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Sample records for 241-c-106 manipulator retrieval

  1. Preliminary safety equipment list for Tank 241-C-106 Manipulator Retrieval System, Project W-340

    SciTech Connect

    Guthrie, R.L.

    1994-09-23

    This document identifies the anticipated safety classification of the estimated major subsystems, based on the projected major functions, that will be used as guidance for the development of the conceptual design of the Manipulator Retrieval System for Tank 241-C-106. This document is intended to be updated as the design of the Manipulator Retrieval System evolves through the conceptual and definitive design phases. The Manipulator Retrieval System is to be capable of removing the hardened sludge heel at the bottom of single shell Tank 241-C-106 and to perform an overall clean out of the tank that leaves a maximum of 360 ft{sup 3} (TPA milestone M-45-00). The thickness of the heel prior to initiation of waste retrieval with the Manipulator Retrieval System is estimated to be 1- to 2-ft. The Manipulator Retrieval System is currently in the pre-conceptual phase with no definitive systems or subsystems. The anticipated retrieval functions for the Manipulator Retrieval System is based on Table 6-2 of WHC-SD-W340-ES-001, Rev. 1. Projected equipment to accomplish these functions were based on the following systems and equipment: Rotary Mode Core Sampling Equipment (WHC-SD-WM-SEL-032); Light Duty Utility Arm System Equipment (WHC-SD-WM-SEL-034); Single Shell Tanks Equipment (WHC-SD-WM-SEL-020).

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

    SciTech Connect

    Conner, J.C.

    1996-01-25

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

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

    SciTech Connect

    Carothers, K.G.

    1998-07-25

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

  4. Project W-340 tank 241-C-106 manipulator system closeout summary

    SciTech Connect

    McDaniel, L.B.

    1995-02-01

    This document summarizes the work that was ongoing when Project W-340 was put on hold. Project W-340: Tank 241-C-106 Manipulator Retrieval System, was a candidate FY98 Major System Acquisition. The project was to develop, procure and deploy a Long Reach Manipulator (LRM) waste retrieval system to provide an alternate method to completing the in-tank demonstration of Single Shell Tank waste retrieval technology. The need for enhanced capabilities derives from (1) the inability of the baseline technology to retrieve certain hard waste forms; (2) uncertainty in the quantity of leakage which will be allowed. Numerous studies over the years have identified an arm architecture as a promising retrieval technology to overcome these concerns. The W340 project was intended to further develop and demonstrate this alternative, as part of selecting the best approach for all tanks. Prior to completing the effort, it was determined that an LRM system was too architecture specific and was envisioned to be too expensive for a one time demonstration of retrieval technology. At the time the work was stopped, an effort was underway to broaden the project scope to allow alternatives to an arm-based system.

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

    SciTech Connect

    1995-02-01

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

  6. Review of Waste Retrieval Sluicing System Operations and Data for Tanks 241-C-106 and 241-AY-102

    SciTech Connect

    Cuta, Judith M.; Carothers, Kelly G.; Damschen, Dennis W.; Kuhn, William L.; Lechelt, Jeanne A.; Sathyanarayana, Kurabalakota; Stauffer, Leslie A.

    2000-09-26

    Sluicing operations were performed to retrieve high-heat sludge from single-shell tank 241-C-106 and transfer it to double-shell tank 241-AY-102 using the Waste Retrieval Sluicing System. This eliminated the high-heat safety issue for C-106 and demonstrated a technology for retrieval of single-shell tank waste. Both AY-102 and C-106 were monitored during the waste transfer operations, providing a clear picture of general trends in each tank. Specific issues addressed were evaluation of the data for evidence of flammable gas accumulation in AY-102 and thermal performance of AY-102 under the increasing heat load.

  7. Engineering study of tank leaks related to hydraulic retrieval of sludge from tank 241-C-106. Revision 1

    SciTech Connect

    Lowe, S.S.; Carlos, W.C.; Irwin, J.J.; Khaleel, R.; Kline, N.W.; Ludowise, J.D.; Marusich, R.M.; Rittman, P.D.

    1993-06-09

    This study evaluates hydraulic retrieval (sluicing) of the waste in single-shell tank 241-C-106 with respect to the likelihood of tank leaks, gross volumes of potential leaks, and their consequences. A description of hydraulic retrieval is developed to establish a baseline for the study. Leak models are developed based on postulated leak mechanisms to estimate the amount of waste that could potentially leak while sluicing. Transport models describe the movement of the waste constituents in the surrounding soil and groundwater after a leak occurs. Environmental impact and risk associated with tank leaks are evaluated. Transport of leaked material to the groundwater is found to be dependent on the rate of recharge of moisture in the soil for moderate-sized leaks. Providing a cover over the tank and surrounding area would eliminate the recharge. The bulk of any leaked material would remain in the vicinity of the tank for remedial action.

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

    SciTech Connect

    Conner, J.C.

    1994-11-15

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

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

    SciTech Connect

    LOCKREM, L.L.

    1999-08-13

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

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

    SciTech Connect

    Bailey, J.W.

    1998-08-07

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

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

    SciTech Connect

    Bailey, J.W.

    1998-08-06

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

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

    SciTech Connect

    Hays, C.B.

    1998-01-28

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-24

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-29

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

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

    SciTech Connect

    Bailey, J.W.

    1998-08-07

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

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

    SciTech Connect

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

    2005-06-03

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-25

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

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

    SciTech Connect

    Phillips, D.R.

    1994-07-01

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

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

    SciTech Connect

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

    2007-05-23

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

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

    SciTech Connect

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

    2006-09-01

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

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

    SciTech Connect

    Ostrom, M.J.

    1994-11-01

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

  2. Tank 241-C-106 vapor sampling and analysis tank characterization report

    SciTech Connect

    Huckaby, J.L.

    1995-05-31

    This report presents the details of the Hanford waste tank characterization study for tank 241-C-106. The drivers and objectives of the headspace vapor sampling and analysis were in accordance with procedures that were presented in other reports. The vapor and headspace gas samples were collected and analyzed to determine the potential risks to tank farm workers due to fugitive emissions from the tank.

  3. Chemical compatibility of tank wastes in 241-C-106, 241-AY-101, and 241-AY-102

    SciTech Connect

    Sederburg, J.P.

    1994-08-03

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

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

    SciTech Connect

    Sederburg, J.P.

    1994-05-04

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

  5. An assessment of the potential for a steam bump in Hanford Waste Tank 241-C-106

    SciTech Connect

    Bander, T.J.; Crea, B.

    1994-09-28

    This document is a preliminary assessment of the potential for a ``steam bump`` in Tank 241-C-106. The assessment is based on currently available data from significant transients which occurred in Tank C-106. Recommendations are made for additional data needs to clarify the current behavior of this tank. General criteria are provided for making decisions on removing or returning to work restrictions on Tank Farm operations. Also provided are additional actions which should be taken on C-106 to manage tank heat removal.

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

    SciTech Connect

    Stewart, C.W.; Chen, G.

    1998-06-01

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

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

    SciTech Connect

    Ewalt, J.R.

    1993-09-01

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

  8. Action plan for response to excessive temperature in high heat source waste tank 241-C-106 at the Hanford site. Revision 1

    SciTech Connect

    DeFigh-Price, C.; Wang, O.S.

    1993-06-01

    This action plan identifies the responses that shall be implemented if anomalies in temperature measurements, or conditions that could lead to temperature anomalies (such as a leaking tank), are observed in tank 241-C-106 of the Hanford site C Tank Farm. This plan also summarizes (1) the criteria and specification limits required for ensuring that tank 241-C-106 is maintained in a safe condition; (2) the responsible organizations for tank 241-C-106; and (3) response actions to prevent or mitigate safety concerns. The main safety concern unique to tank 241-C-106 is the temperature rise due to heat generation by the waste content.

  9. Uncertainties in the measured quantities of water leaving waste Tank 241-C-106 via the ventilation system

    SciTech Connect

    Minteer, D.J.

    1995-01-23

    The purpose of this analysis is to estimate the uncertainty in the measured quantity of water which typically leaves Tank 241-C-106 via the ventilation system each month. Such measurements are essential for heat removal estimation and tank liquid level verification purposes. The uncertainty associated with the current, infrequent, manual method of measurement (involves various psychrometric and pressure measurements) is suspected to be unreasonably high. Thus, the possible reduction of this uncertainty using a continuous, automated method of measurement will also be estimated. There are three major conclusions as a result of this analysis: (1) the uncertainties associated with the current (infrequent, manual) method of measuring the water which typically leaves Tank 241-C-106 per month via the ventilation system are indeed quite high (80% to 120%); (2) given the current psychrometric and pressure measurement methods and any tank which loses considerable moisture through active ventilation, such as Tank 241-C-106, significant quantities of liquid can actually leak from the tank before a leak can be positively identified via liquid level measurement; (3) using improved (continuous, automated) methods of taking the psychrometric and pressure measurements, the uncertainty in the measured quantity of water leaving Tank 241-C-106 via the ventilation system can be reduced by approximately an order of magnitude.

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

    SciTech Connect

    Calmus, D.B.

    1994-08-25

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

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

    SciTech Connect

    STAUFFER, L.A.

    1999-06-02

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

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

    SciTech Connect

    Hays, W.H.

    1998-03-23

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

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

    SciTech Connect

    May, T.H., Westinghouse Hanford

    1996-08-26

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-30

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-22

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

  16. Project W-320, 241-C-106 sluicing: Civil/structural calculations. Volume 3

    SciTech Connect

    Bailey, J.W.

    1998-07-24

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

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

    SciTech Connect

    Bailey, J.W.

    1998-08-07

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-24

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-20

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-20

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-20

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-20

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-20

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

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

    SciTech Connect

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

    1997-07-01

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

  5. Tank 241-C-106 process test report

    SciTech Connect

    Bander, T.J.

    1995-05-30

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

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

    ERIC Educational Resources Information Center

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

    2008-01-01

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

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

    SciTech Connect

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

    1995-02-01

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

  8. Non-interferometric phase retrieval using refractive index manipulation

    PubMed Central

    Chen, Chyong-Hua; Hsu, Hsin-Feng; Chen, Hou-Ren; Hsieh, Wen-Feng

    2017-01-01

    We present a novel, inexpensive and non-interferometric technique to retrieve phase images by using a liquid crystal phase shifter without including any physically moving parts. First, we derive a new equation of the intensity-phase relation with respect to the change of refractive index, which is similar to the transport of the intensity equation. The equation indicates that this technique is unneeded to consider the variation of magnifications between optical images. For proof of the concept, we use a liquid crystal mixture MLC 2144 to manufacture a phase shifter and to capture the optical images in a rapid succession by electrically tuning the applied voltage of the phase shifter. Experimental results demonstrate that this technique is capable of reconstructing high-resolution phase images and to realize the thickness profile of a microlens array quantitatively. PMID:28387382

  9. Selective retrieval of buried waste using mobile robot manipulator systems

    SciTech Connect

    Boissiere, P.T.; Little, C.Q. ); Wilson, C. )

    1993-01-01

    Hazardous operations which involve the dextrous manipulation of dangerous materials in the field have, in the past, been completed by technicians. Use of humans in such hazardous operations is under increased scrutiny due to high costs and low productivity associated with providing protective clothing and environments. Remote systems are needed to accomplish many tasks such as the clean up of waste sites in which the exposure of personnel to radiation, chemical, explosive, and other hazardous constituents is unacceptable. Traditional remote manual field operations have, unfortunately, proven to have very low productivity when compared with unencumbered human operators. Recent advances in the integration of wars and computing into the control of remotely operated equipment have shown great promise for reducing the cost of remote systems while providing faster and safer remote systems. This paper discusses applications of such advances to remote field operations.

  10. Selective retrieval of buried waste using mobile robot manipulator systems

    SciTech Connect

    Boissiere, P.T.; Little, C.Q.; Wilson, C.

    1993-03-01

    Hazardous operations which involve the dextrous manipulation of dangerous materials in the field have, in the past, been completed by technicians. Use of humans in such hazardous operations is under increased scrutiny due to high costs and low productivity associated with providing protective clothing and environments. Remote systems are needed to accomplish many tasks such as the clean up of waste sites in which the exposure of personnel to radiation, chemical, explosive, and other hazardous constituents is unacceptable. Traditional remote manual field operations have, unfortunately, proven to have very low productivity when compared with unencumbered human operators. Recent advances in the integration of wars and computing into the control of remotely operated equipment have shown great promise for reducing the cost of remote systems while providing faster and safer remote systems. This paper discusses applications of such advances to remote field operations.

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

    SciTech Connect

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

    1995-02-01

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

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

    SciTech Connect

    D.R. Jackson; G.R. Kiebel

    1999-08-24

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

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

    SciTech Connect

    Draper, J.V.

    1993-03-01

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

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

    SciTech Connect

    Berglin, E.J.

    1996-09-17

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

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

    PubMed Central

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

    2016-01-01

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

  16. A biomedical information system for retrieval and manipulation of NHANES data.

    PubMed

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

    2013-01-01

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

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

    SciTech Connect

    Bailey, J.W.

    1998-07-24

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

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

    SciTech Connect

    Esch, R.A.

    1997-04-14

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

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

    SciTech Connect

    Mackey, T.C.

    1994-10-01

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

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

    SciTech Connect

    Draper, J.V.

    1993-08-01

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

  1. A Prelearning Manipulation Falsifies a Pure Associational Deficit Account of Retrieval Shift During Skill Acquisition

    PubMed Central

    Hines, Jarrod; Hertzog, Christopher; Touron, Dayna

    2012-01-01

    Older adults adopt memory-based response strategies during consistent practice more slowly and less completely than younger adults. In two experiments, participants either pre-learned all, half, or none of the noun-pair stimuli prior to the completion of a standard noun-pair lookup task. Higher proportions of prelearning generally led to a faster and more complete strategic shift from visual scanning to memory retrieval during the lookup task, and a strong prelearning criterion for all items eliminated the age-related slowing of retrieval shift. However, the 50% prelearned condition resulted in strategy shift that was inconsistent with simple mechanistic associative learning, revealing a strategic set that was retrieval-avoidant in older adults. PMID:22149094

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

    SciTech Connect

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

    2006-07-01

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

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

    NASA Technical Reports Server (NTRS)

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

    1975-01-01

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

  4. EVA Retriever Demonstration

    NASA Technical Reports Server (NTRS)

    1988-01-01

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

  5. Robot Manipulators

    NASA Technical Reports Server (NTRS)

    1988-01-01

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

  6. A Visual Information Retrieval Tool.

    ERIC Educational Resources Information Center

    Zhang, Jin

    2000-01-01

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

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

    NASA Technical Reports Server (NTRS)

    1972-01-01

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

  8. Initial retrieval shields against retrieval-induced forgetting.

    PubMed

    Racsmány, Mihály; Keresztes, Attila

    2015-01-01

    Testing, as a form of retrieval, can enhance learning but it can also induce forgetting of related memories, a phenomenon known as retrieval-induced forgetting (RIF). In four experiments we explored whether selective retrieval and selective restudy of target memories induce forgetting of related memories with or without initial retrieval of the entire learning set. In Experiment 1, subjects studied category-exemplar associations, some of which were then either restudied or retrieved. RIF occurred on a delayed final test only when memories were retrieved and not when they were restudied. In Experiment 2, following the study phase of category-exemplar associations, subjects attempted to recall all category-exemplar associations, then they selectively retrieved or restudied some of the exemplars. We found that, despite the huge impact on practiced items, selective retrieval/restudy caused no decrease in final recall of related items. In Experiment 3, we replicated the main result of Experiment 2 by manipulating initial retrieval as a within-subject variable. In Experiment 4 we replicated the main results of the previous experiments with non-practiced (Nrp) baseline items. These findings suggest that initial retrieval of the learning set shields against the forgetting effect of later selective retrieval. Together, our results support the context shift theory of RIF.

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

    SciTech Connect

    PARKMAN, D.B.

    1999-12-29

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

  10. 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.

  11. 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.

  12. Underwater manipulator

    SciTech Connect

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

    1992-12-31

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

  13. Flexible montage retrieval for image data

    NASA Astrophysics Data System (ADS)

    Sakamoto, Hiroaki; Suzuki, Hideharu; Uemori, Akira

    1994-04-01

    Academic and photo libraries require the reuse of images. If the database is large, similarity retrieval and retrieval by sketch are effective. However, similarity retrieval can retrieve images that are similar to only one key image. Retrieval by sketch can retrieve images that are similar to the sketch, but it is not always easy to make a sketch sufficiently similar to the desired image. To overcome these limitations, we propose a new flexible montage retrieval method (FMR) that allows the user to retrieve images by appropriately combining characteristics of the key images in the same way that a montage picture of a criminal is constructed. In FMR, the user selects one or more key images and specifies areas (called `key regions') manually or by using image manipulating tools. He then indicates the retrieval conditions, for example, the requirement that the image to be retrieved includes specified areas. This paper describes an FMR algorithm that uses a color histogram and texture to quantify the similarity between a key region and an image in the database. The effectiveness of FMR is then statistically demonstrated by comparing its correct retrieval rate with that of retrieval by sketch. The retrieval rate is calculated from the result of retrieving the images that include a specified sky image from among more than 150 images containing various sky images.

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

    ERIC Educational Resources Information Center

    Benoit, G.

    2002-01-01

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

  15. Retrieval-practice task affects relationship between working memory capacity and retrieval-induced forgetting.

    PubMed

    Storm, Benjamin C; Bui, Dung C

    2016-11-01

    Retrieving a subset of items from memory can cause forgetting of other items in memory, a phenomenon referred to as retrieval-induced forgetting (RIF). Individuals who exhibit greater amounts of RIF have been shown to also exhibit superior working memory capacity (WMC) and faster stop-signal reaction times (SSRTs), results which have been interpreted as suggesting that RIF reflects an inhibitory process that is mediated by the processes of executive control. Across four experiments, we sought to further elucidate this issue by manipulating the way in which participants retrieved items during retrieval practice and examining how the resulting effects of forgetting correlated with WMC (Experiments 1-3) and SSRT (Experiment 4). Significant correlations were observed when participants retrieved items from an earlier study phase (within-list retrieval practice), but not when participants generated items from semantic memory (extra-list retrieval practice). These results provide important new insight into the role of executive-control processes in RIF.

  16. Retrieval interference in sentence comprehension

    PubMed Central

    Van Dyke, Julie A.; McElree, Brian

    2007-01-01

    The role of interference effects in sentence processing has recently begun to receive attention, however whether these effects arise during encoding or retrieval remains unclear. This paper draws on basic memory research to help distinguish these explanations and reports data from an experiment that manipulates the possibility for retrieval interference while holding encoding conditions constant. We found clear support for the principle of cue-overload, wherein cues available at retrieval cannot uniquely distinguish among competitors, thus giving rise to interference effects. We discuss the data in relation to a cue-based parsing framework (Van Dyke & Lewis, 2003) and other interference effects observed in sentence processing (e.g., Gordon, Hendrick, & Johnson, 2001, 2004). We conclude from the available data that the memory system that subserves language comprehension operates according to similar principles as memory in other domains. PMID:18209744

  17. Memory retrieval, extinction, and reinstatement of alcohol seeking.

    PubMed

    Millan, E Z; Milligan-Saville, Josie; McNally, Gavan P

    2013-03-01

    In four experiments we studied the impact of retrieval-extinction training on the extinction and reinstatement of alcoholic beer seeking. Experiment 1 showed that preceding daily extinction sessions with a brief (10 min) extinction session (retrieval-extinction) attenuated the context-induced reinstatement of alcoholic beer seeking, thereby replicating and extending the findings of Xue et al. (2012). Experiment 2 then showed that the retrieval-extinction manipulation could attenuate the reinstatement produced by reversible inactivation of the nucleus accumbens shell prior to test. Experiment 3 showed that a modified extinction protocol that involved a reversed retrieval (i.e., extinction then retrieval) was also able to attenuate context-induced reinstatement. Finally, experiment 4 showed that the extinction-retrieval manipulation facilitated the reacquisition of alcoholic beer seeking as evidenced by increased breakpoints and responses during tests under a progressive ratio schedule. Taken together, these findings show that retrieval-extinction training protocols can alter the propensity to reinstate extinguished drug seeking but that these alterations are not always protective. These findings are inconsistent with accounts of the retrieval-extinction manipulation in terms of memory reconsolidation and deepened extinction. Instead, they are consistent with the notion that this manipulation increases the sensitivity of animals to the contingencies in effect during testing.

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

    ERIC Educational Resources Information Center

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

    2005-01-01

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

  19. Skill in Retrievals

    NASA Technical Reports Server (NTRS)

    Aumann, Hartmut H.; Manning, Evan

    2008-01-01

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

  20. Interaction Information Retrieval.

    ERIC Educational Resources Information Center

    Dominich, Sandor

    1994-01-01

    Discussion of information retrieval focuses on an Interaction Information Retrieval model in which documents are interconnected; queries and documents are treated in the same way; and retrieval is the result of the interconnection between query and documents. A theoretical mathematical formulation of this type of retrieval is given. (Contains 31…

  1. Retrieval induces forgetting, but only when nontested items compete for retrieval: Implication for interference, inhibition, and context reinstatement.

    PubMed

    Chan, Jason C K; Erdman, Matthew R; Davis, Sara D

    2015-09-01

    The mechanism responsible for retrieval-induced forgetting has been the subject of rigorous theoretical debate, with some researchers postulating that retrieval-induced forgetting can be explained by interference (J. G .W. Raaijmakers & E. Jakab, 2013) or context reinstatement (T. R. Jonker, P. Seli, & C. M. MacLeod, 2013), whereas others claim that retrieval-induced forgetting is better explained by inhibition (M. C. Anderson, 2003). A fundamental assumption of the inhibition account is that nonpracticed items are suppressed because they compete for retrieval during initial testing. In the current study, we manipulated competition in a novel interpolated testing paradigm by having subjects learn the nonpracticed items either before (high-competition condition) or after (low-competition condition) they practiced retrieval of the target items. We found retrieval-induced forgetting for the nonpracticed competitors only when they were studied before retrieval practice. This result provides support for a critical assumption of the inhibition account.

  2. Out of sight, out of mind: racial retrieval cues increase the accessibility of social justice concepts.

    PubMed

    Salter, Phia S; Kelley, Nicholas J; Molina, Ludwin E; Thai, Luyen T

    2017-01-16

    Photographs provide critical retrieval cues for personal remembering, but few studies have considered this phenomenon at the collective level. In this research, we examined the psychological consequences of visual attention to the presence (or absence) of racially charged retrieval cues within American racial segregation photographs. We hypothesised that attention to racial retrieval cues embedded in historical photographs would increase social justice concept accessibility. In Study 1, we recorded gaze patterns with an eye-tracker among participants viewing images that contained racial retrieval cues or were digitally manipulated to remove them. In Study 2, we manipulated participants' gaze behaviour by either directing visual attention toward racial retrieval cues, away from racial retrieval cues, or directing attention within photographs where racial retrieval cues were missing. Across Studies 1 and 2, visual attention to racial retrieval cues in photographs documenting historical segregation predicted social justice concept accessibility.

  3. Progress in nonprehensile manipulation

    SciTech Connect

    Mason, M.T.

    1999-11-01

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

  4. A requirement for memory retrieval during and after long-term extinction learning.

    PubMed

    Ouyang, Ming; Thomas, Steven A

    2005-06-28

    Current learning theories are based on the idea that learning is driven by the difference between expectations and experience (the delta rule). In extinction, one learns that certain expectations no longer apply. Here, we test the potential validity of the delta rule by manipulating memory retrieval (and thus expectations) during extinction learning. Adrenergic signaling is critical for the time-limited retrieval (but not acquisition or consolidation) of contextual fear. Using genetic and pharmacologic approaches to manipulate adrenergic signaling, we find that long-term extinction requires memory retrieval but not conditioned responding. Identical manipulations of the adrenergic system that do not affect memory retrieval do not alter extinction. The results provide substantial support for the delta rule of learning theory. In addition, the timing over which extinction is sensitive to adrenergic manipulation suggests a model whereby memory retrieval occurs during, and several hours after, extinction learning to consolidate long-term extinction memory.

  5. Giant optical manipulation.

    PubMed

    Shvedov, Vladlen G; Rode, Andrei V; Izdebskaya, Yana V; Desyatnikov, Anton S; Krolikowski, Wieslaw; Kivshar, Yuri S

    2010-09-10

    We demonstrate a new principle of optical trapping and manipulation increasing more than 1000 times the manipulation distance by harnessing strong thermal forces while suppressing their stochastic nature with optical vortex beams. Our approach expands optical manipulation of particles into a gas media and provides a full control over trapped particles, including the optical transport and pinpoint positioning of ∼100  μm objects over a meter-scale distance with ±10  μm accuracy.

