not identify a clearly better version of any of the 3 available iterations. Copyright © 2012 Elsevier Inc. All rights reserved.

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

NASA Astrophysics Data System (ADS)

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

2016-03-01

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

Contribution of manipulable and non-manipulable environmental factors to trapping efficiency of invasive sea lamprey

USGS Publications Warehouse

Dawson, Heather A.; Bravener, Gale; Beaulaurier, Joshua; Johnson, Nicholas S.; Twohey, Michael; McLaughlin, Robert L.; Brenden, Travis O.

2017-01-01

We identified aspects of the trapping process that afforded opportunities for improving trap efficiency of invasive sea lamprey (Petromyzon marinus) in a Great Lake's tributary. Capturing a sea lamprey requires it to encounter the trap, enter, and be retained until removed. Probabilities of these events depend on the interplay between sea lamprey behavior, environmental conditions, and trap design. We first tested how strongly seasonal patterns in daily trap catches (a measure of trapping success) were related to nightly rates of trap encounter, entry, and retention (outcomes of sea lamprey behavior). We then tested the degree to which variation in rates of trap encounter, entry, and retention were related to environmental features that control agents can manipulate (attractant pheromone addition, discharge) and features agents cannot manipulate (water temperature, season), but could be used as indicators for when to increase trapping effort. Daily trap catch was most strongly associated with rate of encounter. Relative and absolute measures of predictive strength for environmental factors that managers could potentially manipulate were low, suggesting that opportunities to improve trapping success by manipulating factors that affect rates of encounter, entry, and retention are limited. According to results at this trap, more sea lamprey would be captured by increasing trapping effort early in the season when sea lamprey encounter rates with traps are high. The approach used in this study could be applied to trapping of other invasive or valued species.

Inertial sensor real-time feedback enhances the learning of cervical spine manipulation: a prospective study

PubMed Central

2014-01-01

Background Cervical Spinal Manipulation (CSM) is considered a high-level skill of the central nervous system because it requires bimanual coordinated rhythmical movements therefore necessitating training to achieve proficiency. The objective of the present study was to investigate the effect of real-time feedback on the performance of CSM. Methods Six postgraduate physiotherapy students attending a training workshop on Cervical Spine Manipulation Technique (CSMT) using inertial sensor derived real-time feedback participated in this study. The key variables were pre-manipulative position, angular displacement of the thrust and angular velocity of the thrust. Differences between variables before and after training were investigated using t-tests. Results There were no significant differences after training for the pre-manipulative position (rotation p = 0.549; side bending p = 0.312) or for thrust displacement (rotation p = 0.247; side bending p = 0.314). Thrust angular velocity demonstrated a significant difference following training for rotation (pre-training mean (sd) 48.9°/s (35.1); post-training mean (sd) 96.9°/s (53.9); p = 0.027) but not for side bending (p = 0.521). Conclusion Real-time feedback using an inertial sensor may be valuable in the development of specific manipulative skill. Future studies investigating manipulation could consider a randomized controlled trial using inertial sensor real time feedback compared to traditional training. PMID:24942483

Comparing passive angle-torque curves recorded simultaneously with a load cell versus an isokinetic dynamometer during dorsiflexion stretch tolerance assessments.

PubMed

Buckner, Samuel L; Jenkins, Nathaniel D M; Costa, Pablo B; Ryan, Eric D; Herda, Trent J; Cramer, Joel T

2015-05-01

The purpose of the present study was to compare the passive angle-torque curves and the passive stiffness (PS, N m °(-)(1)) values recorded simultaneously from a load cell versus an isokinetic dynamometer during dorsiflexion stretch tolerance assessments in vivo. Nine healthy men (mean ± SD age = 21.4 ± 1.6 years) completed stretch tolerance assessments on a custom-built apparatus where passive torque was measured simultaneously from an isokinetic dynamometer and a load cell. Passive torque values that corresponded with the last 10° of dorsiflexion, verified by surface electromyographic amplitude, were analyzed for each device (θ1, θ2, θ3, …, θ10). Passive torque values measured with the load cell were greater (p ≤ 0.05) than the dynamometer torque values for θ4 through θ10. There were more statistical differentiations among joint angles for passive torque measured by the load cell, and the load cell measured a greater (p ≤ 0.01) increase in passive torque and PS than the isokinetic dynamometer. These findings suggested that when examining the angle-torque curves from passive dorsiflexion stretch tolerance tests, a load cell placed under the distal end of the foot may be more sensitive than the torque recorded from an isokinetic dynamometer. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

Pre-nebular Light Curves of SNe I

DOE PAGES

Arnett, W. David; Fryer, Christopher; Matheson, Thomas

2017-08-29

We compare analytic predictions of supernova light curves with recent high-quality data from SN2011fe (Ia), KSN2011b (Ia), and the Palomar Transient Factory and the La Silla-QUEST variability survey (LSQ) (Ia). Because of the steady, fast cadence of observations, KSN2011b provides unique new information on SNe Ia: the smoothness of the light curve, which is consistent with significant large-scale mixing during the explosion, possibly due to 3D effects (e.g., Rayleigh–Taylor instabilities), and provides support for a slowly varying leakage (mean opacity). For a more complex light curve (SN2008D, SN Ib), we separate the luminosity due to multiple causes and indicate themore » possibility of a radioactive plume. The early rise in luminosity is shown to be affected by the opacity (leakage rate) for thermal and non-thermal radiation. A general derivation of Arnett's rule again shows that it depends upon all processes heating the plasma, not just radioactive ones, so that SNe Ia will differ from SNe Ibc if the latter have multiple heating processes.« less

Pre-nebular Light Curves of SNe I

DOE Office of Scientific and Technical Information (OSTI.GOV)

Arnett, W. David; Fryer, Christopher; Matheson, Thomas

We compare analytic predictions of supernova light curves with recent high-quality data from SN2011fe (Ia), KSN2011b (Ia), and the Palomar Transient Factory and the La Silla-QUEST variability survey (LSQ) (Ia). Because of the steady, fast cadence of observations, KSN2011b provides unique new information on SNe Ia: the smoothness of the light curve, which is consistent with significant large-scale mixing during the explosion, possibly due to 3D effects (e.g., Rayleigh–Taylor instabilities), and provides support for a slowly varying leakage (mean opacity). For a more complex light curve (SN2008D, SN Ib), we separate the luminosity due to multiple causes and indicate themore » possibility of a radioactive plume. The early rise in luminosity is shown to be affected by the opacity (leakage rate) for thermal and non-thermal radiation. A general derivation of Arnett’s rule again shows that it depends upon all processes heating the plasma, not just radioactive ones, so that SNe Ia will differ from SNe Ibc if the latter have multiple heating processes.« less

Pre-nebular Light Curves of SNe I

DOE Office of Scientific and Technical Information (OSTI.GOV)

Arnett, W. David; Fryer, Christopher; Matheson, Thomas

We compare analytic predictions of supernova light curves with recent high-quality data from SN2011fe (Ia), KSN2011b (Ia), and the Palomar Transient Factory and the La Silla-QUEST variability survey (LSQ) (Ia). Because of the steady, fast cadence of observations, KSN2011b provides unique new information on SNe Ia: the smoothness of the light curve, which is consistent with significant large-scale mixing during the explosion, possibly due to 3D effects (e.g., Rayleigh–Taylor instabilities), and provides support for a slowly varying leakage (mean opacity). For a more complex light curve (SN2008D, SN Ib), we separate the luminosity due to multiple causes and indicate themore » possibility of a radioactive plume. The early rise in luminosity is shown to be affected by the opacity (leakage rate) for thermal and non-thermal radiation. A general derivation of Arnett's rule again shows that it depends upon all processes heating the plasma, not just radioactive ones, so that SNe Ia will differ from SNe Ibc if the latter have multiple heating processes.« less

Coupler for remote manipulators

NASA Technical Reports Server (NTRS)

Rudmann, A. A.

