Science.gov

Sample records for arms control issues

  1. Issues for Future Nuclear Arms Control

    NASA Astrophysics Data System (ADS)

    Davis, Jay

    2011-04-01

    Ratification of the New START treaty may open the door to a path of progressive negotiations that could lead to systematic reduction of the numbers of deployed and reserve nuclear weapons. Those negotiations will require more than merely resolving technical, operational and policy questions. Their success will also demand adding successively larger numbers of partners and the building of trust among parties who have not been involved in such agreements before. At some point, questions of conventional arms limitations and larger confidence building steps will inevitably arise. Jay Davis, who last year chaired an APS/POPA study of technology issues for future nuclear arms control agreements, will outline the path, opportunities, and obstacles that lie ahead. Davis was an UNSCOM inspector in Iraq after the First Gulf War and the first director of the Defense Threat Reduction Agency.

  2. Strategic Arms Control After START: Issues and Options

    DTIC Science & Technology

    2009-10-09

    Ken Fireman . “Gates, Rice made Last-Minute Offer of New Arms Ideas in Moscow.” Bloomberg News, October 13, 2007. 23 Wade Boese. “U.S., Russia at...is complete. Officials in the Pentagon, however, have repeatedly stressed that the early phases of the NPR evaluated U.S. options for near-term

  3. Strategic Arms Control After START: Issues and Options

    DTIC Science & Technology

    2009-11-18

    Russian Federation Sergey Lavrov. July 3, 2007. 23 Ken Fireman . “Gates, Rice made Last-Minute Offer of New Arms Ideas in Moscow.” Bloomberg News, October...this study is complete. Officials in the Pentagon, however, have repeatedly stressed that the early phases of the NPR evaluated U.S. options for near

  4. Strategic Arms Control After START: Issues and Options

    DTIC Science & Technology

    2009-12-07

    the Russian Federation Sergey Lavrov. July 3, 2007. 23 Ken Fireman . “Gates, Rice made Last-Minute Offer of New Arms Ideas in Moscow.” Bloomberg News...Officials in the Pentagon, however, have repeatedly stressed that the early phases of the NPR evaluated U.S. options for near-term changes in force

  5. Understanding Nuclear Weapons and Arms Control: A Guide to the Issues. New Edition.

    ERIC Educational Resources Information Center

    Mayers, Teena

    Intended for secondary and college level students and teachers, this guide discusses the nuclear arms control issue. There are four sections. Section I discusses U.S. nuclear strategy from 1945 to the present, strategic nuclear weapons competition between the United States and the Union of Soviet Socialist Republics (U.S.S.R.), U.S.…

  6. Understanding Nuclear Weapons and Arms Control: A Guide to the Issues. New Edition.

    ERIC Educational Resources Information Center

    Mayers, Teena

    Intended for secondary and college level students and teachers, this guide discusses the nuclear arms control issue. There are four sections. Section I discusses U.S. nuclear strategy from 1945 to the present, strategic nuclear weapons competition between the United States and the Union of Soviet Socialist Republics (U.S.S.R.), U.S.…

  7. Different equation: Naval issues and arms control after 1991. Final report

    SciTech Connect

    Lacy, J.L.

    1993-12-01

    This study examines future directions and U.S. policy options in the general areas of naval and regional arms control. It reviews the Cold War history in both areas, the changes that have taken place in recent years, and the implications of the dissolution of the Soviet Union on the formulation and debate of naval and regional issues in the post 1991 decade. It examines the new Russian agenda for 'cooperative security at sea,' growing pressures to 'internationalize' naval operations and activities, the emergence and security significance of the growth of regional navies, and varying proposals for regional arms control and cooperation that might impact on naval operations. It concludes with an examination of the implications of these various developments for U.S. policy, and a review of the principal policy options.

  8. Sandia technology. Volume 13, number 2 Special issue : verification of arms control treaties.

    SciTech Connect

    Not Available

    1989-03-01

    Nuclear deterrence, a cornerstone of US national security policy, has helped prevent global conflict for over 40 years. The DOE and DoD share responsibility for this vital part of national security. The US will continue to rely on nuclear deterrence for the foreseeable future. In the late 1950s, Sandia developed satellite-borne nuclear burst detection systems to support the treaty banning atmospheric nuclear tests. This activity has continued to expand and diversify. When the Non-Proliferation Treaty was ratified in 1970, we began to develop technologies to protect nuclear materials from falling into unauthorized hands. This program grew and now includes systems for monitoring the movement and storage of nuclear materials, detecting tampering, and transmiting sensitive data securely. In the late 1970s, negotiations to further limit underground nuclear testing were being actively pursued. In less than 18 months, we fielded the National Seismic Station, an unattended observatory for in-country monitoring of nuclear tests. In the mid-l980s, arms-control interest shifted to facility monitoring and on-site inspection. Our Technical On-site Inspection Facility is the national test bed for perimeter and portal monitoring technology and the prototype for the inspection portal that was recently installed in the USSR under the Intermediate-Range Nuclear Forces accord. The articles in the special issue of Sundiu Technology describe some of our current contributions to verification technology. This work supports the US policy to seek realistic arms control agreements while maintaining our national security.

  9. JPRS Report, Arms Control.

    DTIC Science & Technology

    2007-11-02

    JPRS-TAC-89-025 21 JUNE 1989 !■■■■■ FOREIGN BROADCAST INFORMATION SERVICE -/P/? S #;# Arms Control \\ɘIÜ REPRODUCED BY U.S. DEPARTMENT OF...Compromise on SNF Issue [ S . Gjoka; ZERIIPOPULLIT 31 May] 11 U.S. Troop Reduction Proposals Critiqued [ S . Beqari; ZERI I POPULLIT 7 Jun] 12 BULGARIA...Petrov; RABOTNICHESKO DELO 7 Jun] 16 CZECHOSLOVAKIA Commentary Critiques Bush CFE, SNF Proposals [B. Zagar ; Bratislava PRAVDA 3 Jun] 18

  10. Toward a Korean National Community: Selected strategic, military, and arms control issues

    SciTech Connect

    Lewis, K.N.

    1991-02-01

    The paper addresses issues useful in the development of an overall agenda for the issue of a Korean National Community. Several logical subsections to this problem are as follows: (1) Maintaining an adequate state of deterrence/defense to prevent war; (2) Pursuing various measures to reduce costs/risks of war; easing the burden and risks attendant upon a vigorous peacetime arms competition, and so on; (3) Developing a proper foundation for coping with positive and adverse aspects of eventual North Korean (DPRK) political devolution (most notably, that which might occur following the death of Kim Il Sung); (4) From both national and coalitional perspectives, permitting both the ROK and the United States to contend with an array of constraints and pressures and to rationalize their defense and other strategic choices in a larger framework (that is, a framework that looks beyond the immediate local requirements of the military balance); (5) Enhancing the role that military institutions, acting in concert with the rest of government and with social institutions, can play in supporting movement toward a KNC; and (6) Configuring near-term military choices so that no matter what forms it may take, the post-KNC prospects of a unified Korea (or an alternative to the present situation) are matched with necessary and sufficient military capabilities.

  11. Worldwide Report, Arms Control.

    DTIC Science & Technology

    2007-11-02

    Research Service, 1000 North Glebe Road, Arlington, Virginia 22201. JPRS-TAC-86-023 11 March 1986 WORLDWIDE REPORT ARMS CONTROL CONTENTS SDI AND SPACE ...ARMS Soviet Journal Reviews SIPRI Books on Arms Race in Outer Space (I. Kuznetsova, Yu. Orlov; Moscow INTERNATIONAL AFFAIRS, No 12, Dec 85) 1...Moscow KRASNAYA ZVEZDA, 8 Feb 86) 59 TASS: INF Accord Possible Without Space Arms Connection (Moscow TASS, 7 Feb 86) 62 TASS: U.S. Officials

  12. Worldwide Report, Arms Control

    DTIC Science & Technology

    2007-11-02

    on nuclear and space arms cannot be described as "equitable" even with most unrestrained imagination. ’Gray Hawk’ PM131006 Moscow IZVESTIYA in...WORLDWIDE REPORT ARMS CONTROL CONTENTS SDI AND SPACE ARMS Effectiveness of U.S. SDI Effort Downplayed ’ (Peter Bretschneider; Karl-Marx-Stadt...MEZHDUNARODNYYE OTNOSHENIYA, No 7, Jul 85) 53 - b - JPRS-TAO85-064 13 December 1985 SDI AND SPACE ARMS EFFECTIVENESS OF U.S. SDI EFFORT

  13. Worldwide Report, Arms Control.

    DTIC Science & Technology

    1986-01-31

    113198 JPRS-TAC-86-0 1 2 31 January 1986 Worldwide Report ARMS CONTROL W806Q2 155 FBIS WK QUALTTF BTSPSüfED 9 FOREIGN BROADCAST...JPRS publications contain information primarily from foreign newspapers, periodicals and books , but also from news agency transmissions and...JPRS-TAC-86-012 31 January 1986 WORLDWIDE REPORT ARMS CONTROL SDI AND SPACE ARMS Soviet Journal Warns Europe on SDI ’Trojan Horse’ (L, Korzun

  14. Korean arms control: Arms control policies of the two Koreas

    SciTech Connect

    Park, T.H.

    1991-01-01

    This study examines the arms control proposals suggested by South and North Korea since the end of the Korean War and suggests some arms control measures that would be applied to the Korean Peninsula. Pyongyang has persistently proposed arms reduction measures since 1953, but Seoul has refused to discuss the issue because it suspected the North's true motive. The study points out that the objective reality of the two Koreas does not show any strong possibility of a war on the Peninsula. The most destabilizing factor in the South-North military relations is the possibility of misperception and miscalculation about the military capabilities and intentions of the other side. The study recommends that Seoul government not entirely adhere to the European CSBM model centered on the transparency of military activities. There are many other policy options for Seoul. The area between Seoul and Pyongyang can be made into a [open quotes]limited forces area[close quotes] as experienced by Egypt and Israel on the Sinai Peninsula. The study notes the utility of applying Charles Osgood's GRIT strategy to the Korean situation, a unilateral arms control approach. Among the structural arms control issues, the withdrawal of the US forces and its nuclear weapons are the most important ones which have to be dealt with before seriously negotiating arms reductions between the two Koreas. Considering the increasing capability of the South Korean armed forces and the availability of the US air and naval forces in and around South Korea, the US ground forces and the nuclear weapons would best be withdrawn from the South. Although these withdrawals cannot be used as bargaining chips by the South in the arms control negotiations with the North, these can be effectively utilized as GRIT measures. The South needs to persuade the North to reduce its redundant offensive weapons including chemical weapons and SCUD missiles as priority targets for arms reduction.

  15. Worldwide Report, Arms Control

    DTIC Science & Technology

    2007-11-02

    North Glebe Road, Arlington, Virginia 22201. JPRS-TAC-85-065 16 December 1985 WORLDWIDE REPORT ARMS CONTROL CONTENTS SDI AND SPACE ARMS French...34U.S.-USSR Geneva Talks" for "European Conferences". JPRS-TAO85-065 16 December 1985 SDI AND SPACE ARMS FRENCH PRIME MINISTER DISCUSSES SDI...imbalances in conventional weapons can really be discussed. As far as space is concerned, we want to avoid the emergence of weapons which are highly

  16. Worldwide Report, Arms Control.

    DTIC Science & Technology

    1985-12-06

    0000813 JPRS-TAC-85-060 6 December 1985 Worldwide Report ARMS CONTROL JLppre’wd for p’ifeiJc r-siaas®; i £» 2To C3gBo< 19980728 093...VA. 22161 5 NOTE JPRS publications contain information primarily from foreign newspapers, periodicals and books , but also from news agency...Arlington, Virginia 22201. JPRS-TAC-85-060 6 December 1985 WORLDWIDE REPORT ARMS CONTROL CONTENTS SDI AND SPACE ARMS Mid-November Soviet Comment on

  17. Worldwide Report, Arms Control.

    DTIC Science & Technology

    1985-07-30

    Viewed, by Tang Tianri 29 Issues Assessed, by Tang Xiushan 31 SPACE ARMS USSR: Reports, Comments on Bush Trip to Europe To Push SDI (Various...85) 99 Indian Prime Minister Criticizes ’Star Wars’ (Bombay THE TIMES OF INDIA, 7 Jun 85) 101 Briefs USSR: U.S. Laser Test Planned 103 TASS...a tangible political disagree- ment. The Norwegian defense minister does not think that an attack will come of out of the blue . The foreign

  18. Sdi and arms control

    SciTech Connect

    DeWolf, H.G.

    1989-11-01

    President Reagan's Strategic Defense Initiative, or SDI, and the pursuit of defenses to protect against ballistic missile attack are issues of significant debate. Some praise the proposal, first made in a presidential address to the nation on 23 March 1983, as a grand vision that will abolish nuclear blackmail by adopting a totally defensive posture. Others condemn it as being destabilizing, a Pandora's box of strategic transition that could precipitate armed conflict.

  19. JPRS Report, Arms Control

    DTIC Science & Technology

    1989-04-12

    control treaty obligations in Central Europe and for the political consol - idation of U.S. alliance positions in the rest of Western Europe to guard...officer described as ’NATO’s nuclear theology .’ Nuclear arms have become a sort of fetish and have to be perfected and modernized at almost any

  20. Gorbachev's arms control moves

    SciTech Connect

    Dean, J.

    1987-06-01

    Soviet concessions to the US position are unparalleled in the postwar history of US-Soviet arms control negotiations. They document a compelling Soviet desire to conclude arms control agreements with the Reagan administration and have brought an agreement on reducing intermediate-range missiles, and possibly an agreement in principle on strategic reductions, in range this year. So far, the Reagan administration, divided within itself over arms control, has been consistent only in its intransigence. In the face of Soviet moratoriums on testing of nuclear warheads and antisatellite weapons, the US has tested both. It has renounced and exceeded the SALT II ceilings on strategic delivery systems. It seems intent on dismantling the Anti-Ballistic Missile Treaty through the testing in space of ballistic missile defense weapons on the basis of an arbitrary reinterpretation of the treaty. A Soviet regime of past temper would probably have responded in kind to such actions, bringing anarchic, unregulated competition in weapons of offense and defense. But Gorbachev's moves toward the US position have continued. The author explores the question of whether a deliberately unyielding Reagan administration strategy has elicited this flow of Soviet concessions or whether they are generated mainly by policy change in the Soviet Union itself after looking at the actual record of Soviet arms control moves of the last two years.

  1. Worldwide Report Arms Control

    DTIC Science & Technology

    1987-02-04

    GMT 4 Jan 87 LD] /9738 CSO: 5200/1128 11 U.S.«-USSR NUCLEAR AND SPACE ARMS TALKS GORBACHEV, REAGAN NEW YEAR MESSAGES ON DISARMAMENT Reagan to...Moscow PRAVDA in Russian 28 Dec 86 First Edition p 4 [Vitaliy Korionov "International Review"] [Excerpts] Only a few days remain until the New Year...105063 JPRS-TAC-87-OlO 4 FEBRUARY 1987 Worldwide Report ARMS CONTROL ’DUO QUALITY BFSPSSTEP * 19980515 022 FBIS FOREIGN BROADCAST■1NFORMAtlÖN

  2. Worldwide Report, Arms Control.

    DTIC Science & Technology

    1986-03-13

    125089 JPRS-TAC-86-024 13 March 1986 Worldwide Report ARMS CONTROL DTK5 QUALITY BJfPSOTED $ FBIS _j FOREIGN BROADCAST INFORMATION...from foreign newspapers, periodicals and books , but also from news agency transmissions and broadcasts. Materials from foreign-language sources are...addressed to Joint Publications Research Service, 1000 North Glebe Road, Arlington, Virginia 22201. JPRS-TAC-86-024 13 March 1986 WORLDWIDE REPORT

  3. Languages of arms control

    SciTech Connect

    Sherr, A.B.