  6. Microfilm and Information Retrieval.

    ERIC Educational Resources Information Center

    Teplitz, Arthur

    This paper was prepared to provide a frame of reference to the role of microfilm within the information retrieval world and to provide an opportunity for evaluation of the use of microforms for active retrieval applications. The paper discusses the principles of information retrieval, considers subject and classification indexing, and describes…

  7. Connectionist Interaction Information Retrieval.

    ERIC Educational Resources Information Center

    Dominich, Sandor

    2003-01-01

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

  8. Microfluidics for manipulating cells.

    PubMed

    Mu, Xuan; Zheng, Wenfu; Sun, Jiashu; Zhang, Wei; Jiang, Xingyu

    2013-01-14

    Microfluidics, a toolbox comprising methods for precise manipulation of fluids at small length scales (micrometers to millimeters), has become useful for manipulating cells. Its uses range from dynamic management of cellular interactions to high-throughput screening of cells, and to precise analysis of chemical contents in single cells. Microfluidics demonstrates a completely new perspective and an excellent practical way to manipulate cells for solving various needs in biology and medicine. This review introduces and comments on recent achievements and challenges of using microfluidics to manipulate and analyze cells. It is believed that microfluidics will assume an even greater role in the mechanistic understanding of cell biology and, eventually, in clinical applications.

  9. Manipulator mounted transfer platform

    DOEpatents

    Dobbins, James C.; Hoover, Mark A.; May, Kay W.; Ross, Maurice J.

    1990-01-01

    A transfer platform for the conveyance of objects by a manipulator includes a bed frame and saddle clamp secured along an edge of the bed frame and adapted so as to secure the bed frame to a horizontal crosspiece of the manipulator. The platform may thus move with the manipulator in a reciprocal linear path defined by a guide rail. A bed insert may be provided for the support of conveyed objects and a lifting bail may be provided to permit the manipulator arm to install the bed frame upon the crosspiece under remote control.

  10. Actuability of Underactuated Manipulators

    DTIC Science & Technology

    1994-06-01

    of a manipulator with passive joints in operational space. IEEE Transactions on Robotics and Automation, 9(1), February 1993. [6] !irohiko Arai and...Susumu Tachi Position control of a manipulator with passive joints using dynamic coupling. IEEE Transactions on Robotics and Automation, 7(4), August

  11. Linearization of Robot Manipulators

    NASA Technical Reports Server (NTRS)

    Kreutz, Kenneth

    1987-01-01

    Four nonlinear control schemes equivalent. Report discusses theory of nonlinear feedback control of robot manipulator, emphasis on control schemes making manipulator input and output behave like decoupled linear system. Approach, called "exact external linearization," contributes efforts to control end-effector trajectories, positions, and orientations.

  12. Manipulator comparative testing program

    SciTech Connect

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

    1986-01-01

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

  13. 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.

  14. Osteopathic Manipulative Treatment

    PubMed Central

    Campbell, Shannon M.; Walkowski, Stevan

    2012-01-01

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

  15. Project Specific Quality Assurance Plan (QAPP)

    SciTech Connect

    Huston, J.J.

    1994-11-01

    The Project QAPP`s describe the program and the planned actions which WHC will implement to demonstrate and ensure that the project meets the requirements of DOE Order 5700.6C. The Project involves retrieving the high-heat waste from Tank 241-C-106 to close the safety issue associate with the tank, demonstrate initial waste retrieval technology for a Single Shell Tank, and provide feed for the Hanford Waste Vitrification Plant.

  16. Anthropomorphic Remote Manipulator

    NASA Technical Reports Server (NTRS)

    Jau, Bruno M.

    1991-01-01

    Two-armed telerobot undergoing development manipulates objects with dexterity approaching that of human. Designed to be remotely operated by human. Operator wears harness with exoskeletonlike sleeves and gloves; remote manipulator follows operator's arm, hand, and finger movements and feeds back position and force information so operator has sense of manipulating object held by telerobot. Developed for use in outer space. Suited for such terrestrial uses as handling materials and maintaining equipment in hazardous environments where mechanical dexterity and nearly instantaneous feedback of sensory information needed.

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

    SciTech Connect

    Bevins, R.R.

    1998-07-31

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

  18. 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)

  19. Dielectrophoresis for Bioparticle Manipulation

    PubMed Central

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

    2014-01-01

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

  20. Remote manipulator dynamic simulation

    NASA Technical Reports Server (NTRS)

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

    1972-01-01

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

  1. The Politics of Information: Libraries and Online Retrieval Systems.

    ERIC Educational Resources Information Center

    Haar, John M.

    1986-01-01

    Discusses political questions raised by the existence and growth potential of the online retrieval industry because it is privately owned and profit oriented. The user fee debate, information ownership, danger of manipulation, libraries as marketers, library action, and a library database consortium are highlighted. Seventeen references are cited.…

  2. Information Retrieval System.

    ERIC Educational Resources Information Center

    Mahle, Jack D., Jr.

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

  3. Natural Language Information Retrieval.

    ERIC Educational Resources Information Center

    Strzalkowski, Tomek

    1995-01-01

    Describes an information retrieval system in which advanced natural language processing is used to enhance the effectiveness of term-based document retrieval by preprocessing the documents; discovering interterm dependencies and build a conceptual hierarchy specific to database domain; and processing the user's natural language requests into…

  4. RETRIEVAL EVENTS EVALUATION

    SciTech Connect

    T. Wilson

    1999-11-12

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

  5. Efficient Graffiti Image Retrieval

    SciTech Connect

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

    2012-07-05

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

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

    SciTech Connect

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

    1995-02-01

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

  7. Paternal retrievals increase testosterone levels in both male and female California mouse (Peromyscus californicus) offspring.

    PubMed

    Chary, Mamatha C; Cruz, Jayson P; Bardi, Massimo; Becker, Elizabeth A

    2015-07-01

    The importance of maternal care on offspring development has received considerable attention, although more recently, researchers have begun to focus on the significance of paternal contributions. In the monogamous and bi-parental California mouse, fathers provide high levels of care, and therefore serve as a model system for studying paternal effects on behavior and underlying neuroendocrine mechanisms. Paternal retrievals in this species influence long term changes in brain (expression of arginine vasopressin-AVP) and behavior (aggression and parenting) in adult male offspring. Further, paternal retrievals induce a transient increase in testosterone (T) in male offspring, which is thought to mediate the relationship between paternal retrievals and AVP expression. Although the father-son relationship has been well characterized, few studies have examined father-daughter interactions. In California mice, paternal retrievals increase aggression in female offspring. Although T has been implicated in the regulation of female aggression, it remains unclear whether T may underlie long-term changes in female offspring aggression in response to paternal retrievals. In the current study, we examined the influence of paternal retrievals on T in both male and female offspring. Retrievals were manipulated experimentally by displacement of the pup and trunk blood was collected from retrieved, non-retrieved, and non-manipulated (baseline) pups. We found that fathers expressed similar levels of retrievals towards sons and daughters, and that T levels were elevated in retrieved, as compared to non-retrieved offspring. Similar to what has been previously described in male offspring and replicated here, female offspring that were retrieved had higher T levels than non-retrieved females. Neither females nor males experienced a change in corticosterone levels in response to retrievals suggesting offspring do not mount a stress response to paternal care. Therefore, our data suggest

  8. Manipulator comparative testing program

    SciTech Connect

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

    1986-01-01

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

  9. Topological Aspects of Information Retrieval.

    ERIC Educational Resources Information Center

    Egghe, Leo; Rousseau, Ronald

    1998-01-01

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

  10. Simulation of robot manipulators

    SciTech Connect

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

    1995-03-01

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

  11. Retrieval options study

    SciTech Connect

    Not Available

    1980-03-01

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

  12. 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.

  13. 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.

  14. Timing matters: temporal dynamics of stress effects on memory retrieval.

    PubMed

    Schwabe, Lars; Wolf, Oliver T

    2014-09-01

    Stress may impair memory retrieval. This retrieval impairment has been attributed to the action of the stress hormone cortisol, which is released with a delay of several minutes after a stressful encounter. Hence, most studies tested memory retrieval 20-30 min after stress, when the stress-induced cortisol increase peaks. In the present experiment, we investigated whether retrieval impairments can also be found at later intervals after stress. To this end, participants learned a list of words on day 1. Twenty-four hours later, they were first exposed to a stressor or a nonstressful control manipulation and completed a recognition test for the words either immediately thereafter, 25 min later, or 90 min later. Our findings showed that stress did not impair memory retrieval when memory was tested immediately after the stressor, before cortisol levels were elevated. However, retrieval performance was impaired 25 min after stress, when cortisol levels peaked, as well as 90 min after the stressor, when cortisol levels had already returned to baseline. The retrieval impairment 90 min after stress appeared to be even stronger than the one after 25 min. These findings suggest that the detrimental effects of stress on retrieval performance may last longer than is usually assumed.

  15. The Oklahoma Geographic Information Retrieval System

    NASA Technical Reports Server (NTRS)

    Blanchard, W. A.

    1982-01-01

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

  16. Osteopathic Manipulative Treatment

    MedlinePlus

    ... AOA Certification DO Jobs Online Doctors That DO Facebook Twitter LinkedIn YouTube Pinterest What is a DO? How Are DOs Licensed? How Are DOs Certified? Search for a DO Health Library Osteopathic Manipulative Treatment Becoming a DO Video Library ...

  17. 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…

  18. Robot Manipulator Control.

    DTIC Science & Technology

    1983-03-07

    This report presents a synthetic approach for calculating the control of robot manipulators. The initial control problem is broken down into linear ... control and modelling problems. The approach allows derivation of numerous schemes (adaptive or not) of control proposed in the literature and suggests

  19. 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.

  20. Computer Algebra versus Manipulation

    ERIC Educational Resources Information Center

    Zand, Hossein; Crowe, David

    2004-01-01

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

  1. Wire Retrieves Broken Pin

    NASA Technical Reports Server (NTRS)

    Burow, G. H.

    1984-01-01

    Safety wire retains pieces of broken tool. Retrieval wire running through shaft of tool used to pull pieces of tool out of hole, should tool break during use. Safety wire concept suitable for pins subject to deflection or breakage.

  2. Data-Retrieval System

    NASA Technical Reports Server (NTRS)

    Lawrence, P. R.

    1982-01-01

    NASA Graphics and Display System (NGDS) helps solve problem of data retrieval for management. Since NGDS is interactive online system, user controls display content and format, and has capability of always working with latest version of his data.

  3. Information retrieval system

    NASA Technical Reports Server (NTRS)

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

    1970-01-01

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

  4. Retrieving Patent Information Online

    ERIC Educational Resources Information Center

    Kaback, Stuart M.

    1978-01-01

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

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

    SciTech Connect

    Conner, J.C.

    1997-04-18

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

  6. Door breaching robotic manipulator

    NASA Astrophysics Data System (ADS)

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

    2008-04-01

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

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

    SciTech Connect

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

    1994-09-01

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

  8. The effects of retrieval ease on health issue judgments: implications for campaign strategies.

    PubMed

    Chang, Chingching

    2010-12-01

    This paper examines the effects of retrieving information about a health ailment on judgments of the perceived severity of the disease and self-efficacy regarding prevention and treatment. The literature on metacognition suggests that recall tasks render two types of information accessible: the retrieved content, and the subjective experience of retrieving the content. Both types of information can influence judgments. Content-based thinking models hold that the more instances of an event people can retrieve, the higher they will estimate the frequency of the event to be. In contrast, experience-based thinking models suggest that when people experience difficulty in retrieving information regarding an event, they rate the event as less likely to occur. In the first experiment, ease of retrieval was manipulated by asking participants to list either a high or low number of consequences of an ailment. As expected, retrieval difficulty resulted in lower perceived disease severity. In the second experiment, ease of retrieval was manipulated by varying the number of disease prevention or treatment measures participants attempted to list. As predicted, retrieval difficulty resulted in lower self-efficacy regarding prevention and treatment. In experiment three, when information regarding a health issue was made accessible by exposure to public service announcements (PSAs), ease-of-retrieval effects were attenuated. Finally, in experiment four, exposure to PSAs encouraged content-based judgments when the issue was of great concern.

  9. 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)

  10. Computer aided manipulator control

    NASA Technical Reports Server (NTRS)

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

    1980-01-01

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

  11. Microradiographic microsphere manipulator

    DOEpatents

    Singleton, R.M.

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

  12. Microradiographic microsphere manipulator

    DOEpatents

    Singleton, Russell M.

    1980-01-01

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

  13. Manipulation of quantum evolution

    NASA Technical Reports Server (NTRS)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

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

  14. MANIPULATOR FOR SLAVE ROBOT

    DOEpatents

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

    1961-04-01

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

  15. 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

  16. Endocavity Ultrasound Probe Manipulators.

    PubMed

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

    2013-06-01

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

  17. Welding nozzle position manipulator

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  18. Welding nozzle position manipulator

    NASA Astrophysics Data System (ADS)

    Gilbert, Jeffrey L.; Gutow, David A.

    1994-11-01

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

  19. Welding nozzle position manipulator

    NASA Astrophysics Data System (ADS)

    Gilbert, Jeffrey L.; Gutow, David A.

    1993-08-01

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

  20. A retrieval-based approach to eliminating hindsight bias.

    PubMed

    Van Boekel, Martin; Varma, Keisha; Varma, Sashank

    2017-03-01

    Individuals exhibit hindsight bias when they are unable to recall their original responses to novel questions after correct answers are provided to them. Prior studies have eliminated hindsight bias by modifying the conditions under which original judgments or correct answers are encoded. Here, we explored whether hindsight bias can be eliminated by manipulating the conditions that hold at retrieval. Our retrieval-based approach predicts that if the conditions at retrieval enable sufficient discrimination of memory representations of original judgments from memory representations of correct answers, then hindsight bias will be reduced or eliminated. Experiment 1 used the standard memory design to replicate the hindsight bias effect in middle-school students. Experiments 2 and 3 modified the retrieval phase of this design, instructing participants beforehand that they would be recalling both their original judgments and the correct answers. As predicted, this enabled participants to form compound retrieval cues that discriminated original judgment traces from correct answer traces, and eliminated hindsight bias. Experiment 4 found that when participants were not instructed beforehand that they would be making both recalls, they did not form discriminating retrieval cues, and hindsight bias returned. These experiments delineate the retrieval conditions that produce-and fail to produce-hindsight bias.

  1. Modulation of retrieval processing reflects accuracy of emotional source memory.

    PubMed

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

    2005-01-01

    There is considerable evidence that encoding and consolidation of memory are modulated by emotion, but the retrieval of emotional memories is not well characterized. Here we manipulated the emotional context with which affectively neutral stimuli were associated during encoding, allowing us to examine neural activity associated with retrieval of emotional memories without confounding the emotional attributes of cue items and the retrieved context. Using a source memory procedure we were also able to compare how retrieval processing was modulated when the emotional encoding context was recollected or not. An interaction between emotional encoding context and accuracy of source memory revealed that successful retrieval of emotional context was associated with activity in left amygdala, and a left frontotemporal network including anterior insula, prefrontal cortex and cingulate. In contrast, when contextual retrieval was unsuccessful, items encoded in emotional contexts elicited enhanced activity in right amygdala and a right-lateralized network that included extrastriate visual areas. These findings indicate distinct effects of emotion on successful and unsuccessful retrieval of source information, including lateralization of amygdala responses.

  2. Shifting visual perspective during retrieval shapes autobiographical memories.

    PubMed

    St Jacques, Peggy L; Szpunar, Karl K; Schacter, Daniel L

    2017-03-01

    The dynamic and flexible nature of memories is evident in our ability to adopt multiple visual perspectives. Although autobiographical memories are typically encoded from the visual perspective of our own eyes they can be retrieved from the perspective of an observer looking at our self. Here, we examined the neural mechanisms of shifting visual perspective during long-term memory retrieval and its influence on online and subsequent memories using functional magnetic resonance imaging (fMRI). Participants generated specific autobiographical memories from the last five years and rated their visual perspective. In a separate fMRI session, they were asked to retrieve the memories across three repetitions while maintaining the same visual perspective as their initial rating or by shifting to an alternative perspective. Visual perspective shifting during autobiographical memory retrieval was supported by a linear decrease in neural recruitment across repetitions in the posterior parietal cortices. Additional analyses revealed that the precuneus, in particular, contributed to both online and subsequent changes in the phenomenology of memories. Our findings show that flexibly shifting egocentric perspective during autobiographical memory retrieval is supported by the precuneus, and suggest that this manipulation of mental imagery during retrieval has consequences for how memories are retrieved and later remembered.

  3. Retrieval Studies with LIDORT

    NASA Technical Reports Server (NTRS)

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

    2003-01-01

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

  4. Retrieval of transuranic waste

    SciTech Connect

    Not Available

    1988-07-19

    Soil removal and drum retrieval equipment are being developed and demonstrated in support of the Transuranic Waste Facility (TWF) program. Accomplishments to date include: Soil removal equipment, a telescoping excavator and high velocity vacuum truck were selected for soil removal; Preliminary demonstrations, the capabilities of both the telescoping excavator and vacuum truck were demonstrated by the vendors; Shielding Lifting Canister, Functional parameters were defined and design is 95% complete; and Full-scale demonstration, SRL test mounds were selected for a full-scale drum retrieval demonstration. Further development will include an integrated full-scale demonstration. Several drums buried in non-radioactive TRU test mounds will be retrieved. Planning for the demonstration is underway. A telescoping excavator is being acquired, the shielded lifting canister will be fabricated and pre-tested, and a vacuum truck will be leased. 5 figs.

  5. Performance measurement of mobile manipulators

    NASA Astrophysics Data System (ADS)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

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

  6. Retrieval Hierarchies in Hypertext.

    ERIC Educational Resources Information Center

    Rada, Roy; And Others

    1993-01-01

    Describes a collaborative, reuse hypertext system, called MUCH (Many Using and Creating Hypertext). The novel browsing and retrieval characteristics of the system are based on a semantic net connecting documents, thesauri, and discussions. Word patterns are documented for reuse, creating and reorganizing network traversal according to user…

  7. Information Retrieval by Television.

    ERIC Educational Resources Information Center

    Billowes, C. A.

    1968-01-01

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

  8. Collaborative Information Retrieval.

    ERIC Educational Resources Information Center

    Bruce, Harry; Fidel, Raya

    1999-01-01

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

  9. Adaptive MGS Phase Retrieval

    NASA Technical Reports Server (NTRS)

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

    2008-01-01

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

  10. Feedback in Information Retrieval.

    ERIC Educational Resources Information Center

    Spink, Amanda; Losee, Robert M.

    1996-01-01

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

  11. Information Retrieval in Physics.

    ERIC Educational Resources Information Center

    Herschman, Arthur

    Discussed in this paper are the information problems in physics and the current program of the American Institute of Physics (AIP) being conducted in an attempt to develop an information retrieval system. The seriousness of the need is described by means of graphs indicating the exponential rise in the number of physics publications in the last…

  12. Music Information Retrieval.

    ERIC Educational Resources Information Center

    Downie, J. Stephen

    2003-01-01

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

  13. W-320 Project thermal modeling

    SciTech Connect

    Sathyanarayana, K., Fluor Daniel Hanford

    1997-03-18

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

  14. Parasites and supernormal manipulation.

    PubMed Central

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

    2001-01-01

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

  15. Retrieval is not necessary to trigger reconsolidation of object recognition memory in the perirhinal cortex

    PubMed Central

    Santoyo-Zedillo, Marianela; Rodriguez-Ortiz, Carlos J.; Chavez-Marchetta, Gianfranco; Bermudez-Rattoni, Federico

    2014-01-01

    Memory retrieval has been considered as requisite to initiate memory reconsolidation; however, some studies indicate that blocking retrieval does not prevent memory from undergoing reconsolidation. Since N-methyl-D-aspartate (NMDA) and α-amino-3-hydroxy-5-methyl-4-isoxazolepropionic acid (AMPA) glutamate receptors in the perirhinal cortex have been involved in object recognition memory formation, the present study evaluated whether retrieval and reconsolidation are independent processes by manipulating these glutamate receptors. The results showed that AMPA receptor antagonist infusions in the perirhinal cortex blocked retrieval, but did not affect memory reconsolidation, although NMDA receptor antagonist infusions disrupted reconsolidation even if retrieval was blocked. Importantly, neither of these antagonists disrupted short-term memory. These data suggest that memory underwent reconsolidation even in the absence of retrieval. PMID:25128536

  16. Hydraulic manipulator research at ORNL

    SciTech Connect

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

    1997-03-01

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

  17. Hanford`s spent nuclear fuel retrieval: an agressive agenda

    SciTech Connect

    Shen, E.J., Westinghouse Hanford

    1996-12-06

    Starting December 1997, spent nuclear fuel that has been stored in the K Reactor Fuel Storage Basins will be retrieved over a two year period and repackaged for long term dry storage. The aging and sometimes corroding fuel elements will be recovered and processed using log handled tools and teleoperated manipulator technology. The U.S. Department of Energy (DOE) is committed to this urgent schedule because of the environmental threats to the groundwater and nearby the Columbia River.

  18. Electrophysiological correlates of competitor activation predict retrieval-induced forgetting.

    PubMed

    Hellerstedt, Robin; Johansson, Mikael

    2014-06-01

    The very act of retrieval modifies the accessibility of memory for knowledge and past events and can also cause forgetting. A prominent theory of such retrieval-induced forgetting (RIF) holds that retrieval recruits inhibition to overcome interference from competing memories, rendering these memories inaccessible. The present study tested a fundamental tenet of the inhibitory-control account: The competition-dependence assumption. Event-related potentials (ERPs) were recorded while participants engaged in a competitive retrieval task. Competition levels were manipulated within the retrieval task by varying the cue-item associative strength of competing items. In order to temporally separate ERP correlates of competitor activation and target retrieval, memory was probed with the sequential presentation of 2 cues: A category cue, to reactivate competitors, and a target cue. As predicted by the inhibitory-control account, competitors with strong compared with weak cue-competitor association were more susceptible to forgetting. Furthermore, competition-sensitive ERP modulations, elicited by the category cue, were observed over anterior regions and reflected individual differences in ensuing forgetting. The present study demonstrates ERP correlates of the reactivation of tightly bound associated memories (the competitors) and provides support for the inhibitory-control account of RIF.

  19. Mobile medical image retrieval

    NASA Astrophysics Data System (ADS)

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

    2011-03-01

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

  20. Language Processing in Information Retrieval.

    ERIC Educational Resources Information Center

    Doszkocs, Tamase

    1986-01-01

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

  1. Memory Retrieval as Temporal Discrimination

    ERIC Educational Resources Information Center

    Brown, Gordon D. A.; Vousden, Janet I.; McCormack, Teresa

    2009-01-01

    Temporal distinctiveness models of memory retrieval claim that memories are organised partly in terms of their positions along a temporal dimension, and suggest that memory retrieval involves temporal discrimination. According to such models the retrievability of memories should be related to the discriminability of their temporal distances at the…

  2. EFFECTIVENESS OF INFORMATION RETRIEVAL METHODS.

    ERIC Educational Resources Information Center

    SWETS, JOHN A.

    RESULTS OF FIFTY DIFFERENT RETRIEVAL METHODS AS APPLIED IN THREE EXPERIMENTAL RETRIEVAL SYSTEMS WERE SUBJECTED TO AN ANALYSIS SUGGESTED BY STATISTICAL DECISION THEORY. THE ANALYSIS USES A PREVIOUSLY-PROPOSED MEASURE OF EFFECTIVENESS AND DEMONSTRATES ITS SEVERAL PROPERTIES. SOME OF THESE PROPERTIES ARE--(1) IT ENABLES THE RETRIEVAL SYSTEM TO…

  3. Vacuum tool manipulator

    SciTech Connect

    Zollinger, W.T.

    1992-12-31

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

  4. Vacuum tool manipulator

    DOEpatents

    Zollinger, W.T.

    1993-11-23

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

  5. 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)

  6. Vacuum tool manipulator

    DOEpatents

    Zollinger, William T.

    1993-01-01

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

  7. Interactive protein manipulation

    SciTech Connect

    SNCrivelli@lbl.gov

    2003-07-01

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

  8. Advanced servo manipulator

    DOEpatents

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

    1988-10-25

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

  9. Advanced servo manipulator

    DOEpatents

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

    1988-01-01

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

  10. Ion manipulation device

    SciTech Connect

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

    2014-09-16

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

  11. 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

  12. Repeatability in redundant manipulator systems

    NASA Astrophysics Data System (ADS)

    Mukherjee, Ranjan

    1994-02-01

    Terrestrial manipulators with more DOF than the dimension of the workspace and space manipulators with as many manipulator DOF as the dimension of the workspace are both redundant systems. An interesting problem of such redundant systems has been the repeatability problem due to the presence of nonholonomic constraints. We show, contrary to the existing belief, that integrability of the nonholonomic constraints is not a necessary condition for the repeatability of the configuration variables. There exist certain trajectories in the independent configuration variable space that are like 'holonomic loops' along which the redundant manipulators exhibit repeatable motion. We present a simple method based on optimization techniques for designing repeatable trajectories for free-flying space manipulators and terrestrial manipulators under pseudoinverse control.