1980-01-01

Reliable, low-cost coupler alines and grasps moving and rotating objects. Coupling mechanism may be used in handling of radio-active materials or in underwater explorations and other remote manipulators.

SPITZER SPACE TELESCOPE MID-IR LIGHT CURVES OF NEPTUNE

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stauffer, John; Rebull, Luisa; Carey, Sean J.

2016-11-01

We have used the Spitzer Space Telescope in 2016 February to obtain high cadence, high signal-to-noise, 17 hr duration light curves of Neptune at 3.6 and 4.5 μ m. The light curve duration was chosen to correspond to the rotation period of Neptune. Both light curves are slowly varying with time, with full amplitudes of 1.1 mag at 3.6 μ m and 0.6 mag at 4.5 μ m. We have also extracted sparsely sampled 18 hr light curves of Neptune at W1 (3.4 μ m) and W2 (4.6 μ m) from the Wide-feld Infrared Survey Explorer ( WISE )/ NEOWISEmore » archive at six epochs in 2010–2015. These light curves all show similar shapes and amplitudes compared to the Spitzer light curves but with considerable variation from epoch to epoch. These amplitudes are much larger than those observed with Kepler / K 2 in the visible (amplitude ∼0.02 mag) or at 845 nm with the Hubble Space Telescope ( HST ) in 2015 and at 763 nm in 2016 (amplitude ∼0.2 mag). We interpret the Spitzer and WISE light curves as arising entirely from reflected solar photons, from higher levels in Neptune’s atmosphere than for K 2. Methane gas is the dominant opacity source in Neptune’s atmosphere, and methane absorption bands are present in the HST 763 and 845 nm, WISE W1, and Spitzer 3.6 μ m filters.« less

Teachers' Beliefs and Teaching Mathematics with Manipulatives

ERIC Educational Resources Information Center

Golafshani, Nahid

2013-01-01

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

Comparison of BRDF-Predicted and Observed Light Curves of GEO Satellites

NASA Astrophysics Data System (ADS)

Ceniceros, A.; Dao, P.; Gaylor, D.; Rast, R.; Anderson, J.; Pinon, E., III

Although the amount of light received by sensors on the ground from Resident Space Objects (RSOs) in geostationary orbit (GEO) is small, information can still be extracted in the form of light curves (temporal brightness or apparent magnitude). Previous research has shown promising results in determining RSO characteristics such as shape, size, reflectivity, and attitude by processing simulated light curve data with various estimation algorithms. These simulated light curves have been produced using one of several existing analytic Bidirectional Reflectance Distribution Function (BRDF) models. These BRDF models have generally come from researchers in computer graphics and machine vision and have not been shown to be realistic for telescope observations of RSOs in GEO. While BRDFs have been used for SSA analysis and characterization, there is a lack of research on the validation of BRDFs with regards to real data. In this paper, we compared telescope data provided by the Air Force Research Laboratory (AFRL) with predicted light curves from the Ashikhmin-Premoze BRDF and two additional popular illumination models, Ashikhmin-Shirley and Cook-Torrance. We computed predicted light curves based on two line mean elements (TLEs), shape model, attitude profile, observing ground station location, observation time and BRDF. The predicted light curves were then compared with AFRL telescope data. The selected BRDFS provided accurate apparent magnitude trends and behavior, but uncertainties due to lack of attitude information and deficiencies in our satellite model prevented us from obtaining a better match to the real data. The current findings present a foundation for ample future research.

A 17 degree of freedom anthropomorphic manipulator

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Cell Signaling Experiments Driven by Optical Manipulation

PubMed Central

Difato, Francesco; Pinato, Giulietta; Cojoc, Dan

2013-01-01

Cell signaling involves complex transduction mechanisms in which information released by nearby cells or extracellular cues are transmitted to the cell, regulating fundamental cellular activities. Understanding such mechanisms requires cell stimulation with precise control of low numbers of active molecules at high spatial and temporal resolution under physiological conditions. Optical manipulation techniques, such as optical tweezing, mechanical stress probing or nano-ablation, allow handling of probes and sub-cellular elements with nanometric and millisecond resolution. PicoNewton forces, such as those involved in cell motility or intracellular activity, can be measured with femtoNewton sensitivity while controlling the biochemical environment. Recent technical achievements in optical manipulation have new potentials, such as exploring the actions of individual molecules within living cells. Here, we review the progress in optical manipulation techniques for single-cell experiments, with a focus on force probing, cell mechanical stimulation and the local delivery of active molecules using optically manipulated micro-vectors and laser dissection. PMID:23698758

Optoelectronic tweezers for microparticle and cell manipulation

NASA Technical Reports Server (NTRS)

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

2009-01-01

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

Optoelectronic Tweezers for Microparticle and Cell Manipulation

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

The Effects on Students' Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives within a Physical Manipulatives-Oriented Curriculum

ERIC Educational Resources Information Center

Zacharia, Zacharias C.; de Jong, Ton

2014-01-01

This study investigates whether Virtual Manipulatives (VM) within a Physical Manipulatives (PM)-oriented curriculum affect conceptual understanding of electric circuits and related experimentation processes. A pre-post comparison study randomly assigned 194 undergraduates in an introductory physics course to one of five conditions: three…

High-pressure melting curve of hydrogen.

PubMed

Davis, Sergio M; Belonoshko, Anatoly B; Johansson, Börje; Skorodumova, Natalia V; van Duin, Adri C T

2008-11-21

The melting curve of hydrogen was computed for pressures up to 200 GPa, using molecular dynamics. The inter- and intramolecular interactions were described by the reactive force field (ReaxFF) model. The model describes the pressure-volume equation of state solid hydrogen in good agreement with experiment up to pressures over 150 GPa, however the corresponding equation of state for liquid deviates considerably from density functional theory calculations. Due to this, the computed melting curve, although shares most of the known features, yields considerably lower melting temperatures compared to extrapolations of the available diamond anvil cell data. This failure of the ReaxFF model, which can reproduce many physical and chemical properties (including chemical reactions in hydrocarbons) of solid hydrogen, hints at an important change in the mechanism of interaction of hydrogen molecules in the liquid state.

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…

NEXT Performance Curve Analysis and Validation

NASA Technical Reports Server (NTRS)

Saripalli, Pratik; Cardiff, Eric; Englander, Jacob

2016-01-01

Performance curves of the NEXT thruster are highly important in determining the thruster's ability in performing towards mission-specific goals. New performance curves are proposed and examined here. The Evolutionary Mission Trajectory Generator (EMTG) is used to verify variations in mission solutions based on both available thruster curves and the new curves generated. Furthermore, variations in BOL and EOL curves are also examined. Mission design results shown here validate the use of EMTG and the new performance curves.

Detection and manipulation of phosphoinositides.