    1985-11-01

    The author points out that the distinction between a component and subcomponent and a matter of Russian-English translation must be resolved if the Reagan-Gorbachev talks were to progress. The Reagan Administration did not create the problem of what is a component and what is a subcomponent; that was left unresolved in 1972. But the Strategic Defense Initiative Organization approach surely exacerbates it at a most inopportune time for arms control. US protestations that SDI does nothing to undermine the ABM Treaty ring hollow indeed when the professed aim of developing and testing various subcomponents is to arrive at a point of full systems development. If the Soviets were taking this same approach, no US arms control expert, in or out of government, would condone it once the activity had been identified by national technical means as probably ABM-related. The US would place the burden on the Soviets to explain, if they could, why it was not. The scope of the SDI program throws an entirely new factor into the equation. The price for pursuing SDI will be a stalemate in arms control negotiations for an indefinite future, increasing charges of cheating by both sides, and continuation of the chill in US-Soviet relations. Unless this prospect is reversed, good intentions and hopes for peace will be illusory. 7 references.

  4. Schools Wrestle with Issue of Armed Guards

    ERIC Educational Resources Information Center

    Trotter, Andrew

    2005-01-01

    This article discusses the March 21, 2005, shootings at Red Lake High School that brought to light an issue of whether school security personnel should be armed. Among the what-ifs being asked after the shootings at Red Lake High is one with uncomfortable implications for many school leaders: What if the two security guards posted near the…

  5. Worldwide Report, Arms Control

    DTIC Science & Technology

    2007-11-02

    n r JPRS-TAC-85-057 25 November 1985 Worldwide Report ARMS CONTROL f-—*lf^ S ;.řS », ;r%^V; ,*’ \\i.*? 19980728 ■£*V’:: FBIS FOREIGN BROADCAST...why he had decided to extend a programme launched last year of aid to penetration techniques. He had asked the Atomic Energy Commisariat (CEA) for...ICBM s , i.e. for those systems which constitute the basis of the strategic potential of the USSR. No though restrictions are set for the systems in

  6. Superpower arms control. Setting the record straight

    SciTech Connect

    Carnesale, A.; Haass, R.N.

    1987-01-01

    This book identifies the preconceptions about the arms control process and tests them against the historical record of negotiations and accords. The result is much-needed evidence and analysis of issues too often obscured by emotion and ideology, as well as important new conclusions about how arms control agreements have - or have not - influenced verification, meaningful restraints on new technology development, Soviet domestic policy, and U.S. defense spending.

  7. Arms control: misplaced focus

    SciTech Connect

    Schwartz, W.A.; Derber, C.

    1986-03-01

    Most of the nuclear debate consists of arguments about which weapons systems should be built, controlled, canceled, frozen, or retired. Short of virtually complete, multilateral nuclear disarmament, however, no change in the pace, balance, or even the direction of the arms race can make much difference in the risk of nuclear war, the damage should one occur, or the division of international political power. This includes Star Wars, the nuclear freeze, and even large cuts in or stabilization of offensive nuclear arsenals. A better starting point for nuclear politics would be the insight that nuclear weapons have completely changed the logic of power as it has been handed down through the ages. Military force, perfected to its highest level, has invalidated itself - for in a nuclearized world, any resort to force by a nuclear power risks escalation to its ultimate level, and thus to oblivion for all. Trying to rationalize and control the ultimate force is far less realistic and important than limiting the provocation of conflict and the use of force at lower, non-nuclear levels - by the United States, it clients, and, to the extent possible, its adversaries. 13 references.

  8. Arms control: Myth versus reality

    SciTech Connect

    Staar, R.F.

    1984-01-01

    This book presents papers on arms control. Topics considered include the strategic implications of the nuclear balance, historical aspects, the Mutual and Balanced Force Reductions (MBFR) negotiations, the European viewpoint on structural problems in negotiations, political aspects, national defense, forecasting, breaches of arms control obligations and their implications, and cultural aspects of diplomacy.

  9. Beyond Arms-Control Monitoring

    SciTech Connect

    Jeanloz, Raymond; Fung, Inez; Bowyer, Ted W.; Wofsy, Steven

    2013-02-15

    Expanded monitoring of the environment, everywhere and at all times, can advance arms control around the world, enhancing transparency among nations. In particular, improved characterization of the atmosphere now offers powerful opportunities for global monitoring, with multiple societal benefits. It may be useful to think of environmental monitoring as a long-term objective of arms-control verification.

  10. JPRS Report, Arms Control

    DTIC Science & Technology

    2007-11-02

    past 23 years, Senate President Jovito Salonga said yesterday. In an interview on government television, Salonga said the presence of nuclear arms...date and place not given] [Excerpts] The Bulgarian Government recently announced that it will reduce its armed forces by 10,000 soldiers, 200 tanks...unambiguous and does not leave any room for any kind of speculation, not even in Bonn’s government statement. Corresponding to the GDR’s peace

  11. JPRS Report, Arms Control

    DTIC Science & Technology

    1990-04-25

    Jordanian Border [Jerusalem TV 30 Mar] .................................. 16 Italian Role in Missile Project Denied [Rome ANSA 31 Mar] 16 Spokesman: Trigger...Corporation of South Africa]. cross country speeds. [end recording] JPRS-TAC-90-012 2 CHINA 25 April 1990 Zhou Peiyuan Meets Disarmament Seminar U.S., USSR...camouflaged "arms buildup" program intended to [" Queer Arms Cut"-KCNA headline] improve the "quality and capacity" of the U.S. combatunits present in South

  12. Worldwide Report, Arms Control.

    DTIC Science & Technology

    2007-11-02

    ABM (Moscow TASS, 9, 10 Nov 85) 5 .U.S. ’New Interpretation’ 5 U.S. Posture Unchanged 5 PRAVDA 27 Oct Review of Week’s International Events...Space Arms Race (Beijing XINHUA, 8 Nov 85) ........................... 34 Briefs Senators Hit ABM Change 35 CSSR Representative Addresses UN...SDI AND SPACE ARMS TASS REPORTS NITZE NOVEMBER REMARKS ON SDI, ABM U.S. ’New Interpretation’ LD901421 Moscow TASS in English 1334 GMT 9 Nov 85

  13. Arms control and the MX

    SciTech Connect

    Kroll, J.M.

    1985-01-01

    By 1969, Soviet ballistic missile deployments led the United States to project the vulnerability of Minuteman Intercontinental Ballistic Missile (ICBM) silos along with an imbalance in ICBM capabilities. The Nixon Administration planned two simultaneous responses: strategic arms negotiations, to limit the threat through mutually agreed restraints; and the Safeguard Anti-Ballistic Missile defense program, to defend, as necessary, the threatened ICBM force. The US succeeded in neither. The planned defense did not materialize, even though SALT failed to limit the growth of the Soviet threat. In the years after SALT I, the US planned, but again did not carry through, ICBM programs to enhance ICBM survivability and at the same time to approach essential equivalence with Soviet capabilities. This dissertation examines the relationship of the two US responses and how arms control affected the MX ICBM system. First, the effects of US arms control objectives and optimism on the MX are analyzed from the first MX systems study in 1974, supporting the new Strategic Arms Limitation Talks, to the deployment of MX in current Minuteman silos, supporting the Strategic Arms Reduction Talks. Here US arms control contributed to MX delays and highlighted ICBM capability over ICBM survivability. Second, the effect of specific arms control provisions are addressed topically for each strategic arms agreement. The framework they establish allowed ICBM capabilities to increase, but constrained ICBM survivability.

  14. Worldwide Report, Arms Control.

    DTIC Science & Technology

    1985-11-07

    artillery and armored equipment. In the Warsaw Pact Joint Armed Forces there are a few more tactical aircraft than there are in NATO. 19 Thus...the total numbers of ICBM’s, submarine launched balistic missiles, and heavy bombers in the United States and the USSR are not 1,893 and 2,832, but

  15. JPRS Report, Arms Control.

    DTIC Science & Technology

    2007-11-02

    Joint-Stock Company"] [Text] A constituent conference of the "Ural- Kosmos " closed joint-stock company [aktsionernoye obshchestvo zakrytogo tipa] has...due to be destroyed under arms cuts. Their warheads will be replaced by communications satellites. The founders of the "Ural- Kosmos " company note

  16. JPRS Report, Arms Control

    DTIC Science & Technology

    2007-11-02

    34military activities, whether in the armed forces, their civilian sectors, or in the ’defence’ indus- try". In another paper Professor Carl Sagan ...spurring the development of new weapons. Star Wars is a case in point. As Carl Sagan puts it, the idea is doomed: "SDI is ruinously expensive, it can

  17. Worldwide Report, Arms Control.

    DTIC Science & Technology

    1985-08-12

    thai, in the long run one cannot oven tell to willy frandi’and fgon fahr . ’r’ho Soviets arc thus evoking the suspicion that they are playing dirty...material resources and the knowledge of scientists in combatting diseases , if the resources were spent on it that are taken up by the arms race

  18. Worldwide Report, Arms Control

    DTIC Science & Technology

    1985-12-28

    Dec 85 [Text] Moscow, December 3 TASS —TASS political news analyst valerity Vavilov writes: The defence ministers of the twelve West European NATO...that during the second Taiwan crisis of 1958, the use of nuclear arms against China was very close to reality. (In August of that year, the U.S. 7th

  19. JPRS Report, Arms Control

    DTIC Science & Technology

    1990-01-31

    Navigation Radar Deployment PY1701143090 La Paz La Red Panamericana in Spanish 1130 GMT 17 Jan 90 [Text] Aeronautics Minister Luis Gonzales...airspace and that it can guarantee our sovereignty. Aeronautics Military Under Secretary Installed PY1701125290 La Paz La Red Panamericana in...Militarization of Northern Regions Debated Armed Forces Propose Military Zone PY2201165990 La Paz La Red Panamericana in Spanish 1130 GMT 22 Jan 90

  20. Worldwide Report, Arms Control.

    DTIC Science & Technology

    2007-11-02

    effective measures to feelings of those Americans who are demanding effective measures to limit the arms race, Weinberger hypocritically said that the...way to conduct effective negotiations." Mr Weinberger knows very well that speaking the language of diktat to the Soviet Union is an activity with...the ABM Treaty"] [Text] The Soviet-American Treaty on the Limitation of ABM Systems, concluded in May 1972, has now been in effect for more than 13

  1. Worldwide Report. Arms Control.

    DTIC Science & Technology

    2007-11-02

    Meeting 26 March 2] Strategie Weapons Session 27 March 21 Karpov: 396 SS-20’ s Deployed 2] Negotiating Sessions 4-18 April Reported (TASS, various...USSR and led to the breaking off of the Geneva talks on nuclear arms limitation In Europe. And later on he insisted, despite ob- jections from the CIA...thereby contribute to "a policy of limiting the countries possessing nuclear weapons to the maximum extent and on that basis, bring pressure on

  2. Worldwide Report, Arms Control

    DTIC Science & Technology

    2007-11-02

    of its missiles in Western Europe is a continuation of the policy of upsetting the established approximate equilibrium in the illusory hope of...measures in Europe. The Soviet Union advocates a sharp reduction in the level of medium-range nuclear means, with strict observance of equilibrium ...maintaining strategic equilibrium and its stability. But if this happens, the case in point will be a new round of the arms race. As is known, there were no

  3. Worldwide Report, Arms Control.

    DTIC Science & Technology

    2007-11-02

    government also raised the question of Soviet missiles in Asia. However’, that question was dragged up artificially . It has no bearing on the...to sweeten the missile pill and stem the continuing protest movement. At the same time, the Netherlands Government was hoping somehow to reinforce...development of new kinds of nuclear arms. Hence the artificially created reasoning which quite often runs counter to logic and generally known facts. It Is

  4. JPRS Report, Arms Control

    DTIC Science & Technology

    1989-02-28

    DEUTSCHLAND 13 FebJ 5 NEAR EAST & SOUTH ASIA INDIA Reaction to Gorbachev 7 Dec UN Speech on Troop Cuts 6 Message From Gandhi [PATRIOT 9 Dec] 6...information media are currently focusing attention on the publication of data on the strength of the Warsaw Pact member states’ armed forces and...coun- tries. Naturally, the reactions are full of contradictions. After welcoming the publication of the data, as is only proper, the media point out

  5. Worldwide Report, Arms Control

    DTIC Science & Technology

    1985-09-25

    Stresses Big Business Influence in SDI (S. Kulik; Moscow KRASNAYA ZVEZDA, 8 Aug 85) 8 Italian Defense Industry Vying for SDI Contracts (Tullio...like to know what role the American military- industrial complex is playing in the development and completion of the program to militarize space...the program to militarize space would be a powerful impetus to a new, very dangerous stage in the arms race. And the US military- industrial complex

  6. JPRS Report, Arms Control

    DTIC Science & Technology

    2007-11-02

    19980715 176 REPRODUCED BY U.S. DEPARTMENT OF COMMERCE NATIONAL TECHNICAL INFORMATION SERVICE SPRINGFIELD, VA. 22161 DTIC QUALITY INSPECTED X Arms...South Korean authorities are not in a position, for some reasons, to respond to our proposal right now, they should take at least practical measures...prevented, he said, nuclear weapons and their delivery vehicles should be removed. But, if the United States is not prepared for this right now, we

  7. JPRS Report, Arms Control.

    DTIC Science & Technology

    1991-02-12

    Paris AFP 29 Jan] 40 FRANCE Potential of Iraqi CBW, Nuclear Arms Evaluated [E. Marcuse ; L’EXPRESS INTERNATIONAL 18 Jan] 40 Firm Denies...18 Jan 91 p 13 [Article by Elie Marcuse : "Iraq’s Dirty Weapons"] [Excerpts] [passage omitted] There are three possible actions in Iraq’s battle...have always had problems standing up to Western competitors," retired Colonel Herbert Mueller recalls, who was responsible until September 1990 for

  8. Arms Control: a Selected Bibliography

    DTIC Science & Technology

    1990-01-01

    Larrabee, F. Stephen , eds. CONVEN- TIONAL ARMS CONTROL AND EAST-WEST SECURITY. Durham: Duke University Press, 1989. (JX1974 C6934 1989) Blechman, Barry M...JX1974.7 I 586 1987) Byers, R.B.; Larrabee, F. Stephen ; and Lynch, Allen, eds. CONFIDENCE-BUILDING MEASURES AND INTERNATIONAL SECURITY. Boulder: Westview...1989. (JX1974.7 D425 1989) Cimbala, Stephen J., ed. STRATEGIC ARMS CONTROL AFTER SALT. Wilmington: Scholarly Resources, 1989. (JX1974.7 S79 1989

  9. Naval arms control: The opposition

    SciTech Connect

    Blaker, J.R.

    1990-02-01

    The author observes that hope that naval arms control agreements might bolster Soviet mellowing and inhibit a return to confrontation must be balanced against the likelihood that whether or not the United States negotiates on naval arms control has little real effect on what happens in the Soviet Union and against the undesirability of being pinned down to a less advantageous military position if things go sour. The hope that U.S. willingness to formally limit and reduce American naval capabilities and options would compel the Soviets to reduce even further their potent land-based power on the Eurasian continent or their strategic nuclear power has to be balanced against the possibility that Soviet willingness to make such reductions is driven by factors that have very little to do with the naval relationship between the two nations. Ultimately, then, we are driven back to the dilemma faced by the professional military regarding naval arms control. Without compelling evidence that naval arms control proposals are beneficial in themselves, the author notes we need a clear exposition of how they fit with other negotiations to improve national security and a much better understanding of the role naval arms control negotiations should play in a comprehensive national arms control strategy.