  13. Practical quantum retrieval games

    NASA Astrophysics Data System (ADS)

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

    2016-06-01

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

  14. Digital Control For Remote Manipulators

    NASA Technical Reports Server (NTRS)

    Bejczy, Antal K.; Dotson, Ronald S.

    1987-01-01

    Multiple microprocessors enable large separations between controllers and manipulators. Controller for remote manipulator requires no direct mechanical connection between slave arm and master arm moved by human operator. Employs two-way digital data transmission rather than mechanical linkage between master and slave. Manipulator a considerable distance from operator. Software for controller distributed between master and slave locations. Organized into modules. Hardware and software for system demonstrated in laboratory model.

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

    NASA Technical Reports Server (NTRS)

    Shapiro, Daniel G.

    1989-01-01

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

  16. Contextualization: Memory Formation and Retrieval in a Nested Environment

    NASA Astrophysics Data System (ADS)

    Piefke, Martina; Markowitsch, Hans J.

    Episodic memory functions are highly context-dependent. This is true for both experimental and autobiographical episodic memory. We here review neuropsychological and neuroimaging evidence for effects of differential encoding and retrieval contexts on episodic memory performance as well as the underlying neurofunctional mechanisms. In studies of laboratory episodic memory, the influence of context parameters can be assessed by experimental manipulations. Such experiments suggest that contextual variables mainly affect prefrontal functions supporting executive processes involved in episodic learning and retrieval. Context parameters affecting episodic autobiographical memory are far more complex and cannot easily be controlled. Data support the view that not only prefrontal, but also further medial temporal and posterior parietal regions mediating the re-experience and emotional evaluation of personal memories are highly influenced by changing contextual variables of memory encoding and retrieval. Based on our review of available data, we thus suggest that experimental and autobiographical episodic memories are influenced by both overlapping and differential context parameters.

  17. Passage Retrieval and Evaluation

    DTIC Science & Technology

    2005-02-01

    queries, is IDF(t) = log „ # docs. in corpus + 1 0.5 + # docs. t appears in « . (6) This rather ad hoc scoring formula is implemented in the Lemur ...problems with passage R-precision as an evaluation metric. Fernando was instrumental in extending the Lemur toolkit to make all of these experiments...and C. Zhai. The lemur toolkit for language modeling and information retrieval. http://www.cs.cmu.edu/∼ lemur /, 2003. [6] C. Buckley and E. M

  18. REMOTE RETRIEVING TOOL

    DOEpatents

    Fromm, L.W. Jr.

    1958-08-19

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

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

    SciTech Connect

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

    2012-10-15

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

  20. Manipulation hardware for microgravity research

    SciTech Connect

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

    1990-01-01

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

  1. 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.

  2. Tool use in left brain damage and Alzheimer's disease: What about function and manipulation knowledge?

    PubMed

    Jarry, Christophe; Osiurak, François; Besnard, Jérémy; Baumard, Josselin; Lesourd, Mathieu; Croisile, Bernard; Etcharry-Bouyx, Frédérique; Chauviré, Valérie; Le Gall, Didier

    2016-03-01

    Tool use disorders are usually associated with difficulties in retrieving function and manipulation knowledge. Here, we investigate tool use (Real Tool Use, RTU), function (Functional Association, FA) and manipulation knowledge (Gesture Recognition, GR) in 17 left-brain-damaged (LBD) patients and 14 AD patients (Alzheimer disease). LBD group exhibited predicted deficit on RTU but not on FA and GR while AD patients showed deficits on GR and FA with preserved tool use skills. These findings question the role played by function and manipulation knowledge in actual tool use.

  3. Manipulating and Visualizing Proteins

    SciTech Connect

    Simon, Horst D.

    2003-12-05

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

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

    SciTech Connect

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

    2010-08-15

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

  5. Listen up, eye movements play a role in verbal memory retrieval.

    PubMed

    Scholz, Agnes; Mehlhorn, Katja; Krems, Josef F

    2016-01-01

    People fixate on blank spaces if visual stimuli previously occupied these regions of space. This so-called "looking at nothing" (LAN) phenomenon is said to be a part of information retrieval from internal memory representations, but the exact nature of the relationship between LAN and memory retrieval is unclear. While evidence exists for an influence of LAN on memory retrieval for visuospatial stimuli, evidence for verbal information is mixed. Here, we tested the relationship between LAN behavior and memory retrieval in an episodic retrieval task where verbal information was presented auditorily during encoding. When participants were allowed to gaze freely during subsequent memory retrieval, LAN occurred, and it was stronger for correct than for incorrect responses. When eye movements were manipulated during memory retrieval, retrieval performance was higher when participants fixated on the area associated with to-be-retrieved information than when fixating on another area. Our results provide evidence for a functional relationship between LAN and memory retrieval that extends to verbal information.

  6. Impaired Retrieval Monitoring for Past and Future Autobiographical Events in Older Adults

    PubMed Central

    McDonough, Ian M.; Gallo, David A.

    2013-01-01

    Older adults are more likely than younger adults to confuse real and imagined events in episodic memory. This deficit may be attributed to a reduction in the specific features available for recollection (i.e. retrieval success) or to a deficit in the search and decision processes operating during recollection attempts (i.e. retrieval monitoring). The present experiments used a two-phase event-generation task to manipulate retrieval success and test for age-related deficits in retrieval monitoring. In the first phase, participants generated real autobiographical events from their past and imagined plausible future events in response to cue words. We used elaboration instructions to experimentally manipulate the amount of features associated with these generated events. In the second phase administered 24 hours later, we gave recollection tests that required participants to discriminate between these previously generated past and future events in memory. As predicted, the elaboration manipulation increased the amount of features that could be recollected in association with the generated events in both age groups (including cognitive operations in Experiment 1 and perceptual details in Experiment 2). However, older adults were more likely than younger adults to confuse past and future events in memory, and critically, elaboration did not minimize these age-related confusions. These findings imply that aging impairs the ability to accurately monitor retrieval for features that are characteristic of autobiographical events, above and beyond age-related impairments in the retrieval of the recollected information itself. PMID:23795764

  7. 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…

  8. Modeling Manipulation in Medical Education

    ERIC Educational Resources Information Center

    Dailey, Jason I.

    2010-01-01

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

  9. Hanford Tanks Initiative fiscal year 1997 retrieval technology demonstrations

    SciTech Connect

    Berglin, E.J.

    1998-02-05

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

  10. Thermoelectrical manipulation of nanomagnets

    NASA Astrophysics Data System (ADS)

    Kadigrobov, A. M.; Andersson, S.; Radić, D.; Shekhter, R. I.; Jonson, M.; Korenivski, V.

    2010-06-01

    We investigate the interplay between the thermodynamic properties and spin-dependent transport in a mesoscopic device based on a magnetic multilayer (F/f/F), in which two strongly ferromagnetic layers (F) are exchange-coupled through a weakly ferromagnetic spacer (f) with the Curie temperature in the vicinity of room temperature. We show theoretically that the Joule heating produced by the spin-dependent current allows a spin-thermoelectronic control of the ferromagnetic-to-paramagnetic (f/N) transition in the spacer and, thereby, of the relative orientation of the outer F-layers in the device (spin-thermoelectric manipulation of nanomagnets). Supporting experimental evidence of such thermally-controlled switching from parallel to antiparallel magnetization orientations in F/f(N)/F sandwiches is presented. Furthermore, we show theoretically that local Joule heating due to a high concentration of current in a magnetic point contact or a nanopillar can be used to reversibly drive the weakly ferromagnetic spacer through its Curie point and thereby exchange couple and decouple the two strongly ferromagnetic F-layers. For the devices designed to have an antiparallel ground state above the Curie point of the spacer, the associated spin-thermionic parallel to antiparallel switching causes magnetoresistance oscillations whose frequency can be controlled by proper biasing from essentially dc to GHz. We discuss in detail an experimental realization of a device that can operate as a thermomagnetoresistive switch or oscillator.

  11. Stereoscopically Observing Manipulative Actions

    PubMed Central

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

    2016-01-01

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

  12. Genetic Manipulations in Dermatophytes.

    PubMed

    Alshahni, Mohamed Mahdi; Yamada, Tsuyoshi

    2017-02-01

    Dermatophytes are a group of closely related fungi that nourish on keratinized materials for their survival. They infect stratum corneum, nails, and hair of human and animals, accounting the largest portion of fungi causing superficial mycoses. Huge populations are suffering from dermatophytoses, though the biology of these fungi is largely unknown yet. Reasons are partially attributed to the poor amenability of dermatophytes to genetic manipulation. However, advancements in this field over the last decade made it possible to conduct genetic studies to satisfying extents. These included genetic transformation methods, indispensable molecular tools, i.e., dominant selectable markers, inducible promoter, and marker recycling system, along with improving homologous recombination frequency and gene silencing. Furthermore, annotated genome sequences of several dermatophytic species have recently been available, ensuring an optimal recruitment of the molecular tools to expand our knowledge on these fungi. In conclusion, the establishment of basic molecular tools and the availability of genomic data will open a new era that might change our understanding on the biology and pathogenicity of this fungal group.

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

    NASA Technical Reports Server (NTRS)

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

    1987-01-01

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

  14. Music retrieval in ICOR

    NASA Astrophysics Data System (ADS)

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

    1999-08-01

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

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

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

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

  16. 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.

  17. 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.

  18. 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.

  19. Direct Manipulation in Virtual Reality

    NASA Technical Reports Server (NTRS)

    Bryson, Steve

    2003-01-01

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

  20. The Text Retrieval Conferences (TRECs)

    DTIC Science & Technology

    1996-05-01

    Retrieval and Routing Using the INQUERY System" by John Broglio, James P. Callan, W. Bruce Croft and Daniel W. Nachbar) used a version of...University of Massachusetts at Amherst ("Document Retrieval and Routing Using the INQUERY System" by John Broglio, James P. Callan, W. Bruce Croft...342 terms were used. SIN002, SINOOI -- University of Massachusetts at Amherst ("Document Retrieval and Routing Using the INQUERY System" by John

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

    PubMed

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

    2015-07-14

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

  2. 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

  3. Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator.

    PubMed

    Katzschmann, Robert K; Marchese, Andrew D; Rus, Daniela

    2015-12-01

    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.

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

    SciTech Connect

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

    2009-04-10

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

  5. Task and content modulate amygdala-hippocampal connectivity in emotional retrieval.

    PubMed

    Smith, Adam P R; Stephan, Klaas E; Rugg, Michael D; Dolan, Raymond J

    2006-02-16

    The ability to remember emotional events is crucial for adapting to biologically and socially significant situations. Little is known, however, about the nature of the neural interactions supporting the integration of mnemonic and emotional information. Using fMRI and dynamic models of effective connectivity, we examined regional neural activity and specific interactions between brain regions during a contextual memory retrieval task. We independently manipulated emotional context and relevance of retrieved emotional information to task demands. We show that retrieval of emotionally valenced contextual information is associated with enhanced connectivity from hippocampus to amygdala, structures crucially involved with encoding of emotional events. When retrieval of emotional information is relevant to current behavior, amygdala-hippocampal connectivity increases bidirectionally, under modulatory influences from orbitofrontal cortex, a region implicated in representation of affective value and behavioral guidance. Our findings demonstrate that both memory content and behavioral context impact upon large scale neuronal dynamics underlying emotional retrieval.

  6. Semantic processing in information retrieval.

    PubMed Central

    Rindflesch, T. C.; Aronson, A. R.

    1993-01-01

    Intuition suggests that one way to enhance the information retrieval process would be the use of phrases to characterize the contents of text. A number of researchers, however, have noted that phrases alone do not improve retrieval effectiveness. In this paper we briefly review the use of phrases in information retrieval and then suggest extensions to this paradigm using semantic information. We claim that semantic processing, which can be viewed as expressing relations between the concepts represented by phrases, will in fact enhance retrieval effectiveness. The availability of the UMLS domain model, which we exploit extensively, significantly contributes to the feasibility of this processing. PMID:8130547

  7. 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.

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

    PubMed

    Mama, Yaniv; Icht, Michal

    2016-06-01

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

  9. Contextual Information Drives the Reconsolidation-Dependent Updating of Retrieved Fear Memories

    PubMed Central

    Jarome, Timothy J; Ferrara, Nicole C; Kwapis, Janine L; Helmstetter, Fred J

    2015-01-01

    Stored memories enter a temporary state of vulnerability following retrieval known as ‘reconsolidation', a process that can allow memories to be modified to incorporate new information. Although reconsolidation has become an attractive target for treatment of memories related to traumatic past experiences, we still do not know what new information triggers the updating of retrieved memories. Here, we used biochemical markers of synaptic plasticity in combination with a novel behavioral procedure to determine what was learned during memory reconsolidation under normal retrieval conditions. We eliminated new information during retrieval by manipulating animals' training experience and measured changes in proteasome activity and GluR2 expression in the amygdala, two established markers of fear memory lability and reconsolidation. We found that eliminating new contextual information during the retrieval of memories for predictable and unpredictable fear associations prevented changes in proteasome activity and glutamate receptor expression in the amygdala, indicating that this new information drives the reconsolidation of both predictable and unpredictable fear associations on retrieval. Consistent with this, eliminating new contextual information prior to retrieval prevented the memory-impairing effects of protein synthesis inhibitors following retrieval. These results indicate that under normal conditions, reconsolidation updates memories by incorporating new contextual information into the memory trace. Collectively, these results suggest that controlling contextual information present during retrieval may be a useful strategy for improving reconsolidation-based treatments of traumatic memories associated with anxiety disorders such as post-traumatic stress disorder. PMID:26062788

  10. Memory as discrimination: a challenge to the encoding-retrieval match principle.

    PubMed

    Poirier, Marie; Nairne, James S; Morin, Caroline; Zimmermann, Friederike G S; Koutmeridou, Kyriaki; Fowler, James

    2012-01-01

    Four experiments contrasted the predictions of a general encoding-retrieval match hypothesis with those of a view claiming that the distinctiveness of the cue-target relationship is the causal factor in retrieval. In Experiments 1, 2, and 4 participants learned the relationships between 4 targets and trios of cues; in Experiment 3 there were 3 targets, each associated with a pair of cues. A learning phase was followed by a cued-recognition task where the correct target had to be identified based on 1 or more of the cues. The main performance measurement was response time. Learning was designed to lead to high accuracy so effects could be attributed to retrieval efficiency rather than to variations in encoding. The nature of the cues and targets was varied across experiments. The critical factor was whether each cue was uniquely associated with the to-be-recalled target. All experiments orthogonally manipulated (a) how discriminative-or uniquely associated with a target-each cue was and (b) the degree of overlap between the cues present during learning and those present at retrieval. The novel finding reported here is that increasing the encoding-retrieval match can hinder performance if the increase simultaneously reduces how well cues predict a target-that is, a cue's diagnostic value. Encoding-retrieval match was not the factor that determined the effectiveness of retrieval. Our findings suggest that increasing the encoding-retrieval match can lead to no change, an increase, or a decrease in retrieval performance.

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

    PubMed Central

    Ramirez, Steve; Tonegawa, Susumu; Liu, Xu

    2014-01-01

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

  12. Building Fractal Models with Manipulatives.

    ERIC Educational Resources Information Center

    Coes, Loring

    1993-01-01

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

  13. Machine intelligence for autonomous manipulation.

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.

    1973-01-01

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

  14. Dynamic Scaling of Manipulator Trajectories.

    DTIC Science & Technology

    1983-01-01

    Manipulators Robotics Trajectory Planning Manipulator Dynamics 20. ABSTRACT (Conftnue wn reverse side ID neceeOor Oine Identlfy b? block nuemNer) A...receives a c factor for each b(i). ’lhus both terms change equally with differing movement speeds. This contradicts the normal assumption in the robotics ...as well since they share the same significance as the velocity terms, yet this is not done. In any case, future generations of robots will contain

  15. Manipulation: description, identification and ambiguity.

    PubMed

    Bowers, L

    2003-06-01

    The word manipulation is frequently applied to some of the difficult-to-manage behaviours of the personality-disordered patient. However, the term is rarely defined, and a review of both the clinical and research literature shows that little has been written about its definition and identification, let alone its clinical management in both in- and outpatient settings. Recent empirical work conducted with nurses in forensic settings has demonstrated the range of behaviours that professionals refer to as 'manipulative', thus clarifying the use of the term and allowing the provision of a more precise definition. The scope of manipulation in everyday life, management practice and politics is perhaps relatively small, although manipulation can occur in all areas of human activity. Social behaviour is doubly ambiguous with respect to judgements of manipulation, as such judgements involve a moral evaluation combined with the identification of deception on the basis of little or partial evidence. The implications of this social ambiguity for clinical psychiatric practice are that professionals need to guard themselves from two polar faults: seeing manipulation everywhere; or being blind to its presence. In order to achieve a cautious moderation, staff need to hold both alternatives in mind at all times.

  16. Moving beyond Text Highlights: Inferring Users' Interests to Improve the Relevance of Retrieval

    ERIC Educational Resources Information Center

    Balakrishnan, Vimala; Mehmood, Yasir; Nagappan, Yoganathan

    2016-01-01

    Introduction: Studies have indicated that users' text highlighting behaviour can be further manipulated to improve the relevance of retrieved results. This article reports on a study that examined users' text highlight frequency, length and users' copy-paste actions. Method: A binary voting mechanism was employed to determine the weights for the…

  17. Evidence for Episodic Retrieval of Inadequate Prime Responses in Auditory Negative Priming

    ERIC Educational Resources Information Center

    Mayr, Susanne; Buchner, Axel

    2006-01-01

    Four experiments are reported in which the mechanisms underlying auditory negative priming were investigated. In Experiments 1A and 1B, preprime-prime intervals and prime-probe intervals were manipulated.The ratio between the 2 intervals determined the size of the negative priming effect. Results are compatible with the episodic retrieval account,…

  18. Intelligent Information Retrieval: An Introduction.

    ERIC Educational Resources Information Center

    Gauch, Susan

    1992-01-01

    Discusses the application of artificial intelligence to online information retrieval systems and describes several systems: (1) CANSEARCH, from MEDLINE; (2) Intelligent Interface for Information Retrieval (I3R); (3) Gausch's Query Reformulation; (4) Environmental Pollution Expert (EP-X); (5) PLEXUS (gardening); and (6) SCISOR (corporate…

  19. Team 2: AIRS Only Retrieval

    NASA Technical Reports Server (NTRS)

    Lee, Sung-Yung; Manning, Evan; Blaisdell, John; Susskind, Joel; Barnet, Chris; Goldberg, Mitch; Cho, Chuck; Staelin, Dave; Blackwelll, Bill

    2005-01-01

    This slide presentation makes the case for the retrieval of data from the Atmospheric Infrared Sounder (AIRS) Advanced Microwave Sounding Unit (AMSU). AIRS only retrieval is not only a risk reduction for failure of AMSU, but also important because NWP centers are reluctant to assimilate AMSU twice.

  20. Student Attitude Toward Information Retrieval.

    ERIC Educational Resources Information Center

    Adair, Charles H.; Allen, Rodney F.

    This is an individually administered rating scale designed to evaluate teacher trainee attitudes toward an information retrieval system. A major goal of the scale is to seek responses that measure students' reactions to the cognitive interest and motivational nature of the information retrieval system through the use of Likert-type items. The…

  1. Web Mining for Web Image Retrieval.

    ERIC Educational Resources Information Center

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

    2001-01-01

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

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. Research by retrieving experiments.

    PubMed

    Blagosklonny, Mikhail V

    2007-06-01

    Newton did not discover that apples fall: the information was available prior to his gravitational hypothesis. Hypotheses can be tested not only by performing experiments but also by retrieving experiments from the literature (via PubMed, for example). Here I show how disconnected facts from known data, if properly connected, can generate novel predictions testable in turn by other published data. With examples from cell cycle, aging, cancer and other fields of biology and medicine, I discuss how new knowledge was and will be derived from old information. Millions of experiments have been already performed to test unrelated hypotheses and the results of those experiments are available to 'test' your hypotheses too. But most data (99% by some estimates) remain unpublished, because they were negative, seemed of low priority, or did not fit the story. Yet for other investigators those data may be valuable. The well-known story of Franklin and Watson is a case in point. By making preliminary data widely available, 'data-owners' will benefit most, receiving the credit for otherwise unused results. If posted (pre-published) on searchable databases, these data may fuel thousands of projects without the need for repetitive experiments. Enormous 'pre-published' databases coupled with Google-like search engines can change the structure of scientific research, and shrinking funding will make this inevitable.

  7. Flexible retrieval: When true inferences produce false memories.

    PubMed

    Carpenter, Alexis C; Schacter, Daniel L

    2017-03-01

    Episodic memory involves flexible retrieval processes that allow us to link together distinct episodes, make novel inferences across overlapping events, and recombine elements of past experiences when imagining future events. However, the same flexible retrieval and recombination processes that underpin these adaptive functions may also leave memory prone to error or distortion, such as source misattributions in which details of one event are mistakenly attributed to another related event. To determine whether the same recombination-related retrieval mechanism supports both successful inference and source memory errors, we developed a modified version of an associative inference paradigm in which participants encoded everyday scenes comprised of people, objects, and other contextual details. These scenes contained overlapping elements (AB, BC) that could later be linked to support novel inferential retrieval regarding elements that had not appeared together previously (AC). Our critical experimental manipulation concerned whether contextual details were probed before or after the associative inference test, thereby allowing us to assess whether (a) false memories increased for successful versus unsuccessful inferences, and (b) any such effects were specific to after compared with before participants received the inference test. In each of 4 experiments that used variants of this paradigm, participants were more susceptible to false memories for contextual details after successful than unsuccessful inferential retrieval, but only when contextual details were probed after the associative inference test. These results suggest that the retrieval-mediated recombination mechanism that underlies associative inference also contributes to source misattributions that result from combining elements of distinct episodes. (PsycINFO Database Record

  8. Solid rocket booster retrieval operations

    NASA Technical Reports Server (NTRS)

    Rasmussen, A. M.

    1985-01-01

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

  9. 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.

  10. Learning Area and Perimeter with Virtual Manipulatives

    ERIC Educational Resources Information Center

    Bouck, Emily; Flanagan, Sara; Bouck, Mary

    2015-01-01

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

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

    PubMed

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

    2014-01-01

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

  12. Input shaping methods for telerobotic operation of flexible, long-reach manipulators

    SciTech Connect

    Kwon, Dong-Soo; Hwang, Dong-Hwan; Babcock, S.M.

    1994-09-01

    Among the Environmental Restoration and Waste Management Program of the U.S. Department of Energy, the remediation of radioactive waste from the underground storage tank challenges the state-of-the-art equipment and methods. Long-reach manipulators are being considered to be one of the most advantageous approaches for the retrieval of waste from large storage tanks. Because of long-reach manipulator`s high payload capacity and high length-to-cross-section ratios, such manipulator system exhibits significant structural flexibility. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A robust notch filtering method and an impulse shaping method were evaluated. In addition to that, a new approach that uses imbedded simulation was developed and compared with others. In the new approach, joint trajectories have been generated considering the flexible link dynamics.

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

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

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

  14. Familiarity and Retrieval Processes in Delayed Judgments of Learning

    PubMed Central

    Metcalfe, Janet; Finn, Bridgid

    2008-01-01

    Two processes are postulated to underlie delayed judgments of learning (JOLs) -- cue familiarity and target retrievability. The two processes are distinguishable because the familiarity-based judgments are thought to be faster than the retrieval-based processes, because only retrieval-based JOLs should enhance the relative accuracy of the correlations between the JOLs and criterion test performance, and because only retrieval-based judgments should enhance memory. To test these predictions, in three experiments, we either speeded people’s JOLs or allowed them to be unspeeded. The relative accuracy of the JOLs in predicting performance on the criterion test was higher for the unspeeded JOLs than for the speeded JOLs, as predicted. The unspeeded JOL conditions showed enhanced memory as compared to the speeded JOL conditions, as predicted. And finally, the unspeeded JOLs were sensitive to manipulations that modified recallability of the target, while the speeded JOLs were selectively sensitive to experimental variations in the familiarity of the cues. Thus, all three of the predictions about the consequences of the two processes potentially underlying delayed JOLs were borne out. A model of the processes underlying delayed JOLs, based on these and earlier results is presented. PMID:18763893

  15. System For Retrieving Reusable Software

    NASA Technical Reports Server (NTRS)

    Van Warren, Lloyd; Beckman, Brian C.

    1993-01-01

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

  16. Mobile medical visual information retrieval.

    PubMed

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

    2012-01-01

    In this paper, we propose mobile access to peer-reviewed medical information based on textual search and content-based visual image retrieval. Web-based interfaces designed for limited screen space were developed to query via web services a medical information retrieval engine optimizing the amount of data to be transferred in wireless form. Visual and textual retrieval engines with state-of-the-art performance were integrated. Results obtained show a good usability of the software. Future use in clinical environments has the potential of increasing quality of patient care through bedside access to the medical literature in context.