PubMed

Idevall-Hagren, Olof; De Camilli, Pietro

2015-06-01

Phosphoinositides (PIs) are minor components of cell membranes, but play key roles in cell function. Recent refinements in techniques for their detection, together with imaging methods to study their distribution and changes, have greatly facilitated the study of these lipids. Such methods have been complemented by the parallel development of techniques for the acute manipulation of their levels, which in turn allow bypassing the long-term adaptive changes implicit in genetic perturbations. Collectively, these advancements have helped elucidate the role of PIs in physiology and the impact of the dysfunction of their metabolism in disease. Combining methods for detection and manipulation enables the identification of specific roles played by each of the PIs and may eventually lead to the complete deconstruction of the PI signaling network. Here, we review current techniques used for the study and manipulation of cellular PIs and also discuss advantages and disadvantages associated with the various methods. This article is part of a Special Issue entitled Phosphoinositides. Copyright © 2014 Elsevier B.V. All rights reserved.

Cooperative Control of Multiple Space Manipulators

DTIC Science & Technology

1993-09-01

are configured to grasp the payload once the vehicle moves within range. After the manipulators are in position, their joints are locked while the...spacecraft maneuvers to a location and attitude near the payload. Next, the vehicle approaches the payload in a straight line until the end effectors can...grasp the payload. While the manipulator joints remain locked, the vehicle repositions the entire rigid body system to the desired payload destination

Calculated mammographic spectra confirmed with attenuation curves for molybdenum, rhodium, and tungsten targets.

PubMed

Blough, M M; Waggener, R G; Payne, W H; Terry, J A

1998-09-01

A model for calculating mammographic spectra independent of measured data and fitting parameters is presented. This model is based on first principles. Spectra were calculated using various target and filter combinations such as molybdenum/molybdenum, molybdenum/rhodium, rhodium/rhodium, and tungsten/aluminum. Once the spectra were calculated, attenuation curves were calculated and compared to measured attenuation curves. The attenuation curves were calculated and measured using aluminum alloy 1100 or high purity aluminum filtration. Percent differences were computed between the measured and calculated attenuation curves resulting in an average of 5.21% difference for tungsten/aluminum, 2.26% for molybdenum/molybdenum, 3.35% for rhodium/rhodium, and 3.18% for molybdenum/rhodium. Calculated spectra were also compared to measured spectra from the Food and Drug Administration [Fewell and Shuping, Handbook of Mammographic X-ray Spectra (U.S. Government Printing Office, Washington, D.C., 1979)] and a comparison will also be presented.

A new approach to adaptive control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

ROC curves in clinical chemistry: uses, misuses, and possible solutions.

PubMed

Obuchowski, Nancy A; Lieber, Michael L; Wians, Frank H

2004-07-01

ROC curves have become the standard for describing and comparing the accuracy of diagnostic tests. Not surprisingly, ROC curves are used often by clinical chemists. Our aims were to observe how the accuracy of clinical laboratory diagnostic tests is assessed, compared, and reported in the literature; to identify common problems with the use of ROC curves; and to offer some possible solutions. We reviewed every original work using ROC curves and published in Clinical Chemistry in 2001 or 2002. For each article we recorded phase of the research, prospective or retrospective design, sample size, presence/absence of confidence intervals (CIs), nature of the statistical analysis, and major analysis problems. Of 58 articles, 31% were phase I (exploratory), 50% were phase II (challenge), and 19% were phase III (advanced) studies. The studies increased in sample size from phase I to III and showed a progression in the use of prospective designs. Most phase I studies were powered to assess diagnostic tests with ROC areas >/=0.70. Thirty-eight percent of studies failed to include CIs for diagnostic test accuracy or the CIs were constructed inappropriately. Thirty-three percent of studies provided insufficient analysis for comparing diagnostic tests. Other problems included dichotomization of the gold standard scale and inappropriate analysis of the equivalence of two diagnostic tests. We identify available software and make some suggestions for sample size determination, testing for equivalence in diagnostic accuracy, and alternatives to a dichotomous classification of a continuous-scale gold standard. More methodologic research is needed in areas specific to clinical chemistry.

Shi-style cervical manipulations for cervical radiculopathy

PubMed Central

Cui, Xue-jun; Yao, Min; Ye, Xiu-lan; Wang, Ping; Zhong, Wei-hong; Zhang, Rui-chun; Li, Hui-ying; Hu, Zhi-jun; Tang, Zhan-ying; Wang, Wei-min; Qiao, Wei-ping; Sun, Yue-li; Li, Jun; Gao, Yang; Shi, Qi; Wang, Yongjun

2017-01-01

Abstract Background: There is a lack of high-quality evidence supporting the use of manipulation therapy for patients with cervical radiculopathy (CR). This study aimed to evaluate the effectiveness of Shi-style cervical manipulations (SCMs) versus mechanical cervical traction (MCT) for CR. Methods: This was a randomized, open-label, controlled trial carried out at 5 hospitals in patients with CR for at least 2 weeks and neck pain. The patients received 6 treatments of SCM (n = 179) or MCT (n = 180) over 2 weeks. The primary outcome was participant-rated disability (neck disability index), measured 2 weeks after randomization. The secondary outcomes were participant-rated pain (visual analog scale) and health-related quality of life (36-Item Short Form Health Survey [SF-36]). Assessments were performed before, during, and after (2, 4, 12, and 24 weeks) intervention. Results: After 2 weeks of treatment, the SCM group showed a greater improvement in participant-rated disability compared with the control group (P = .018). The SCM group reported less disability compared with the control group (P < .001) during the 26-week follow-up. The difference was particularly important at 6 months (mean −28.91 ± 16.43, P < .001). Significant improvements in SF-36 were noted in both groups after 2 weeks of treatment, but there were no differences between the 2 groups. Conclusion: SCM could be a better option than MCT for the treatment of CR-related pain and disability. PMID:28767566

Manipulator for rotating and translating a sample holder

DOEpatents

van de Water, Jeroen [Breugel, NL; van den Oetelaar, Johannes [Eindhoven, NL; Wagner, Raymond [Gorinchem, NL; Slingerland, Hendrik Nicolaas [Venlo, NL; Bruggers, Jan Willem [Eindhoven, NL; Ottevanger, Adriaan Huibert Dirk [Malden, NL; Schmid, Andreas [Berkeley, CA; Olson, Eric A [Champaign, IL; Petrov, Ivan G [Champaign, IL; Donchev, Todor I [Urbana, IL; Duden, Thomas [Kensington, CA

2011-02-08

A manipulator for use in e.g. a Transmission Electron Microscope (TEM) is described, said manipulator capable of rotating and translating a sample holder (4). The manipulator clasps the round sample holder between two members (3A, 3B), said members mounted on actuators (2A, 2B). Moving the actuators in the same direction results in a translation of the sample holder, while moving the actuators in opposite directions results in a rotation of the sample holder.

Bolometric Light Curves of Peculiar Type II-P Supernovae

NASA Astrophysics Data System (ADS)

Lusk, Jeremy A.; Baron, E.

2017-04-01

We examine the bolometric light curves of five Type II-P supernovae (SNe 1998A, 2000cb, 2006V, 2006au, and 2009E), which are thought to originate from blue supergiant progenitors like that of SN 1987A, using a new python package named SuperBoL. With this code, we calculate SNe light curves using three different common techniques common from the literature: the quasi-bolometric method, which integrates the observed photometry, the direct integration method, which additionally corrects for unobserved flux in the UV and IR, and the bolometric correction method, which uses correlations between observed colors and V-band bolometric corrections. We present here the light curves calculated by SuperBoL, along with previously published light curves, as well as peak luminosities and 56Ni yields. We find that the direct integration and bolometric correction light curves largely agree with previously published light curves, but with what we believe to be more robust error calculations, with 0.2≲ δ {L}{bol}/{L}{bol}≲ 0.5. Peak luminosities and 56Ni masses are similarly comparable to previous work. SN 2000cb remains an unusual member of this sub-group, owing to the faster rise and flatter plateau than the other supernovae in the sample. Initial comparisons with the NLTE atmosphere code PHOENIX show that the direct integration technique reproduces the luminosity of a model supernova spectrum to ˜5% when given synthetic photometry of the spectrum as input. Our code is publicly available. The ability to produce bolometric light curves from observed sets of broadband light curves should be helpful in the interpretation of other types of supernovae, particularly those that are not well characterized, such as extremely luminous supernovae and faint fast objects.