  10. Arms Control, Disarmament, and Peace Newsletters.

    ERIC Educational Resources Information Center

    Atkins, Stephen

    1986-01-01

    Considers the research value of four types of newsletters on arms control, disarmament, and peace: direct-action, informational, scholarly, and single-issue. An annotated list of 58 newsletters includes those considered most significant of their type and recommended for library collections. (EM)

  11. Chinese perspectives on nuclear arms control

    SciTech Connect

    Garrett, B.N.; Glaser, B.S.

    1995-12-31

    China`s nuclear weapons and Beijing`s arms control policies have become increasingly important factors in the post-Cold War era of U.S.-Russian strategic arms reductions and growing concern about proliferation of weapons of mass destruction. Unlike Russia and the United States, China is not constrained by any international arms control regime from modernizing and expanding its nuclear forces. In addition, the Chinese nuclear arsenal, the quality of which is likely to be significantly enhanced over the coming decade, will be an increasingly important strategic factor in regional and global security as China`s nuclear weapons more closely match the capabilities of U.S. and Russian nuclear forces. Concern about Beijing`s nuclear capability has also been heightened by China`s rapid emergence as a major power with a huge economy, able to underwrite an extensive nuclear arms buildup in the next century should Chinese leaders choose to do so. Uncertainty about China`s nuclear weapons capabilities, it strategic intentions, and the long-run goals of its nuclear modernization program is exacerbated by China`s lack of transparency in the military sphere. In addition, unofficial contacts between scientists, arms and control experts, and foreign policy institute researchers can be encouraged. The concrete impact on Chinese thinking of past arms control discussions between Chinese and Americans is evidenced by Beijing`s decision to join the NPT and by Beijing`s support for permanent extension of the NPT. The strengthening of a Western-influenced arms control community in China could affect thinking in Beijing on a broad range of international arms control issues, from non-proliferation to confidence-building measures and greater military transparency in Asia, and foster movement in China toward taking more responsibility for maintaining international peace and stability. 43 refs.

  12. Conventional Arms Control and Europe's Future. Headline Series No. 287.

    ERIC Educational Resources Information Center

    Sloan, Stanley R.

    This brief issues booklet provides basic information about the arms control issue in Europe, as of 1988. The table of contents includes the following: (1) "Trying Again"; (2) "Prelude to Arms Control"; (3) "The First Attempts: MBFR (Mutual and Balanced Force Reductions) and CSCE (Conference on Security and Cooperation in…

  13. Control of a Tendon Arm.

    DTIC Science & Technology

    1981-02-01

    SAOA098 089 ASSACHUSTTS INST OF TECH CABRIDE ARTIFICIAL INTE ETC F/S 9/2 CONTROL OF A TENDON ARM.(U) FEB 81 K H LIM N000177-C-0389 UNCLASSIFIED AI...CATALOG NUMBER 4. T I TLE (&nd S. btifie) S. TYPE Of REPORT A PERIOD COVERED Control of a Tendon Arm Memorandum 11. PERFORMING ONG. REPORT NUMBER 7. AUTNOR...necessary and Identify by block mm bet Robotics Tendon Actuation \\Time Optimal Control k2.8ST RACT (Continue an reverse side It necessary mid Identify by

  14. JPRS Report, Arms Control.

    DTIC Science & Technology

    2007-11-02

    USSR male citizens must be under equal conditions in performing this constitutional duty. From an economic standpoint, costs for current upkeep of...July 1989 EAST EUROPE the special importance of the current meeting in giving an impetus to the disarmament, peace and collaboration process in...West. Today’s agenda included, in particular, issues connected with the current situation in Europe and the rest of the world and the basic goals

  15. JPRS Report, Arms Control.

    DTIC Science & Technology

    1991-04-08

    received Soviet Ambassador Ivan Aboimov and Lieutenant General Viktor Shilov the Soviet Government commissioner in charge of troops withdrawal...Aleksandr Kanishchev, Igor Peskov, and Georgiy Shmelev ] [Excerpts] Moscow, March 15 (TASS)—The issue of a new Soviet-U.S. summit has not been...diplomatic correspondents Aleksandr Kanish- chev, Igor Peskov, and Georgiy Shmelev ] [Text] Moscow, 15 March—A display of "political will" is the

  16. JPRS Report, Arms Control

    DTIC Science & Technology

    2007-11-02

    being eliminated. —International tension is abating, and the USSR-U.S. INF Treaty is being implemented . —A change in the approaches toward solving...security, and cooper- ation. —We adhere to the consistent and comprehensive implementation of the Helsinki and Madrid agree- ments, which refer to...Excerpts] Khaskovo, 23 April—The Bulgarian-Greek summit meeting ended with the signing of a joint decla- ration issued by Todor Zhivkov, chairman

  17. JPRS Report, Arms Control

    DTIC Science & Technology

    1989-11-13

    Foreign Ministers Committee on friendship, cooperation and mutual assistance. Taking part in the meeting were: Ivan Ganev, deputy minister for...not want to leave the Warsaw Pact, therefore it is not worth raising this issue even in theory. This was stated by Ivan Aboymov, Soviet deputy...themselves opened the entrance gates in the barbed wire fence surrounding the complex. Kurchatov and General Pavlov , Beria’s aide, were waiting for

  18. JPRS Report, Arms Control

    DTIC Science & Technology

    2007-11-02

    CFE Talks Opening 12 Woerner, Scholz Comments on Deterrence Hit [NEUES DEUTSCHLAND 9 Mar] 12 Gen Galvin’s Letter on FOFA Condemned [NEUES...that requires further analysis . The United States and the Soviet Union have sharply disagreed and been far apart on the issues of trust and...1050 GMT 9 Mar 89 ["News Analysis : Vienna Talks: Both a Chance and Challenge to U.S. (by Wei Guoqiang)"—XINHUA headline] [Text] Washington, March 8

  19. Worldwide Report, Arms Control

    DTIC Science & Technology

    1986-03-21

    G. Kulikov; Moscow IZVESTIYA, 23 Feb 86) ............. 118 Soviet Envoy to New Zealand on Peace, Disarmament ( Wellington THE EVENING POST, 30 Jan 86...gather headlong pace like an avalanche rolling down a steep mountainside. These are the fundamental postulates by which the Soviet Union is guided ’in...March 1986 RELATED ISSUES SOVIET ENVOY TO NEW ZEALAND ON PEACE, DISARMAMENT HK051522 Wellington THE EVENING POST in English 30 Jan 86 p 10 [Text] The

  20. Arms Control past and future

    SciTech Connect

    Fox, T.R.

    1991-12-01

    I am going to talk today about Arms Control. First, I want to go over the recent history of the process. Five years ago, the pace of arms control changed dramatically. From an outsider it probably didn't appear that way -- but those working it, the shift from the historic glacial speed normally associated with this process to one of pressures -- political and economic -- national and global -- to actually conclude meaningful, verifiable agreements was a major change. Then, I want to spend a few minutes covering the future of arms control new that we have lost our enemy, and it is no longer a bipolar world. I also want to leave time for easy questions.

  1. Arms Control past and future

    SciTech Connect

    Fox, T.R.

    1991-12-01

    I am going to talk today about Arms Control. First, I want to go over the recent history of the process. Five years ago, the pace of arms control changed dramatically. From an outsider it probably didn`t appear that way -- but those working it, the shift from the historic glacial speed normally associated with this process to one of pressures -- political and economic -- national and global -- to actually conclude meaningful, verifiable agreements was a major change. Then, I want to spend a few minutes covering the future of arms control new that we have lost our enemy, and it is no longer a bipolar world. I also want to leave time for easy questions.

  2. Perspectives on Arms Control

    DTIC Science & Technology

    2004-07-01

    in America that Jean Jacques Rousseau was correct, that might does not make right and that even the strongest are never strong enough to prevail...d_newswire, issues/print.asp?story_id=1D6BD20, accessed on December 2, 2003, 1. 56 Jean - Jacques Rousseau lived from 1712 to 1778 and his writings were...Weapons to American Security During the Cold War (1999). Dr. Wheeler is a graduate of the Air Force Academy, and he holds an MA in Political Science

  3. Is Negotiated Arms Control Possible?

    NASA Astrophysics Data System (ADS)

    Panofsky, W. K. H.

    2014-11-01

    I had a very difficult time deciding on the topic of this talk, since Viki's interests cover such a broad range of activities with which I am also concerned. You can hear next week about the recent exciting work with the SLAC storage rings, a description of the design principles of such rings, and their future promise for new physics through Professor Richter's Loeb Lectures at Harvard. Talking about inelastic lepton scattering during an M.I.T. conference would be bringing coals to Newcastle, since the local M.I.T. physicists are primary agents in these experiments. Broad problems in high energy physics policy, for instance such questions as the relation between University users and the large laboratories, are matters of current concern to Viki and his friends in high energy physics, but I doubt whether many would sit still for a one-hour talk on that subject. I would therefore like to use the opportunity to express some personal views on certain current issues in arms control, since I know that there exists a wide spectrum of involvement and also opinion on this subject in the local community...

  4. JPRS Report, Arms Control

    DTIC Science & Technology

    1990-02-23

    them. The U.S. version of this surreal vision (or conduct) of military diplomacy could be: It is easy to withdraw tanks (especially if we force them...world, they are also in charge of controlling dreams . It may sound incredible, but the truth is that all dreams other than those about the ideal

  5. Controller arm for a remotely related slave arm

    NASA Technical Reports Server (NTRS)

    Salisbury, J. K., Jr. (Inventor)

    1979-01-01

    A segmented controller arm configured and dimensioned to form a miniature kinematic replica of a remotely related slave arm is disclosed. The arm includes: (1) a plurality of joints for affording segments of the arm simultaneous angular displacement about a plurality of pairs of intersecting axes, (2) a plurality of position sensing devices for providing electrical signals indicative of angular displacement imparted to corresponding segments of the controller shaft about the axes, and (3) a control signal circuit for generating control signals to be transmitted to the slave arm. The arm is characterized by a plurality of yokes, each being supported for angular displacement about a pair of orthogonally related axes and counterbalanced against gravitation by a cantilevered mass.

  6. Worldwide Report, Arms Control.

    DTIC Science & Technology

    1985-06-13

    centers of confrontation, but the liquidation of the existing ones, and a search for ways to improve the health of the world situation. The...Control Center Official, by John M. Lamb 125 Canada Defense Department Studying Surveillance Satellite ■■[ (Toronto THE GLOBE AND MAIL, 24 Apr 85...a genuine center coordinating international actions and helping develop relations of peace and cooperation among all member-states, implementing

  7. JPRS Report, Arms Control.

    DTIC Science & Technology

    2007-11-02

    the control of the Soviet Army command, Czechoslovakia financed their operation at a total cost of 226 million crowns over the whole period...to shoulder any of the costs of the Soviet troop pullout, but recently Finance Minister Mihaly Kupa has hinted that Hungary would now be ready to...deadline for the last troops to leave. A Finance Ministry official has confirmed that the final sum will most likely be set against the Soviet debt

  8. JPRS Report Arms Control

    DTIC Science & Technology

    1990-01-08

    at meetings like this, soviet, American, West German, British and other experts represent only them- selves and their research centres . But I...under de Gaulle and G. Pompidou . As long as the factors which gave birth to the Atlantic system exist, it will continue to exist and to have a...Although American-French relations improved at first under G. Pompidou , this was only a temporary thaw. When Washington was unable to gain control of

  9. Dual arm master controller development

    NASA Technical Reports Server (NTRS)

    Kuban, D. P.; Perkins, G. S.

    1985-01-01

    The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape driven manipulators. Studies were performed which addressed to human factor design and performance tradeoffs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented.

  10. Dual arm master controller concept

    SciTech Connect

    Kuban, D.P.; Perkins, G.S.

    1984-01-01

    The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures.

  11. Cold warriors target arms control

    SciTech Connect

    Isaacs, J.

    1995-09-01

    While disagreements over the conflict in Bosnia have strained US relations with Western Europe and Russia, these divisions will pale in comparison to the tensions that will arise if recent congressional arms control decisions become law. If the Republicans who dominate Congress are successful, a series of arms control agreements painstakingly negotiated by Republican and Democratic presidents could be consigned to the ash heap. This list includes the Start I and Start II nuclear reduction agreements, the 1972 Anti-Ballistic Missile (ABM) Treaty and the ongoing negotiations to achieve a comprehensive test ban (CTB) by 1996. US leadership in the post-Cold War era will undermined as the international community, already skeptical about this country`s direction, will question the ability of the executive branch to surmount isolantionist impulses.

  12. Control of a flexible robot arm

    NASA Technical Reports Server (NTRS)

    Schmitz, E.; Cannon, R.

    1980-01-01

    Exact equations of motion of an arm with known parameters were developed and analyzed preparatory to designing control systems for robotic manipulators. The design of an experimental one-link arm for testing control designs is presented.

  13. Gorbachev's arms-control strategy. Final report

    SciTech Connect

    Nogee, J.L.

    1987-01-22

    Soviet foreign policy under the Gorbachev administration, along with domestic policy, has been in a state of flux, particularly in the realm of arms-control policy. Both in substance and style, Gorbachev introduced a new dynamic in arms-control policy. He has skillfully manipulated the issue for propaganda appeal. But also he has shown flexibility in modifying Soviet positions both to respond to U.S. demands and to exert pressure on the United States to reach an agreement. Soviet arms-control objectives (some of which are incompatible) may be realized either through a formal agreement with the United States or without an agreement. These objectives include: (a) to use arms control to build a new framework for relations with the United States to replace detente; (b) to kill the Strategic Defense Initiative; (c) to constrain U.S. development in manned aircraft and cruise missiles (d) to deligitimize nuclear weapons as an instrument of military strategy; (e) to exacerbate differences between the United States and Europe. During his first year in power, Gorbachev relied heavily on propaganda with calls for eliminating nuclear weapons by the 21st century, his test ban moratorium and denunciation of SDI. After the 21st Party Congress he significantly modified Soviet positions closer to those of the United States with his acceptance of the zero option for INF forces, deep cuts in strategic weapons and willingness to accept limited research on SDI. Gorbachev now sees an arms control agreement as essential to his program for domestic reform and is prepared to make genuine concessions to achieve it.

  14. Dual arm master controller development

    SciTech Connect

    Kuban, D.P.; Perkins, G.S.

    1985-01-01

    The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. This work was performed as part of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 5 refs., 7 figs., 1 tab.

  15. Low-cost robotic arm control

    NASA Astrophysics Data System (ADS)

    Rogers, John R.

    2008-04-01

    A low-cost robotic arm and controller system is presented. The controller is a desktop model of the robotic arm with the same degrees of freedom whose joints are equipped with sensors. Manipulating the controller by hand causes the robotic arm to mimic the movement in maser-slave fashion. The system takes advantage of the low cost and wide availability of hobby radio control components and uses a low-cost, easy-to-program microprocessor. The system is implemented with a video camera on the robotic arm, and the arm is mounted on an unmanned omnidirectional vehicle inspection robot. With a camera on the end of a robot arm, the vehicle inspection system can reach difficult to-access regions of the vehicle underbody. Learning to manipulate the robot arm with this controller is faster than learning with a traditional joystick. Limitations of the microcontroller are discussed, and suggestions for further development of the robot arm and control are made.

  16. JPRS report: Arms control, [January 4, 1991

    SciTech Connect

    1991-01-04

    This document contains articles from foreign periodicals that have been translated into English. These articles concern arms control. Topics include strategic defense initiative, conventional forces in Europe, space arms, nuclear forces, nuclear testing, security, disarmament and military doctrine.

  17. Navy autonomy thwarts arms control

    SciTech Connect

    Arkin, W.M.