  17. The biomechanics of spinal manipulation.

    PubMed

    Herzog, Walter

    2010-07-01

    Biomechanics is the science that deals with the external and internal forces acting on biological systems and the effects produced by these forces. Here, we describe the forces exerted by chiropractors on patients during high-speed, low-amplitude manipulations of the spine and the physiological responses produced by the treatments. The external forces were found to vary greatly among clinicians and locations of treatment on the spine. Spinal manipulative treatments produced reflex responses far from the treatment site, caused movements of vertebral bodies in the "para-physiological" zone, and were associated with cavitation of facet joints. Stresses and strains on the vertebral artery during chiropractic spinal manipulation of the neck were always much smaller than those produced during passive range of motion testing and diagnostic procedures.

  18. Employee involvement: motivation or manipulation?

    PubMed

    McConnell, C R

    1998-03-01

    Employee involvement is subject to a great deal of verbal tribute; there is hardly a manager at work today who will not praise the value of employee input. However, many employee involvement efforts leave employees feeling more manipulated than motivated. This occurs because supervisors and managers, while expecting employees to change the way they work, are themselves either unwilling to change or remain unconscious of the need to change. The result is that, although employee input is regularly solicited in a number of forms, it is often discounted, ignored, or altered to fit the manager's preconceptions. Often the employee is left feeling manipulated. Since the opportunity for involvement can be a strong motivator, it becomes the manager's task to learn how to provide involvement opportunity in manipulative fashion. This can be accomplished by providing involvement opportunity accompanied by clear outcome expectations and allowing employees the freedom to pursue those outcomes in their own way.

  19. Manipulating Complex Light with Metamaterials

    PubMed Central

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

    2013-01-01

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

  20. A novel manipulator technology for space applications

    NASA Technical Reports Server (NTRS)

    Schmitz, Donald; Khosia, Pradeep; Kanade, Takeo

    1988-01-01

    Modular manipulator designs have long been considered for use as research tools, and as the basis for easily modified industrial manipulators. In these manipulators the links and joints are discrete and modular components that can be assembled into a desired manipulator configuration. As hardware advances have made actual modular manipulators practical, various capabilities of such manipulators have gained interest. Particularly desirable is the ability to rapidly reconfigure such a manipulator, in order to custom tailor it to specific tasks. The reconfiguration greatly enhances the capability of a given amount of manipulator hardware. The development of a prototype modular manipulator is discussed as well as the implementation of a configuration independent manipulator kinematics algorithm used for path planning in the prototype.

  1. 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.

  2. Expert operator preferences in remote manipulator control systems

    SciTech Connect

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

    1995-06-01

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

  3. 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.

  4. Automatic Classification in Information Retrieval.

    ERIC Educational Resources Information Center

    van Rijsbergen, C. J.

    1978-01-01

    Addresses the application of automatic classification methods to the problems associated with computerized document retrieval. Different kinds of classifications are described, and both document and term clustering methods are discussed. References and notes are provided. (Author/JD)

  5. A simple procedure for retrieval of a cement-retained implant-supported crown: a case report.

    PubMed

    Buzayan, Muaiyed Mahmoud; Mahmood, Wan Adida; Yunus, Norsiah Binti

    2014-02-01

    Retrieval of cement-retained implant prostheses can be more demanding than retrieval of screw-retained prostheses. This case report describes a simple and predictable procedure to locate the abutment screw access openings of cementretained implant-supported crowns in cases of fractured ceramic veneer. A conventional periapical radiography image was captured using a digital camera, transferred to a computer, and manipulated using Microsoft Word document software to estimate the location of the abutment screw access.

  6. Response retrieval and motor planning during typing.

    PubMed

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

    2016-08-01

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

  7. Master/slave manipulator system

    NASA Technical Reports Server (NTRS)

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

    1973-01-01

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

  8. Manipulating Genetic Material in Bacteria

    NASA Technical Reports Server (NTRS)

    1998-01-01

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

  9. Optical manipulation of valley pseudospin

    NASA Astrophysics Data System (ADS)

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

    2017-01-01

    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, remained out of reach. Here 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 WSe2 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. This study unveils the possibility of generation, manipulation, and detection of the valley pseudospin by coupling to photons.

  10. Data manipulation in heterogeneous databases

    SciTech Connect

    Chatterjee, A.; Segev, A.

    1991-10-01

    Many important information systems applications require access to data stored in multiple heterogeneous databases. This paper examines a problem in inter-database data manipulation within a heterogeneous environment, where conventional techniques are no longer useful. To solve the problem, a broader definition for join operator is proposed. Also, a method to probabilistically estimate the accuracy of the join is discussed.

  11. Mapping and Manipulating Facial Expression

    ERIC Educational Resources Information Center

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

    2009-01-01

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

  12. Ants: the supreme soil manipulators

    Technology Transfer Automated Retrieval System (TEKTRAN)

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

  13. 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

  14. DYMAFLEX: DYnamic Manipulation FLight EXperiment

    DTIC Science & Technology

    2013-09-03

    Moosavian. Learning- based Modified Transpose Jacobian control of robotic manipulators. In Proc. IEEE Conf. on Advanced Intelligent Mechatronics , pages...34Path planning for minimizing base reaction of space robot and its ground experimental study," in IEEE International Conference on Mechatronics

  15. Teaching Integration Applications Using Manipulatives

    ERIC Educational Resources Information Center

    Bhatia, Kavita; Premadasa, Kirthi; Martin, Paul

    2014-01-01

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

  16. Fluency heuristic: a model of how the mind exploits a by-product of information retrieval.

    PubMed

    Hertwig, Ralph; Herzog, Stefan M; Schooler, Lael J; Reimer, Torsten

    2008-09-01

    Boundedly rational heuristics for inference can be surprisingly accurate and frugal for several reasons. They can exploit environmental structures, co-opt complex capacities, and elude effortful search by exploiting information that automatically arrives on the mental stage. The fluency heuristic is a prime example of a heuristic that makes the most of an automatic by-product of retrieval from memory, namely, retrieval fluency. In 4 experiments, the authors show that retrieval fluency can be a proxy for real-world quantities, that people can discriminate between two objects' retrieval fluencies, and that people's inferences are in line with the fluency heuristic (in particular fast inferences) and with experimentally manipulated fluency. The authors conclude that the fluency heuristic may be one tool in the mind's repertoire of strategies that artfully probes memory for encapsulated frequency information that can veridically reflect statistical regularities in the world.

  17. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    SciTech Connect

    Joseph W. Geisinger, Ph.D.

    2001-07-31

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

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

    NASA Technical Reports Server (NTRS)

    Kumar, L.

    1978-01-01

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

  19. Diversity and evolution of bodyguard manipulation.

    PubMed

    Maure, Fanny; Daoust, Simon Payette; Brodeur, Jacques; Mitta, Guillaume; Thomas, Frédéric

    2013-01-01

    Among the different strategies used by parasites to usurp the behaviour of their host, one of the most fascinating is bodyguard manipulation. While all classic examples of bodyguard manipulation involve insect parasitoids, induced protective behaviours have also evolved in other parasite-host systems, typically as specific dimensions of the total manipulation. For instance, parasites may manipulate the host to reduce host mortality during their development or to avoid predation by non-host predators. This type of host manipulation behaviour is rarely described, probably due to the fact that studies have mainly focused on predation enhancement rather than studying all the dimensions of the manipulation. Here, in addition to the classic cases of bodyguard manipulation, we also review these 'bodyguard dimensions' and propose extending the current definition of bodyguard manipulation to include the latter. We also discuss different evolutionary scenarios under which such manipulations could have evolved.

  20. Elaborative Retrieval: Do Semantic Mediators Improve Memory?

    ERIC Educational Resources Information Center

    Lehman, Melissa; Karpicke, Jeffrey D.

    2016-01-01

    The elaborative retrieval account of retrieval-based learning proposes that retrieval enhances retention because the retrieval process produces the generation of semantic mediators that link cues to target information. We tested 2 assumptions that form the basis of this account: that semantic mediators are more likely to be generated during…

  1. The role of retrieval mode and retrieval orientation in retrieval practice: insights from comparing recognition memory testing formats and restudying.

    PubMed

    Gao, Chuanji; Rosburg, Timm; Hou, Mingzhu; Li, Bingbing; Xiao, Xin; Guo, Chunyan

    2016-12-01

    The effectiveness of retrieval practice for aiding long-term memory, referred to as the testing effect, has been widely demonstrated. However, the specific neurocognitive mechanisms underlying this phenomenon remain unclear. In the present study, we sought to explore the role of pre-retrieval processes at initial testing on later recognition performance by using event-related potentials (ERPs). Subjects studied two lists of words (Chinese characters) and then performed a recognition task or a source memory task, or restudied the word lists. At the end of the experiment, subjects received a final recognition test based on the remember-know paradigm. Behaviorally, initial testing (active retrieval) enhanced memory retention relative to restudying (passive retrieval). The retrieval mode at initial testing was indexed by more positive-going ERPs for unstudied items in the active-retrieval tasks than in passive retrieval from 300 to 900 ms. Follow-up analyses showed that the magnitude of the early ERP retrieval mode effect (300-500 ms) was predictive of the behavioral testing effect later on. In addition, the ERPs for correctly rejected new items during initial testing differed between the two active-retrieval tasks from 500 to 900 ms, and this ERP retrieval orientation effect predicted differential behavioral testing gains between the two active-retrieval conditions. Our findings confirm that initial testing promotes later retrieval relative to restudying, and they further suggest that adopting pre-retrieval processing in the forms of retrieval mode and retrieval orientation might contribute to these memory enhancements.

  2. Position control of robot manipulators manipulating a flexible payload

    SciTech Connect

    Sun, D.; Mills, J.K.; Liu, Y.

    1999-03-01

    Robotic manipulation of a flexible payload is a complex and challenging control problem. This paper demonstrates from both theoretical and experimental perspectives that through proper design of the control gains, the simple scheme of PD plus gravity compensation can control a flexible payload manipulated by multiple robots to a desired position/orientation while damping the vibrations of the payload at each contact. The suppression of the vibration at each contact is helpful to suppress all vibrations of the flexible body. If the payload has a large stiffness or small mass, the proposed scheme can regulate the deformations at the contacts to zero, and also, the offsets of all static deformations of the payload with reference to the original positions decay to zero. A clamped-free model is used to decompose the dynamics of the payload into two distinct dynamic subsystems. This allows them to treat these dynamic subsystems separately and prove that desired motion trajectories can be achieved with the proposed scheme. As an example, the experiment of manipulating a flexible sheet using two CRS A460 robots is further described.

  3. Study repetition and divided attention: effects of encoding manipulations on collaborative inhibition in group recall.

    PubMed

    Pereira-Pasarin, Luciane P; Rajaram, Suparna

    2011-08-01

    Two experiments tested the effects of encoding manipulations on group recall and on the magnitude of collaborative inhibition. Collaborative inhibition refers to the phenomenon where by a collaborative group recalls less than do the same number of individuals who work alone and then have their nonredundant responses pooled. Participants studied categorized word lists once or three times (Experiment 1) or under conditions of full versus divided attention (Experiment 2). Study repetition both improved retrieval organization in recall and attenuated collaborative inhibition, and divided attention encoding both reduced retrieval organization in recall and eliminated collaborative inhibition. These experiments are the first to focus on encoding variables and to show that collaborative inhibition can vary as a function of encoding manipulations.

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

    PubMed

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

    2016-01-01

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

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

    PubMed Central

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

    2016-01-01

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

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

    SciTech Connect

    Berglin, E.J.

    1997-05-29

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

  7. The laboratory telerobotic manipulator program

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  8. Adaptive hybrid control of manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1987-01-01

    Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

  9. Nanoparticle manipulation by thermal gradient

    PubMed Central

    2012-01-01

    A method was proposed to manipulate nanoparticles through a thermal gradient. The motion of a fullerene molecule enclosed inside a (10, 10) carbon nanotube with a thermal gradient was studied by molecular dynamics simulations. We created a one-dimensional potential valley by imposing a symmetrical thermal gradient inside the nanotube. When the temperature gradient was large enough, the fullerene sank into the valley and became trapped. The escaping velocities of the fullerene were evaluated based on the relationship between thermal gradient and thermophoretic force. We then introduced a new way to manipulate the position of nanoparticles by translating the position of thermostats with desirable thermal gradients. Compared to nanomanipulation using a scanning tunneling microscope or an atomic force microscope, our method for nanomanipulation has a great advantage by not requiring a direct contact between the probe and the object. PMID:22364240

  10. A low-copy-number plasmid for retrieval of toxic genes from BACs and generation of conditional targeting constructs.

    PubMed

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

    2013-06-01

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

  11. Manipulating the edge of instability

    PubMed Central

    Venkadesan, Madhusudhan; Guckenheimer, John; Valero-Cuevas, Francisco J.

    2009-01-01

    We investigate the integration of visual and tactile sensory input for dynamic manipulation. Our experimental data and computational modeling reveal that time-delays are as critical to task-optimal multisensory integration as sensorimotor noise. Our focus is a dynamic manipulation task “at the edge of instability.” Mathematical bifurcation theory predicts that this system will exhibit well-classified low-dimensional dynamics in this regime. The task was using the thumbpad to compress a slender spring prone to buckling as far as possible, just shy of slipping. As expected from bifurcation theory, principal components analysis gives a projection of the data onto a low dimensional subspace that captures 91-97% of its variance. In this subspace, we formulate a low-order model for the brain+hand+spring dynamics based on known mechanical and neurophysiological properties of the system. By systematically occluding vision and anesthetically blocking thumbpad sensation in 12 consenting subjects, we found that vision contributed to dynamic manipulation only when thumbpad sensation was absent. The reduced ability of the model system to compress the spring with absent sensory channels closely resembled the experimental results. Moreover, we found that the model reproduced the contextual usefulness of vision only if we took account of time-delays. Our results shed light on critical features of dynamic manipulation distinct from those of static pinch, as well as the mechanism likely responsible for loss of manual dexterity and increased reliance on vision when age or neuromuscular disease increase noisiness and/or time-delays during sensorimotor integration. PMID:17400231

  12. Towards Manipulation-Driven Vision

    DTIC Science & Technology

    2001-01-01

    perience through experimental manipulation, using The human ability to segment objects is not general - tight correlations between arm motion and...required for action, rule) generates informative percepts. while the ventral is important for more cognitive tasks such as maintaining an object’s...identity and Neurons in area F4 are thought to provide a body constancy. Although the dorsal/ventral segregation map useful for generating arm, head, and

  13. Fluid Manipulation Utilizing Electrowetting Techniques

    NASA Astrophysics Data System (ADS)

    Kaiser, Laura; Pyrak-Nolte, Laura

    2014-03-01

    The fraction of the pore space in rock occupied by a given fluid is called saturation. The relationship between saturation and capillary pressure for porous media is hysteretic between imbibition and drainage cycles. If the wetting phase saturation increases, the capillary pressure follows an imbibition curve, and, if the wetting phase saturation decreases, the capillary pressure follows the drainage curve. Due to this hysteresis, researchers have suggested that there is a third variable that should be considered called interfacial area per volume that removes the ambiguity in the capillary pressure - saturation relationship. Before the relationship can be explored in more detail, we first must be able to manipulate the saturation internally rather than externally. We used electrowetting techniques to manipulate the contact angle of a salt water drop. This technique affects the interfacial energy and, therefore, enables manipulation of the contact angles and saturation. Once mastered, the technique could be used to explore the effect of interfacial area per volume on micromodel systems. NSF REU

  14. Model reduction of flexible manipulators

    NASA Astrophysics Data System (ADS)

    Yang, Jie; Xu, Yangsheng; Chen, C. S.

    1992-06-01

    Flexible manipulators can be characterized by a dynamic model with a large number of vibration modes, and the use of the model in the model-based control schemes requires reduction of model order. Balanced truncation is an effective method for model reduction of asymptotically stable systems by transforming the states to a coordinate system in which the controllability and observability Gramians are equal and diagonal, and eliminating the states which contribute weakly to the input-output map. An elastic flexible manipulator, however, is a marginally stable system and thus the balanced truncation method can not be directly applied. Herein, a method is presented of reducing the order of a marginally stable system based on the fact that translation transformations in the frequency domain preserve input-output properties of the system. The successful application is addressed of the method to model reduction of flexible manipulators with infinite-dimensional for finite-dimensional model. The method is also applicable for any other marginally stable model, such as elastic space trusswork and multi-dimensional space vehicle structure.

  15. What is 'manipulation'? A reappraisal.

    PubMed

    Evans, David W; Lucas, Nicholas

    2010-06-01

    Due primarily to its colloquial function, 'manipulation' is a poor term for distinguishing one healthcare intervention from another. With reports continuing to associate serious adverse events with manipulation, particularly relating to its use in the cervical spine, it is essential that the term be used appropriately and in accordance with a valid definition. The purpose of this paper is to identify empirically-derived features that we propose to be necessary and collectively sufficient for the formation of a valid definition for manipulation. A final definition is not offered. However, arguments for and against the inclusion of features are presented. Importantly, these features are explicitly divided into two categories: the 'action' (that which the practitioner does to the recipient) and the 'mechanical response' (that which occurs within the recipient). The proposed features are: 1) A force is applied to the recipient; 2) The line of action of this force is perpendicular to the articular surface of the affected joint; 3) The applied force creates motion at a joint; 4) This joint motion includes articular surface separation; 5) Cavitation occurs within the affected joint.

  16. Manipulation of Biofilm Microbial Ecology

    SciTech Connect

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

    1998-08-15

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

  17. Intelligent web image retrieval system

    NASA Astrophysics Data System (ADS)

    Hong, Sungyong; Lee, Chungwoo; Nah, Yunmook

    2001-07-01

    Recently, the web sites such as e-business sites and shopping mall sites deal with lots of image information. To find a specific image from these image sources, we usually use web search engines or image database engines which rely on keyword only retrievals or color based retrievals with limited search capabilities. This paper presents an intelligent web image retrieval system. We propose the system architecture, the texture and color based image classification and indexing techniques, and representation schemes of user usage patterns. The query can be given by providing keywords, by selecting one or more sample texture patterns, by assigning color values within positional color blocks, or by combining some or all of these factors. The system keeps track of user's preferences by generating user query logs and automatically add more search information to subsequent user queries. To show the usefulness of the proposed system, some experimental results showing recall and precision are also explained.

  18. 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.

  19. Multimedia Information Retrieval Literature Review

    SciTech Connect

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

    2010-10-12

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

  20. Publication search and retrieval system

    USGS Publications Warehouse

    Winget, Elizabeth A.

    1981-01-01

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

  1. A Web Information Retrieval System

    NASA Astrophysics Data System (ADS)

    Kim, Tae-Hyun; Park, Dong-Chul; Huh, Woong; Kim, Hyen-Ug; Yoon, Chung-Hwa; Park, Chong-Dae; Woo, Dong-Min; Jeong, Taikyeong; Cho, Il-Hwan; Lee, Yunsik

    An approach for the retrieval of price information from internet sites is applied to real-world application problems in this paper. The Web Information Retrieval System (WIRS) utilizes Hidden Markov Model (HMM) for its powerful capability to process temporal information. HMM is an extremely flexible tool and has been successfully applied to a wide variety of stochastic modeling tasks. In order to compare the prices and features of products from various web sites, the WIRS extracts prices and descriptions of various products within web pages. The WIRS is evaluated with real-world problems and compared with a conventional method and the result is reported in this paper.

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

    PubMed Central

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

    2014-01-01

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

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

    PubMed

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

    2014-07-01

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

  4. Speeded Classification in a Probabilistic Category Structure: Contrasting Exemplar-Retrieval, Decision-Boundary, and Prototype Models

    ERIC Educational Resources Information Center

    Nosofsky, Robert M.; Stanton, Roger D.

    2005-01-01

    Speeded perceptual classification experiments were conducted to distinguish among the predictions of exemplar-retrieval, decision-boundary, and prototype models. The key manipulation was that across conditions, individual stimuli received either probabilistic or deterministic category feedback. Regardless of the probabilistic feedback, however, an…

  5. Context Retrieval and Context Change in Free Recall: Recalling from Long-Term Memory Drives List Isolation

    ERIC Educational Resources Information Center

    Jang, Yoonhee; Huber, David E.

    2008-01-01

    Three experiments used the "list-before-the-last" free recall paradigm (Shiffrin, 1970) to investigate retrieval for context and the manner in which context changes. This paradigm manipulates target and intervening list lengths to measure the interference from each list, providing a measure of list isolation. Correct target list recall was only…

  6. Information Retrieval for Ecological Syntheses

    ERIC Educational Resources Information Center

    Bayliss, Helen R.; Beyer, Fiona R.

    2015-01-01

    Research syntheses are increasingly being conducted within the fields of ecology and environmental management. Information retrieval is crucial in any synthesis in identifying data for inclusion whilst potentially reducing biases in the dataset gathered, yet the nature of ecological information provides several challenges when compared with…

  7. Information Retrieval in Virtual Universities

    ERIC Educational Resources Information Center

    Puustjärvi, Juha; Pöyry, Päivi

    2006-01-01

    Information retrieval in the context of virtual universities deals with the representation, organization, and access to learning objects. The representation and organization of learning objects should provide the learner with an easy access to the learning objects. In this article, we give an overview of the ONES system, and analyze the relevance…

  8. Information Retrieval in the Classroom.

    ERIC Educational Resources Information Center

    Oley, Elizabeth

    1989-01-01

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

  9. INFORMATION RETRIEVAL EXPERIMENT. FINAL REPORT.

    ERIC Educational Resources Information Center

    SELYE, HANS

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

  10. Hubble Space Telescope prescription retrieval.

    PubMed

    Redding, D; Dumont, P; Yu, J

    1993-04-01

    Prescription retrieval is a technique for directly estimating optical prescription parameters from images. We apply it to estimate the value of the Hubble Space Telescope primary mirror conic constant. Our results agree with other studies that examined primary-mirror test fixtures and results. In addition they show that small aberrations exist on the planetary-camera repeater optics.

  11. The Ecosystem of Information Retrieval

    ERIC Educational Resources Information Center

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

    2012-01-01

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

  12. Photopolarimetric Retrievals of Snow Properties

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

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

  13. An Interactive Document Retrieval System.

    ERIC Educational Resources Information Center

    Carroll, D.E.; And Others

    The document retrieval system at Coordinated Science Laboratory is implemented on a Control Data 1604 computer system. Recorded information from each source article includes 1) conventional bibliographic data such as authorship, author affiliation, title, year of publication, etc., 2) detailed bibliographic data from each of the cited references,…

  14. How does antigen retrieval work?

    PubMed

    Leong, Trishe Y-M; Leong, Anthony S-Y

    2007-03-01

    The introduction of antigen retrieval has enabled immunohistology to become an integral component of morphologic diagnosis, routinely employed in cancer diagnosis, and for the identification of therapeutic and prognostic markers. The mechanism of antigen retrieval, however, remains speculative with the key to our understanding embedded in the actions of formaldehyde on proteins. One commonly held concept is that heat primarily breaks down protein cross-linkages that occur with aldehyde fixation, thus "unmasking" protein epitopes of interest. Enzymatic pretreatment is also thought to have a similar action whereas such "breakages" are the result of extremely rapid molecular movement induced by microwaves and ultrasound. The formation of rigid cagelike calcium complexes during formaldehyde fixation is another suggested mechanism of antigen masking requiring chelating agents for reversal. A more recent suggestion for the antigen retrieval phenomenon has evoked the Mannich reaction, which occurs with the cross-linking of some proteins. Such cross-linkages can be hydrolyzed by heat or alkalis so that the process of antigen retrieval may be the simple removal of such cross-linked proteins that are sterically interfering with the binding of antibodies to linear protein epitopes in the tissue section. We are clearly not yet in possession of all the answers to the problem.

  15. Semantic Tools in Information Retrieval.

    ERIC Educational Resources Information Center

    Rubinoff, Morris; Stone, Don C.

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

  16. Cross-Language Information Retrieval.

    ERIC Educational Resources Information Center

    Oard, Douglas W.; Diekema, Anne R.

    1998-01-01

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

  17. Neural networks for atmospheric retrievals

    NASA Technical Reports Server (NTRS)

    Motteler, Howard E.; Gualtieri, J. A.; Strow, L. Larrabee; Mcmillin, Larry

    1993-01-01

    We use neural networks to perform retrievals of temperature and water fractions from simulated clear air radiances for the Atmospheric Infrared Sounder (AIRS). Neural networks allow us to make effective use of the large AIRS channel set, and give good performance with noisy input. We retrieve surface temperature, air temperature at 64 distinct pressure levels, and water fractions at 50 distinct pressure levels. Using 728 temperature and surface sensitive channels, the RMS error for temperature retrievals with 0.2K input noise is 1.2K. Using 586 water and temperature sensitive channels, the mean error with 0.2K input noise is 16 percent. Our implementation of backpropagation training for neural networks on the 16,000-processor MasPar MP-1 runs at a rate of 90 million weight updates per second, and allows us to train large networks in a reasonable amount of time. Once trained, the network can be used to perform retrievals quickly on a workstation of moderate power.