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.

Large planar maneuvers for articulated flexible manipulators

NASA Technical Reports Server (NTRS)

Huang, Jen-Kuang; Yang, Li-Farn

1988-01-01

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

Serial position curves in free recall.

PubMed

Laming, Donald

2010-01-01

The scenario for free recall set out in Laming (2009) is developed to provide models for the serial position curves from 5 selected sets of data, for final free recall, and for multitrial free recall. The 5 sets of data reflect the effects of rate of presentation, length of list, delay of recall, and suppression of rehearsal. Each model accommodates the serial position curve for first recalls (where those data are available) as well as that for total recalls. Both curves are fit with the same parameter values, as also (with 1 exception) are all of the conditions compared within each experiment. The distributions of numbers of recalls are also examined and shown to have variances increased above what would be expected if successive recalls were independent. This is taken to signify that, in those experiments in which rehearsals were not recorded, the retrieval of words for possible recall follows the same pattern that is observed following overt rehearsal, namely, that retrieval consists of runs of consecutive elements from memory. Finally, 2 sets of data are examined that the present approach cannot accommodate. It is argued that the problem with these data derives from an interaction between the patterns of (covert) rehearsal and the parameters of list presentation.

Modeling and sensory feedback control for space manipulators

NASA Technical Reports Server (NTRS)

Masutani, Yasuhiro; Miyazaki, Fumio; Arimoto, Suguru

1989-01-01

The positioning control problem of the endtip of space manipulators whose base are uncontrolled is examined. In such a case, the conventional control method for industrial robots based on a local feedback at each joint is not applicable, because a solution of the joint displacements that satisfies a given position and orientation of the endtip is not decided uniquely. A sensory feedback control scheme for space manipulators based on an artificial potential defined in a task-oriented coordinates is proposed. Using this scheme, the controller can easily determine the input torque of each joint from the data of an external sensor such as a visual device. Since the external sensor is mounted on the unfixed base, the manipulator must track the moving image of the target in sensor coordinates. Moreover the dynamics of the base and the manipulator are interactive. However, the endtip is proven to asymptotically approach the stationary target in an inertial coordinate frame by the Liapunov's method. Finally results of computer simulation for a 6-link space manipulator model show the effectiveness of the proposed scheme.

Nonlinear Curve-Fitting Program

NASA Technical Reports Server (NTRS)

Everhart, Joel L.; Badavi, Forooz F.

1989-01-01

Nonlinear optimization algorithm helps in finding best-fit curve. Nonlinear Curve Fitting Program, NLINEAR, interactive curve-fitting routine based on description of quadratic expansion of X(sup 2) statistic. Utilizes nonlinear optimization algorithm calculating best statistically weighted values of parameters of fitting function and X(sup 2) minimized. Provides user with such statistical information as goodness of fit and estimated values of parameters producing highest degree of correlation between experimental data and mathematical model. Written in FORTRAN 77.

The Stealth Curriculum: Manipulating America's History Teachers

ERIC Educational Resources Information Center

Stotsky, Sandra

2004-01-01

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

Design of airborne imaging spectrometer based on curved prism

NASA Astrophysics Data System (ADS)

Nie, Yunfeng; Xiangli, Bin; Zhou, Jinsong; Wei, Xiaoxiao

2011-11-01

A novel moderate-resolution imaging spectrometer spreading from visible wavelength to near infrared wavelength range with a spectral resolution of 10 nm, which combines curved prisms with the Offner configuration, is introduced. Compared to conventional imaging spectrometers based on dispersive prism or diffractive grating, this design possesses characteristics of small size, compact structure, low mass as well as little spectral line curve (smile) and spectral band curve (keystone or frown). Besides, the usage of compound curved prisms with two or more different materials can greatly reduce the nonlinearity inevitably brought by prismatic dispersion. The utilization ratio of light radiation is much higher than imaging spectrometer of the same type based on combination of diffractive grating and concentric optics. In this paper, the Seidel aberration theory of curved prism and the optical principles of Offner configuration are illuminated firstly. Then the optical design layout of the spectrometer is presented, and the performance evaluation of this design, including spot diagram and MTF, is analyzed. To step further, several types of telescope matching this system are provided. This work provides an innovational perspective upon optical system design of airborne spectral imagers; therefore, it can offer theoretic guide for imaging spectrometer of the same kind.

Streamlines behind curved shock waves in axisymmetric flow fields

NASA Astrophysics Data System (ADS)

Filippi, A. A.; Skews, B. W.

2018-07-01

Streamlines behind axisymmetric curved shock waves were used to predict the internal surfaces that produced them. Axisymmetric ring wedge models with varying internal radii of curvature and leading-edge angles were used to produce numerical results. Said numerical simulations were validated using experimental shadowgraph results for a series of ring wedge test pieces. The streamlines behind curved shock waves for lower leading-edge angles are examined at Mach 3.4, whereas the highest leading-edge angle cases are explored at Mach 2.8 and 3.4. Numerical and theoretical streamlines are compared for the highest leading-edge angle cases at Mach 3.6. It was found that wall-bounding theoretical streamlines did not match the internal curved surface. This was due to extreme streamline curvature curving the streamlines when the shock angle approached the Mach angle at lower leading-edge angles. Increased Mach number and internal radius of curvature produced more reasonable results. Very good agreement was found between the theoretical and numerical streamlines at lower curvatures before the influence of the trailing edge expansion fan.

Bilateral and multiple cavitation sounds during upper cervical thrust manipulation

PubMed Central

2013-01-01

Background The popping produced during high-velocity, low-amplitude (HVLA) thrust manipulation is a common sound; however to our knowledge, no study has previously investigated the location of cavitation sounds during manipulation of the upper cervical spine. The primary purpose was to determine which side of the spine cavitates during C1-2 rotatory HVLA thrust manipulation. Secondary aims were to calculate the average number of pops, the duration of upper cervical thrust manipulation, and the duration of a single cavitation. Methods Nineteen asymptomatic participants received two upper cervical thrust manipulations targeting the right and left C1-2 articulation, respectively. Skin mounted microphones were secured bilaterally over the transverse process of C1, and sound wave signals were recorded. Identification of the side, duration, and number of popping sounds were determined by simultaneous analysis of spectrograms with audio feedback using custom software developed in Matlab. Results Bilateral popping sounds were detected in 34 (91.9%) of 37 manipulations while unilateral popping sounds were detected in just 3 (8.1%) manipulations; that is, cavitation was significantly (P < 0.001) more likely to occur bilaterally than unilaterally. Of the 132 total cavitations, 72 occurred ipsilateral and 60 occurred contralateral to the targeted C1-2 articulation. In other words, cavitation was no more likely to occur on the ipsilateral than the contralateral side (P = 0.294). The mean number of pops per C1-2 rotatory HVLA thrust manipulation was 3.57 (95% CI: 3.19, 3.94) and the mean number of pops per subject following both right and left C1-2 thrust manipulations was 6.95 (95% CI: 6.11, 7.79). The mean duration of a single audible pop was 5.66 ms (95% CI: 5.36, 5.96) and the mean duration of a single manipulation was 96.95 ms (95% CI: 57.20, 136.71). Conclusions Cavitation was significantly more likely to occur bilaterally than unilaterally during upper cervical HVLA