    1987-09-01

    During the past three decades the two superpowers have steadily modernized their naval forces, sent large numbers of nuclear weapons to sea, and engaged in provocative and potentially destabilizing operations. Currently the US is deploying new aircraft carriers, a new generation of fighter aircraft, and new surface ships with greater offensive and defensive power. The Soviet Union has deployed a new generation of attack submarines and is completing its first large aircraft carrier. And the Soviets are preparing to follow the US lead in deploying long-range, highly accurate sea-launched cruise missiles. These developments, accompanied by naval operations that increase the potential for superpower conflict at sea, should make naval arms control a high priority. But it has not been a focus of US-Soviet negotiations and only recently has garnered more interest from multilateral disarmament bodies. An examination of the record shows that bilateral efforts in this area have been minimal and impeded by strong opposition, particularly from the US Navy. The multilateral approach may be more promising because of five agreements affecting the seas that could offer precedents, but this will require improved coordination between the arms control and law of the sea processes. 10 references.

  18. Military consensus behind Soviet arms control proposals

    SciTech Connect

    Weickhardt, G.C.

    1987-09-01

    For nearly two years General Secretary Mikhail Gorbachev has tried to entice the West with a spectacular array of arms control proposals and initiatives. On issues such as on-site inspections and European missile reductions, he has made such significant concessions over previous Soviet positions that questions have been raised, and not satisfactorily answered, about how much support Gorbachev's diplomacy enjoys among the Soviet military. For example, have Gorbachev's proposals been a bold personal gamble to achieve agreement without the prior approval of the Soviet military bureaucracy. Or does his arms control diplomacy represent a broad consensus among the military leadership and a realignment of Soviet military doctrine and grand strategy. A careful examination of recent Soviet military thought shows that such a consensus exists. A broad and stable coalition of key military leaders supports the General Secretary's policies. Moreover, recent Soviet concessions are not, as commonly argued, a stopgap ploy to halt the US Strategic Defense Initiative or Star Wars. Rather, the military's support for Gorbachev's arms-control diplomacy is based on some serious strategic analysis and stems from broad, fundamental, and enduring changes in Soviet national security policy.

  19. Dual-arm manipulators with adaptive control

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun (Inventor)

    1991-01-01

    The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

  20. SINO-SOVIET RELATIONS AND ARMS CONTROL. JAPANESE ATTITUDES,

    DTIC Science & Technology

    Harvard University were jointly engaged in a research project on Sino-Soviet Relations and Arms Control under the sponsorship of the United States Arms Control and Disarmament Agency. Because of Japan’s growing role in Asia and her special concern with the problems of East Asia, it seemed important to understand Japanese perspectives on the issues upon which we were working. Consequently, a separate but related series of Japanese-American discussions in Japan was arranged on ’Problems

  1. Simplified robot arm dynamics for control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Paul, R. P.

    1981-01-01

    A brief summary and evaluation is presented on the use of symbolic state equation techniques in order to represent robot arm dynamics with sufficient accuracy for controlling arm motion. The use of homogeneous transformations and the Lagrangian formulation of mechanics offers a convenient frame for the derivation, analysis and simplification of complex robot dynamics equations. It is pointed out that simplified state equations can represent robot arm dynamics with good accuracy.

  2. Dynamic analysis for robot arm control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.

    1983-01-01

    Explicit state equations provide detailed analytic insight into the dynamic behavior of a robot arm and facilitate the understanding of the control problem. The analytic strength of explicit state equations is exemplified for a given robot arm. In fact, for the quoted example, the explicit and exact state equations involve considerably less computation than the use of the known most efficient general-purpose computational algorithm for robot arm dynamics.

  3. Simplified robot arm dynamics for control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Paul, R. P.

    1981-01-01

    A brief summary and evaluation is presented on the use of symbolic state equation techniques in order to represent robot arm dynamics with sufficient accuracy for controlling arm motion. The use of homogeneous transformations and the Lagrangian formulation of mechanics offers a convenient frame for the derivation, analysis and simplification of complex robot dynamics equations. It is pointed out that simplified state equations can represent robot arm dynamics with good accuracy.

  4. Prospect for future South-Korea arms control

    SciTech Connect

    Kim, Y.

    1992-04-22

    This study deals with the Hot issues of the first five Prime Ministers (PM) meetings, which encompassed 15 months of negotiations and have resulted in the completion of the Agreement on South-North Reconciliation/Non-aggression and Cooperation after 46 years of division. After the signing of the agreement, detailed worker level progress has culminated in North Korea signing the nuclear safety treaty of the International Atomic Energy Agency (IAEA) and Acceptance of International Inspection of Nuclear Facilities South-North civil economic progress is on the way and at the 6th meeting, a head of state meeting was discussed. Taking all this into consideration, it is safe to say that an affirmative direction is being taken towards South-North relations. In this arena, a critical element for better South-North relations is arms control. If meetings on arms control between South-North make good progress, the solution for the Korean peninsula's reunification, as well as detente, will be achieved more quickly. Therefore, arms control on the Korean peninsula should be considered as an important point for improvement of the future South-North Korean relationship. The important fact that we should remember is that arms control is a common issue. Arms control should be solved by South-North Korea because a phased arms control can develop prior to conditions for reunification.

  5. Appendix C: arms control agreements and laws

    SciTech Connect

    Not Available

    1983-01-01

    The key provisions for the following arms control agreements and laws are presented: (1) the Limited Test Ban Treaty (1963); (2) the Non-Proliferation Treaty (1970); (3) the Anti-Ballistic Missile Systems Treaty (1972); (4) the Nuclear Non-Proliferation Act of 1978; (5) Strategic Arms Limitation Talks (SALT II, 1979); and (6) other treaties (1928-1978).

  6. The politics of arms control treaty ratification

    SciTech Connect

    Krepon, M. ); Caldwell, D. )

    1991-01-01

    This book presents a critical examination of executive-congressional relations and the domestic politics of arms control treaty ratification within the United States during the twentieth century. The staring point of this study is the hypothesis that the politics of treaty ratification can be as important as the negotiations leading up to agreements. Benefits to international peace and security sought in years of painstaking diplomatic effort can be lost without Senate consent, as was the case with the Treaty of Versailles and the second treaty arising from the Strategic Arms Limitation Talks (SALT II). The authors of the case studies were requested to present first a brief, historical introduction to the case indicating why the case was important, the background concerning the origins of the treaty, and the treaty's major provisions. The purpose of the introduction to the case was not to provide a complete picture of the negotiating record but to set the stage for a more in-depth discussion of the events that followed after the treaty was signed. The authors address five substantive areas: the international political context of the treaty, the domestic political context, the role of the president, executive-congressional relations, and public opinion and the role of interest groups. The questions and issues concerning each of these areas are briefly summarized.

  7. Nonlinear feedback control of multiple robot arms

    NASA Technical Reports Server (NTRS)

    Tarn, T. J.; Yun, X.; Bejczy, A. K.

    1987-01-01

    Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

  8. JPRS report: Arms control, [May 17, 1989

    SciTech Connect

    1989-05-17

    This document contains articles on arms control. Some topics discussed are chemical weapons, NATO, Warsaw Pact, military operations, socialism, disarmament, short range missiles, missile modernization, troop withdrawals, weapons manufacturing plants, nuclear testing, detonated weapons, and weapons modernization.

  9. Sensory-Feedback Exoskeletal Arm Controller

    NASA Technical Reports Server (NTRS)

    An, Bin; Massie, Thomas H.; Vayner, Vladimir

    2004-01-01

    An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment

  10. Anti-satellite weapons, countermeasures, and arms control

    NASA Astrophysics Data System (ADS)

    1985-09-01

    Anti-satellite weapons, countermeasures, and arms control; MILSATs, ASATs, and national security; ASAT capabilities and countermeasures; ASAT arms control: history; ASAT arms control: options; and a comparative evaluation of ASAT policy options are discussed.

  11. Technology R&D for Arms Control

    DTIC Science & Technology

    2007-11-02

    intensity to produce neutrons from photofission or (γ,n) reactions in the fissile material. The resulting neutrons then induce fission chains in the...ation detectors, two of these emissions are relevant to arms control applications: neu- trons and gamma rays. For heavy elements, spontaneous fission is...of considerable interest to arms control , particularly that of plutonium (Z = 94). Spontaneous fission is a decay process in which the nucleus splits

  12. Adaptive Control Strategies for Flexible Robotic Arm

    NASA Technical Reports Server (NTRS)

    Bialasiewicz, Jan T.

    1996-01-01

    The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.

  13. Motion control of 7-DOF arms: The configuration control approach

    SciTech Connect

    Homayoun Seraji; Long, M.K.; Lee, T.S. . Jet Propulsion Lab.)

    1993-04-01

    Graphics simulation and real-time implementation of configuration control schemes for a redundant 7-DOF Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is then followed by a description of a graphics simulation environment for 7-DOF arm control on the Silicon Graphics IRIS Workstation. Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals for the 7-DOF arm. The laboratory setup for experimental validation of motion control of the 7-DOF Robotics Research arm is then described. The configuration control approach is implemented on a Motorola 68020/VME bus-based real-time controller, with elbow positioning for redundancy resolution. Experimental results demonstrate the efficacy of configuration control for real-time control of the 7-DOF arm.

  14. Detection Technologies, Arms control and nonproliferation technologies. Third/fourth quarters 1993

    SciTech Connect

    Staehle, G; Stull, S; Talaber, C; Moulthrop, P

    1993-12-31

    This issue of Arms Control and Nonproliferation Technologies is another in a series of issues about specific means for detecting and identifying proliferation and other suspect activities outside the realm of arms control treaties. All the projects discussed are funded by the Office of Research and Development of the Department of Energy`s Office of Nonproliferation and National Security.

  15. Analysis Of Control Of Cooperating Robot Arms

    NASA Technical Reports Server (NTRS)

    Kreutz, Kenneth K.; Wen, John Ting-Yung

    1991-01-01

    Paper presents theoretical analysis of general problem of how to control motions of, and forces exerted by, several multiple-rigid-link robot arms that cooperatively manipulate common rigid object. Emphasis mainly on construction, via full-dynamics approach, of control laws relatively independent of dynamical models.

  16. Systems Approach to Arms Control Verification

    SciTech Connect

    Allen, K; Neimeyer, I; Listner, C; Stein, G; Chen, C; Dreicer, M

    2015-05-15

    Using the decades of experience of developing concepts and technologies for verifying bilateral and multilateral arms control agreements, a broad conceptual systems approach is being developed that takes into account varying levels of information and risk. The IAEA has already demonstrated the applicability of a systems approach by implementing safeguards at the State level, with acquisition path analysis as the key element. In order to test whether such an approach could also be implemented for arms control verification, an exercise was conducted in November 2014 at the JRC ITU Ispra. Based on the scenario of a hypothetical treaty between two model nuclear weapons states aimed at capping their nuclear arsenals at existing levels, the goal of this exercise was to explore how to use acquisition path analysis in an arms control context. Our contribution will present the scenario, objectives and results of this exercise, and attempt to define future workshops aimed at further developing verification measures that will deter or detect treaty violations.

  17. Neurobiology: motor control of flexible octopus arms.

    PubMed

    Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

    2005-02-10

    Animals with rigid skeletons can rely on several mechanisms to simplify motor control--for example, they have skeletal joints that reduce the number of variables and degrees of freedom that need to be controlled. Here we show that when the octopus uses one of its long and highly flexible arms to transfer an object from one place to another, it employs a vertebrate-like strategy, temporarily reconfiguring its arm into a stiffened, articulated, quasi-jointed structure. This indicates that an articulated limb may provide an optimal solution for achieving precise, point-to-point movements.

  18. Adaptive control strategies for flexible robotic arm

    NASA Technical Reports Server (NTRS)

    Bialasiewicz, Jan T.

    1993-01-01

    The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity if not unstable closed-loop behavior. Therefore a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.

  19. Emerging-technology systems and arms control

    SciTech Connect

    Lempert, R.; Chang, I.Y.; McCallum, K.

    1991-01-01

    The Strategic Arms Reductions Treaty (START) and the Conventional Forces in Europe (CFE) agreements call for unprecedented cuts in strategic nuclear and conventional forces. But in contrast to earlier attempts to restrict technology development in previous arms control agreements, these two treaties will have no significant limitations on emerging technology weapons systems. This report examines whether the decision to set aside emerging technology restrictions may undermine the benefits of START and CFE over the lifetimes of these treaties. The United States and the Soviet Union may continue further arms control negotiations after current treaties have been completed. In particular, the two countries committed themselves at the June 1990 Summit to negotiations on a follow-on to START. This report examines how emerging technology systems might influence the approach the United States and the Soviet Union pursue in negotiations toward START II or CFE II treaties.

  20. 27 CFR 479.193 - Arms Export Control Act.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 3 2010-04-01 2010-04-01 false Arms Export Control Act... CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating to... exporting arms, ammunition, or implements of war, see the Arms Export Control Act (22 U.S.C. 2778), and...

  1. Robot-Arm Dynamic Control by Computer

    NASA Technical Reports Server (NTRS)

    Bejczy, Antal K.; Tarn, Tzyh J.; Chen, Yilong J.

    1987-01-01

    Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.

  2. Robot arm dynamics and control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.

    1974-01-01

    Variations in total inertia and gravity loads at the joint outputs are treated along with the relative importance of gravity and acceleration-generated reaction torques or forces versus inertia torques or forces. The relation between the dynamical state equations in explicit terms and servoing the manipulator is briefly discussed in the framework of state variable feedback control which also forms the basis of adaptive manipulator control. Exact state equations were determined for total inertia and gravity loads at the joint outputs as a function of joint variables, using the constant inertial and geometric parameters of the individual links defined in the respective link coordinate frames. The range of maximum variations in total inertia and gravity loads at the joint outputs was calculated for both no load and load in the hand. The main result is the construction of a set of greatly simplified state equations which describe the total inertia and gravity load variations at the output of the six joints with an average error of less than 5%.

  3. CSI related dynamics and control issues in space robotics

    NASA Technical Reports Server (NTRS)

    Schmitz, Eric; Ramey, Madison

    1993-01-01

    The research addressed includes: (1) CSI issues in space robotics; (2) control of elastic payloads, which includes 1-DOF example, and 3-DOF harmonic drive arm with elastic beam; and (3) control of large space arms with elastic links, which includes testbed description, modeling, and experimental implementation of colocated PD and end-point tip position controllers.

  4. Environmental Control Issue.

    ERIC Educational Resources Information Center

    Environmental Science and Technology, 1978

    1978-01-01

    This issue is designed to give information on pollution control equipment, monitoring instruments, engineering services including analytical testing services, chemicals, and laboratory supply houses. Entries are in alphabetical order within each of the seven sections. The address and phone numbers of each company are included. (MA)

  5. Motion control of 7-DOF arms - The configuration control approach

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Long, Mark K.; Lee, Thomas S.

    1993-01-01

    Graphics simulation and real-time implementation of configuration control schemes for a redundant 7-DOF Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is followed by a description of a graphics simulation environment for 7-DOF arm control on the Silicon Graphics IRIS Workstation. Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals. The laboratory setup for experimental validation of motion control of the 7-DOF Robotics Research arm is then described. The configuration control approach is implemented on a Motorola-68020/VME-bus-based real-time controller, with elbow positioning for redundancy resolution. Experimental results demonstrate the efficacy of configuration control for real-time control.

  6. Verification and transparency in future arms control

    SciTech Connect

    Pilat, J.F.

    1996-09-01

    Verification`s importance has changed dramatically over time, although it always has been in the forefront of arms control. The goals and measures of verification and the criteria for success have changed with the times as well, reflecting such factors as the centrality of the prospective agreement to East-West relations during the Cold War, the state of relations between the United States and the Soviet Union, and the technologies available for monitoring. Verification`s role may be declining in the post-Cold War period. The prospects for such a development will depend, first and foremost, on the high costs of traditional arms control, especially those associated with requirements for verification. Moreover, the growing interest in informal, or non-negotiated arms control does not allow for verification provisions by the very nature of these arrangements. Multilateral agreements are also becoming more prominent and argue against highly effective verification measures, in part because of fears of promoting proliferation by opening sensitive facilities to inspectors from potential proliferant states. As a result, it is likely that transparency and confidence-building measures will achieve greater prominence, both as supplements to and substitutes for traditional verification. Such measures are not panaceas and do not offer all that we came to expect from verification during the Cold war. But they may be the best possible means to deal with current problems of arms reductions and restraints at acceptable levels of expenditure.