  18. Stress disrupts response memory retrieval.

    PubMed

    Guenzel, Friederike M; Wolf, Oliver T; Schwabe, Lars

    2013-08-01

    Stress effects on memory are well-known. Most studies, however, focused on the impact of stress on hippocampus-dependent 'declarative' memory processes. Less is known about whether stress influences also striatum-based memory processes, such as stimulus-response (S-R) memory. First evidence from rodent experiments shows that glucocorticoid stress hormones may enhance the consolidation of S-R memories. Whether stress affects also S-R memory retrieval remains largely elusive. Therefore, we tested in the present experiment in humans the effect of stress on the retrieval of S-R memories. Healthy men and women were trained to locate three objects in an S-R version of a virtual eight-arm radial maze. One week later, participants underwent a stressor or a control condition before their memory of the S-R task was tested. Our results showed that participants (n=43) who were exposed to the stressor before retention testing made significantly more errors in this test trial, suggesting that stress impaired S-R memory retrieval. Moreover, high cortisol concentrations were associated with reduced S-R memory. These findings indicate that stress may affect memory retrieval processes in humans beyond hippocampal 'declarative' memory.

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

    NASA Astrophysics Data System (ADS)

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

    2016-03-01

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

  20. Models of remote manipulation in space

    NASA Technical Reports Server (NTRS)

    Hannaford, Blake

    1991-01-01

    Robots involved in high value manipulation must be effectively coupled to a human operator either at the work-site or remotely connected via communication links. In order to make use of experimental performance evaluation data, models must be developed. Powerful models of remote manipulation by humans can be used to predict manipulation performance in future systems based on today's laboratory systems. In this paradigm, the models are developed from experimental data, and then used to predict performance in slightly different situations. Second, accurate telemanipulation will allow design of manipulation systems which extend manipulation capability beyond its current bounds.

  1. 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.

  2. Satellite Retrieval of Aerosol Properties

    NASA Astrophysics Data System (ADS)

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

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

  3. Spin-manipulating polarized deuterons

    SciTech Connect

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

    2011-03-01

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

  4. From Micro- to Nanoparticle Manipulation

    NASA Astrophysics Data System (ADS)

    Baechi, D.; Buser, R.; Dual, J.

    2000-12-01

    The precise manipulation of small particles is not a trivial task. In a first effort, a nanorobot system was built based on a robot with vision feedback and a micromachined gripper. It was suitable for handling particles down to 100 μ with submicron accuracy in a normal environment. For smaller particles stiction effects prohibit the release of the particles in a controlled way. Stiction effects are avoided in a fluid environment. As an example, a system of channels is described in detail that is able to feed micron sized particles in a fluid environment to the desired places.

  5. Covariance Manipulation for Conjunction Assessment

    NASA Technical Reports Server (NTRS)

    Hejduk, M. D.

    2016-01-01

    Use of probability of collision (Pc) has brought sophistication to CA. Made possible by JSpOC precision catalogue because provides covariance. Has essentially replaced miss distance as basic CA parameter. Embrace of Pc has elevated methods to 'manipulate' covariance to enable/improve CA calculations. Two such methods to be examined here; compensation for absent or unreliable covariances through 'Maximum Pc' calculation constructs, projection (not propagation) of epoch covariances forward in time to try to enable better risk assessments. Two questions to be answered about each; situations to which such approaches are properly applicable, amount of utility that such methods offer.

  6. Manipulating expression of tonoplast transporters.

    PubMed

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

    2012-01-01

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

  7. Mobile remote manipulator vehicle system

    NASA Technical Reports Server (NTRS)

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

    1987-01-01

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

  8. Actuators for a space manipulator

    NASA Technical Reports Server (NTRS)

    Chun, W.; Brunson, P.

    1987-01-01

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

  9. Covariance Manipulation for Conjunction Assessment

    NASA Technical Reports Server (NTRS)

    Hejduk, M. D.

    2016-01-01

    The manipulation of space object covariances to try to provide additional or improved information to conjunction risk assessment is not an uncommon practice. Types of manipulation include fabricating a covariance when it is missing or unreliable to force the probability of collision (Pc) to a maximum value ('PcMax'), scaling a covariance to try to improve its realism or see the effect of covariance volatility on the calculated Pc, and constructing the equivalent of an epoch covariance at a convenient future point in the event ('covariance forecasting'). In bringing these methods to bear for Conjunction Assessment (CA) operations, however, some do not remain fully consistent with best practices for conducting risk management, some seem to be of relatively low utility, and some require additional information before they can contribute fully to risk analysis. This study describes some basic principles of modern risk management (following the Kaplan construct) and then examines the PcMax and covariance forecasting paradigms for alignment with these principles; it then further examines the expected utility of these methods in the modern CA framework. Both paradigms are found to be not without utility, but only in situations that are somewhat carefully circumscribed.

  10. Semantics of directly manipulating spatializations.

    PubMed

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

    2013-12-01

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

  11. Self mobile space manipulator project

    NASA Technical Reports Server (NTRS)

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

    1992-01-01

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

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

    NASA Technical Reports Server (NTRS)

    Lewis, R. A.

    1974-01-01

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

  13. Validating a Geographical Image Retrieval System.

    ERIC Educational Resources Information Center

    Zhu, Bin; Chen, Hsinchun

    2000-01-01

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

  14. EXPERIMENTAL RETRIEVAL SYSTEMS STUDIES, REPORT NUMBER 3.

    ERIC Educational Resources Information Center

    ANDERSON, RONALD R.; AND OTHERS

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

  15. Uterus retrieval in cadaver: technical aspects.

    PubMed

    Akar, M Erman; Ozkan, O; Ozekinci, M; Sindel, M; Yildirim, F; Oguz, N

    2014-01-01

    The authors describe uterus retrieval in cadavers. Uterine retrieval with its vasculature could be successfully achieved in four of the presented cases. Special attention was given to dissection of bilateral ureters and hypogastric vasculature. Uterine retrieval with its vasculature and supporting sacrouterine,vesicouterine peritoneal folds is an anatomically feasible procedure in preparation for uterus transplantation.

  16. Modeling and Retrieving Images by Content.

    ERIC Educational Resources Information Center

    Gudivada, Venkat N.; Raghavan, Vijay V.

    1997-01-01

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

  17. The Networking of Interactive Bibliographic Retrieval Systems.

    ERIC Educational Resources Information Center

    Marcus, Richard S.; Reintjes, J. Francis

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

  18. Intelligent Information Retrieval Using Rough Set Approximations.

    ERIC Educational Resources Information Center

    Srinivasan, Padmini

    1989-01-01

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

  19. A Logic Basis for Information Retrieval.

    ERIC Educational Resources Information Center

    Watters, C. R.; Shepherd, M. A.

    1987-01-01

    Discusses the potential of recent work in artificial intelligence, especially expert systems, for the development of more effective information retrieval systems. Highlights include the role of an expert bibliographic retrieval system and a prototype expert retrieval system, PROBIB-2, that uses MicroProlog to provide deductive reasoning…

  20. Effects of imitating gestures during encoding or during retrieval of novel verbs on children's test performance.

    PubMed

    de Nooijer, Jacqueline A; van Gog, Tamara; Paas, Fred; Zwaan, Rolf A

    2013-09-01

    Research has shown that observing and imitating gestures can foster word learning and that imitation might be more beneficial than observation, which is in line with theories of Embodied Cognition. This study investigated when imitation of gestures is most effective, using a 2×2×2×3 mixed design with between-subjects factors Imitation during Encoding (IE; Yes/No) and Imitation during Retrieval (IR; Yes/No), and within-subjects factors Time of Testing (Immediate/Delayed) and Verb Type (Object manipulation/Locomotion/Abstract). Primary school children (N=115) learned 15 novel verbs (five of each type). They were provided with a verbal definition and a video of the gesture. Depending on assigned condition, they additionally received no imitation instructions, instructions to imitate the gesture immediately (i.e., during encoding; IE), instructions to imitate (from memory) during the first posttest (i.e., during retrieval; IR), or both (IE-IR). Based on the literature, all three imitation conditions could be predicted to be more effective than no imitation. On an immediate and delayed posttest, only the object-manipulation verbs were differentially affected by instructional method, with IE and IR being more effective than no imitation on the immediate test; IE-IR and no imitation did not differ significantly. After a one week delay, only IR was more effective than no imitation, suggesting that imitation during retrieval is most effective for learning object-manipulation words.

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

    ERIC Educational Resources Information Center

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

    2015-01-01

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

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

    ERIC Educational Resources Information Center

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

    2013-01-01

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

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

    ERIC Educational Resources Information Center

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

    2014-01-01

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

  4. Phase retrieval in protein crystallography.

    PubMed

    Liu, Zhong Chuan; Xu, Rui; Dong, Yu Hui

    2012-03-01

    Solution of the phase problem is central to crystallographic structure determination. An oversampling method is proposed, based on the hybrid input-output algorithm (HIO) [Fienup (1982). Appl. Opt. 21, 2758-2769], to retrieve the phases of reflections in crystallography. This method can extend low-resolution structures to higher resolution for structure determination of proteins without additional sample preparation. The method requires an envelope of the protein which divides a unit cell into the density region where the proteins are located and the non-density region occupied by solvents. After a few hundred to a few thousand iterations, the correct phases and density maps are recovered. The method has been used successfully in several cases to retrieve the phases from the experimental X-ray diffraction data and the envelopes of proteins constructed from structure files downloaded from the Protein Data Bank. It is hoped that this method will greatly facilitate the ab initio structure determination of proteins.

  5. Automated information retrieval using CLIPS

    NASA Technical Reports Server (NTRS)

    Raines, Rodney Doyle, III; Beug, James Lewis

    1991-01-01

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

  6. Undersampled Phase Retrieval with Outliers

    PubMed Central

    Weller, Daniel S.; Pnueli, Ayelet; Divon, Gilad; Radzyner, Ori; Eldar, Yonina C.; Fessler, Jeffrey A.

    2015-01-01

    This paper proposes a general framework for reconstructing sparse images from undersampled (squared)-magnitude data corrupted with outliers and noise. This phase retrieval method uses a layered approach, combining repeated minimization of a convex majorizer (surrogate for a nonconvex objective function), and iterative optimization of that majorizer using a preconditioned variant of the alternating direction method of multipliers (ADMM). Since phase retrieval is nonconvex, this implementation uses multiple initial majorization vectors. The introduction of a robust 1-norm data fit term that is better adapted to outliers exploits the generality of this framework. The derivation also describes a normalization scheme for the regularization parameter and a known adaptive heuristic for the ADMM penalty parameter. Both 1D Monte Carlo tests and 2D image reconstruction simulations suggest the proposed framework, with the robust data fit term, reduces the reconstruction error for data corrupted with both outliers and additive noise, relative to competing algorithms having the same total computation. PMID:26770999

  7. LOCAT - A Data Retrieval Program.

    DTIC Science & Technology

    1984-12-01

    STANDARSIA1 3 -A Suznn Y4Sl ’ś’. Doc 0 006 U m Nalionai Deftense U’" Defence nationale LOCAT -A DATA RETRIEVAL PROGRAM by Suzanne Y. Slinn SA RSA T Project...2.1 DESIGN PHILOSOPHY...................2 2.2 SATELLITE AND LOCATION SOFT KEY DISPLAY .. .. ........ 3 2.3...LOCAT -Calling Sequence .. .. ...... ........ 2 FIGURE 2: SAT/LOC Soft Key Display .. .. ...... ..... 3 FIGURE 3 : Frequency Soft Key Display

  8. Desert Dust Satellite Retrieval Intercomparison

    NASA Technical Reports Server (NTRS)

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

    2012-01-01

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

  9. Rapidly Retargetable Interactive Translingual Retrieval

    DTIC Science & Technology

    2001-01-01

    vocabulary beyond that which was available af- ter term-by-term translation. This is analogous to the process that Singhal et al. applied to monolingual ...Language Evaluation Forum’s (CLEF) multilingual task. We used the English language forms of the queries to retrieve English, French, German, and...tracking task was multilingual , search- ing stories in both English and Mandarin Chinese, and multi-modal, involving both newswire text and broadcast

  10. Topic Models in Information Retrieval

    DTIC Science & Technology

    2007-08-01

    the combination: Hidden Markov Model. Miller et al. (1999) presented a Hidden Markov Model ( HMM ) Information Retrieval system. They take the...combination with different methods to estimate the combination weights. The parameter estimation in the HMM framework is simplified with strict...applied a Hidden Markov Model ( HMM ) framework; Zhai and Lafferty (2002) and Cao et al. (2005) used Expectation Maximization (EM) on the mixture

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

    SciTech Connect

    Wang, O.S.

    1993-12-01

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

  12. Early and Late Retrieval of the ALN Removable Vena Cava Filter: Results from a Multicenter Study

    SciTech Connect

    Pellerin, O.; Barral, F. G.; Lions, C.; Novelli, L.; Beregi, J. P.; Sapoval, M.

    2008-09-15

    Retrieval of removable inferior vena cava (IVC) filters in selected patients is widely practiced. The purpose of this multicenter study was to evaluate the feasibility and results of percutaneous removal of the ALN removable filter in a large patient cohort. Between November 2003 and June 2006, 123 consecutive patients were referred for percutaneous extraction of the ALN filter at three centers. The ALN filter is a removable filter that can be implanted through a femoral/jugular vein approach and extracted by the jugular vein approach. Filter removal was attempted after an implantation period of 93 {+-} 15 days (range, 6-722 days) through the right internal jugular vein approach using the dedicated extraction kit after control inferior vena cavography. Following filter removal, vena cavograms were obtained in all patients. Successful extraction was achieved in all but one case. Among these successful retrievals, additional manipulation using a femoral approach was needed when the apex of the filter was close to the IVC wall in two patients. No immediate IVC complications were observed according to the postimplantation cavography. Neither technical nor clinical differences between early and late filter retrieval were noticed. Our data confirm the safety of ALN filter retrieval up to 722 days after implantation. In infrequent cases, additional endovenous filter manipulation is needed to facilitate extraction.

  13. Retrieval of Mir Solar Array

    NASA Technical Reports Server (NTRS)

    Rutledge, Sharon K.; deGroh, Kim K.

    1999-01-01

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

  14. Multispectral vegetative canopy parameter retrieval

    NASA Astrophysics Data System (ADS)

    Borel, Christoph C.; Bunker, David J.

    2011-11-01

    Precision agriculture, forestry and environmental remote sensing are applications uniquely suited to the 8 bands that DigitalGlobe's WorldView-2 provides. At the fine spatial resolution of 0.5 m (panchromatic) and 2 m (multispectral) individual trees can be readily resolved. Recent research [1] has shown that it is possible for hyper-spectral data to invert plant reflectance spectra and estimate nitrogen content, leaf water content, leaf structure, canopy leaf area index and, for sparse canopies, also soil reflectance. The retrieval is based on inverting the SAIL (Scattering by Arbitrary Inclined Leaves) vegetation radiative transfer model for the canopy structure and the reflectance model PROSPECT4/5 for the leaf reflectance. Working on the paper [1] confirmed that a limited number of adjacent bands covering just the visible and near infrared can retrieve the parameters as well, opening up the possibility that this method can be used to analyze multi-spectral WV-2 data. Thus it seems possible to create WV-2 specific inversions using 8 bands and apply them to imagery of various vegetation covered surfaces of agricultural and environmental interest. The capability of retrieving leaf water content and nitrogen content has important applications in determining the health of vegetation, e.g. plant growth status, disease mapping, quantitative drought assessment, nitrogen deficiency, plant vigor, yield, etc.

  15. Sperm cells manipulation employing dielectrophoresis.

    PubMed

    Rosales-Cruzaley, E; Cota-Elizondo, P A; Sánchez, D; Lapizco-Encinas, Blanca H

    2013-10-01

    Infertility studies are an important growing field, where new methods for the manipulation, enrichment and selection of sperm cells are required. Microfluidic techniques offer attractive advantages such as requirement of low sample volume and short processing times in the range of second or minutes. Presented here is the application of insulator-based dielectrophoresis (iDEP) for the enrichment and separation of mature and spermatogenic cells by employing a microchannel with cylindrical insulating structures with DC electric potentials in the range of 200-1500 V. The results demonstrated that iDEP has the potential to concentrate sperm cells and distinguish between mature and spermatogenic cells by exploiting the differences in shape which lead to differences in electric polarization. Viability assessments revealed that a significant percentage of the cells are viable after the dielectrophoretic treatment, opening the possibility for iDEP to be developed as a tool in infertility studies.

  16. Controlling multiple manipulators using RIPS

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  17. Research on a Reconfigurable Modular Manipulator System

    SciTech Connect

    Khosla, P.K.; Kanade, T.

    1992-01-01

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

  18. Virus manipulation of cell cycle.

    PubMed

    Nascimento, R; Costa, H; Parkhouse, R M E

    2012-07-01

    Viruses depend on host cell resources for replication and access to those resources may be limited to a particular phase of the cell cycle. Thus manipulation of cell cycle is a commonly employed strategy of viruses for achieving a favorable cellular environment. For example, viruses capable of infecting nondividing cells induce S phase in order to activate the host DNA replication machinery and provide the nucleotide triphosphates necessary for viral DNA replication (Flemington in J Virol 75:4475-4481, 2001; Sullivan and Pipas in Microbiol Mol Biol Rev 66:179-202, 2002). Viruses have developed several strategies to subvert the cell cycle by association with cyclin and cyclin-dependent kinase complexes and molecules that regulate their activity. Viruses tend to act on cellular proteins involved in a network of interactions in a way that minimal protein-protein interactions lead to a major effect. The complex and interactive nature of intracellular signaling pathways controlling cell division affords many opportunities for virus manipulation strategies. Taking the maxim "Set a thief to catch a thief" as a counter strategy, however, provides us with the very same virus evasion strategies as "ready-made tools" for the development of novel antivirus therapeutics. The most obvious are attenuated virus vaccines with critical evasion genes deleted. Similarly, vaccines against viruses causing cancer are now being successfully developed. Finally, as viruses have been playing chess with our cell biology and immune responses for millions of years, the study of their evasion strategies will also undoubtedly reveal new control mechanisms and their corresponding cellular intracellular signaling pathways.

  19. Initial retrieval sequence and blending strategy

    SciTech Connect

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

    1996-09-01

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

  20. A Unified Mathematical Definition of Classical Information Retrieval.

    ERIC Educational Resources Information Center

    Dominich, Sandor

    2000-01-01

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

  1. 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.

  2. Bracing micro/macro manipulators control

    SciTech Connect

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

    1994-05-01

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

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

    SciTech Connect

    Fellinger, A.

    2010-02-16

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

  4. Using Induction to Refine Information Retrieval Strategies

    NASA Technical Reports Server (NTRS)

    Baudin, Catherine; Pell, Barney; Kedar, Smadar

    1994-01-01

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

  5. Compliant Gripper for a Robotic Manipulator

    NASA Technical Reports Server (NTRS)

    Cipra, Raymond; Das, Hari

    2003-01-01

    A figure depicts a prototype of a robotic-manipulator gripping device that includes two passive compliant fingers, suitable for picking up and manipulating objects that have irregular shapes and/or that are, themselves, compliant. The main advantage offered by this device over other robotic-manipulator gripping devices is simplicity: Because of the compliance of the fingers, force-feedback control of the fingers is not necessary for gripping objects of a variety of sizes, shapes, textures, and degrees of compliance. Examples of objects that can be manipulated include small stones, articles of clothing, and parts of plants.

  6. Culture and Manipulation of Embryonic Cells

    PubMed Central

    Edgar, Lois G.; Goldstein, Bob

    2012-01-01

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

  7. Earth orbital teleoperator manipulator system evaluation program

    NASA Technical Reports Server (NTRS)

    Kirkpatrick, M., III; Shields, N. L., Jr.; Frederick, P. N.; Brye, R.; Malone, T. B.

    1975-01-01

    The performance of an orbital teleoperator system which includes small dextrous servicing manipulators to be used in satellite servicing was examined. System/operator performance testing was implemented and the results of a fine positioning control test using two different manipulator systems varying widely in manipulator configuration and control systems are presented. Fine position control is viewed as representing a fundamental requirement placed on manipulator control. The relationship of position control to more complex tasks which directly represent on-orbit servicing operations are also presented.

  8. Transuranic (TRU) Waste Phase I Retrieval Plan

    SciTech Connect

    MCDONALD, K.M.

    1999-08-27

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

  9. Dynamic generation of robust and controlled beating signals in an asymmetric procedure of light storage and retrieval.

    PubMed

    Bao, Qian-Qian; Gao, Jin-Wei; Cui, Cui-Li; Wang, Gang; Xue, Yan; Wu, Jin-Hui

    2011-06-06

    We propose an efficient scheme for the robust and controlled generation of beating signals in a sample of stationary atoms driven into the tripod configuration. This scheme relies on an asymmetric procedure of light storage and retrieval where the two classical coupling fields have equal detunings in the storage stage but opposite detunings in the retrieval stage. A quantum probe field, incident upon such an atomic sample, is first transformed into two spin coherence wave-packets and then retrieved with two optical components characterized by different time-dependent phases. Therefore the retrieved quantum probe field exhibits a series of maxima and minima (beating signals) in intensity due to the alternative constructive and destructive interference. This interesting phenomenon involves in fact the coherent manipulation of two dark-state polaritons and may be explored to achieve the fast quantum limited measurement.

  10. The humour effect: differential processing and privileged retrieval.

    PubMed

    Schmidt, Stephen R

    2002-03-01

    The effects of humour on memory and heart rate were explored as a function of experimental design. In within-subject manipulations, original humorous cartoons were better remembered than the literal translations and weird cartoons, whereas literal and weird cartoons were equally well remembered. Good recall of humorous cartoons occurred at the expense of recall of non-humorous cartoons. Secondary heart-rate deceleration was larger in response to original cartoons than to literal and weird cartoons. Neither the memory nor the heart-rate effects were found in between-subjects comparisons. The results were consistent with differential processing resulting from within-list contrasts. However, retrieval processes also favoured good recall of humorous material.

  11. Kinematics and Control of Robot Manipulators

    NASA Astrophysics Data System (ADS)

    Paden, Bradley Evan

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

  12. Innovative grout/retrieval demonstration final report

    SciTech Connect

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

    1995-01-01

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

  13. Compressed sensing for phase retrieval.

    PubMed

    Newton, Marcus C

    2012-05-01

    To date there are several iterative techniques that enjoy moderate success when reconstructing phase information, where only intensity measurements are made. There remains, however, a number of cases in which conventional approaches are unsuccessful. In the last decade, the theory of compressed sensing has emerged and provides a route to solving convex optimisation problems exactly via ℓ(1)-norm minimization. Here the application of compressed sensing to phase retrieval in a nonconvex setting is reported. An algorithm is presented that applies reweighted ℓ(1)-norm minimization to yield accurate reconstruction where conventional methods fail.

  14. Six sigma for revenue retrieval.

    PubMed

    Plonien, Cynthia

    2013-01-01

    Deficiencies in revenue retrieval due to failures in obtaining charges have contributed to a negative bottom line for numerous hospitals. Improving documentation practices through a Six Sigma process improvement initiative can minimize opportunities for errors through reviews and instill structure for compliance and consistency. Commitment to the Six Sigma principles with continuous monitoring of outcomes and constant communication of results to departments, management, and payers is a strong approach to reducing the financial impact of denials on an organization's revenues and expenses. Using Six Sigma tools can help improve the organization's financial performance not only for today, but also for health care's uncertain future.

  15. The validation of AIRS retrievals

    NASA Technical Reports Server (NTRS)

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

    2003-01-01

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

  16. Spinal manipulative therapy in sports medicine.

    PubMed

    Haldeman, S

    1986-04-01

    Spinal manipulation or manual therapy is becoming an increasingly popular method of treating athletes with spinal problems. The primary theoretic basis for the claimed beneficial results of manipulation is the restoration of motion with subsequent effect on ligamentous adhesions, muscle spasm, disk nutrition, and central nervous system endorphin systems. The concept of joint barriers has been developed to differentiate among exercise therapy, mobilization, and manipulation. Research trials suggest that spinal manipulation is beneficial in relieving or reducing the duration of acute low back pain and acute neck pain but has much less effect on chronic low back pain and neck pain. There is evidence that manipulation increases certain parameters of motion of the spine but this evidence is not yet conclusive. There are a wide variety of manipulative procedures that are utilized to manipulate the spine to increase range of motion, and the selection of the procedures is based on manual diagnostic skills. Manipulation, however, is not a benign procedure and has been implicated in the aggravation of disk herniation or bony fractures as well as the precipitation of vertebrobasilar artery occlusion.

  17. 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…

  18. Manipulating Language: A Strategy for Teaching Literature.

    ERIC Educational Resources Information Center

    Byers, Prudence P.