Pilot study of the impact sacroiliac joint manipulation has on walking kinematics using motion analysis technology

PubMed Central

Ward, John S.; Coats, Jesse; Sorrels, Kenneth; Walters, Mathew; Williams, Trevor

2013-01-01

Objective The purpose of this study was to evaluate the feasibility of engaging in a series of larger studies measuring the effect of sacroiliac joint manipulation on walking kinematics using motion analysis technology. Methods Twelve college students engaged in a baseline 90-second gait analysis at 1.5 mph using infrared VICON cameras. Following this, they underwent a prone heel comparison test for functional leg length inequality. Upon examination, participants were then classified as follows: left short leg, right short leg, or no short leg. Participants in each of the 2 short leg branches of this study were then randomized to receive either chiropractic manipulative therapy to the posterior superior iliac spine on the short limb side or no manipulation. Recruitment was ongoing for this pilot study until 1 participant was recruited in each of the following 5 comparative study groups: left short leg—manipulation, left short leg—no manipulation (control 1), right short leg—manipulation, right short leg—no manipulation (control 2), and no short leg (control 3). All participants then underwent another 90-second gait analysis. Data were then grouped and submitted to a blinded biomechanist to determine if there were any unique biomechanical differences between the groups. Results No statistically significant differences were measured because of this being a pilot study with a small sample size. Conclusions The data from this study indicate that a series of larger studies with this design is feasible. PMID:24396314

Using spatial uncertainty to manipulate the size of the attention focus.

PubMed

Huang, Dan; Xue, Linyan; Wang, Xin; Chen, Yao

2016-09-01

Preferentially processing behaviorally relevant information is vital for primate survival. In visuospatial attention studies, manipulating the spatial extent of attention focus is an important question. Although many studies have claimed to successfully adjust attention field size by either varying the uncertainty about the target location (spatial uncertainty) or adjusting the size of the cue orienting the attention focus, no systematic studies have assessed and compared the effectiveness of these methods. We used a multiple cue paradigm with 2.5° and 7.5° rings centered around a target position to measure the cue size effect, while the spatial uncertainty levels were manipulated by changing the number of cueing positions. We found that spatial uncertainty had a significant impact on reaction time during target detection, while the cue size effect was less robust. We also carefully varied the spatial scope of potential target locations within a small or large region and found that this amount of variation in spatial uncertainty can also significantly influence target detection speed. Our results indicate that adjusting spatial uncertainty is more effective than varying cue size when manipulating attention field size.

Immediate effects of a high-velocity spine manipulation in paraspinal muscles activity of nonspecific chronic low-back pain subjects.

PubMed

Bicalho, Eduardo; Setti, João Antônio Palma; Macagnan, Jones; Cano, José Luis Rivas; Manffra, Elisangela Ferretti

2010-10-01

High-velocity spinal manipulation is commonly adopted for treating chronic low-back pain (CLBP) and has been associated with changes in muscle activity, but the evidence is controversial. The aim of this study was to analyse the immediate effects of high-velocity spine manipulation on paraspinal activity during flexion-extension trunk movements. Forty nonspecific CLBP patients were randomised into two groups, manipulation (n = 20) and control (n = 20). While the manipulation group received high-velocity spine manipulation at the L4-L5 level, the control group remained lying in the same position. EMG-related variables, perceived pain intensity (100 mm VAS) and finger-floor distance were collected before and after spinal manipulation at the L4-L5 level. EMG surface signals from the right and left paraspinal muscles (L5-S1 level) were acquired during trunk flexion-extension cycles. EMG activity during the static relaxation phase was significantly reduced following intervention for the manipulation group but not for the control group. The extension-phase EMG activity was also reduced after manipulation, but the flexion-phase EMG levels remained unchanged. Accordingly, the percent changes in FRR and ERR were significantly larger for the manipulation group compared to the control. The results suggest that a high-velocity spinal manipulation is able to acutely reduce abnormal EMG activity during the full-flexion static phase and activation during the extension phase. Copyright 2010 Elsevier Ltd. All rights reserved.

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2013 CFR

2013-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Manipulation of controls. 135.115 Section...

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2011 CFR

2011-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Manipulation of controls. 135.115 Section...

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2012 CFR

2012-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Manipulation of controls. 135.115 Section...

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2014 CFR

2014-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Manipulation of controls. 135.115 Section...

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2010 CFR

2010-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Manipulation of controls. 135.115 Section...

19 CFR 19.32 - Wheat manipulation; reconditioning.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 19 Customs Duties 1 2010-04-01 2010-04-01 false Wheat manipulation; reconditioning. 19.32 Section... Bonded for the Storage of Wheat § 19.32 Wheat manipulation; reconditioning. (a) The mixing, blending, or commingling of imported wheat and domestic wheat, or of imported wheat of different classes and grades, as an...

High precision tracking of a piezoelectric nano-manipulator with parameterized hysteresis compensation

NASA Astrophysics Data System (ADS)

Yan, Peng; Zhang, Yangming

2018-06-01

High performance scanning of nano-manipulators is widely deployed in various precision engineering applications such as SPM (scanning probe microscope), where trajectory tracking of sophisticated reference signals is an challenging control problem. The situation is further complicated when rate dependent hysteresis of the piezoelectric actuators and the stress-stiffening induced nonlinear stiffness of the flexure mechanism are considered. In this paper, a novel control framework is proposed to achieve high precision tracking of a piezoelectric nano-manipulator subjected to hysteresis and stiffness nonlinearities. An adaptive parameterized rate-dependent Prandtl-Ishlinskii model is constructed and the corresponding adaptive inverse model based online compensation is derived. Meanwhile a robust adaptive control architecture is further introduced to improve the tracking accuracy and robustness of the compensated system, where the parametric uncertainties of the nonlinear dynamics can be well eliminated by on-line estimations. Comparative experimental studies of the proposed control algorithm are conducted on a PZT actuated nano-manipulating stage, where hysteresis modeling accuracy and excellent tracking performance are demonstrated in real-time implementations, with significant improvement over existing results.

Optothermal Manipulations of Colloidal Particles and Living Cells.

PubMed

Lin, Linhan; Hill, Eric H; Peng, Xiaolei; Zheng, Yuebing

2018-05-25

Optical manipulation techniques are important in many fields. For instance, they enable bottom-up assembly of nanomaterials and high-resolution and in situ analysis of biological cells and molecules, providing opportunities for discovery of new materials, medical diagnostics, and nanomedicines. Traditional optical tweezers have their applications limited due to the use of rigorous optics and high optical power. New strategies have been established for low-power optical manipulation techniques. Optothermal manipulation, which exploits photon-phonon conversion and matter migration under a light-controlled temperature gradient, is one such emerging technique. Elucidation of the underlying physics of optothermo-matter interaction and rational engineering of optical environments are required to realize diverse optothermal manipulation functionalities. This Account covers the working principles, design concepts, and applications of a series of newly developed optothermal manipulation techniques, including bubble-pen lithography, opto-thermophoretic tweezers, opto-thermoelectric tweezers, optothermal assembly, and opto-thermoelectric printing. In bubble-pen lithography, optical heating of a plasmonic substrate generates microbubbles at the solid-liquid interface to print diverse colloidal particles on the substrates. Programmable bubble printing of semiconductor quantum dots on different substrates and haptic control of printing have also been achieved. The key to optothermal tweezers is the ability to deliver colloidal particles from cold to hot regions of a temperature gradient or a negative Soret effect. We explore different driving forces for the two types of optothermal tweezers. Opto-thermophoretic tweezers rely on an abnormal permittivity gradient built by structured solvent molecules in the electric double layer of colloidal particles and living cells in response to heat-induced entropy, and opto-thermoelectric tweezers exploit a thermophoresis

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Kreutz, K.; Milman, M.