  7. Monitoring and Controlling an Underwater Robotic Arm

    NASA Technical Reports Server (NTRS)

    Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

    2009-01-01

    The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

  8. Tags and seals for arms control verification

    SciTech Connect

    DeVolpi, A.

    1990-09-18

    Tags and seals have long been recognized as important tools in arms control. The trend in control of armaments is to limit militarily significant equipment that is capable of being verified through direct and cooperative means, chiefly on-site inspection or monitoring. Although this paper will focus on the CFE treaty, the role of tags and seals for other treaties will also be addressed. Published technology and concepts will be reviewed, based on open sources. Arms control verification tags are defined as unique identifiers designed to be tamper-revealing; in that respect, seals are similar, being used as indicators of unauthorized access. Tamper-revealing tags might be considered as single-point markers, seals as two-point couplings, and nets as volume containment. The functions of an arms control tag can be considered to be two-fold: to provide field verification of the identity of a treaty-limited item (TLI), and to have a means of authentication of the tag and its tamper-revealing features. Authentication could take place in the field or be completed elsewhere. For CFE, the goal of tags and seals can be to reduce the overall cost of the entire verification system.

  9. On-Site Inspection for Arms Control

    DTIC Science & Technology

    1984-01-01

    and on-site in- spection in particular should be viewed as more than corolla - ries to arms control agreements. They also deserve attention as...missiles at, launch sites. This provi- sion could be verified by banning suitably sized facilities within an agreed "rapid reload" distance of launch sites...past and will con- tinue to do so in the future. 40 4 STRATEGY TO PROMOTE ON-SITE INSPECTION Our approach to verification will be to empha- size

  10. Compliance and the future of arms control

    SciTech Connect

    Not Available

    1988-01-01

    This book: analyzes more than forty compliance controversies raised by the United States and the Soviet Union; examines all the major arms control agreements: SALT I and II, the ABM Treaty, the Limited Test Ban Treaty, the Threshold Test Ban Treaty, the Biological Weapons Conventions, and the Helsinki Final Act; reveals where both the United States and the Soviet Union have stretched reasonable interpretations of treaty provisions; and discusses how ambiguous treaty language can lead to unmerited accusations of noncompliance.

  11. Arms Control in the Korean Peninsula.

    DTIC Science & Technology

    1986-05-01

    defense expenditures of both sides are assessed as follows:4 The South Korean population outnumbers North Korea two to one. This presents difficulties for...99. Kim, Chum-Kon, The Korean War, Seoul, Kwang-Myong Publishing Company Ltd., 1980. The Text of Mutual Defense Treaty between Korea and the USA...AIR WAR COLLEGE RESEARCH REPORT ABSTRACT TITLE: Arms Control in the Korean Peninsula AUTHOR: Kim, Hyon, Colonel, Republic of Korea Air Force - 1

  12. 14 CFR 21.27 - Issue of type certificate: surplus aircraft of the Armed Forces.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... of the Armed Forces. 21.27 Section 21.27 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION....27 Issue of type certificate: surplus aircraft of the Armed Forces. Link to an amendment published at... constructed in the United States, accepted for operational use, and declared surplus by, an Armed Force of...

  13. 14 CFR 21.27 - Issue of type certificate: surplus aircraft of the Armed Forces.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... of the Armed Forces. 21.27 Section 21.27 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION....27 Issue of type certificate: surplus aircraft of the Armed Forces. (a) Except as provided in..., accepted for operational use, and declared surplus by, an Armed Force of the United States, and that...

  14. 14 CFR 21.27 - Issue of type certificate: surplus aircraft of the Armed Forces.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... of the Armed Forces. 21.27 Section 21.27 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION....27 Issue of type certificate: surplus aircraft of the Armed Forces. (a) Except as provided in..., accepted for operational use, and declared surplus by, an Armed Force of the United States, and that...

  15. 14 CFR 21.27 - Issue of type certificate: surplus aircraft of the Armed Forces.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... of the Armed Forces. 21.27 Section 21.27 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION....27 Issue of type certificate: surplus aircraft of the Armed Forces. (a) Except as provided in..., accepted for operational use, and declared surplus by, an Armed Force of the United States, and that...

  16. Multilateral arms control: Can the CD break the impasse?

    SciTech Connect

    Johnson, R.

    1997-11-01

    Implications of the Conference on Disarmament (CD) for significant arms control and disarmament are assessed in this article. Fissile material cutoff, test ban issues, anti-personnel landmines, and transparency are among the issues reviewed. Government policies of nuclear powers are reviewed with respect to various treaties, as well as their responses to the CD. Major barriers in the CD talks are identified and primarily ascribed to political and cultural differences. It is concluded that five-power talks between the declared nuclear weapon states offer the best chance of reducing nuclear threats and making progress on nuclear disarmament.

  17. Modelling and control of robotic arms fabricated from orthotropic materials

    NASA Astrophysics Data System (ADS)

    Krishnamurthy, K.; Chandrashekhara, K.; Roy, S.

    1989-05-01

    A dynamic model for single-link robotic manipulators fabricated from orthotropic composite materials is presented. The equations of motion are derived using Hamilton's principle and include the coupling between the rigid body motion and elastic motion. An optimal controller is designed for rest-to-rest maneuvers without large starting or stopping transients and with minimum residual vibration. Results presented for aluminum, steel, graphite/epoxy, and boron/epoxy indicate that the motion induced vibration is significantly less for the composite robotic arms, and that substantial savings in energy are achieved. Furthermore, it was seen that the magnitude of the control spillover effects, an issue of great concern in designing control systems for flexible structures, was very small for the composite robotic arms.

  18. Arms control and the Federal Republic of Germany

    SciTech Connect

    Hanrieder, W.F.

    1987-01-01

    These essays explore the implications of arms control negotiations for the FRG and consider why Germany has traditionally found it impossible to divorce considerations of arms control from their larger political context.

  19. New Horizons and New Strategies in Arms Control

    SciTech Connect

    Brown, J. editor

    1998-12-04

    In the last ten years, since the break-up of the Soviet Union, remarkable progress in arms control and disarmament has occurred. The Nuclear Non-Proliferation Treaty (NPT), the completion of the Comprehensive Test Ban Treaty (CTBT), and the Chemical Weapons Treaty (CWC) are indicative of the great strides made in the non- proliferation arena. Simultaneously, the Intermediate Nuclear Forces Treaty (INF), the Conventional Forces Treaty in Europe (CFE), and the Strategic Arms Reduction Treaties (START), all associated with US-Soviet Union (now Russia) relations have assisted in redefining European relations and the security landscape. Finally, it now appears that progress is in the offing in developing enhanced compliance measures for the Biological and Toxin Weapons Convention (BTWC). In sum, all of these achievements have set the stage for the next round of arms control activities, which may lead to a much broader, and perhaps more diffused multilateral agenda. In this new and somewhat unpredictable international setting, arms control and disarmament issues will require solutions that are both more creative and innovative than heretofore.

  20. Prospects for naval arms control: A bad idea whose time has come. Final report

    SciTech Connect

    Trout, B.T.

    1990-06-30

    This paper assesses the contemporary prospects for naval arms control based on two principal contentions. (1) The political framework of the present arms control environment makes consideration of naval issues virtually certain. The notion that there should be naval arms control is widespread and will probably prove politically compelling if the overall arms control regime continues to develop. (2) The substantive naval issues amenable to negotiation within the prevailing balance are few, but those few are important. Therefore, a position of continuing U.S. Navy resistance to consideration of the subject of naval arms control is not tenable, and may be counterproductive. The Navy has two options for a constructive approach to arms control. One option is to take the initiative on soft issues such as scheduling annual meetings of senior naval officials of the two sides to discuss issues without commitment to negotiate. A second option focuses on the limited range of hard naval arms control issues, sea-launched cruise missiles, tactical naval nuclear weapons, attack submarines and related force questions.

  1. Controlling an artificial arm with foot movements.

    PubMed

    Luzzio, C C

    2000-01-01

    A history of prosthesis control techniques is outlined. An alternative approach to hand and arm prosthesis control is proposed, and a working-prototype model is described. Commercial artificial limbs have function limited by a small number of user-interface control channels, and they are awkward to operate because joints are turned on and off in a serial fashion and not in parallel. Because of natural anatomic and physiologic similarities between the upper and lower extremities, the foot and leg is an ideal control interface. A stocking laced with multiple sensors can provide input on multiple joint positions, and this information used to control homologous movements in a prosthetic upper extremity. One significant advantage of this form of control is simultaneous activation of multiple joints.

  2. 14 CFR 21.27 - Issue of type certificate: surplus aircraft of the Armed Forces.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Issue of type certificate: surplus aircraft....27 Issue of type certificate: surplus aircraft of the Armed Forces. (a) Except as provided in..., accepted for operational use, and declared surplus by, an Armed Force of the United States, and that is...

  3. Computer aided control of a mechanical arm

    NASA Technical Reports Server (NTRS)

    Derocher, W. L., Jr.; Zermuehlen, r. O.

    1979-01-01

    A method for computer-aided remote control of a six-degree-of-freedom manipulator arm involved in the on-orbit servicing of a spacecraft is presented. The control configuration features a supervisory type of control in which each of the segments of a module exchange trajectory is controlled automatically under human supervision, with manual commands to proceed to the next step and in the event of a failure or undesirable outcome. The implementation of the supervisory system is discussed in terms of necessary onboard and ground- or Orbiter-based hardware and software, and a one-g demonstration system built to allow further investigation of system operation is described. Possible applications of the system include the construction of satellite solar power systems, environmental testing and the control of heliostat solar power stations.

  4. Who's bound by the former Soviet Union's arms control treaties

    SciTech Connect

    Rhinelander, J.B.; Bunn, G.

    1991-12-01

    A crucial issue raised by the disintegration of the Soviet central government is what happens to Soviet arms control obligations. As the Soviet government transforms or collapses in the wake of the failed August coup, which of the resulting entities will be bound by the treaties the Soviet Union entered into Under international law, the obligations of a state are not affected by even such dramatic changes in government. No one yet knows, however, what the end result of the ongoing devolution of power in the erstwhile Soviet Union will be. As illustrations of what could happen to Soviet arms control obligations - not predictions of the future - the authors pose two alternative scenarios. In the first, they assume that most of the current 12 republics, including all of the big four where substantial nuclear forces and the largest conventional forces are located (Russia, Ukraine, Khazakhstan, and Belarus), ultimately form a loose confederation with sufficient central authority to be called a nation-state and to carry out the essence of Soviet obligations under major arms control treaties. In the second, they assume that the union disintegrates further, with these four key republics seceding entirely and recognizing one another as independent states - a step which is apparently one of the US criteria for granting its own recognition. In this scenario, the Russian republic maintains its basic territory and replaces the central government as the power center for military and foreign affairs. In each of these cases, they will describe the general issues affecting the Soviet Union's international obligations, and consider specifically the two most important arms control agreements now in force - the multilateral nuclear Non-proliferation Treaty (NPT) and the bilateral Antiballistic Missile (ABM) Treaty.

  5. U. S. views on naval arms control. Final report

    SciTech Connect

    Daniel, D.C.

    1990-08-28

    This paper addresses US thinking on naval arms control and maritime strategy. It discusses current thinking regarding the control of sea-based strategic nuclear systems, sea-launched cruise missiles and general purpose naval forces. For each it presents what the US and foreign counterparts have already agreed to in recent or ongoing negotiations and also lays out the US viewpoint on issues that have yet to be agreed upon in negotiating fora. The paper also summarizes recent developments in the US Navy's thinking about maritime strategy in a discussion of general purpose naval forces.

  6. Executive leadership and superpower arms control

    SciTech Connect

    Baglione, L.A.

    1992-01-01

    This dissertation addresses the conditions that led the superpowers to undertake negotiations to limit weapons and sometimes conclude accords. This thesis presents a fourth approach. The leadership model emphasizes the executive-the Soviet general secretary and the American president-as the pivotal actor in arms control decision-making. The executive's perception of the source and level of threat consistently defines his preferred bargaining strategy, and domestic constraints on executive authority account for deviations from that approach. When he has considerable authority, the executive is able to pursue his preferred policy, but when the leader lacks power, other institutional actors within the domestic political system constrain the leader. To test the leadership model, the thesis examines four cases of American and Soviet arms control decision-making: the test ban talks of the late 1950s, the negotiations for the Limited Test Ban Treaty in 1963, the intermediate nuclear forces discussions of the 1980s, and the last phase of the START negotiations from 1989 to 1991. In each of these case studies, the dissertation juxtaposes the leadership model with the previously accepted approaches to evaluate which explanation best conforms to the evidence. The case studies demonstrated the superiority of the leadership model. Neither the balance of power, the desire to strengthen stability, nor the bureaucratic order adequately accounts for arms control decision-making. Instead, the leader's perception f the threat and opportunity determined the nation's approach to the negotiations. Only concerns about coalition maintenance served to temper the executive's tack at the bargaining table.

  7. Dual-Arm Generalized Compliant Motion With Shared Control

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.

    1994-01-01

    Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

  8. Nonproliferation, arms control, and international security

    SciTech Connect

    1995-01-01

    A reduction of the international nuclear threat is one of the greatest challenges of this era. Serious dangers associated with nuclear proliferation, theft of nuclear weapons or fissile material, illicit sales, clandestine activities, and terrorism remain. Our highest priority is to support the nation`s nuclear nonproliferation policy. We also continue to support US arms-control activities in cooperation with nuclear inheritor states of the former Soviet Union. Some of our analysis techniques, including sensors and computer simulations, are finding important civilian applications in diverse areas, such as search and rescue, fire fighting and response to natural disasters, law-enforcement activities, and environmental protection.

  9. Malaria control strategies in French armed forces.

    PubMed

    Migliani, R; Pradines, B; Michel, R; Aoun, O; Dia, A; Deparis, X; Rapp, C

    2014-01-01

    Each year, 40,000 French soldiers deploy or travel through malaria-endemic areas. Despite the effective control measures that were successively implemented, malaria remains a public health concern in French armed forces with several important outbreaks and one lethal case every two years. This article describes the malaria control strategy in French armed forces which is based on three combined strategies: i) Anopheles vector control to prevent infection with the implementation of personal protection against vectors (PPAV) adapted to the field living conditions of the troops. ii) Chemoprophylaxis (CP) to prevent the disease based on prescription of effective and well tolerated doxycycline. iii) Management of cases through early diagnosis and appropriate treatment to prevent death. In isolated conditions in endemic areas, rapid diagnosis tests (RDT) are used as first-line tests by military doctors. Treatment of uncomplicated Plasmodium falciparum (P. falciparum) malaria is based either on the piperaquine tetraphosphate-dihydroartemisinin association since 2013, or on the atovaquone-proguanil association. First-line treatment of severe P. falciparum malaria is based on IV artesunate. These measures are associated with constant education of the military, epidemiological surveillance of malaria cases and monitoring of parasite chemosensitivity.

  10. START (Strategic Arms Reduction Talks): problems and prospects. Strategic issues research memo

    SciTech Connect

    Kennedy, R.

    1983-11-01

    This memorandum examines origins of SALT and the complexities of the strategic arms control process. It focuses on such problems as those that arise from dissimilar perceptions of threat, differing force structures, growing vulnerabilities, rapid technological change, and the imperatives of verification. The author concludes that many of the same factors that gave impetus to strategic arms control efforts in the late 1960's and early 1970's remain. Thus, despite the chilling of relations between Washington and Moscow as a result of such events as those in Afghanistan, Poland, and Grenada, the Soviet attack on Korean Air Lines 007 and missile deployments in Europe, there is reason for guarded optimism concerning the possibility of another superpower strategic arms control agreement. The Strategic Issues Research Memoranda program of the Strategic Studies Institute, US Army War College, provides a means for timely dissemination of analytical papers which are not necessarily constrained by format or conformity with institutional policy. These memoranda are prepared on subjects of current importance in areas related to the author's professional work or interests. This memorandum was prepared as a contribution to the field of national security research and study.