    Literary artists manipulate language. If educators could develop in their students the same sense that language is manipulable, they could help them to better appreciate literature. Emily Dickinson's poem "I Like to See It Lap the Miles" could be approached by changing it on several levels--graphics, phonics, syntax, and semantics--and…

  19. Cervical epidural hematoma after chiropractic spinal manipulation.

    PubMed

    Heiner, Jason D

    2009-10-01

    Spinal epidural hematoma is a rare but potentially devastating complication of spinal manipulation therapy. This is a case report of a healthy pregnant female who presented to the emergency department with a cervical epidural hematoma resulting from chiropractic spinal manipulation therapy that responded to conservative treatment rather than the more common route of surgical management.

  20. 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…

  1. Welding torch and wire feed manipulator

    NASA Technical Reports Server (NTRS)

    Williams, R. T.

    1967-01-01

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

  2. On stiffening cables of a long reach manipulator

    SciTech Connect

    Wang, S.L.; Santiago, P.

    1996-02-01

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

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

    SciTech Connect

    Baker, C.P.

    1994-08-01

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

  4. Genetic manipulation of Giardia lamblia.

    PubMed

    Davis-Hayman, Sara R; Nash, Theodore E

    2002-06-01

    Giardia lamblia is a flagellated protozoan that infects several species including humans and is a major agent of waterborne outbreaks of diarrhea. G. lamblia is also important in the study of basic eukaryotic molecular biology and evolution; however, it has been difficult to employ standard genetic methods in the study of Giardia. Over the past 6 years, two transfection systems were developed and used for the genetic manipulation of G. lamblia. Both systems allow transient or stable transfection of Giardia and/or foreign genes. The DNA-based transfection system allows electroporation of circular or linear plasmid DNA into trophozoites. The RNA virus-based transfection system requires electroporation of in vitro transcribed RNA into GLV-infected trophozoites. Because G. lamblia is one of the most rudimentary eukaryotes, its processes of transcription, translation and protein transport, as well as its metabolic and biochemical pathways, are of interest. Study of these areas will continue to be advanced using transfection in combination with cellular and molecular tools. Several groups have combined these technologies with other techniques to study protein transport and the transcriptional and post-transcriptional regulation of Giardia genes, including encystation-specific and variant surface protein genes. In addition, coupling antisense techniques with transfection has permitted functional knockout of Giardia metabolic genes, allowing Giardia metabolic pathways to be studied. In the near future, both transfection systems will be potent tools in our investigations of the perplexing questions in Giardia biology.

  5. Coanda-assisted Spray Manipulation

    NASA Astrophysics Data System (ADS)

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

    2009-11-01

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

  6. Light Manipulation in Organic Photovoltaics.

    PubMed

    Ou, Qing-Dong; Li, Yan-Qing; Tang, Jian-Xin

    2016-07-01

    Organic photovoltaics (OPVs) hold great promise for next-generation photovoltaics in renewable energy because of the potential to realize low-cost mass production via large-area roll-to-roll printing technologies on flexible substrates. To achieve high-efficiency OPVs, one key issue is to overcome the insufficient photon absorption in organic photoactive layers, since their low carrier mobility limits the film thickness for minimized charge recombination loss. To solve the inherent trade-off between photon absorption and charge transport in OPVs, the optical manipulation of light with novel micro/nano-structures has become an increasingly popular strategy to boost the light harvesting efficiency. In this Review, we make an attempt to capture the recent advances in this area. A survey of light trapping schemes implemented to various functional components and interfaces in OPVs is given and discussed from the viewpoint of plasmonic and photonic resonances, addressing the external antireflection coatings, substrate geometry-induced trapping, the role of electrode design in optical enhancement, as well as optically modifying charge extraction and photoactive layers.

  7. Light Manipulation in Organic Photovoltaics

    PubMed Central

    Ou, Qing‐Dong

    2016-01-01

    Organic photovoltaics (OPVs) hold great promise for next‐generation photovoltaics in renewable energy because of the potential to realize low‐cost mass production via large‐area roll‐to‐roll printing technologies on flexible substrates. To achieve high‐efficiency OPVs, one key issue is to overcome the insufficient photon absorption in organic photoactive layers, since their low carrier mobility limits the film thickness for minimized charge recombination loss. To solve the inherent trade‐off between photon absorption and charge transport in OPVs, the optical manipulation of light with novel micro/nano‐structures has become an increasingly popular strategy to boost the light harvesting efficiency. In this Review, we make an attempt to capture the recent advances in this area. A survey of light trapping schemes implemented to various functional components and interfaces in OPVs is given and discussed from the viewpoint of plasmonic and photonic resonances, addressing the external antireflection coatings, substrate geometry‐induced trapping, the role of electrode design in optical enhancement, as well as optically modifying charge extraction and photoactive layers. PMID:27840805

  8. Genetic manipulation of Coxiella burnetii.

    PubMed

    Beare, Paul A

    2012-01-01

    Until very recently, Coxiella burnetii was viewed and studied as an obligate intracellular bacterium that relied exclusively on a eucaryotic host cell for growth. Other medically relevant obligate intracellular bacteria reside in the genera Anaplasma, Chlamydia, Ehrlichia, Orientia, and Rickettsia. An obligate intracellular lifestyle presents a significant obstacle to genetic transformation. Procedures that are straightforward with free-living bacteria, such as antibiotic selection and cloning, can be very difficult when growth of transformants is restricted to a host cell. Long-term passage in host cells to expand small transformant populations can further complicate the procedure. Despite these and other obstacles, at least rudimentary systems are currently available for genetic transformation of most obligate intracellular bacterial pathogens. Dramatically aiding the development of new genetic methods for C. burnetii is the recent discovery of a medium that supports host cell-free growth of the organism in liquid, and importantly, on solid media as clonal colonies. The expanded C. burnetii genetics toolbox now includes transposon systems for random mutagenesis and single-copy, site-specific chromosomal gene knock-ins, as well as a shuttle vector for heterologous gene expression and in trans complementation. A reliable method of targeted gene inactivation remains a challenge. Advances in C. burnetii genetic manipulation will allow identification of genes essential for intracellular parasitism and disease pathogenesis, and undoubtedly fuel new interest in this minimally studied bacterial pathogen.

  9. Interactive digital image manipulation system

    NASA Technical Reports Server (NTRS)

    Henze, J.; Dezur, R.

    1975-01-01

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

  10. Microcrystal manipulation with laser tweezers

    SciTech Connect

    Wagner, Armin Duman, Ramona; Stevens, Bob; Ward, Andy

    2013-07-01

    Optical trapping has successfully been applied to select and mount microcrystals for subsequent X-ray diffraction experiments. X-ray crystallography is the method of choice to deduce atomic resolution structural information from macromolecules. In recent years, significant investments in structural genomics initiatives have been undertaken to automate all steps in X-ray crystallography from protein expression to structure solution. Robotic systems are widely used to prepare crystallization screens and change samples on synchrotron beamlines for macromolecular crystallography. The only remaining manual handling step is the transfer of the crystal from the mother liquor onto the crystal holder. Manual mounting is relatively straightforward for crystals with dimensions of >25 µm; however, this step is nontrivial for smaller crystals. The mounting of microcrystals is becoming increasingly important as advances in microfocus synchrotron beamlines now allow data collection from crystals with dimensions of only a few micrometres. To make optimal usage of these beamlines, new approaches have to be taken to facilitate and automate this last manual handling step. Optical tweezers, which are routinely used for the manipulation of micrometre-sized objects, have successfully been applied to sort and mount macromolecular crystals on newly designed crystal holders. Diffraction data from CPV type 1 polyhedrin microcrystals mounted with laser tweezers are presented.

  11. Simulation and analysis of flexibly jointed manipulators

    NASA Technical Reports Server (NTRS)

    Murphy, Steve H.; Wen, John T.; Saridis, George M.

    1990-01-01

    Modeling, simulation, and analysis of robot manipulators with non-negligible joint flexibility are studied. A recursive Newton-Euler model of the flexibly jointed manipulator is developed with many advantages over the traditional Lagrange-Euler methods. The Newton-Euler approach leads to a method for the simulation of a flexibly jointed manipulator in which the number of computations grows linearly with the number of links. Additionally, any function for the flexibility between the motor and link may be used permitting the simulation of nonlinear effects, such as backlash, in a uniform manner for all joints. An analysis of the control problems for flexibly jointed manipulators is presented by converting the Newton-Euler model to a Lagrange-Euler form. The detailed structure available in the model is used to examine linearizing controllers and shows the dependency of the control on the choice of flexible model and structure of the manipulator.

  12. EarthServer: Information Retrieval and Query Language

    NASA Astrophysics Data System (ADS)

    Perperis, Thanassis; Koltsida, Panagiota; Kakaletris, George

    2013-04-01

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

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

    PubMed Central

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

    2016-01-01

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

  14. Low involvement of preexisting associations makes retrieval-induced forgetting long lasting.

    PubMed

    Ortega, Almudena; Gómez-Ariza, Carlos J; Morales, Julia; Bajo, M Teresa

    2015-05-01

    Research has shown that selective retrieval of episodic memories usually leads to forgetting of related memories that compete for retrieval [a phenomenon known as retrieval-induced forgetting (RIF)]. However, there are conflicting data regarding the duration of this incidental kind of forgetting. While some studies have found that this forgetting effect disappears within 24 h after selective retrieval, others suggest that it may last for as long as at least a week. In two experiments, we explored whether discrepancies in the durability of RIF may be due to variations in the type of relationships (preexisting vs. novel) that are present between items associated with a given cue. We explored this issue by manipulating the degree of involvement of preexisting/novel associations among competing items as well as the delay between retrieval practice and test (immediate in Experiment 1 and 24-h delay test in Experiment 2). The results suggest that forgetting lasts longer when the degree of preexisting associations among targets and competitors is low.

  15. The Aquarius Salinity Retrieval Algorithm

    NASA Technical Reports Server (NTRS)

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

    2012-01-01

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

  16. Endoscopic retrieval of gastric trichophytobezoar

    PubMed Central

    Zhao, Jiu-ling; Zhao, Wei-chuan; Wang, Yu-shui

    2017-01-01

    Abstract Rationale: Trichophytobezoars, which are composed of hair and plant fibers, are usually located in the stomach. They are often associated with trichophagia and trichotillomania. The most commonly reported methods of trichophytobezoar treatment are open surgery and laparoscopic retrieval; there are few reports of endoscopic removal of trichophytobezoars. Patient concerns and Diagnoses: Twelve-year-old girl presented with a 3-day history of increasing upper abdominal pain, anorexia, and postprandial emesis. She had a 3-year history of pulling out and eating her own hair. Endoscopic examination showed a large intragastric trichophytobezoar measuring 10.5 cm × 3.5 cm in size, with extension of a few hairs through the pylorus. Interventions and Outcomes: The trichophytobezoar was packed with hair fibers and contained a hard core of mixed hair and vegetable fibers. After the core was cut, the trichophytobezoar was fragmented into pieces with the alternating use of a polypectomy snare and argon plasma coagulation. A small amount of hair and nondigestible food fibers was removed with grasping forceps during the initial procedure. The remaining hairball was loosened with biopsy forceps and was injected with sodium bicarbonate solution. The trichophytobezoar was removed completely at repeat endoscopy 5 days later. After 6 months of psychological intervention, the patient had no recurrence of trichophagia or trichophytobezoar. Lessons: Endoscopy with sodium bicarbonate injection is an effective and minimally invasive method of retrieving a gastric trichophytobezoar. PMID:28099364

  17. Biomedical information retrieval across languages.

    PubMed

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

    2007-06-01

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

  18. ARM Cloud Retrieval Ensemble Data Set (ACRED)

    SciTech Connect

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

    2011-09-12

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

  19. Retrieving fear memories, as time goes by…

    PubMed Central

    Do Monte, Fabricio H.; Quirk, Gregory J.; Li, Bo; Penzo, Mario A.

    2016-01-01

    Fear conditioning researches have led to a comprehensive picture of the neuronal circuit underlying the formation of fear memories. In contrast, knowledge about the retrieval of fear memories is much more limited. This disparity may stem from the fact that fear memories are not rigid, but reorganize over time. To bring clarity and raise awareness on the time-dependent dynamics of retrieval circuits, we review current evidence on the neuronal circuitry participating in fear memory retrieval at both early and late time points after conditioning. We focus on the temporal recruitment of the paraventricular nucleus of the thalamus, and its BDNFergic efferents to the central nucleus of the amygdala, for the retrieval and maintenance of fear memories. Finally, we speculate as to why retrieval circuits change across time, and the functional benefits of recruiting structures such as the paraventricular nucleus into the retrieval circuit. PMID:27217148

  20. Scalable ranked retrieval using document images

    NASA Astrophysics Data System (ADS)

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

    2013-12-01

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

  1. Damping control of a large flexible manipulator through inertial forces of a small manipulator

    SciTech Connect

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

    1993-06-01

    Damping control is applied to a detailed computer model of a long- reach flexible manipulator test bed. The test bed consists of a long slender link with a dexterous manipulator mounted at its tip. The movement of the dexterous manipulator is controlled to create inertial damping forces on the long link. Parameter identification and sequential loop-closure are used to design a controller that feeds back relative tip position and velocity of the long link to control the azimuth angle of the dexterous manipulator. The controller is designed to be robust to varying manipulator loading conditions and reliable under sensor failures.

  2. Retrieval-induced forgetting is retrieval-modality specific: Evidence from motor memory.

    PubMed

    Tempel, Tobias; Frings, Christian

    2017-05-01

    Three experiments examined the impact of matching retrieval modality at retrieval practice and at test on retrieval-induced forgetting. Participants learned sequential finger movements to be performed either with the left or with the right index finger. Subsequently, they selectively practiced half the items of one hand. A final recall test then assessed memory for all initially learned items. We contrasted different retrieval modalities. In Experiment 1, retrieval practice pertained to motor responses in one experimental condition but it pertained to visual sequence displays in another condition. The final recall test was motoric in both conditions. In Experiment 2, retrieval practice always pertained to visual sequence displays but the final recall test either pertained to motor responses or to visual sequence displays. Retrieval-induced forgetting emerged only when the modality of the final recall test matched the modality of retrieval practice. In Experiment 3, retrieval practice either involved executing motor sequences with the same finger as in the learning phase or participants had to use the opposite hand for indicating sequences. An effector change for retrieval practice eliminated retrieval-induced forgetting in a test requiring the execution of motor sequences again with the same finger as in the learning phase. We suggest that retrieval-induced forgetting occurred as a consequence of retrieval-modality-specific inhibition.

  3. PICTURES OF A SUSPECT-TRU RETRIEVAL

    SciTech Connect

    GADD, R.R.

    2007-05-24

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

  4. 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

  5. Document image retrieval through word shape coding.

    PubMed

    Lu, Shijian; Li, Linlin; Tan, Chew Lim

    2008-11-01

    This paper presents a document retrieval technique that is capable of searching document images without OCR (optical character recognition). The proposed technique retrieves document images by a new word shape coding scheme, which captures the document content through annotating each word image by a word shape code. In particular, we annotate word images by using a set of topological shape features including character ascenders/descenders, character holes, and character water reservoirs. With the annotated word shape codes, document images can be retrieved by either query keywords or a query document image. Experimental results show that the proposed document image retrieval technique is fast, efficient, and tolerant to various types of document degradation.

  6. Elaborative retrieval: Do semantic mediators improve memory?

    PubMed

    Lehman, Melissa; Karpicke, Jeffrey D

    2016-10-01

    The elaborative retrieval account of retrieval-based learning proposes that retrieval enhances retention because the retrieval process produces the generation of semantic mediators that link cues to target information. We tested 2 assumptions that form the basis of this account: that semantic mediators are more likely to be generated during retrieval than during restudy and that the generation of mediators facilitates later recall of targets. Although these assumptions are often discussed in the context of retrieval processes, we noted that there was little prior empirical evidence to support either assumption. We conducted a series of experiments to measure the generation of mediators during retrieval and restudy and to examine the effect of the generation of mediators on later target recall. Across 7 experiments, we found that the generation of mediators was not more likely during retrieval (and may be more likely during restudy), and that the activation of mediators was unrelated to subsequent free recall of targets and was negatively related to cued recall of targets. The results pose challenges for both assumptions of the elaborative retrieval account. (PsycINFO Database Record

  7. Wellhead bowl protector and retrieving tool

    SciTech Connect

    Young, J.A.

    1991-09-03

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

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

    PubMed

    Raposo, Ana; Frade, Sofia; Alves, Mara

    2016-08-01

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

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

    SciTech Connect

    Mullen, O.D.

    1997-09-01

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

  10. Task based synthesis of serial manipulators

    PubMed Central

    Patel, Sarosh; Sobh, Tarek

    2015-01-01

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

  11. Dynamic control of kinematically redundant manipulators

    NASA Astrophysics Data System (ADS)

    Lin, Zhengcheng

    1993-03-01

    A robot manipulator is said to be kinematically redundant when it has more degrees of freedom than are necessary to accomplish a particular task. Useful control strategies are designed for kinematically redundant manipulators in order to enhance their performance. Following the impedance control approach, the problem of minimizing redundant manipulator collision impacts is addressed. The configuration control approach is used to reduce impulsive forces, while a simplified impedance control scheme is formulated to minimize rebound effects. A new Cartesian control strategy for redundant flexible-joint manipulators is proposed. The main idea in this hybrid scheme is to control not only the manipulator's end-effector but also its links, so as to achieve specified positions and velocities for the end-effector and the links. Finally, a new application of kinematically redundant manipulators is proposed: using redundancy resolution to compensate for joint flexibility. This redundancy resolution scheme is incorporated in a control strategy for redundant flexible-joint manipulators. The problem of possible algorithmic singularities is considered, and a scheme is suggested which makes the controller robust with respect to such singularities.

  12. 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.

  13. Evaluation of AERONET Aerosol Retrievals

    NASA Astrophysics Data System (ADS)

    Schuster, G. L.; Dubovik, O.; Rutledge, C. K.

    2001-12-01

    The aerosol robotic network (AERONET) program provides aerosol retrievals at ground-based sunphotometer sites throughout the world. The aerosol size distributions and refractive index retrievals at two locations have been converted to phase functions and single-scattering albedo using Mie theory. These optical properties are incorporated into a discrete-ordinates radiative transfer model and calculations are compared to independent measurements obtained at the surface. The independent measurements include principle plane radiances from sunphotometer data and narrowband irradiances from multi-filter rotating shadowband radiometer (MFRSR) and rotating shadowband spectroradiometer (RSS) data. The two locations represent radically different environments. The Atmospheric Radiation Measurement (ARM) program Central Facility (CF) represents a rural continental environment, while the CERES (Clouds and the Earth's Radiant Energy System) Ocean Validation Experiment (COVE) site represents a coastal marine environment. Both sites exhibit good agreement between the model calculations and the principle plane radiances for the year 2000 (generally better than 15 percent at optical depths greater than 0.1). A comparison with RSS measurements in July 2000 at the ARM Central Facility shows an irradiance error of 12 percent or better at tested wavelenghs longer than 500 nm. Comparisons with MFRSR data fared less well, however, indicating a discrepancy between the instruments. Inspection of 28 whole-sky imager (WSI) files coincidental with all AERONET quality-controlled retrievals during 7 days reveals that no clouds were obstructing the almucantar field of view and that indeed the whole sky was clear during this period, indicating a degree of robustness in the AERONET cloud screening. Additionally, the size distributions were evaluated at COVE with hourly-averaged wind speed and direction. Linear regression indicates that the coarse mode column-integrated surface area increases from

  14. W-026, acceptance test report manipulator system

    SciTech Connect

    Watson, T.L.

    1997-04-15

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

  15. Mobile manipulation: a challenge in integration

    NASA Astrophysics Data System (ADS)

    Anderson, Cressel; Axelrod, Ben; Case, J. Philip; Choi, Jaeil; Engel, Martin; Gupta, Gaurav; Hecht, Florian; Hutchinson, John; Krishnamurthi, Niyant; Lee, Jinhan; Nguyen, Hai Dai; Roberts, Richard; Rogers, John G.; Trevor, Alexander J. B.; Christensen, Henrik I.; Kemp, Charles

    2008-04-01

    Mobile manipulation in many respects represents the next generation of robot applications. An important part of design of such systems is the integration of techniques for navigation, recognition, control, and planning to achieve a robust solution. To study this problem three different approaches to mobile manipulation have been designed and implemented. A prototypical application that requires navigation and manipulation has been chosen as a target for the systems. In this paper we present the basic design of the three systems and draw some general lessons on design and implementation.

  16. Osteopathic manipulative medicine for carpal tunnel syndrome.

    PubMed

    Siu, Gilbert; Jaffe, J Douglas; Rafique, Maryum; Weinik, Michael M

    2012-03-01

    Carpal tunnel syndrome (CTS) is 1 of the most common peripheral nerve entrapment disorders. Osteopathic manipulative medicine can be invaluable in diagnosing and managing CTS. Combined with a patient's history and a standard physical examination, an osteopathic structural examination can facilitate localizing the nerve entrapment, diagnosing CTS, and monitoring the disease process. Osteopathic manipulative treatment is noninvasive and can be used to supplement traditional CTS treatment methods. The authors also review the relevant anatomy involving CTS and the clinical efficacy of osteopathic manipulative medicine in the management of this disorder.

  17. Dynamically consistent Jacobian inverse for mobile manipulators

    NASA Astrophysics Data System (ADS)

    Ratajczak, Joanna; Tchoń, Krzysztof

    2016-06-01

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

  18. Large planar maneuvers for articulated flexible manipulators

    NASA Technical Reports Server (NTRS)

    Huang, Jen-Kuang; Yang, Li-Farn; Juang, Jer-Nan

    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 in the inertia matrix. Then a feeback 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.

  19. 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.

  20. Vortex-based all-optical manipulation of stored light at low light levels.

    PubMed

    Zhao, Lu

    2015-11-16

    We exploit the giant cross-Kerr nonlinearity of electromagnetically induced transparency (EIT) system in ultracold atoms to implement vortex-based multimode manipulation of stored light at low light levels. Using image-bearing signal light fields with angular intensity profiles, sinusoidal grating structures with phase-only modulation can be azimuthally imprinted on the stored probe light field, where the nonlinear absorption loss can be ignored. Upon retrieval of the probe light, collinearly superimposed vortex modes can be generated in the far field. Considering the finite size of atomic gas, the Fraunhofer diffraction patterns of the retrieved probe fields and their spiral spectra are numerically investigated, where the diffracted vortex modes can be efficiently controlled by tuning the weak signal fields. Our studies not only exhibit a fundamental diffraction phenomenon with angular grating structures in EIT system, but also provide a fascinating opportunity to realize multidimensional quantum information processing for stored light in an all-optical manner.

  1. Iterative phase retrieval without support.

    PubMed

    Wu, J S; Weierstall, U; Spence, J C H; Koch, C T

    2004-12-01

    An iterative phase retrieval method for nonperiodic objects has been developed from the charge-flipping algorithm proposed in crystallography. A combination of the hybrid input-output (HIO) algorithm and the flipping algorithm has greatly improved performance. In this combined algorithm the flipping algorithm serves to find the support (object boundary) dynamically, and the HIO part improves convergence and moves the algorithm out of local minima. It starts with a single intensity measurement in the Fourier domain and does not require a priori knowledge of the support in the image domain. This method is suitable for general image recovery from oversampled diffuse elastic x-ray and electron-diffraction intensities. The relationship between this algorithm and the output-output algorithm is elucidated.

  2. Iterative phase retrieval without support

    NASA Astrophysics Data System (ADS)

    Wu, J. S.; Weierstall, U.; Spence, J. C. H.; Koch, C. T.

    2004-12-01

    An iterative phase retrieval method for nonperiodic objects has been developed from the charge-flipping algorithm proposed in crystallography. A combination of the hybrid input-output (HIO) algorithm and the flipping algorithm has greatly improved performance. In this combined algorithm the flipping algorithm serves to find the support (object boundary) dynamically, and the HIO part improves convergence and moves the algorithm out of local minima. It starts with a single intensity measurement in the Fourier domain and does not require a priori knowledge of the support in the image domain. This method is suitable for general image recovery from oversampled diffuse elastic x-ray and electron-diffraction intensities. The relationship between this algorithm and the output-output algorithm is elucidated.

  3. PNRS: personalized news retrieval system

    NASA Astrophysics Data System (ADS)

    Dimitrova, Nevenka; Elenbaas, Herman; McGee, Thomas

    1999-08-01

    Personal News Retrieval System is a client-server application that delivers news segments on demand in a variety of information networks. At the server side, the news stories are segmented out from the digitized TV broadcast then classified and filtered based on consumers' preferences. At the client side, the user can access the preferred video news through the Web and watch stored video news in preferred order. Browsing preferences can be set based on anchorperson, broadcaster, category, location, top- stories and keywords. This system can be used to set up a news service run by content providers or independent media distribution companies. However, in the news era of enhanced PC/TV appliances, it is foreseeable that the whole system can run in the living room on a personal device. This paper describes the chosen server architecture, limitation of the system and solutions that can be implemented in the future.