1988-01-01

A powerful new spatial operator algebra for modeling, control, and trajectory design of manipulators is discussed along with its implementation in the Ada programming language. Applications of this algebra to robotics include an operator representation of the manipulator Jacobian matrix; the robot dynamical equations formulated in terms of the spatial algebra, showing the complete equivalence between the recursive Newton-Euler formulations to robot dynamics; the operator factorization and inversion of the manipulator mass matrix which immediately results in O(N) recursive forward dynamics algorithms; the joint accelerations of a manipulator due to a tip contact force; the recursive computation of the equivalent mass matrix as seen at the tip of a manipulator; and recursive forward dynamics of a closed chain system. Finally, additional applications and current research involving the use of the spatial operator algebra are discussed in general terms.

Preliminary Investigation of Curved Liner Sample in the NASA LaRC Curved Duct Test Rig

NASA Technical Reports Server (NTRS)

Gerhold, Carl H.; Jones, Michael G.; Brown, Martha C.

2007-01-01

This viewgraph presentation reviews the preliminary investigation of the curved liner sample in the NASA LaRC Curved Duct Test Rig (CDTR). It reviews the purpose of the Curved Duct Test Rig. Its purpose is to develop capability to investigate acoustic and aerodynamic properties in ducts. It has several features to accomplish that purpose: (1) Large scale (2) Flow rate to M = 0.275 (3) Higher order mode control (4) Curved flow path (5) Adaptable test section (6) Flexible test configurations. The liner has minimal effect on turbulence or boundary layer growth in duct. The curved duct sample attenuation is affected by mode scattering. In conclusion, the CDTR is valid tool for aerodynamic and acoustic evaluation of duct treatment

Manipulation of light via subwavelength nanostructures

NASA Astrophysics Data System (ADS)

Yinghong, Gu

Subwavelength nanostructures have exhibited different and controllable optical characteristics from their original material, leading a way to artificial metamaterials and metasurfaces. These nanostructures interact with light with surface plasmon resonances, cavity and waveguide modes, scattering and diffractions and etc., so they can realize the manipulation of light, which has attracted enduring and fanatic research interest, ranging from visible light, infrared light, THz to microwaves. Nanostructures, which are welldesigned and patterned to control and engineer the resonances, have realized and improved the performance of numerous optical applications such as color printing, perfect absorption, waveplates, planar lens, holograms, cloaking, optical trapping and sensing. This thesis has presents several works on manipulating light with subwavelength nanostructures, which can be generalized into two main parts. In the first part our works are manipulating far-field characteristics of light by meta-surfaces, including the high resolution color printing and imaging with spectra manipulation, and quarter wave plate (QWP) with the phase and polarization manipulation. For the color generation applications, we have presented a comprehensive literature review on the recent developments of plasmonic colors, and then we reported our ultra-high resolution nonplasmonic color printing with ultra-narrow Si fin nanostructures and an efficient TMM calculation. For the quarter wave plate, we present a series works of plasmonic QWPs including active hybrid QWPs working at multi-wavelength in visible/near-infrared light, and in THz range based on similar mechanism. The other main part is the near-field manipulation of light by nanostructures including two aspects. One is the direct excited dark modes, and the other is the photoluminescence (PL) enhancement by nanostructures. We have proposed a new mechanism to directly excite dark modes by using an electrical shorting approach with

Kinematically Optimal Robust Control of Redundant Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Motorized manipulator for positioning a TEM specimen

DOEpatents

Schmid, Andreas Karl; Andresen, Nord

2010-12-14

The invention relates to a motorized manipulator for positioning a TEM specimen holder with sub-micron resolution parallel to a y-z plane and rotating the specimen holder in the y-z plane, the manipulator comprising a base (2), and attachment means (30) for attaching the specimen holder to the manipulator, characterized in that the manipulator further comprises at least three nano-actuators (3.sup.a, 3.sup.b, 3.sup.c) mounted on the base, each nano-actuator showing a tip (4.sup.a, 4.sup.b, 4.sup.c), the at least three tips defining the y-z plane, each tip capable of moving with respect to the base in the y-z plane; a platform (5) in contact with the tips of the nano-actuators; and clamping means (6) for pressing the platform against the tips of the nano-actuators; as a result of which the nano-actuators can rotate the platform with respect to the base in the y-z plane and translate the platform parallel to the y-z plane.

Mobilization and Manipulation of the Cervical Spine in Patients with Cervicogenic Headache: Any Scientific Evidence?

PubMed

Garcia, Jodan D; Arnold, Stephen; Tetley, Kylie; Voight, Kiel; Frank, Rachael Anne

2016-01-01

Cervical mobilization and manipulation are frequently used to treat patients diagnosed with cervicogenic headache (CEH); however, there is conflicting evidence on the efficacy of these manual therapy techniques. The purpose of this review is to investigate the effects of cervical mobilization and manipulation on pain intensity and headache frequency, compared to traditional physical therapy interventions in patients diagnosed with CEH. A total of 66 relevant studies were originally identified through a review of the literature, and the 25 most suitable articles were fully evaluated via a careful review of the text. Ultimately, 10 studies met the inclusion criteria: (1) randomized controlled trial (RCT) or open RCT; the study contained at least two separate groups of subjects that were randomly assigned either to a cervical spine mobilization or manipulation or a group that served as a comparison; (2) subjects must have had a diagnosis of CEH; (3) the treatment group received either spinal mobilization or spinal manipulation, while the control group received another physical therapy intervention or placebo control; and (4) the study included headache pain and frequency as outcome measurements. Seven of the 10 studies had statistically significant findings that subjects who received mobilization or manipulation interventions experienced improved outcomes or reported fewer symptoms than control subjects. These results suggest that mobilization or manipulation of the cervical spine may be beneficial for individuals who suffer from CEH, although heterogeneity of the studies makes it difficult to generalize the findings.

Gene expression during zombie ant biting behavior reflects the complexity underlying fungal parasitic behavioral manipulation.

PubMed

de Bekker, Charissa; Ohm, Robin A; Loreto, Raquel G; Sebastian, Aswathy; Albert, Istvan; Merrow, Martha; Brachmann, Andreas; Hughes, David P

2015-08-19

Adaptive manipulation of animal behavior by parasites functions to increase parasite transmission through changes in host behavior. These changes can range from slight alterations in existing behaviors of the host to the establishment of wholly novel behaviors. The biting behavior observed in Carpenter ants infected by the specialized fungus Ophiocordyceps unilateralis s.l. is an example of the latter. Though parasitic manipulation of host behavior is generally assumed to be due to the parasite's gene expression, few studies have set out to test this. We experimentally infected Carpenter ants to collect tissue from both parasite and host during the time period when manipulated biting behavior is experienced. Upon observation of synchronized biting, samples were collected and subjected to mixed RNA-Seq analysis. We also sequenced and annotated the O. unilateralis s.l. genome as a reference for the fungal sequencing reads. Our mixed transcriptomics approach, together with a comparative genomics study, shows that the majority of the fungal genes that are up-regulated during manipulated biting behavior are unique to the O. unilateralis s.l. genome. This study furthermore reveals that the fungal parasite might be regulating immune- and neuronal stress responses in the host during manipulated biting, as well as impairing its chemosensory communication and causing apoptosis. Moreover, we found genes up-regulated during manipulation that putatively encode for proteins with reported effects on behavioral outputs, proteins involved in various neuropathologies and proteins involved in the biosynthesis of secondary metabolites such as alkaloids.