  11. Position And Force Control For Multiple-Arm Robots

    NASA Technical Reports Server (NTRS)

    Hayati, Samad A.

    1988-01-01

    Number of arms increased without introducing undue complexity. Strategy and computer architecture developed for simultaneous control of positions of number of robot arms manipulating same object and of forces and torques that arms exert on object. Scheme enables coordinated manipulation of object, causing it to move along assigned trajectory and be subjected to assigned internal forces and torques.

  12. Research on ARM Numerical Control System

    NASA Astrophysics Data System (ADS)

    Wei, Xu; JiHong, Chen

    Computerized Numerical Control (CNC) machine tools is the foundation of modern manufacturing systems, whose advanced digital technology is the key to solve the problem of sustainable development of machine tool manufacturing industry. The paper is to design CNC system embedded on ARM and indicates the hardware design and the software systems supported. On the hardware side: the driving chip of the motor control unit, as the core of components, is MCX314AL of DSP motion control which is developed by NOVA Electronics Co., Ltd. of Japan. It make convenient to control machine because of its excellent performance, simple interface, easy programming. On the Software side, the uC/OS-2 is selected as the embedded operating system of the open source, which makes a detailed breakdown of the modules of the CNC system. Those priorities are designed according to their actual requirements. The ways of communication between the module and the interrupt response are so different that it guarantees real-time property and reliability of the numerical control system. Therefore, it not only meets the requirements of the current social precision machining, but has good man-machine interface and network support to facilitate a variety of craftsmen use.

  13. Robust coordinated control of a dual-arm space robot

    NASA Astrophysics Data System (ADS)

    Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

    2017-09-01

    Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

  14. Cuba after Fidel Castro: Issues and Strategic Considerations for the Employment of United States Armed Forces.

    DTIC Science & Technology

    1998-04-01

    will be even more so when Fidel Alejandro Castro Ruz , the President of Cuba and father of the Cuban Revolution, is no longer in power.2 Since he is 71...agency. STRATEGY RESEARCH PROJECT mn CUBA AFTER CASTRO : ISSUES AND STRATEGIC CONSIDERATIONS FOR THE EMPLOYMENT OF UNITED STATES ARMED FORCES...After Castro : Issues and Strategic Considerations for the Employment of United States Armed Forces by LTC Michael R. Wood Dr. Gabriel Marcella

  15. Chinese nuclear weapons and arms control policies. Final report

    SciTech Connect

    Sismanidis, R.D.

    1985-12-04

    This study examines Chinese nuclear weapons and arms control policies and focuses on the period since 1982. The section on nuclear weapons policies and capabilities discusses China`s land, sea, and airborne deterrent forces, the development of tactical nuclear weapons, and nuclear doctrine and policy. The section on arms control policy describes Beijing`s stance on disarmament, nonproliferation, arms control talks, the United States-Soviet space race, and the Strategic Defense Initiative. The conclusion examines the military and political objectives of nuclear weapons and arms control policies in China`s independent foreign policy.

  16. Cooperative Mmonitoring Center Occasional Paper/5: Propspects of Conventional Arms Control in South Asia

    SciTech Connect

    Gupta, Amit; Kamal, Nazir

    1998-11-01

    The intensely adversarial relationship between India and Pakistan is marked by military rivalry, mutual distrust, and suspicion. The most dividing disagreement has been over the Kashmir region. An inability to discuss the Kashmir issue has prevented discussion on other important issues. Since there is little prospect of detente, at least in the near-term, the question is whether this rivalry can be contained by other means, such as arms control approaches. Conventional arms control has been applied flexibly and successfully in some regions to reduce threat-perceptions and achieve reassuring military stability. Some lessons from other international models might be applied to the India/Pakistan context. This paper discusses the status of conventional arms control in South Asia, the dominant Indian and Pakistani perceptions about arms control, the benefits that could be derived from arms control, as well as the problems and prospects of arms control. It also discusses existing conventional arms control agreements at the regional and global levels as well as the potential role of cooperative monitoring technology.

  17. Control of octopus arm extension by a peripheral motor program.

    PubMed

    Sumbre, G; Gutfreund, Y; Fiorito, G; Flash, T; Hochner, B

    2001-09-07

    For goal-directed arm movements, the nervous system generates a sequence of motor commands that bring the arm toward the target. Control of the octopus arm is especially complex because the arm can be moved in any direction, with a virtually infinite number of degrees of freedom. Here we show that arm extensions can be evoked mechanically or electrically in arms whose connection with the brain has been severed. These extensions show kinematic features that are almost identical to normal behavior, suggesting that the basic motor program for voluntary movement is embedded within the neural circuitry of the arm itself. Such peripheral motor programs represent considerable simplification in the motor control of this highly redundant appendage.

  18. Application of ARM Cloud Radar Simulator to GCMs: Plan, Issues, and Preliminary Results

    NASA Astrophysics Data System (ADS)

    Zhang, Y.; Xie, S.; Klein, S. A.; Marchand, R.; Lin, W.; Kollias, P.; Clothiaux, E. E.

    2015-12-01

    It has been challenging to directly compare ARM ground-based cloud radar measurements with climate model output because of limitations or features of the observing process. To address this issue, an ongoing effort in ARM is to implement ARM cloud radar simulator, similar to satellite simulators that have been widely used in the global climate modeling community, to convert model data into pseudo-ARM cloud radar observations. The simulator mimics the instrument view of a narrow atmospheric column (as compared to a large GCM grid-cell) thus allowing meaningful comparison between model output and ARM cloud observations. This work is being closely coordinated with the CFMIP (the Cloud-Feedback Model Intercomparison Project) Observation Simulator Package (COSP, www.cfmip.net; Bodas-Salcedo et al. 2011) project. The goal is to incorporate ARM simulators into COSP with the global climate modeling community as the target user. This poster provides details about the implementation plan, discusses potential issues with ground-based simulators for both ARM radars, and presents preliminary results in evaluating the DOE Accelerated Climate Model for Energy (ACME) simulated clouds with ARM radar observations through applying the ARM radar simulator to ACME. Future plans on this project are discussed. This work was performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory under Contract DE-AC52-07NA27344.

  19. Organization of octopus arm movements: a model system for studying the control of flexible arms.

    PubMed

    Gutfreund, Y; Flash, T; Yarom, Y; Fiorito, G; Segev, I; Hochner, B

    1996-11-15

    Octopus arm movements provide an extreme example of controlled movements of a flexible arm with virtually unlimited degrees of freedom. This study aims to identify general principles in the organization of these movements. Video records of the movements of Octopus vulgaris performing the task of reaching toward a target were studied. The octopus extends its arm toward the target by a wave-like propagation of a bend that travels from the base of the arm toward the tip. Similar bend propagation is seen in other octopus arm movements, such as locomotion and searching. The kinematics (position and velocity) of the midpoint of the bend in three-dimensional space were extracted using the direct linear transformation algorithm. This showed that the bend tends to move within a single linear plane in a simple, slightly curved path connecting the center of the animal's body with the target location. Approximately 70% of the reaching movements demonstrated a stereotyped tangential velocity profile. An invariant profile was observed when movements were normalized for velocity and distance. Two arms, extended together in the same behavioral context, demonstrated identical velocity profiles. The stereotyped features of the movements were also observed in spontaneous arm extensions (not toward an external target). The simple and stereotypic appearance of the bend trajectory suggests that the position of the bend in space and time is the controlled variable. We propose that this strategy reduces the immense redundancy of the octopus arm movements and hence simplifies motor control.

  20. Design and Control of a Two-Degree-of-Freedom Lightweight Flexible Arm

    DTIC Science & Technology

    1989-07-01

    8217 J OCT 111989 Visiting Professor, Dpto Ingenieria Electnca, Electronica y Control , UNED, Ciudad Universitaria, Madrid 28040, Spain. 2 Visiting...V) Design and Control of a Two-Degree-of-Freedom Lightweight Flexible Arm Vicente Feliu’ , H. Benjamin Brown, Jr., and Kuldip S. Rattan’ CMU-RI-TR...Mechanical Issues 3 2.1. Kinematics 4 2.2. Rigid Arm Dynamics 5 2.3. Compliance 5 3. Control Issues 7 3.1. General Scheme 73.2. Motor Position Control Loops 8

  1. Arms control and the rule of law

    SciTech Connect

    Tanzman, E.A.

    1995-03-01

    Many who speak of the end of the Cold War emphasize the warming of international relations when they speak of the momentous consequences of this event. According to this image, the half century since Trinity has been a period of sparse international communication during which the Eastern and Western blocs hibernated in their isolated dens of security alliances. Yet it is equally valid to consider the implications of the end of the war footing that has underlain the policies of all of the major military powers during the last fifty years. While meaningful international dialogue was in a state of relative lethargy during much of this period, the military establishments of the Great Powers were actively engaged in using as much force as possible in their efforts to control world affairs, short of triggering a nuclear holocaust. International discourse, at least in English, was rife with such military images as appeasement, containment, crisis stability, and tripwires. From the military posture of the U.S. and Russia a tense peace ironically emerged, but the terms by which decisions were made about controlling weapons of mass destruction (i.e., nuclear, chemical, and biological weapons) were the terms of war. The thesis of this paper is that the end of the Cold War marks a shift away from reliance on military might toward an international commitment to control weapons of mass destruction through the rule of law developed by John Rawls. The progression of agreements during this century to limit weapons of mass destruction testifies to this new development. A review of arms control agreements that the U.S. is a part of show clear growth of the rule of law as the world has left the Cold War.

  2. Robot arm dynamic model reduction for control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Lee, S.

    1983-01-01

    General methods are described by which the mathematical complexities of explicit and exact state equations of robot arms can be reduced to a simplified and compact state equation representation without introducing significant errors into the robot arm dynamic model. The model reduction methods are based on homogeneous coordinates and on the Langrangian algorithm for robot arm dynamics, and utilize matrix, vector and numeric analysis techniques. The derivation of differential vector representation of centripetal and Coriolis forces which has not yet been established in the literature is presented.

  3. Arms Control and National Security: An Introduction. Advance Edition.

    ERIC Educational Resources Information Center

    Arms Control Association, Washington, DC.

    Suitable for use with high school students, this booklet on arms control and national security provides background information, describes basic concepts, reviews recent history, and offers suggestions for further reading. The first section, on American attitudes toward national security and arms control, defines five types of limits on weapons…

  4. Arms Control and National Security: An Introduction. Advance Edition.

    ERIC Educational Resources Information Center

    Arms Control Association, Washington, DC.

    Suitable for use with high school students, this booklet on arms control and national security provides background information, describes basic concepts, reviews recent history, and offers suggestions for further reading. The first section, on American attitudes toward national security and arms control, defines five types of limits on weapons…

  5. Experimental validation of flexible robot arm modeling and control

    NASA Technical Reports Server (NTRS)

    Ulsoy, A. Galip

    1989-01-01

    Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

  6. Threat Control through Arms Control. Report to Congress 1994

    DTIC Science & Technology

    1994-07-13

    CONTROLS 6 4 NUCLEAR WEAPON FREE ZONES 8 B BANNING NUCLEAR EXPLOSIVE TESTING 9 C REDUCING COLD WAR NUCLEAR STOCKPILES 11 1 STRATEGIC OFFENSIVE ARMS...STANDING CONSULTATIVE COMMISSION (SCC) 86 9 . US REPRESENTATIVE TO THE SPECIAL VERIFICATION COMMISSION (SVC) 86 10. US REPRESENTATIVE TO THE...M) 9 ° 1 VERIFICATION AND COMPLIANCE DIVISION (IVI/VC) 90 2 INTELLIGENCE RESOURCES DIVISION (IVI/IR) 90 3 INTELLIGENCE RESEARCH AND ANALYSIS

  7. British Military Requirements, Resources, and Conventional Arms Control

    DTIC Science & Technology

    1990-01-01

    AF." Includes bibliographical references. ISBN 0-8330-1042-5 1. Great Britain-Armed Forces-Appropriations and expenditures. 2 . Great Britain-Armed...high resource scenario, defense budget share of GDP should increase at an annual rate of 2 percent. In a middle ex- penditure scenario, the defense...and £30 billion from 1990 to 2005 based on defense budget growth of-1 percent and + 2 percent per year, respectively. Conventional arms control

  8. Hydraulically controlled flexible arm can bend in any direction

    NASA Technical Reports Server (NTRS)

    Griffin, F. D.

    1966-01-01

    Arm assembly consisting of four flexible tubes controlled by a four-way hydraulic or pneumatic valve can bend in any direction. The flexible arm could be used for probing areas that cannot be reached by ordinary tools, handling hazardous materials, and for graph recording.

  9. Kinematic feedback control laws for generating natural arm movements.

    PubMed

    Kim, Donghyun; Jang, Cheongjae; Park, Frank C

    2014-03-01

    We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780-4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226-35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear-quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law.

  10. Attitudes about Arms Control and Effects of "The Day After."

    ERIC Educational Resources Information Center

    Nelson, Linden L.; Slem, Charles M.

    An 18-item questionnaire was designed to investigate relationships between attitude towards arms control and beliefs about nuclear weapon effects, probability of war, Soviet goals, and the importance of nuclear arms superiority. Effects of the television movie, "The Day After," were also assessed by administering the questionnaire eight…

  11. Modelling and control of two coordinated robot arms

    NASA Technical Reports Server (NTRS)

    Tarn, T. J.; Yun, X.; Bejczy, A. K.

    1988-01-01

    Two coordinated robot arms are modeled by considering the two arms as working on the same object simultaneously and as a closed kinematic chain. In both formulations, a novel dynamic control method is used which is based on feedback linearization and simultaneous output decoupling.

  12. Keeping the peace green: Integrating arms control and environmental protection

    SciTech Connect

    Tanzman, E.A.; Kellman, B.

    1994-10-21

    This talk is about how to avoid turning swords into Superfund sites. The problem we address is the potential conflict between the desire to take advantage of the greater international security brought by the end of the Cold War by entering arms control agreements requiring various military weapons to be dismantled, and the desire to avoid further degrading the environment in the process of destroying them. We will use as an illustration of these issues the Chemical Weapons Convention (CWC), which is intended to cause the destruction of all chemical weapons in the world. First, we will provide a brief overview of the CWC, then we will focus in on its environmental provisions, and, finally, we will discuss potential conflicts with United States law and how they might be resolved.

  13. Future directions for arms control and nonproliferation. Conference summary

    SciTech Connect

    Not Available

    1994-07-06

    This report provides a summary of the presentations and discussions at the Spring 1994 CNSN-Wilton Park Conference. The Conference was one of a series on US-European security cooperation organized by The Center for National Security Negotiations (CNSN) of Science Applications International Corporation. These conferences bring together government and non-government experts, primarily from the United States and Europe, to discuss a range of regional and global security issues. The conferences provide an opportunity to explore, in a frank and off-the-record environment, common interests and concerns, as well as differences in approach that affect trans-Atlantic cooperation. This report is divided into the following three areas: (1) implementation of existing and pending agreements; (2) non-proliferation: prospects for trans-Atlantic cooperation; and (3) future directions in arms control.

  14. Dual-arm generalized compliant motion with shared control

    NASA Astrophysics Data System (ADS)

    Backes, Paul G.