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

    ERIC Educational Resources Information Center

    Radecki, Tadeusz

    1988-01-01

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

  5. Manipulation of magnetic carriers for drug delivery using pulsed-current high Tc superconductors

    NASA Astrophysics Data System (ADS)

    Cha, Yung; Chen, Lihua; Askew, Thomas; Veal, Boyd; Hull, John

    2007-04-01

    An innovative method of manipulating magnetic carriers is proposed, and its feasibility for drug delivery and therapy is demonstrated experimentally. The proposed method employs pulsed-field solenoid coils with high-critical- temperature ( Tc) superconductor inserts. Pulsed current is used to magnetize and de-magnetize the superconductor insert. The proposed method was demonstrated to be able to (1) move magnetic particles, ranging in size from a few millimeters to 10 μm, with strong enough forces over a substantial distance, (2) hold the particles at a designated position as long as needed, and (3) reverse the processes and retrieve the particles. We further demonstrated that magnetic particles can be manipulated in a stationary environment, in water flow, and in simulated blood (water/glycerol mixture) flow.

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

    SciTech Connect

    Kruse, P.W.; Carteret, B.

    1995-12-31

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

  7. Specification for movable manipulator system for use in radiochemical engineering cells

    SciTech Connect

    Dixson, G.E.

    1998-07-13

    This specification was prepared to identify requirements for a movable manipulator for use in B-Ccl 1 and the REC Airlock at 324 Building. This manipulator could also be used in other hot cells at the 324 Building. This work involves retrieval, inspection, reduction and decontamination of material on the Airlock and Cell floors, in the pipe trench and on the walls. B and W Hanford Company (BWHC) recognizes that not all of the requirements are compatible and some may need to be changed, subject to agreement between the parties involved. BWHC also recognizes that in order to perform the tasks described two or more different machines with significantly different layout may be necessary. These requirements are the starting point for any proposal.

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

    SciTech Connect

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

    1995-08-01

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

  9. Optoelectronic tweezers for microparticle and cell manipulation

    NASA Technical Reports Server (NTRS)

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

    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.

  10. Which Colles' fractures should be manipulated?

    PubMed

    Dixon, Sean; Allen, Patricia; Bannister, Gordon

    2005-01-01

    Ninety-two patients with displaced Colles' fractures were followed prospectively after manipulation under regional anaesthesia. Radiographs were taken before and after manipulation and after 3 months when a functional assessment was also made. A correlation was sought between outcome and radiological measurements. Final radial shortening of 3mm or more was associated with a significantly worse functional outcome after 3 months (P < 0.001). Where the initial radial shortening was 3 mm or more, the probability of malunion was 65% whereas with less than 3mm, the probability of malunion was 28% (P < 0.001). With 5 mm or more of radial shortening at presentation, the probability of malunion was 73% (P < 0.01). The decision to manipulate remains a matter of judgement but a high failure rate renders simple manipulation and plaster cast fixation a poor treatment option in fractures with 5mm or more of radial shortening at presentation.

  11. What is morally new in genetic manipulation?

    PubMed

    Keenan, J F

    1990-01-01

    The investigation into the specific moral issues of genetic manipulation requires us to determine exactly the new moral issues of genetic manipulation. But even that determination requires us to consider whether the context in which we live and the method of moral reflection which we use is adequate enough to address genetic manipulation. Given the liberalist context in which we live, this paper argues that an act-oriented ethics is inadequate and that only a virtue-oriented ethics enables us to recognize and resolve the new problems ahead of us in genetic manipulation. Moreover, those problems have a common root, that is, that through genetics we will be in danger of objectifying the human subject.

  12. Brachioradial pruritus and cervical spine manipulation.

    PubMed

    Tait, C P; Grigg, E; Quirk, C J

    1998-08-01

    Brachioradial pruritus (BRP) causes significant morbidity in the majority of patients for whom no effective treatment is found. Chronic ultraviolet radiation exposure has usually been cited as the cause, but nerve damage from cervical spine disease has also been implicated. We report on a small retrospective exploratory study, conducted by questionnaire, of a group of patients who were treated with a specific cervical spine manipulation. Ten of 14 patients reported resolution of symptoms following manipulative treatment. All six patients who had had previous cervical spine disease responded to manipulation, as did half the remaining eight patients who had no previous history of neck symptoms. Although patients with BRP, by definition, share similar symptoms, the aetiology is almost certainly multifactorial. Prospective studies looking for cervical spine disease, as well as assessment of this particular method of cervical spine manipulation as a treatment modality for BRP, should be considered.

  13. Reconfigurable mobile manipulation for accident response

    SciTech Connect

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

    2000-06-06

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

  14. The Frankfurt School's Theory of Manipulation

    ERIC Educational Resources Information Center

    Petryszak, Nicholas

    1977-01-01

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

  15. Tension Stiffened and Tendon Actuated Manipulator

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

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

  16. 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.

  17. Manipulatives Make Math Meaningful for Middle Schoolers.

    ERIC Educational Resources Information Center

    Scheer, Janet K.

    1985-01-01

    Narrates an account of teaching mathematical concepts to junior high school students using manipulative materials and small and large group games. The following concepts are explained through game descriptions using numeration or Dienes blocks: regrouping decimals, and place value. (DST)

  18. Information Retrieval and the Philosophy of Language.

    ERIC Educational Resources Information Center

    Blair, David C.

    2003-01-01

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

  19. Indexing and Retrieval for the Web.

    ERIC Educational Resources Information Center

    Rasmussen, Edie M.

    2003-01-01

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

  20. Relevance and Retrieval Evaluation: Perspectives from Medicine.

    ERIC Educational Resources Information Center

    Hersh, William

    1994-01-01

    Discusses topical relevance and situational relevance, which takes into account the impact of the retrieval system on the user, in the context of medicine. Topics addressed include scientific validity; limitations of current evaluation methodology, including recall and precision; and a framework for future retrieval research based on an…

  1. Information Retrieval beyond the Text Document.

    ERIC Educational Resources Information Center

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

    1999-01-01

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

  2. Strategic Retrieval in a Reality Monitoring Task

    ERIC Educational Resources Information Center

    Rosburg, Timm; Mecklinger, Axel; Johansson, Mikael

    2011-01-01

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

  3. Attentional Limits in Memory Retrieval--Revisited

    ERIC Educational Resources Information Center

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

    2011-01-01

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

  4. Retrieval during Learning Facilitates Subsequent Memory Encoding

    ERIC Educational Resources Information Center

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

    2011-01-01

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

  5. Retrieval from Memory: Vulnerable or Inviolable?

    ERIC Educational Resources Information Center

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

    2012-01-01

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

  6. Facilitating Internet-Scale Code Retrieval

    ERIC Educational Resources Information Center

    Bajracharya, Sushil Krishna

    2010-01-01

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

  7. Advanced Feedback Methods in Information Retrieval.

    ERIC Educational Resources Information Center

    Salton, G.; And Others

    1985-01-01

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

  8. Enhanced Text Retrieval Using Natural Language Processing.

    ERIC Educational Resources Information Center

    Liddy, Elizabeth D.

    1998-01-01

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

  9. Memory Retrieval and Interference: Working Memory Issues

    ERIC Educational Resources Information Center

    Radvansky, Gabriel A.; Copeland, David E.

    2006-01-01

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

  10. Representation of Legal Knowledge for Conceptual Retrieval.

    ERIC Educational Resources Information Center

    Cross, George R.; deBessonet, Cary G.

    1985-01-01

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

  11. Unsuccessful Retrieval Attempts Enhance Subsequent Learning

    ERIC Educational Resources Information Center

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

    2009-01-01

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

  12. Hybrid Image-Plane/Stereo Manipulation

    NASA Technical Reports Server (NTRS)

    Baumgartner, Eric; Robinson, Matthew

    2004-01-01

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

  13. Efficient Kinematic Computations For 7-DOF Manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Long, Mark K.; Kreutz-Delgado, Kenneth

    1994-01-01

    Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).

  14. 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

  15. On the manipulability of dual cooperative robots

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  16. Intrarenal stone manipulation: summary of recent experience.

    PubMed

    Ball, T P

    1978-01-01

    Since first described in 1975, non-operative external manipulation of small intrarenal calculi has been done on 30 individuals. This procedure has facilitated stone passage successfully in 80 per cent of the cases and, thus far, has been free of significant complication. Fluoroscopic control and materials available in most radiology departments allow for intrarenal manipulation to dislodge small calculi in virtually any calix, permitting spontaneous and usually asymptomatic passage. The procedure and subsequent management are described in detail.

  17. What is in a tool concept? Dissociating manipulation knowledge from function knowledge.

    PubMed

    Garcea, Frank E; Mahon, Bradford Z

    2012-11-01

    Research on patients with apraxia, a deficit in skilled action, has shown that the ability to use objects may be differentially impaired relative to knowledge about object function. Here we show, using a modified neuropsychological test, that similar dissociations can be observed in response times in healthy adults. Participants were asked to decide which two of three presented objects shared the same manipulation or the same function; triads were presented in picture and word format, and responses were made manually (button press) or with a basic-level naming response (verbally). For manual responses (Experiment 1), participants were slower to make manipulation judgments for word stimuli than for picture stimuli, while there was no difference between word and picture stimuli for function judgments. For verbal-naming responses (Experiment 2), participants were again slower for manipulation judgments over word stimuli, as compared with picture stimuli; however, and in contrast to Experiment 1, function judgments over word stimuli were faster than function judgments over picture stimuli. These data support the hypotheses that knowledge of object function and knowledge of object manipulation correspond to dissociable types of object knowledge and that simulation over motor information is not necessary in order to retrieve knowledge of object function.

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

    NASA Technical Reports Server (NTRS)

    Brown, Robert Michael, Jr.

    1995-01-01

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

  19. Compact binary hashing for music retrieval

    NASA Astrophysics Data System (ADS)

    Seo, Jin S.

    2014-03-01

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

  20. Validation of MODIS Aerosol Retrieval Over Ocean

    NASA Technical Reports Server (NTRS)

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

    2001-01-01

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

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

    PubMed

    Dreifus, Laura; Engler, Harald; Kissler, Johanna

    2014-04-01

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

  2. Intelligent modular manipulation for mobile robots

    NASA Astrophysics Data System (ADS)

    Culbertson, John

    2008-04-01

    As mobile robots continue to gain acceptance across a variety of applications within the defense and civilian markets, the number of tasks that these robot platforms are expected to accomplish are expanding. Robot operators are asked to do more with the same platforms - from EOD missions to reconnaissance and inspection operations. Due to the fact that a majority of missions are dangerous in nature, it is critical that users are able to make remote adjustments to the systems to ensure that they are kept out of harm's way. An efficient way to expand the capabilities of existing robot platforms, improve the efficiency of robot missions, and to ultimately improve the operator's safety is to integrate JAUS-enabled Intelligent Modular Manipulation payloads. Intelligent Modular Manipulation payloads include both simple and dexterous manipulator arms with plug-and-play end-effector tools that can be changed based on the specific mission. End-effectors that can be swapped down-range provide an added benefit of decreased time-on-target. The intelligence in these systems comes from semi-autonomous mobile manipulation actions that enable the robot operator to perform manipulation task with the touch of a button on the OCU. RE2 is supporting Unmanned Systems Interoperability by utilizing the JAUS standard as the messaging protocol for all of its manipulation systems. Therefore, they can be easily adapted and integrated onto existing JAUS-enabled robot platforms.

  3. Manipulator control for rover planetary exploration

    NASA Astrophysics Data System (ADS)

    Cameron, Jonathan M.; Tunstel, Edward; Nguyen, Tam; Cooper, Brian K.

    1992-11-01

    An anticipated goal of Mars surface exploration missions will be to survey and sample surface rock formations which appear scientifically interesting. In such a mission, a planetary rover would navigate close to a selected sampling site and the remote operator would use a manipulator mounted on the rover to perform a sampling operation. Techniques for accomplishing the necessary manipulation for the sampling components of such a mission have been developed and are presented. We discuss the implementation of a system for controlling a seven (7) degree of freedom Puma manipulator, equipped with a special rock gripper mounted on a planetary rover prototype, intended for the purpose of performing the sampling operation. Control is achieved by remote teleoperation. This paper discusses the real-time force control and supervisory control aspects of the rover manipulation system. Integration of the Puma manipulator with the existing distributed computer architecture is also discussed. The work described is a contribution toward achieving the coordinated manipulation and mobility necessary for a Mars sample acquisition and return scenario.

  4. Direct manipulation of virtual objects

    NASA Astrophysics Data System (ADS)

    Nguyen, Long K.

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

  5. 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.

  6. Retrievals of heavy ozone with MIPAS

    NASA Astrophysics Data System (ADS)

    Jonkheid, Bastiaan; Röckmann, Thomas; Glatthor, Norbert; Janssen, Christof; Stiller, Gabriele; von Clarmann, Thomas

    2016-12-01

    A method for retrieval of 18O-substituted isotopomers of O3 in the stratosphere with the Michelson Interferometer for Passive Atmospheric Sounding (MIPAS) is presented. Using a smoothing regularisation constraint, volume mixing ratio profiles are retrieved for the main isotopologue and the symmetric and asymmetric isotopomers of singly substituted O3. For the retrieval of the heavy isotopologues, two microwindows in the MIPAS A band (685-970 cm-1) and six in the AB band (1020-1170 cm-1) are used. As the retrievals are performed as perturbations on the previously retrieved a priori profiles, the vertical resolution of the individual isotopomer profiles is very similar, which is important when calculating the ratio between two isotopomers. The performance of the method is evaluated using 1044 vertical profiles recorded with MIPAS on 1 July 2003. The mean values are separated by latitude bands, along with estimates of their uncertainties. The asymmetric isotopomer shows a mean enrichment of ˜ 8 %, with a vertical profile that increases up to 33 km and decreases at higher altitudes. This decrease with altitude is a robust result that does not depend on retrieval settings, and it has not been reported clearly in previously published datasets. The symmetric isotopomer is considerably less enriched, with mean values around 3 % and with a large spread. In individual retrievals the uncertainty of the enrichment is dominated by the measurement noise (2-4 %), which can be reduced by averaging multiple retrievals; systematic uncertainties linked to the retrieval are generally small at ˜ 0.5 %, but this is likely underestimated because the uncertainties in key spectroscopic parameters are unknown. The variabilities in the retrieval results are largest for the Southern Hemisphere.

  7. Data storage and retrieval system

    NASA Technical Reports Server (NTRS)

    Nakamoto, Glen

    1992-01-01

    The Data Storage and Retrieval System (DSRS) consists of off-the-shelf system components integrated as a file server supporting very large files. These files are on the order of one gigabyte of data per file, although smaller files on the order of one megabyte can be accommodated as well. For instance, one gigabyte of data occupies approximately six 9-track tape reels (recorded at 6250 bpi). Due to this large volume of media, it was desirable to 'shrink' the size of the proposed media to a single portable cassette. In addition to large size, a key requirement was that the data needs to be transferred to a (VME based) workstation at very high data rates. One gigabyte (GB) of data needed to be transferred from an archiveable media on a file server to a workstation in less than 5 minutes. Equivalent size, on-line data needed to be transferred in less than 3 minutes. These requirements imply effective transfer rates on the order of four to eight megabytes per second (4-8 MB/s). The DSRS also needed to be able to send and receive data from a variety of other sources accessible from an Ethernet local area network.

  8. Data storage and retrieval system

    NASA Technical Reports Server (NTRS)

    Nakamoto, Glen

    1991-01-01

    The Data Storage and Retrieval System (DSRS) consists of off-the-shelf system components integrated as a file server supporting very large files. These files are on the order of one gigabyte of data per file, although smaller files on the order of one megabyte can be accommodated as well. For instance, one gigabyte of data occupies approximately six 9 track tape reels (recorded at 6250 bpi). Due to this large volume of media, it was desirable to shrink the size of the proposed media to a single portable cassette. In addition to large size, a key requirement was that the data needs to be transferred to a (VME based) workstation at very high data rates. One gigabyte (GB) of data needed to be transferred from an archiveable media on a file server to a workstation in less than 5 minutes. Equivalent size, on-line data needed to be transferred in less than 3 minutes. These requirements imply effective transfer rates on the order of four to eight megabytes per second (4-8 MB/s). The DSRS also needed to be able to send and receive data from a variety of other sources accessible from an Ethernet local area network.

  9. Multilingual retrieval of radiology images.

    PubMed

    Kahn, Charles E

    2009-01-01

    The multilingual search engine ARRS GoldMiner Global was created to facilitate broad international access to a richly indexed collection of more than 200,000 radiologic images. Images are indexed according to key-words and medical concepts that appear in the unstructured text of their English-language image captions. GoldMiner Global exploits the Unicode standard, which allows the accurate representation of characters and ideographs from virtually any language and which supports both left-to-right and right-to-left text directions. The user interface supports queries in Arabic, Chinese, French, German, Italian, Japanese, Korean, Portuguese, Russian, or Spanish. GoldMiner Global incorporates an interface to the United States National Library of Medicine that translates queries into English-language Medical Subject Headings (MeSH) terms. The translated MeSH terms are then used to search the image index and retrieve relevant images. Explanatory text, pull-down menu choices, and navigational guides are displayed in the selected language; search results are displayed in English. GoldMiner Global is freely available on the World Wide Web.

  10. Spaced retrieval treatment of anomia

    PubMed Central

    Fridriksson, Julius; Holland, Audrey L.; Beeson, Pélagie; Morrow, Leigh

    2006-01-01

    Background Spaced Retrieval (SR) is a treatment approach developed to facilitate recall of information by individuals with dementia. Essentially an errorless learning procedure that can be used to facilitate recall of a variety of information, SR gradually increases the interval between correct recall of target items. Aims Given the success of using SR in dementia, the purpose of this study was to explore its usefulness in improving naming by individuals with aphasia. The rate of acquisition and retention of items was compared between SR and a more traditional treatment technique—cueing hierarchy (CH). Also, each oral naming treatment was run concurrently with a single word writing treatment. Methods & Procedures Three participants who had moderate or severe naming impairments and agraphia were studied. Single-subject design was applied across oral and written naming and treated and untreated items. Outcomes & Results The results indicate that for these participants, SR resulted in improved naming of specific items. The data further suggest that SR compared favourably to CH with regard to both acquisition and retention of items. The participants also benefited nicely from the writing treatment. Conclusions These findings suggest SR may be an alternative for managing naming impairment resulting from aphasia. Furthermore, the study supports providing treatments aimed at two different modalities concurrently. PMID:16823467

  11. Retrieved Latent Heating from TRMM

    NASA Technical Reports Server (NTRS)

    Tao, Wei-Kuo; Smith, Eric A.; Houze Jr, Robert

    2008-01-01

    The global hydrological cycle is central to the Earth's climate system, with rainfall and the physics of precipitation formation acting as the key links in the cycle. Two-thirds of global rainfall occurs in the tropics with the associated latent heating (LH) accounting for three-fourths of the total heat energy available to the Earth's atmosphere. In addition, fresh water provided by tropical rainfall and its variability exerts a large impact upon the structure and motions of the upper ocean layer. In the last decade, it has been established that standard products of LH from satellite measurements, particularly TRMM measurements, would be a valuable resource for scientific research and applications. Such products would enable new insights and investigations concerning the complexities of convection system life cycles, the diabatic heating controls and feedbacks related to meso-synoptic circulations and their forecasting, the relationship of tropical patterns of LH to the global circulation and climate, and strategies for improving cloud parameterizations in environmental prediction models. The status of retrieved TRMM LH products, TRMM LH inter-comparison and validation project, current TRMM LH applications and critic issues/action items (based on previous five TRMM LH workshops) is presented in this article.

  12. VICAR - VIDEO IMAGE COMMUNICATION AND RETRIEVAL

    NASA Technical Reports Server (NTRS)

    Wall, R. J.

    1994-01-01

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

  13. Spent nuclear fuel retrieval system fuel handling development testing. Final report

    SciTech Connect

    Jackson, D.R.; Meeuwsen, P.V.

    1997-09-01

    Fuel handling development testing was performed in support of the Fuel Retrieval System (FRS) Sub-Project, a subtask of the Spent Nuclear Fuel Project at the Hanford Site in Richland, Washington. The FRS will be used to retrieve and repackage K-Basin Spent Nuclear Fuel (SNF) currently stored in old K-Plant storage basins. The FRS is required to retrieve full fuel canisters from the basin, clean the fuel elements inside the canister to remove excessive uranium corrosion products (or sludge), remove the contents from the canisters and sort the resulting debris, scrap, and fuel for repackaging. The fuel elements and scrap will be collected in fuel storage and scrap baskets in preparation for loading into a multi canister overpack (MCO), while the debris is loaded into a debris bin and disposed of as solid waste. This report describes fuel handling development testing performed from May 1, 1997 through the end of August 1997. Testing during this period was mainly focused on performance of a Schilling Robotic Systems` Conan manipulator used to simulate a custom designed version, labeled Konan, being fabricated for K-Basin deployment. In addition to the manipulator, the camera viewing system, process table layout, and fuel handling processes were evaluated. The Conan test manipulator was installed and fully functional for testing in early 1997. Formal testing began May 1. The purposes of fuel handling development testing were to provide proof of concept and criteria, optimize equipment layout, initialize the process definition, and identify special needs/tools and required design changes to support development of the performance specification. The test program was set up to accomplish these objectives through cold (non-radiological) development testing using simulated and prototype equipment.

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

    NASA Technical Reports Server (NTRS)

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

    1974-01-01

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

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

    PubMed

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

    2003-08-01

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

  16. Intelligence as the efficiency of cue-driven retrieval from secondary memory.

    PubMed

    Liesefeld, Heinrich René; Hoffmann, Eugenia; Wentura, Dirk

    2016-01-01

    Complex-span (working-memory-capacity) tasks are among the most successful predictors of intelligence. One important contributor to this relationship is the ability to efficiently employ cues for the retrieval from secondary memory. Presumably, intelligent individuals can considerably restrict their memory search sets by using such cues and can thereby improve recall performance. We here test this assumption by experimentally manipulating the validity of retrieval cues. When memoranda are drawn from the same semantic category on two successive trials of a verbal complex-span task, the category is a very strong retrieval cue on its first occurrence (strong-cue trial) but loses some of its validity on its second occurrence (weak-cue trial). If intelligent individuals make better use of semantic categories as retrieval cues, their recall accuracy suffers more from this loss of cue validity. Accordingly, our results show that less variance in intelligence is explained by recall accuracy on weak-cue compared with strong-cue trials.

  17. Users guide for the Water Resources Division bibliographic retrieval and report generation system

    USGS Publications Warehouse

    Tamberg, Nora

    1983-01-01

    The WRDBIB Retrieval and Report-generation system has been developed by applying Multitrieve (CSD 1980, Reston) software to bibliographic data files. The WRDBIB data base includes some 9 ,000 records containing bibliographic citations and descriptors of WRD reports released for publication during 1968-1982. The data base is resident in the Reston Multics computer and may be accessed by registered Multics users in the field. The WRDBIB Users Guide provides detailed procedures on how to run retrieval programs using WRDBIB library files, and how to prepare custom bibliographic reports and author indexes. Users may search the WRDBIB data base on the following variable fields as described in the Data Dictionary: Authors, organizational source, title, citation, publication year, descriptors, and the WRSIC (accession) number. The Users Guide provides ample examples of program runs illustrating various retrieval and report generation aspects. Appendices include Multics access and file manipulation procedures; a ' Glossary of Selected Terms'; and a complete ' Retrieval Session ' with step-by-step outlines. (USGS)

  18. The JOIs of text comprehension: Supplementing retrieval practice to enhance inference performance.

    PubMed

    Nguyen, Khuyen; McDaniel, Mark A

    2016-03-01

    Previous research has shown that the Read-Recite-Review (3R) technique, a retrieval-based strategy, enhances free recall but not inference performance relative to a common note-taking strategy. We hypothesize that this may be because retrieval practice enhances memory processes without encouraging learners to build a coherent situation model, a type of processing necessary for successful inference performance. In 2 experiments, we attempted to enhance situation-model processing during restudy by incorporating judgments of inferencing (JOIs) within the 3R technique. In Experiment 1, participants studied a technical passage on brakes (or pumps) under 1 of 3 study conditions: a) standard 3R, b) 3R plus metacomprehension judgments, or c) note-taking plus metacomprehension judgments. The combination of retrieval practice and metacomprehension judgments (i.e., 3R plus metacomprehension) improved inference performance relative to the standard 3R and note-taking plus metacomprehension judgments conditions. In Experiment 2, we manipulated the type of metacomprehension judgments (JOIs vs. judgments of learning) and test-expectancy (TE) instructions. Our results indicated that only the addition of JOIs to the 3R strategy enhanced inference and problem-solving performance relative to the standard 3R condition. These findings suggest that making metacomprehension judgments may not be a neutral event; instead, making JOIs in concert with retrieval practice can influence people's subsequent study behavior, which in turn can have a positive impact on inference performance.