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…

Knee manipulation under anaesthetic following total knee arthroplasty: a matched cohort design.

PubMed

Dzaja, I; Vasarhelyi, E M; Lanting, B A; Naudie, D D; Howard, J L; Somerville, L; McCalden, R W; MacDonald, S J

2015-12-01

The purpose of this study was to compare clinical outcomes of total knee arthroplasty (TKA) after manipulation under anaesthesia (MUA) for post-operative stiffness with a matched cohort of TKA patients who did not requre MUA. In total 72 patients (mean age 59.8 years, 42 to 83) who underwent MUA following TKA were identified from our prospective database and compared with a matched cohort of patients who had undergone TKA without subsequent MUA. Patients were evaluated for range of movement (ROM) and clinical outcome scores (Western Ontario and McMaster Universities Arthritis Index, Short-Form Health Survey, and Knee Society Clinical Rating System) at a mean follow-up of 36.4 months (12 to 120). MUA took place at a mean of nine weeks (5 to 18) after TKA. In patients who required MUA, mean flexion deformity improved from 10° (0° to 25°) to 4.4° (0° to 15°) (p < 0.001), and mean range of flexion improved from 79.8° (65° to 95°) to 116° (80° to 130°) (p < 0.001). There were no statistically significant differences in ROM or functional outcome scores at three months, one year, or two years between those who required MUA and those who did not. There were no complications associated with manipulation. At most recent follow-up, patients requiring MUA achieved equivalent ROM and clinical outcome scores when compared with a matched control group. While other studies have focused on ROM after manipulation, the current study adds to current literature by supplementing this with functional outcome scores. ©2015 The British Editorial Society of Bone & Joint Surgery.

Compression-based integral curve data reuse framework for flow visualization

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hong, Fan; Bi, Chongke; Guo, Hanqi

Currently, by default, integral curves are repeatedly re-computed in different flow visualization applications, such as FTLE field computation, source-destination queries, etc., leading to unnecessary resource cost. We present a compression-based data reuse framework for integral curves, to greatly reduce their retrieval cost, especially in a resource-limited environment. In our design, a hierarchical and hybrid compression scheme is proposed to balance three objectives, including high compression ratio, controllable error, and low decompression cost. Specifically, we use and combine digitized curve sparse representation, floating-point data compression, and octree space partitioning to adaptively achieve the objectives. Results have shown that our data reusemore » framework could acquire tens of times acceleration in the resource-limited environment compared to on-the-fly particle tracing, and keep controllable information loss. Moreover, our method could provide fast integral curve retrieval for more complex data, such as unstructured mesh data.« less

Proto-Flight Manipulator Arm (P-FMA)

NASA Technical Reports Server (NTRS)

Britton, W. R.

1977-01-01

The technical development of the Proto-Flight Manipulator Arm (P-FMA) which is a seven-degree-of-freedom general-purpose arm capable of being remotely operated in an earth orbital environment is discussed. The P-FMA is a unique manipulator, combining the capabilities of significant dexterity, high tip forces, precise motion control, gear backdriveability, high end effector grip forces and torques, and the quality of flightworthiness. The 2.4-meter (8-foot) arm weighs 52.2 kilograms (115 pounds).

Novel hybrid (magnet plus curve grasper) technique during transumbilical cholecystectomy: initial experience of a promising approach.

PubMed

Millan, Carolina; Bignon, Horacion; Bellia, Gaston; Buela, Enrique; Rabinovich, Fernando; Albertal, Mariano; Martinez Ferro, Marcelo

2013-10-01

The use of magnets in transumbilical cholecystectomy (TUC) improves triangulation and achieves an optimal critical view. Nonetheless, the tendency of the magnets to collide hinders the process. In order to simplify the surgical technique, we developed a hybrid model with a single magnet and a curved grasper. All TUCs performed with a hybrid strategy in our pediatric population between September 2009 and July 2012 were retrospectively reviewed. Of 260 surgical procedures in which at least one magnet was used, 87 were TUCs. Of those, 62 were hybrid: 33 in adults and 29 in pediatric patients. The technique combines a magnet and a curved grasper. Through a transumbilical incision, we placed a 12-mm trocar and another flexible 5-mm trocar. The laparoscope with the working channel used the 12-mm trocar. The magnetic grasper was introduced to the abdominal cavity using the working channel to provide cephalic retraction of the gallbladder fundus. Across the flexible trocar, the assistant manipulated the curved grasper to mobilize the infundibulum. The surgeon operated through the working channel of the laparoscope. In this pediatric population, the mean age was 14 years (range, 4-17 years), and mean weight was 50 kg (range, 18-90 kg); 65% were girls. Mean operative time was 62 minutes. All procedures achieved a critical view of safety with no instrumental collision. There were no intraoperative or postoperative complications. The hospital stay was 1.4±0.6 days, and the median follow-up was 201 days. A hybrid technique, combining magnets and a curved grasper, simplifies transumbilical surgery. It seems feasible and safe for TUC and potentially reproducible.

Estimating site index of ponderosa pine in Northern California...standard curves, soil series, stem analysis

Treesearch

Robert F. Powers

1972-01-01

Four sets of standard site index curves based on statewide or regionwide averages were compared with data on natural growth from nine young stands of ponderosa pine in northern California. The curves tested were by Meyer; Dunning; Dunning and Reineke; and Arvanitis, Lindquist, and Palley. The effects of soils on height growth were also studied. Among the curves tested...

Flow in curved ducts of varying cross-section

NASA Astrophysics Data System (ADS)

Sotiropoulos, F.; Patel, V. C.

1992-07-01

Two numerical methods for solving the incompressible Navier-Stokes equations are compared with each other by applying them to calculate laminar and turbulent flows through curved ducts of regular cross-section. Detailed comparisons, between the computed solutions and experimental data, are carried out in order to validate the two methods and to identify their relative merits and disadvantages. Based on the conclusions of this comparative study a numerical method is developed for simulating viscous flows through curved ducts of varying cross-sections. The proposed method is capable of simulating the near-wall turbulence using fine computational meshes across the sublayer in conjunction with a two-layer k-epsilon model. Numerical solutions are obtained for: (1) a straight transition duct geometry, and (2) a hydroturbine draft-tube configuration at model scale Reynolds number for various inlet swirl intensities. The report also provides a detailed literature survey that summarizes all the experimental and computational work in the area of duct flows.

The standard centrifuge method accurately measures vulnerability curves of long-vesselled olive stems.