    1993-03-01

    A multiple arm generalized compliant motion robot control system governs dual multi-joint robot arms handling an object with both of the arms in accordance with input parameters governing plural respective behaviors to be exhibited by the robot in respective behavior spaces simultaneously. A move-squeeze decomposition processor computes actual move and squeeze decomposition forces based upon current robot force sensor outputs. A compliant motion processor transforms plural object position perturbations of the plural behaviors from the respective behavior spaces to a common space and computes a relative transformation to a behavior-commanded object position in accordance with the object position perturbations of the plural behaviors. A kinematics processor updates a transformation to a current commanded object position based upon the relative transformation to the behavior-commanded object position. A multiple arm squeeze control processor computes from appropriate squeeze force input parameters and from actual squeeze forces for each of the arms, a squeeze control position perturbation for each of the arms, to provide squeeze control. An inverse kinematics processor computes from the commanded object position transformation and from the squeeze control position perturbation, new robot joint angles, and controls respective joints of the robot arms in accordance with the new robot joint angles.

  15. Dual arm generalized compliant motion with shared control

    NASA Astrophysics Data System (ADS)

    Backes, Paul G.

    1993-03-01

    A multiple arm generalized compliant motion robot control system governs dual multi-joint robot arms handling an object with both of the arms in accordance with input parameters governing plural respective behaviors to be exhibited by the robot in respective behavior spaces simultaneously. A move-squeeze decomposition processor computes actual move and squeeze decomposition forces based upon current robot force sensor outputs. A compliant motion processor transforms plural object position perturbations of the plural behaviors from the respective behavior spaces to a common space and computes a relative transformation to a behavior-commanded object position in accordance with the object position perturbations of the plural behaviors. A kinematics processor updates a transformation to a current commanded object position based upon the relative transformation to the behavior-commanded object position. A multiple arm squeeze control processor computes from appropriate squeeze force input parameters and from actual squeeze forces for each of the arms, a squeeze control position perturbation for each of the arms, to provide squeeze control. An inverse kinematics processor computes from the commanded object position transformation and from the squeeze control position perturbation, new robot joint angles, and controls respective joints of the robot arms in accordance with the new robot joint angles.

  16. The purposes, achievements, and priorities of arms control

    SciTech Connect

    Brown, P.S.

    1987-09-01

    Arms control purposes include strengthening the framework of deterrence and reducing the threat of the use of nuclear weapons, reducing the dangers of attack and accidental nuclear war, and allowing more resources for the civilian economy. The paper briefly describes achievements in arms control since World War II. These include the Limited Test Ban Treaty (LTBT), Nonproliferation Treaty (NPT), Anti-Ballistic Missile Treaty (ABMT)-SALT I, SALT II, Threshold Test Ban Treaty (TTBT), Peaceful Nuclear Explosions Treaty (PNET), and Nuclear-Free Zones treaties. The author also discusses his views on what the priorities of arms control activities should be. (ACR)

  17. Arm coordination in octopus crawling involves unique motor control strategies.

    PubMed

    Levy, Guy; Flash, Tamar; Hochner, Binyamin

    2015-05-04

    To cope with the exceptional computational complexity that is involved in the control of its hyper-redundant arms [1], the octopus has adopted unique motor control strategies in which the central brain activates rather autonomous motor programs in the elaborated peripheral nervous system of the arms [2, 3]. How octopuses coordinate their eight long and flexible arms in locomotion is still unknown. Here, we present the first detailed kinematic analysis of octopus arm coordination in crawling. The results are surprising in several respects: (1) despite its bilaterally symmetrical body, the octopus can crawl in any direction relative to its body orientation; (2) body and crawling orientation are monotonically and independently controlled; and (3) contrasting known animal locomotion, octopus crawling lacks any apparent rhythmical patterns in limb coordination, suggesting a unique non-rhythmical output of the octopus central controller. We show that this uncommon maneuverability is derived from the radial symmetry of the arms around the body and the simple pushing-by-elongation mechanism by which the arms create the crawling thrust. These two together enable a mechanism whereby the central controller chooses in a moment-to-moment fashion which arms to recruit for pushing the body in an instantaneous direction. Our findings suggest that the soft molluscan body has affected in an embodied way [4, 5] the emergence of the adaptive motor behavior of the octopus.

  18. Supporting the President's Arms Control and Nonproliferation Agenda: Transparency and Verification for Nuclear Arms Reductions

    SciTech Connect

    Doyle, James E; Meek, Elizabeth

    2009-01-01

    The President's arms control and nonproliferation agenda is still evolving and the details of initiatives supporting it remain undefined. This means that DOE, NNSA, NA-20, NA-24 and the national laboratories can help define the agenda, and the policies and the initiatives to support it. This will require effective internal and interagency coordination. The arms control and nonproliferation agenda is broad and includes the path-breaking goal of creating conditions for the elimination of nuclear weapons. Responsibility for various elements of the agenda will be widely scattered across the interagency. Therefore an interagency mapping exercise should be performed to identify the key points of engagement within NNSA and other agencies for creating effective policy coordination mechanisms. These can include informal networks, working groups, coordinating committees, interagency task forces, etc. It will be important for NA-20 and NA-24 to get a seat at the table and a functional role in many of these coordinating bodies. The arms control and nonproliferation agenda comprises both mature and developing policy initiatives. The more mature elements such as CTBT ratification and a follow-on strategic nuclear arms treaty with Russia have defined milestones. However, recent press reports indicate that even the START follow-on strategic arms pact that is planned to be complete by the end of 2009 may take significantly longer and be more expansive in scope. The Russians called for proposals to count non-deployed as well as deployed warheads. Other elements of the agenda such as FMCT, future bilateral nuclear arms reductions following a START follow-on treaty, nuclear posture changes, preparations for an international nuclear security summit, strengthened international safeguards and multilateral verification are in much earlier stages of development. For this reason any survey of arms control capabilities within the USG should be structured to address potential needs across the

  19. Robot arm force control through system linearization by nonlinear feedback

    NASA Technical Reports Server (NTRS)

    Tarn, T. J.; Bejczy, A. K.; Yun, Xiaoping

    1988-01-01

    Based on a differential geometric feedback linearization technique for nonlinear time-varying systems, a dynamic force control method for robot arms is developed. It uses active force-moment measurements at the robot wrist. The controller design fully incorporate the robot-arm dynamics and is so general that it can be reduced to pure position control, hybrid position/force control, pure force control. The controller design is independent of the tasks to be performed. Computer simulations show that the controller improves the position error by a factor of ten in cases in which position errors generate force measurements. A theorem on linearization of time-varying system is also presented.

  20. Control strategy for a dual-arm maneuverable space robot

    NASA Technical Reports Server (NTRS)

    Wang, P. K. C.

    1987-01-01

    A simple strategy for the attitude control and arm coordination of a maneuverable space robot with dual arms is proposed. The basic task for the robot consists of the placement of marked rigid solid objects with specified pairs of gripping points and a specified direction of approach for gripping. The strategy consists of three phases each of which involves only elementary rotational and translational collision-free maneuvers of the robot body. Control laws for these elementary maneuvers are derived by using a body-referenced dynamic model of the dual-arm robot.

  1. Arms control in the Korean peninsula. Research report

    SciTech Connect

    Kim, H.

    1986-05-01

    Since the end of the Korean War, both North and South Korea have been building up their military power. This arms race has increased the risk of a military conflict between the North and South which could result in major power involvement. In recent years, various measures have been attempted to enhance stability in Korea to no avail. When the situation becomes more favorable for negotiations, the most difficult problem will be arms control. This paper discusses the interests of the two countries and of the four major powers involved and suggests a suitable format for arms control agreements.

  2. Neural control of rhythmic arm cycling after stroke

    PubMed Central

    Loadman, Pamela M.; Hundza, Sandra R.

    2012-01-01

    Disordered reflex activity and alterations in the neural control of walking have been observed after stroke. In addition to impairments in leg movement that affect locomotor ability after stroke, significant impairments are also seen in the arms. Altered neural control in the upper limb can often lead to altered tone and spasticity resulting in impaired coordination and flexion contractures. We sought to address the extent to which the neural control of movement is disordered after stroke by examining the modulation pattern of cutaneous reflexes in arm muscles during arm cycling. Twenty-five stroke participants who were at least 6 mo postinfarction and clinically stable, performed rhythmic arm cycling while cutaneous reflexes were evoked with trains (5 × 1.0-ms pulses at 300 Hz) of constant-current electrical stimulation to the superficial radial (SR) nerve at the wrist. Both the more (MA) and less affected (LA) arms were stimulated in separate trials. Bilateral electromyography (EMG) activity was recorded from muscles acting at the shoulder, elbow, and wrist. Analysis was conducted on averaged reflexes in 12 equidistant phases of the movement cycle. Phase-modulated cutaneous reflexes were present, but altered, in both MA and LA arms after stroke. Notably, the pattern was “blunted” in the MA arm in stroke compared with control participants. Differences between stroke and control were progressively more evident moving from shoulder to wrist. The results suggest that a reduced pattern of cutaneous reflex modulation persists during rhythmic arm movement after stroke. The overall implication of this result is that the putative spinal contributions to rhythmic human arm movement remain accessible after stroke, which has translational implications for rehabilitation. PMID:22572949

  3. Arms Control and National Security: Revealed through Two Case Studies

    DTIC Science & Technology

    1988-03-01

    Often, in a democratic society these watered down compromises, as they deal with arms control, fail to support arms control or national ’ 4 security...United States has made some progress in this area. Several years ago it was recognized that the communications systems were not as survivable against...defensive system. Today, SDI promises to do what was envisioned years 0 ago , that of reducing the worth of offensive weapons * .. and hopefully as a

  4. Gravitoinertial force level influences arm movement control

    NASA Technical Reports Server (NTRS)

    Fisk, J.; Lackner, J. R.; DiZio, P.

    1993-01-01

    1. The ability to move the forearm between remembered elbow joint angles immediately after rapid increases or decreases of the background gravitoinertial force (G) level was measured. The movements had been well-practiced in a normal 1G environment before the measurements in high-(1.8G) and low-force (0G) environments. The forearm and upper arm were always unsupported to maximize the influence of altered G-loading and to minimize extraneous cues about arm position. 2. Horizontal and vertical movement planes were studied to measure the effects of varying the G load in the movement plane within a given G background. Rapid and slow movements were studied to assess the role of proprioceptive feedback. 3. G level did not affect the amplitude of rapid movements, indicating that subjects were able to plan and to generate appropriate motor commands for the new G loading of the arm. The amplitude of slow movements was affected by G level, indicating that proprioceptive feedback is influenced by G level. 4. The effects of G level were similar for horizontal and vertical movements, indicating that proprioceptive information from supporting structures, such as the shoulder joint and muscles, had a role in allowing generation of the appropriate motor commands. 5. The incidence and size of dynamic overshoots were greater in 0G and for rapid movements. This G-related change in damping suggests a decrease in muscle spindle activity in 0G. A decrease in muscle spindle activity in 0G and an increase in 1.8G are consistent with the results of our prior studies on the tonic vibration reflex, locomotion, and perception of head movement trajectory in varying force backgrounds.

  5. Gravitoinertial force level influences arm movement control

    NASA Technical Reports Server (NTRS)

    Fisk, J.; Lackner, J. R.; DiZio, P.

    1993-01-01

    1. The ability to move the forearm between remembered elbow joint angles immediately after rapid increases or decreases of the background gravitoinertial force (G) level was measured. The movements had been well-practiced in a normal 1G environment before the measurements in high-(1.8G) and low-force (0G) environments. The forearm and upper arm were always unsupported to maximize the influence of altered G-loading and to minimize extraneous cues about arm position. 2. Horizontal and vertical movement planes were studied to measure the effects of varying the G load in the movement plane within a given G background. Rapid and slow movements were studied to assess the role of proprioceptive feedback. 3. G level did not affect the amplitude of rapid movements, indicating that subjects were able to plan and to generate appropriate motor commands for the new G loading of the arm. The amplitude of slow movements was affected by G level, indicating that proprioceptive feedback is influenced by G level. 4. The effects of G level were similar for horizontal and vertical movements, indicating that proprioceptive information from supporting structures, such as the shoulder joint and muscles, had a role in allowing generation of the appropriate motor commands. 5. The incidence and size of dynamic overshoots were greater in 0G and for rapid movements. This G-related change in damping suggests a decrease in muscle spindle activity in 0G. A decrease in muscle spindle activity in 0G and an increase in 1.8G are consistent with the results of our prior studies on the tonic vibration reflex, locomotion, and perception of head movement trajectory in varying force backgrounds.

  6. Flexible trial design in practice - stopping arms for lack-of-benefit and adding research arms mid-trial in STAMPEDE: a multi-arm multi-stage randomized controlled trial.

    PubMed

    Sydes, Matthew R; Parmar, Mahesh K B; Mason, Malcolm D; Clarke, Noel W; Amos, Claire; Anderson, John; de Bono, Johann; Dearnaley, David P; Dwyer, John; Green, Charlene; Jovic, Gordana; Ritchie, Alastair W S; Russell, J Martin; Sanders, Karen; Thalmann, George; James, Nicholas D

    2012-09-15

    Systemic Therapy for Advanced or Metastatic Prostate cancer: Evaluation of Drug Efficacy (STAMPEDE) is a randomized controlled trial that follows a novel multi-arm, multi-stage (MAMS) design. We describe methodological and practical issues arising with (1) stopping recruitment to research arms following a pre-planned intermediate analysis and (2) adding a new research arm during the trial. STAMPEDE recruits men who have locally advanced or metastatic prostate cancer who are starting standard long-term hormone therapy. Originally there were five research and one control arms, each undergoing a pilot stage (focus: safety, feasibility), three intermediate 'activity' stages (focus: failure-free survival), and a final 'efficacy' stage (focus: overall survival). Lack-of-sufficient-activity guidelines support the pairwise interim comparisons of each research arm against the control arm; these pre-defined activity cut-off becomes increasingly stringent over the stages. Accrual of further patients continues to the control arm and to those research arms showing activity and an acceptable safety profile. The design facilitates adding new research arms should sufficiently interesting agents emerge. These new arms are compared only to contemporaneously recruited control arm patients using the same intermediate guidelines in a time-delayed manner. The addition of new research arms is subject to adequate recruitment rates to support the overall trial aims. (1) Stopping Existing Therapy: After the second intermediate activity analysis, recruitment was discontinued to two research arms for lack-of-sufficient activity. Detailed preparations meant that changes were implemented swiftly at 100 international centers and recruitment continued seamlessly into Activity Stage III with 3 remaining research arms and the control arm. Further regulatory and ethical approvals were not required because this was already included in the initial trial design.(2) Adding New Therapy: An application to

  7. Flexible trial design in practice - stopping arms for lack-of-benefit and adding research arms mid-trial in STAMPEDE: a multi-arm multi-stage randomized controlled trial

    PubMed Central

    2012-01-01

    Background Systemic Therapy for Advanced or Metastatic Prostate cancer: Evaluation of Drug Efficacy (STAMPEDE) is a randomized controlled trial that follows a novel multi-arm, multi-stage (MAMS) design. We describe methodological and practical issues arising with (1) stopping recruitment to research arms following a pre-planned intermediate analysis and (2) adding a new research arm during the trial. Methods STAMPEDE recruits men who have locally advanced or metastatic prostate cancer who are starting standard long-term hormone therapy. Originally there were five research and one control arms, each undergoing a pilot stage (focus: safety, feasibility), three intermediate ‘activity’ stages (focus: failure-free survival), and a final ‘efficacy’ stage (focus: overall survival). Lack-of-sufficient-activity guidelines support the pairwise interim comparisons of each research arm against the control arm; these pre-defined activity cut-off becomes increasingly stringent over the stages. Accrual of further patients continues to the control arm and to those research arms showing activity and an acceptable safety profile. The design facilitates adding new research arms should sufficiently interesting agents emerge. These new arms are compared only to contemporaneously recruited control arm patients using the same intermediate guidelines in a time-delayed manner. The addition of new research arms is subject to adequate recruitment rates to support the overall trial aims. Results (1) Stopping Existing Therapy: After the second intermediate activity analysis, recruitment was discontinued to two research arms for lack-of-sufficient activity. Detailed preparations meant that changes were implemented swiftly at 100 international centers and recruitment continued seamlessly into Activity Stage III with 3 remaining research arms and the control arm. Further regulatory and ethical approvals were not required because this was already included in the initial trial design. (2

  8. Diversity, Inclusion, and Equal Opportunity in the Armed Services: Background and Issues for Congress

    DTIC Science & Technology

    2016-07-01

    there are some differences in how they are interpreted and applied between the Department of Defense (DOD) and civilian organizations. DOD’s... Percentage of Total Active Duty Force ............... 25 Figure 2. Religious Diversity in the Active Duty Force...the general population, women make up a significantly smaller percentage of the total Armed Forces.) The Commission did not address issues related

  9. Continuous neuronal ensemble control of simulated arm reaching by a human with tetraplegia

    NASA Astrophysics Data System (ADS)

    Chadwick, E. K.; Blana, D.; Simeral, J. D.; Lambrecht, J.; Kim, S. P.; Cornwell, A. S.; Taylor, D. M.; Hochberg, L. R.; Donoghue, J. P.; Kirsch, R. F.