  19. Method of content-based image retrieval for a spinal x-ray image database

    NASA Astrophysics Data System (ADS)

    Krainak, Daniel M.; Long, L. Rodney; Thoma, George R.

    2002-05-01

    The Lister Hill National Center for Biomedical Communications, a research and development division of the National Library of Medicine (NLM) maintains a digital archive of 17,000 cervical and lumbar spine images collected in the second National Health and Nutrition Examination Survey (NHANES II) conducted by the National Center for Health Statistics (NCHS). Classification of the images for the osteoarthritis research community has been a long-standing goal of researchers at the NLM, collaborators at NCHS, and the National Institute of Arthritis and Musculoskeletal and Skin Diseases (NIAMS), and capability to retrieve images based on geometric characteristics of the vertebral bodies is of interest to the vertebral morphometry community. Automated or computer-assisted classification and retrieval methods are highly desirable to offset the high cost of manual classification and manipulation by medical experts. We implemented a prototype system for a database of 118 spine x-rays and health survey text data related to these x-rays. The system supports conventional text retrieval, as well as retrieval based on shape similarity to a user-supplied vertebral image or sketch.

  20. Engineering development of waste retrieval end effectors for the Oak Ridge gunite waste tanks

    SciTech Connect

    Mullen, O.D.

    1997-05-01

    The Gunite and Associated Tanks Treatability Study at Oak Ridge National Laboratory selected the waterjet scarifying end effector, the jet pump conveyance system, and the Modified Light Duty Utility Arm and Houdini Remotely Operated Vehicle deployment and manipulator systems for evaluation. The waterjet-based retrieval end effector had been developed through several generations of test articles targeted at deployment in Hanford underground storage tanks with a large robotic arm. The basic technology had demonstrated effectiveness at retrieval of simulants bounding the foreseen range of waste properties and indicated compatibility with the planned deployment systems. The Retrieval Process Development and Enhancements team was tasked with developing a version of the retrieval end effector tailored to the Oak Ridge tanks, waste and deployment platforms. The finished prototype was delivered to PNNL and subjected to a brief round of characterization and performance testing at the Hydraulic Testbed prior to shipment to Oak Ridge. It has undergone extensive operational testing in the Oak Ridge National Laboratory Tanks Technology Cold Test Facility and performed well, as expected. A second unit has been delivered outfitted with the high pressure manifold.

  1. The neural correlates of competition during memory retrieval are modulated by attention to the cues

    PubMed Central

    Danker, Jared F.; Fincham, Jon M.; Anderson, John R.

    2011-01-01

    As people learn more facts about a concept, those facts become more difficult to remember. This is called the fan effect, where fan refers to the number of facts known about a concept. Increasing fan has been shown to decrease accuracy and increase response time and left ventrolateral prefrontal cortex (VLPFC) activity during retrieval. In this study, participants learned 36 arbitrary person-location pairings and had to recognize them while we recorded brain activity using fMRI. We separately manipulated the fan of each person and location, as well as the training procedure with which each pair was studied. In the person focus condition, participants studied pairs with a picture of the person’s face and used the person as a retrieval cue during training. In the location focus condition, participants studied pairs with a picture of the location and used the location as a retrieval cue during training. We found that the fan of the focused cue had a greater effect on response time, accuracy, and left VLPFC activity during retrieval than the fan of the unfocused cue. We also found that the parahippocampal place area (PPA) was more active during the recognition of pairs studied in the location focus condition, but not when the fan of the location was high. Overall, we found opposite effects of fan on VLPFC and PPA that were modulated by cue focus. PMID:21549721

  2. Fuel Retrieval System Design Verification Report

    SciTech Connect

    GROTH, B.D.

    2000-04-11

    The Fuel Retrieval Subproject was established as part of the Spent Nuclear Fuel Project (SNF Project) to retrieve and repackage the SNF located in the K Basins. The Fuel Retrieval System (FRS) construction work is complete in the KW Basin, and start-up testing is underway. Design modifications and construction planning are also underway for the KE Basin. An independent review of the design verification process as applied to the K Basin projects was initiated in support of preparation for the SNF Project operational readiness review (ORR). A Design Verification Status Questionnaire, Table 1, is included which addresses Corrective Action SNF-EG-MA-EG-20000060, Item No.9 (Miller 2000).

  3. TDPP FOR THE RETRIEVABILITY STRATEGY REPORT

    SciTech Connect

    P.D. Gehner

    1997-01-28

    The objective of this systems study is to produce a waste removability strategy document that contains sufficient details, recommended design alternatives, and the technical rationale (a) to support Licensing in the development of the License Application Plan, and (b) to provide input in the form of design requirements, for the FY 97 Retrieval Design & Operation activity in support of viability assessment. The intent of this systems study is to support a decision on how to proceed with design with respect to retrievability, regarding the extent to which the repository/waste package designs should accommodate the retrieval option.

  4. Retrieval-induced forgetting: dynamic effects between retrieval and restudy trials when practice is mixed.

    PubMed

    Dobler, Ina M; Bäuml, Karl-Heinz T

    2013-05-01

    Results from numerous previous studies suggest that when subjects study items from different categories and then repeatedly retrieve, or restudy, some of the items from some of the categories, repeated retrieval, but not repeated study, induces forgetting of related unpracticed items. We investigated in two experiments whether such effects of pure retrieval and pure study practice generalize to mixed practice-that is, when retrieval and restudy trials are randomly interleaved within a single experimental block. Experiment 1 employed cued recall; Experiment 2 employed item recognition testing. In both experiments, pure repeated retrieval, but not pure repeated study, caused forgetting of related unpracticed items, which is consistent with the prior work. In contrast, with mixed practice, both retrieval and restudy induced forgetting. Thus, whereas retrieval caused forgetting regardless of practice mode, restudy caused forgetting with mixed practice, but not with pure practice. The finding provides first evidence for dynamic effects between retrieval and restudy trials when practice is mixed. It is consistent with the view that, with mixed practice, subjects engage in more retrieval during restudy trials, so that restudy trials may trigger similar processes as retrieval trials and, thus, induce forgetting of related, not restudied, items.

  5. Günter tulip filter retrieval experience: predictors of successful retrieval.

    PubMed

    Turba, Ulku Cenk; Arslan, Bulent; Meuse, Michael; Sabri, Saher; Macik, Barbara Gail; Hagspiel, Klaus D; Matsumoto, Alan H; Angle, John F

    2010-08-01

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

  6. Precision manipulation with a dextrous robot hand

    NASA Astrophysics Data System (ADS)

    Michelman, Paul

    1994-01-01

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

  7. Memory loss versus memory distortion: the role of encoding and retrieval deficits in Korsakoff patients' false memories.

    PubMed

    Van Damme, Ilse; d'Ydewalle, Gery

    2009-05-01

    Recent studies with the Deese/Roediger-McDermott (DRM) paradigm have revealed that Korsakoff patients show reduced levels of false recognition and different patterns of false recall compared to controls. The present experiment examined whether this could be attributed to an encoding deficit, or rather to problems with explicitly retrieving thematic information at test. In a variation on the DRM paradigm, both patients and controls were presented with associative as well as categorised word lists, with the order of recall and recognition tests manipulated between-subjects. The results point to an important role for the automatic/controlled retrieval distinction: Korsakoff patients' false memory was only diminished compared to controls' when automatic or short-term memory processes could not be used to fulfil the task at hand. Hence, the patients' explicit retrieval deficit appears to be crucial in explaining past and present data. Results are discussed in terms of fuzzy-trace and activation-monitoring theories.

  8. Does phonological encoding in speech production always follow the retrieval of semantic knowledge? Electrophysiological evidence for parallel processing.

    PubMed

    Abdel Rahman, Rasha; Sommer, Werner

    2003-05-01

    In this article a new approach to the distinction between serial/contingent and parallel/independent processing in the human cognitive system is applied to semantic knowledge retrieval and phonological encoding of the word form in picture naming. In two-choice go/nogo tasks pictures of objects were manually classified on the basis of semantic and phonological information. An additional manipulation of the duration of the faster and presumably mediating process (semantic retrieval) allowed to derive differential predictions from the two alternative models. These predictions were tested with two event-related brain potentials (ERPs), the lateralized readiness potential (LRP) and the N200. The findings indicate that phonological encoding can proceed in parallel to the retrieval of semantic features. A suggestion is made how to accommodate these findings with models of speech production.

  9. 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.

  10. 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.

  11. Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

    NASA Technical Reports Server (NTRS)

    Mclauchlan, Robert A.

    1989-01-01

    Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

  12. A Modular Approach to Video Designation of Manipulation Targets for Manipulators

    DTIC Science & Technology

    2014-05-12

    taxing to manipulate (i.e. rotate and zoom) and visualize point cloud data dur- ing an EOD operation, 2) 3D sensors that create data which is easy to...The light blue sphere represents the estimated workspace of the manipulator, the coordinate frame at the top left is the camera’s frame, the pink line

  13. 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…

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

    PubMed

    Heil, Martin

    2015-09-01

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

  15. Accelerated Adaptive MGS Phase Retrieval

    NASA Technical Reports Server (NTRS)

    Lam, Raymond K.; Ohara, Catherine M.; Green, Joseph J.; Bikkannavar, Siddarayappa A.; Basinger, Scott A.; Redding, David C.; Shi, Fang

    2011-01-01

    The Modified Gerchberg-Saxton (MGS) algorithm is an image-based wavefront-sensing method that can turn any science instrument focal plane into a wavefront sensor. MGS characterizes optical systems by estimating the wavefront errors in the exit pupil using only intensity images of a star or other point source of light. This innovative implementation of MGS significantly accelerates the MGS phase retrieval algorithm by using stream-processing hardware on conventional graphics cards. Stream processing is a relatively new, yet powerful, paradigm to allow parallel processing of certain applications that apply single instructions to multiple data (SIMD). These stream processors are designed specifically to support large-scale parallel computing on a single graphics chip. Computationally intensive algorithms, such as the Fast Fourier Transform (FFT), are particularly well suited for this computing environment. This high-speed version of MGS exploits commercially available hardware to accomplish the same objective in a fraction of the original time. The exploit involves performing matrix calculations in nVidia graphic cards. The graphical processor unit (GPU) is hardware that is specialized for computationally intensive, highly parallel computation. From the software perspective, a parallel programming model is used, called CUDA, to transparently scale multicore parallelism in hardware. This technology gives computationally intensive applications access to the processing power of the nVidia GPUs through a C/C++ programming interface. The AAMGS (Accelerated Adaptive MGS) software takes advantage of these advanced technologies, to accelerate the optical phase error characterization. With a single PC that contains four nVidia GTX-280 graphic cards, the new implementation can process four images simultaneously to produce a JWST (James Webb Space Telescope) wavefront measurement 60 times faster than the previous code.

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

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

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

  17. Ultrasonic resonator for manipulation of bacteria

    NASA Astrophysics Data System (ADS)

    Schwarz, T.; Dual, J.

    2012-05-01

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

  18. Design of multivariable controllers for robot manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1986-01-01

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

  19. Force reflecting hand controller for manipulator teleoperation

    NASA Technical Reports Server (NTRS)

    Bryfogle, Mark D.

    1991-01-01

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

  20. Manipulating cyanobacteria: Spirulina for potential CELSS diet

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  1. Sensing Temperatures Via Prostheses And Manipulators

    NASA Technical Reports Server (NTRS)

    Zerkus, Mike

    1991-01-01

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

  2. Space station erectable manipulator placement system

    NASA Technical Reports Server (NTRS)

    Grimaldi, Margaret E. (Inventor)

    1988-01-01

    A habitable space station was proposed for low earth orbit, to be constructed from components which will be separately carried up from the earth and thereafter assembled. A suitable manipulating system having extraordinary manipulative capability is required. The invention is an erectable manipulator placement system for use on a space station and comprises an elongate, lattice-like boom having guide tracks attached thereto, a carriage-like assembly pivotally mounted on and extending from said dolly. The system further includes a turntable base pivotally interconnected with the proximal end of the boom and positioned either on a part of a transferring vehicle, or on another payload component being carried by the said transferring vehicle, or on the space station. Novelty resides in the use of a turntable base having a hinged boom with a dolly translatable therealong to carry the arm-like assembly, thus providing an additional 3 degrees of freedom to the arm.

  3. Television systems for remote manipulation. [in space

    NASA Technical Reports Server (NTRS)

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

    1975-01-01

    An analytical and experimental study was conducted to specify a video system for remote manipulation in space. An operator function analysis identified two basic characteristics, work volume and element relationship, which define four manipulation tasks chosen for examination. A visual function analysis developed a set of elemental scene parameters which grouped the visual dimensions into major areas of influence. Simulation testing was conducted with a four degree-of-freedom motion frame which allowed an operator to perform the manipulation tasks. Four video systems were included in the simulation testing: a black and white and a color monoscopic system, a stereoscopic system, and a black and white two-view system. A sequential experimental plan first provided an overall analysis of the effects of tasks, scene parameters, and video systems. This was followed by a detailed experimental examination of the critical dimensions identified in the first experiment. Results are discussed in terms of a recommended TV system.

  4. Manipulator system for constructing overhead distribution lines

    SciTech Connect

    Ohnishi, H.; Tsuchihashi, H.; Waki, S.; Mochizuki, K. ); Yamamoto, T.; Watanabe, H. ); Furukawa, H. )

    1993-04-01

    This paper describes the manipulator for live-line construction of high-voltage overhead power transmission lines (line voltage 6.6 kV) that is being jointly developed by Tokyo Electric Power and other companies. It describes this system's development concept, makeup, functions, and design, as well as operability tests using actual-scale transmission line poles. In this research, development began in 1984. As the first step, a prototype model of a ground-mounted twin-arm manipulator was trial-manufactured in 1985. As the second step, in 1988 a truck-mounted system was developed in which the twin-arm manipulator was mounted on a cherrypicker vehicle. As the third step, a practical system was developed based on these results.

  5. Cooperative control of multiple space manipulators

    NASA Astrophysics Data System (ADS)

    Nahon, M.; Angeles, J.

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

  6. Manipulation of microfluidic droplets by electrorheological fluid.

    PubMed

    Zhang, Menying; Gong, Xiuqing; Wen, Weijia

    2009-09-01

    Microfluidics, especially droplet microfluidics, attracts more and more researchers from diverse fields, because it requires fewer materials and less time, produces less waste and has the potential of highly integrated and computer-controlled reaction processes for chemistry and biology. Electrorheological fluid, especially giant electrorheological fluid (GERF), which is considered as a kind of smart material, has been applied to the microfluidic systems to achieve active and precise control of fluid by electrical signal. In this review article, we will introduce recent results of microfluidic droplet manipulation, GERF and some pertinent achievements by introducing GERF into microfluidic system: digital generation, manipulation of "smart droplets" and droplet manipulation by GERF. Once it is combined with real-time detection, integrated chip with multiple functions can be realized.

  7. 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).

  8. Electrochemical Processes Enhanced by Acoustic Liquid Manipulation

    NASA Technical Reports Server (NTRS)

    Oeftering, Richard C.

    2004-01-01

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

  9. Information retrieval using a "digital book shelf".

    PubMed Central

    Frisse, M. E.; Cousins, S. B.; Hassan, S. W.

    1991-01-01

    WALT (Washington University's Approach to Lots of Text), is a prototype interface designed to support information retrieval research. The WALT interface serves as a "front end" to a wide array of retrieval engines including those based on Boolean retrieval, latent semantic indexing, term frequency--inverse document frequency, and Bayesian inference techniques. The WALT interface is composed of seven distinct components: a document examination component known as the Document Browsing Area; four navigation components called the Book Shelf, the Book Spine, the Table of Contents, and the Path Clipboard; a term-based information retrieval component called Control Panel; and a relevance feedback component known as the Reader Feedback Panel. WALT's most unique feature may be it's use of "book shelf" and "book spine" metaphors both to facilitate navigation and to provide a histogram-based display showing documents deemed appropriate for answering user queries. PMID:1807717

  10. Multi-Spectral Cloud Property Retrieval

    NASA Technical Reports Server (NTRS)

    Carlson, Barbara E.; Lynch, R

    1999-01-01

    Despite numerous studies to retrieve cloud properties using infrared measurements the information content of the data has not yet been fully exploited. In an effort to more fully utilize the information content of infrared measurements, we have developed a multi-spectral technique for retrieving effective cloud particle size, optical depth and effective cloud temperature. While applicable to all cloud types, we begin by validating our retrieval technique through analysis of MS spectral radiances obtained during the SUCCESS field campaign over the ARM SGP CART facility, and compare our retrieval product with lidar and MODIS Airborne Simulator (MAS) measurement results. The technique is then applied to the Nimbus-4 MS infrared spectral measurements to obtain global cloud information.

  11. Information content of ozone retrieval algorithms

    NASA Technical Reports Server (NTRS)

    Rodgers, C.; Bhartia, P. K.; Chu, W. P.; Curran, R.; Deluisi, J.; Gille, J. C.; Hudson, R.; Mateer, C.; Rusch, D.; Thomas, R. J.

    1989-01-01

    The algorithms are characterized that were used for production processing by the major suppliers of ozone data to show quantitatively: how the retrieved profile is related to the actual profile (This characterizes the altitude range and vertical resolution of the data); the nature of systematic errors in the retrieved profiles, including their vertical structure and relation to uncertain instrumental parameters; how trends in the real ozone are reflected in trends in the retrieved ozone profile; and how trends in other quantities (both instrumental and atmospheric) might appear as trends in the ozone profile. No serious deficiencies were found in the algorithms used in generating the major available ozone data sets. As the measurements are all indirect in someway, and the retrieved profiles have different characteristics, data from different instruments are not directly comparable.

  12. Content-Based Medical Image Retrieval

    NASA Astrophysics Data System (ADS)

    Müller, Henning; Deserno, Thomas M.

    This chapter details the necessity for alternative access concepts to the currently mainly text-based methods in medical information retrieval. This need is partly due to the large amount of visual data produced, the increasing variety of medical imaging data and changing user patterns. The stored visual data contain large amounts of unused information that, if well exploited, can help diagnosis, teaching and research. The chapter briefly reviews the history of image retrieval and its general methods before technologies that have been developed in the medical domain are focussed. We also discuss evaluation of medical content-based image retrieval (CBIR) systems and conclude with pointing out their strengths, gaps, and further developments. As examples, the MedGIFT project and the Image Retrieval in Medical Applications (IRMA) framework are presented.

  13. The JPL Library Information Retrieval System

    ERIC Educational Resources Information Center

    Walsh, Josephine

    1975-01-01

    The development, capabilities, and products of the computer-based retrieval system of the Jet Propulsion Laboratory Library are described. The system handles books and documents, produces a book catalog, and provides a machine search capability. (Author)

  14. Environmental impacts of proposed Monitored Retrievable Storage

    SciTech Connect

    Scharber, Wayne K.; Macintire, H. A.; Davis, Paul E.; Cothron, Terry K.; Stephens, Barry K.; Travis, Norman; Walter, George; Mobley, Mike

    1985-12-17

    This report describes environmental impacts from a proposed monitored retrievable storage facility for spent fuels to be located in Tennessee. Areas investigated include: water supply, ground water, air quality, solid waste management, and health hazards. (CBS)

  15. Generalized tetanus in a Labrador retriever

    PubMed Central

    Sprott, Kerri-Rae

    2008-01-01

    A 10-week-old, intact female, Labrador retriever was presented for progressive extensor rigidity, facial swelling, and difficulty in walking. Generalized tetanus was diagnosed and treated successfully. PMID:19252716

  16. The present status and problems in document retrieval system : document input type retrieval system

    NASA Astrophysics Data System (ADS)

    Inagaki, Hirohito

    The office-automation (OA) made many changes. Many documents were begun to maintained in an electronic filing system. Therefore, it is needed to establish efficient document retrieval system to extract useful information. Current document retrieval systems are using simple word-matching, syntactic-matching, semantic-matching to obtain high retrieval efficiency. On the other hand, the document retrieval systems using special hardware devices, such as ISSP, were developed for aiming high speed retrieval. Since these systems can accept a single sentence or keywords as input, it is difficult to explain searcher's request. We demonstrated document input type retrieval system, which can directly accept document as an input, and can search similar documents from document data-base.

  17. Evaluation of multi-layer cloud property retrievals from optimal estimation and Bayesian retrieval algorithms

    NASA Astrophysics Data System (ADS)

    Ding, Y.; Yang, P.

    2015-12-01

    Three physical and radiative cloud properties, namely, optical thickness (tau), effective diameter (De), and cloud top height(h) can be simultaneously inferred from IR radiances for multi-layer cloud cases. The retrieval algorithm implementation is based on a computationally efficient radiative transfer model and spaceborne measurements of narrowband infrared (IR) radiances at the top of the atmosphere. This study focuses on the evaluation of the retrieval results derived from two different algorithms, optimal estimation (OE) algorithm and Bayesian retrieval algorithm. Both of the two methods are able to offer comprehensive error analysis and quality flags. The evaluation results can potentially useful for retrieving the multi-layer clouds properties, a research subject that receives little attention. This presentation will discuss the pros and cons of retrieving cloud properties from the aforesaid retrieval algorithms.

  18. Design of a reconfigurable modular manipulator system

    NASA Technical Reports Server (NTRS)

    Schmitz, D.; Kanade, T.

    1987-01-01

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

  19. The Role of Grammatical Category Information in Spoken Word Retrieval

    PubMed Central

    Duràn, Carolina Palma; Pillon, Agnesa

    2011-01-01

    We investigated the role of lexical syntactic information such as grammatical gender and category in spoken word retrieval processes by using a blocking paradigm in picture and written word naming experiments. In Experiments 1, 3, and 4, we found that the naming of target words (nouns) from pictures or written words was faster when these target words were named within a list where only words from the same grammatical category had to be produced (homogeneous category list: all nouns) than when they had to be produced within a list comprising also words from another grammatical category (heterogeneous category list: nouns and verbs). On the other hand, we detected no significant facilitation effect when the target words had to be named within a homogeneous gender list (all masculine nouns) compared to a heterogeneous gender list (both masculine and feminine nouns). In Experiment 2, using the same blocking paradigm by manipulating the semantic category of the items, we found that naming latencies were significantly slower in the semantic category homogeneous in comparison with the semantic category heterogeneous condition. Thus semantic category homogeneity caused an interference, not a facilitation effect like grammatical category homogeneity. Finally, in Experiment 5, nouns in the heterogeneous category condition had to be named just after a verb (category-switching position) or a noun (same-category position). We found a facilitation effect of category homogeneity but no significant effect of position, which showed that the effect of category homogeneity found in Experiments 1, 3, and 4 was not due to a cost of switching between grammatical categories in the heterogeneous grammatical category list. These findings supported the hypothesis that grammatical category information impacts word retrieval processes in speech production, even when words are to be produced in isolation. They are discussed within the context of extant theories of lexical production. PMID

  20. Retrieval of ash properties from IASI measurements

    NASA Astrophysics Data System (ADS)

    Ventress, Lucy J.; McGarragh, Gregory; Carboni, Elisa; Smith, Andrew J.; Grainger, Roy G.

    2016-11-01

    A new optimal estimation algorithm for the retrieval of volcanic ash properties has been developed for use with the Infrared Atmospheric Sounding Interferometer (IASI). The retrieval method uses the wave number range 680-1200 cm-1, which contains window channels, the CO2 ν2 band (used for the height retrieval), and the O3 ν3 band.Assuming a single infinitely (geometrically) thin ash plume and combining this with the output from the radiative transfer model RTTOV, the retrieval algorithm produces the most probable values for the ash optical depth (AOD), particle effective radius, plume top height, and effective radiating temperature. A comprehensive uncertainty budget is obtained for each pixel. Improvements to the algorithm through the use of different measurement error covariance matrices are explored, comparing the results from a sensitivity study of the retrieval process using covariance matrices trained on either clear-sky or cloudy scenes. The result showed that, due to the smaller variance contained within it, the clear-sky covariance matrix is preferable. However, if the retrieval fails to pass the quality control tests, the cloudy covariance matrix is implemented.The retrieval algorithm is applied to scenes from the Eyjafjallajökull eruption in 2010, and the retrieved parameters are compared to ancillary data sources. The ash optical depth gives a root mean square error (RMSE) difference of 0.46 when compared to retrievals from the MODerate-resolution Imaging Spectroradiometer (MODIS) instrument for all pixels and an improved RMSE of 0.2 for low optical depths (AOD < 0.1). Measurements from the Facility for Airborne Atmospheric Measurements (FAAM) and Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) flight campaigns are used to verify the retrieved particle effective radius, with the retrieved distribution of sizes for the scene showing excellent consistency. Further, the plume top altitudes are compared to derived cloud-top altitudes from the Cloud