PubMed

Hacke, Uwe G; Venturas, Martin D; MacKinnon, Evan D; Jacobsen, Anna L; Sperry, John S; Pratt, R Brandon

2015-01-01

The standard centrifuge method has been frequently used to measure vulnerability to xylem cavitation. This method has recently been questioned. It was hypothesized that open vessels lead to exponential vulnerability curves, which were thought to be indicative of measurement artifact. We tested this hypothesis in stems of olive (Olea europea) because its long vessels were recently claimed to produce a centrifuge artifact. We evaluated three predictions that followed from the open vessel artifact hypothesis: shorter stems, with more open vessels, would be more vulnerable than longer stems; standard centrifuge-based curves would be more vulnerable than dehydration-based curves; and open vessels would cause an exponential shape of centrifuge-based curves. Experimental evidence did not support these predictions. Centrifuge curves did not vary when the proportion of open vessels was altered. Centrifuge and dehydration curves were similar. At highly negative xylem pressure, centrifuge-based curves slightly overestimated vulnerability compared to the dehydration curve. This divergence was eliminated by centrifuging each stem only once. The standard centrifuge method produced accurate curves of samples containing open vessels, supporting the validity of this technique and confirming its utility in understanding plant hydraulics. Seven recommendations for avoiding artefacts and standardizing vulnerability curve methodology are provided. © 2014 The Authors. New Phytologist © 2014 New Phytologist Trust.

Curved-line search algorithm for ab initio atomic structure relaxation

NASA Astrophysics Data System (ADS)

Chen, Zhanghui; Li, Jingbo; Li, Shushen; Wang, Lin-Wang

2017-09-01

Ab initio atomic relaxations often take large numbers of steps and long times to converge, especially when the initial atomic configurations are far from the local minimum or there are curved and narrow valleys in the multidimensional potentials. An atomic relaxation method based on on-the-flight force learning and a corresponding curved-line search algorithm is presented to accelerate this process. Results demonstrate the superior performance of this method for metal and magnetic clusters when compared with the conventional conjugate-gradient method.

Comparison of spinal manipulation methods and usual medical care for acute and subacute low back pain: a randomized clinical trial.

PubMed

Schneider, Michael; Haas, Mitchell; Glick, Ronald; Stevans, Joel; Landsittel, Doug

2015-02-15

Randomized controlled trial with follow-up to 6 months. This was a comparative effectiveness trial of manual-thrust manipulation (MTM) versus mechanical-assisted manipulation (MAM); and manipulation versus usual medical care (UMC). Low back pain (LBP) is one of the most common conditions seen in primary care and physical medicine practice. MTM is a common treatment for LBP. Claims that MAM is an effective alternative to MTM have yet to be substantiated. There is also question about the effectiveness of manipulation in acute and subacute LBP compared with UMC. A total of 107 adults with onset of LBP within the past 12 weeks were randomized to 1 of 3 treatment groups: MTM, MAM, or UMC. Outcome measures included the Oswestry LBP Disability Index (0-100 scale) and numeric pain rating (0-10 scale). Participants in the manipulation groups were treated twice weekly during 4 weeks; subjects in UMC were seen for 3 visits during this time. Outcome measures were captured at baseline, 4 weeks, 3 months, and 6 months. Linear regression showed a statistically significant advantage of MTM at 4 weeks compared with MAM (disability = -8.1, P = 0.009; pain = -1.4, P = 0.002) and UMC (disability = -6.5, P = 0.032; pain = -1.7, P < 0.001). Responder analysis, defined as 30% and 50% reductions in Oswestry LBP Disability Index scores revealed a significantly greater proportion of responders at 4 weeks in MTM (76%; 50%) compared with MAM (50%; 16%) and UMC (48%; 39%). Similar between-group results were found for pain: MTM (94%; 76%); MAM (69%; 47%); and UMC (56%; 41%). No statistically significant group differences were found between MAM and UMC, and for any comparison at 3 or 6 months. MTM provides greater short-term reductions in self-reported disability and pain scores compared with UMC or MAM. 2.

Lower extremity kinematics of athletics curve sprinting.

PubMed

Alt, Tobias; Heinrich, Kai; Funken, Johannes; Potthast, Wolfgang

2015-01-01

Curve running requires the generation of centripetal force altering the movement pattern in comparison to the straight path run. The question arises which kinematic modulations emerge while bend sprinting at high velocities. It has been suggested that during curve sprints the legs fulfil different functions. A three-dimensional motion analysis (16 high-speed cameras) was conducted to compare the segmental kinematics of the lower extremity during the stance phases of linear and curve sprints (radius: 36.5 m) of six sprinters of national competitive level. Peak joint angles substantially differed in the frontal and transversal plane whereas sagittal plane kinematics remained unchanged. During the prolonged left stance phase (left: 107.5 ms, right: 95.7 ms, straight: 104.4 ms) the maximum values of ankle eversion (left: 12.7°, right: 2.6°, straight: 6.6°), hip adduction (left: 13.8°, right: 5.5°, straight: 8.8°) and hip external rotation (left: 21.6°, right: 12.9°, straight: 16.7°) were significantly higher. The inside leg seemed to stabilise the movement in the frontal plane (eversion-adduction strategy) whereas the outside leg provided and controlled the motion in the horizontal plane (rotation strategy). These results extend the principal understanding of the effects of curve sprinting on lower extremity kinematics. This helps to increase the understanding of nonlinear human bipedal locomotion, which in turn might lead to improvements in athletic performance and injury prevention.

A motion sensing-based framework for robotic manipulation.

PubMed

Deng, Hao; Xia, Zeyang; Weng, Shaokui; Gan, Yangzhou; Fang, Peng; Xiong, Jing

2016-01-01

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human-machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.

Base reaction optimization of redundant manipulators for space applications

NASA Technical Reports Server (NTRS)

Chung, C. L.; Desa, S.; Desilva, C. W.

1988-01-01

One of the problems associated with redundant manipulators which were proposed for space applications is that the reactions transmitted to the base of the manipulator as a result of the motion of the manipulator will cause undesirable effects on the dynamic behavior of the supporting space structure. It is therefore necessary to minimize the magnitudes of the forces and moments transmitted to the base. It is shown that kinematic redundancy can be used to solve the dynamic problem of minimizing the magnitude of the base reactions. The methodology described is applied to a four degree-of-freedom spatial manipulator with one redundant degree-of-freedom.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Jain, A.; Kreutz-Delgado, K.

1991-01-01

A recently developed spatial operator algebra for manipulator modeling, control, and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and for control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics.

Flood damage curves for consistent global risk assessments

NASA Astrophysics Data System (ADS)

de Moel, Hans; Huizinga, Jan; Szewczyk, Wojtek

2016-04-01

Assessing potential damage of flood events is an important component in flood risk management. Determining direct flood damage is commonly done using depth-damage curves, which denote the flood damage that would occur at specific water depths per asset or land-use class. Many countries around the world have developed flood damage models using such curves which are based on analysis of past flood events and/or on expert judgement. However, such damage curves are not available for all regions, which hampers damage assessments in those regions. Moreover, due to different methodologies employed for various damage models in different countries, damage assessments cannot be directly compared with each other, obstructing also supra-national flood damage assessments. To address these problems, a globally consistent dataset of depth-damage curves has been developed. This dataset contains damage curves depicting percent of damage as a function of water depth as well as maximum damage values for a variety of assets and land use classes (i.e. residential, commercial, agriculture). Based on an extensive literature survey concave damage curves have been developed for each continent, while differentiation in flood damage between countries is established by determining maximum damage values at the country scale. These maximum damage values are based on construction cost surveys from multinational construction companies, which provide a coherent set of detailed building cost data across dozens of countries. A consistent set of maximum flood damage values for all countries was computed using statistical regressions with socio-economic World Development Indicators from the World Bank. Further, based on insights from the literature survey, guidance is also given on how the damage curves and maximum damage values can be adjusted for specific local circumstances, such as urban vs. rural locations, use of specific building material, etc. This dataset can be used for consistent supra

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…