    2011-06-01

    Functional electrical stimulation (FES), the coordinated electrical activation of multiple muscles, has been used to restore arm and hand function in people with paralysis. User interfaces for such systems typically derive commands from mechanically unrelated parts of the body with retained volitional control, and are unnatural and unable to simultaneously command the various joints of the arm. Neural interface systems, based on spiking intracortical signals recorded from the arm area of motor cortex, have shown the ability to control computer cursors, robotic arms and individual muscles in intact non-human primates. Such neural interface systems may thus offer a more natural source of commands for restoring dexterous movements via FES. However, the ability to use decoded neural signals to control the complex mechanical dynamics of a reanimated human limb, rather than the kinematics of a computer mouse, has not been demonstrated. This study demonstrates the ability of an individual with long-standing tetraplegia to use cortical neuron recordings to command the real-time movements of a simulated dynamic arm. This virtual arm replicates the dynamics associated with arm mass and muscle contractile properties, as well as those of an FES feedback controller that converts user commands into the required muscle activation patterns. An individual with long-standing tetraplegia was thus able to control a virtual, two-joint, dynamic arm in real time using commands derived from an existing human intracortical interface technology. These results show the feasibility of combining such an intracortical interface with existing FES systems to provide a high-performance, natural system for restoring arm and hand function in individuals with extensive paralysis. This paper was originally submitted for the special issue containing contributions from the Fourth International Brain-Computer Interface Meeting.

  10. Configuration control of seven-degree-of-freedom arms

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun (Inventor); Long, Mark K. (Inventor); Lee, Thomas S. (Inventor)

    1992-01-01

    A seven degree of freedom robot arm with a six degree of freedom end effector is controlled by a processor employing a 6 by 7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more) by 7 Jacobian matrix for defining 1 (or more) user specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more) by 7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7 by 7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arm. One of the kinematic functions constraints the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizes a sum of gravitational torques on the joints. Still another kinematic function constrains the location of the arm to perform collision avoidance. Generically, one kinematic function minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or gravity torques associated with individual joints.

  11. Configuration control of seven degree of freedom arms

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun (Inventor)

    1995-01-01

    A seven-degree-of-freedom robot arm with a six-degree-of-freedom end effector is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more)-by-7 Jacobian matrix for defining 1 (or more) user-specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more)-by-7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7-by-7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arms. One of the kinematic functions constrains the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizing a sum of gravitational torques on the joints. Still another one of the kinematic functions constrains the location of the arm to perform collision avoidance. Generically, one of the kinematic functions minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or position errors or gravity torques associated with individual joints.

  12. Packaging Of Control Circuits In A Robot Arm

    NASA Technical Reports Server (NTRS)

    Kast, William

    1994-01-01

    Packaging system houses and connects control circuitry mounted on circuit boards within shoulder, upper section, and lower section of seven-degree-of-freedom robot arm. Has modular design that incorporates surface-mount technology, multilayer circuit boards, large-scale integrated circuits, and multi-layer flat cables between sections for compactness. Three sections of robot arm contain circuit modules in form of stardardized circuit boards. Each module contains two printed-circuit cards, one of each face.

  13. Packaging Of Control Circuits In A Robot Arm

    NASA Technical Reports Server (NTRS)

    Kast, William

    1994-01-01

    Packaging system houses and connects control circuitry mounted on circuit boards within shoulder, upper section, and lower section of seven-degree-of-freedom robot arm. Has modular design that incorporates surface-mount technology, multilayer circuit boards, large-scale integrated circuits, and multi-layer flat cables between sections for compactness. Three sections of robot arm contain circuit modules in form of stardardized circuit boards. Each module contains two printed-circuit cards, one of each face.

  14. Applications of radiation measurements in arms control and nonproliferation

    NASA Astrophysics Data System (ADS)

    Leich, D.; Reinitz, K.; Barnette, S.; O'Connell, M.; Sheely, K.

    1994-12-01

    Radiation measurements play a vital role in the development and implementation of U.S. arms control and nonproliferation policy. The President's Nonproliferation and Export Control Policy reflects the changing realities of a post-Cold-War world and makes nonproliferation one of our nation's highest priorities. Key elements of the Policy concern international controls on plutonium and highly-enriched uranium. Current DOE work contributing to arms control and nonproliferation policy implementation is described with an emphasis on the role of radiation measurements.

  15. Cooperative Remote Monitoring, Arms control and nonproliferation technologies: Fourth quarter 1995

    SciTech Connect

    Alonzo, G M

    1995-01-01

    The DOE`s Cooperative Remote Monitoring programs integrate elements from research and development and implementation to achieve DOE`s objectives in arms control and nonproliferation. The contents of this issue are: cooperative remote monitoring--trends in arms control and nonproliferation; Modular Integrated Monitoring System (MIMS); Authenticated Tracking and Monitoring Systems (ATMS); Tracking and Nuclear Materials by Wide-Area Nuclear Detection (WAND); Cooperative Monitoring Center; the International Remote Monitoring Project; international US and IAEA remote monitoring field trials; Project Dustcloud: monitoring the test stands in Iraq; bilateral remote monitoring: Kurchatov-Argonne-West Demonstration; INSENS Sensor System Project.

  16. The importance of domestic law to international arms control

    SciTech Connect

    Lehman, R.F. II

    1993-11-01

    Studies of arms control and disarmament tend to focus on political, military, and diplomatic processes. Recently, in the context of the conversion of defense activities to civilian use, the economic aspects of arms control have also received renewed interest. The legal dimension, however, is in need of fresh examination. Both international and domestic law are sailing increasingly in uncharted waters. Recent arms control agreements and related developments in international peacekeeping have expanded the scope of international law and altered how one perceives certain fundamentals, including the principle of national sovereignty. Still, the nation state is largely unchallenged as the primary actor in international affairs. National governments retain near absolute sovereign rights and responsibilities even in an age of trans-national economic integration and codified international norms for human rights, freedom of the press, and the peaceful resolution of disputes. Indeed, the role of domestic law in arms control and disarmament may be more significant now than ever before. A brief review of relationships between arms control and domestic law should illustrate ways in which ones thinking has been underestimating the importance of domestic law. Hopefully, this survey will set the stage properly for the excellent, more detailed case studies by Elinor Hammarskjold and Alan Crawford. Toward that end, this paper will highlight a number of more general, and sometimes provocative, themes. These themes should be kept in mind when those two complementary presentations are considered.

  17. Weintek interfaces for controlling the position of a robotic arm

    NASA Astrophysics Data System (ADS)

    Barz, C.; Ilia, M.; Ilut, T.; Pop-Vadean, A.; Pop, P. P.; Dragan, F.

    2016-08-01

    The paper presents the use of Weintek panels to control the position of a robotic arm, operated step by step on the three motor axes. PLC control interface is designed with a Weintek touch screen. The HMI Weintek eMT3070a is the user interface in the process command of the PLC. This HMI controls the local PLC, entering the coordinate on the axes X, Y and Z. The subject allows the development in a virtual environment for e-learning and monitoring the robotic arm actions.

  18. Force control of a multi-arm robot system

    NASA Technical Reports Server (NTRS)

    Alberts, Thomas E.; Soloway, Donald I.

    1988-01-01

    A force-compensated control method for multiple manipulators is presented that allows coordinated manipulation of a jointly grasped object. In this scheme, each arm independently carries out the motions required to realize the desired motion of a prescribed point on the manipulated object. The approach has been implemented and demonstrated on a laboratory system consisting of two industrial, computer-controller manipulators.

  19. The Future Nuclear Arms Control Agenda and Its Potential Implications for the Air Force

    DTIC Science & Technology

    2015-08-01

    Nuclear Arms Control Agenda and Its Potential Implications for the Air Force     The Future Nuclear Arms Control Agenda and Its Potential...TABLE OF CONTENTS I. Introduction: The Future Nuclear Arms Control Agenda and Its Potential Implications for the Air Force...1 II. The Arms Control Context

  20. The Implications of a New ERa in Arms Control -- Perspectives and Analysis

    SciTech Connect

    Mladineo, Stephen V.; Durbin, Karyn R.; Indusi, Joseph P.; Smoot, John L.; Vannoni, Michael G.; Satkowiak, Lawrence J.

    2004-01-01

    On November 13, 2003 the INMM hosted a workshop in Washington, DC entitled “The Implications of a New Era in Arms Control on Regional Nonproliferation and Nuclear Materials Management.” In this paper we summarize the workshop’s highlights and provide our analysis of the dominant themes. Ambassador Linton Brooks, Administrator of the National Nuclear Security Agency (NNSA), delivered the keynote address and focused on four points that are key to understanding the new era: • The demise of traditional East/West arms control; • The new strategic relationship between Russia and the United States; • The blurring of the distinction between nonproliferation and counter-terrorism; • The growing recognition that the nonproliferation regime is no longer adequate and needs to be strengthened. He issued a set of challenges to the workshop participants: if his premises were right, what should replace the lexicon of arms control? He described a four-part strategy for nuclear materials protection in Russia, and asked if that model should be replicated globally - potentially by leveraging the new relationship with Russia. Should it be through the IAEA, bilaterally, or some other mechanism? Asserting that the old Nonproliferation Treaty regime was inadequate, he asked what should replace it, and how do we bring it about? Three panel discussions were presented: • Implications of a New Era in US/Russia Arms Control Agreements • Implications of a New in Arms Control Upon Regional Nuclear Nonproliferation: South Asia/East Asia/Middle East • Nuclear Materials Management in a New Era of Arms Control In the first panel, Daryl Kimball, Executive Director of the Arms Control Association argued that arms control agreements provided predictability in the reduction of arms, and had been successful in advancing the methods of verification. Lucas Fischer, the Deputy Assistant Secretary for Arms Control at the US State Department acknowledged that INF and START provide a basis

  1. Britain, America and arms control, 1921-37

    SciTech Connect

    Hall, C.

    1987-01-01

    Arms control diplomacy as a central factor in superpower relations is not a new phenomenon. In this book the author traces the rise and fall of a previous arms limitation effort, the naval treaties of the inter-war years, which successfully controlled competition in the strategic weapons of that era - battleships and other vessels of the British, American and other great power navies. He shows the problems and their solutions - many of relevance today - which made the treaties possible, and their major role in the peaceful transfer of leadership of the West from the British Empire to the United States.

  2. Entering the New Millennium: Dilemmas in Arms Control

    SciTech Connect

    BROWN,JAMES

    1999-11-01

    The end of the Cold War finds the international community no longer divided into two opposing blocks. The concerns that the community now faces are becoming more fluid, less focused, and, in many ways, much less predictable. Issues of religion, ethnicity, and nationalism; the possible proliferation of Weapons of Mass Destruction; and the diffusion of technology and information processing throughout the world community have greatly changed the international security landscape in the last decade. Although our challenges appear formidable, the United Nations, State Parties, nongovernmental organizations, and the arms control community are moving to address and lessen these concerns through both formal and informal efforts. Many of the multilateral agreements (e.g., NPT, BWC, CWC, CTBT, MTCR), as well as the bilateral efforts that are taking place between Washington and Moscow employ confidence-building and transparency measures. These measures along with on-site inspection and other verification procedures lessen suspicion and distrust and reduce uncertainty, thus enhancing stability, confidence, and cooperation.

  3. The US-Russian strategic arms control agenda

    SciTech Connect

    Mendelsohn, J.

    1997-11-01

    This article reviews political negotiations undertaken by the United States and the Russian Federation toward implementation of the Strategic Arms Reduction Treaty II (START II). The negotiations included agreement on an extension protocol for START II, primarily aimed at achieving ratification by the Russian Duma. Issues involved in START III negotiations, including warhead levels, deactivation and de-alerting, dismantlement, tactical nuclear weapons, and ballistical missile defenses are also discussed. Likely Russian negotiating stances, based on the current political climate, are projected.

  4. Too many cooks Arms control by Committee: Managing negotiations with the Russians. [Book review about arms control

    SciTech Connect

    Bunn, G.

    1992-01-01

    The title for [open quotes]Too Many Cooks Arms Control by Committee: Managing Negotiations with the Russians[close quotes] comes from the cumbersome way in which arms control must be negotiated with interagency and congressional committees, as well as with foreign diplomats. The author's purpose for the book is to add to the recorded history of early negotiations, to help with teaching about arms control talks, and to distill lessons from 30 years of negotiations. The author reviews seven case studies of arms control negotiations against a common set of key questions. In addition to the comprehensive and partial test ban negotiations and the Non-Proliferation Treaty, the author covers Strategic Arms Limitation Talks (SALT) I and II, the Intermediate-range Nuclear Forces (INF) talks, and the Conventional Forces in Europe Treaty. Special attention is paid to presidential management of the unwieldy negotiating process, including the use of instructions to negotiators and White House bargaining tactics at home and abroad.

  5. Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

    NASA Astrophysics Data System (ADS)

    Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

    2017-08-01

    One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

  6. Arms control in space: workshop proceedings, Washington, DC, January 30-31, 1984

    SciTech Connect

    Not Available

    1984-05-01

    In late 1982 and early 1983, the Subcommittee on Arms Control, Oceans, International Operations, and Environment of the Senate Committee on Foreign Relations held hearings on space weapons and arms control. To explore these issues further in a discussion format not easily achieved in hearings, Sen. Larry Pressler, Chairman of the Subcommittee, asked OTA to conduct a workshop focusing on antisatellite (ASAT) weapons as one aspect of space arms control. The workshop held in Washington, DC on January 30 and 31, 1984, provided an opportunity for technical, diplomatic, military, and policy-analysis experts to interact, think out loud, and build each other's ideas. The workshop was organized into six sessions, although issues involving anti-satellite weapons and arms control are not easily compartmentalized into distinct subject areas. Each session was introduced by a 10- or 15-minute informal oral presentation which set the stage for further discussion. This workshop proceedings volume is organized along the same divisions as the sessions, with some rearrangement.

  7. Photoelectric radar servo control system based on ARM+FPGA

    NASA Astrophysics Data System (ADS)

    Wu, Kaixuan; Zhang, Yue; Li, Yeqiu; Dai, Qin; Yao, Jun

    2016-01-01

    In order to get smaller, faster, and more responsive requirements of the photoelectric radar servo control system. We propose a set of core ARM + FPGA architecture servo controller. Parallel processing capability of FPGA to be used for the encoder feedback data, PWM carrier modulation, A, B code decoding processing and so on; Utilizing the advantage of imaging design in ARM Embedded systems achieves high-speed implementation of the PID algorithm. After the actual experiment, the closed-loop speed of response of the system cycles up to 2000 times/s, in the case of excellent precision turntable shaft, using a PID algorithm to achieve the servo position control with the accuracy of + -1 encoder input code. Firstly, This article carry on in-depth study of the embedded servo control system hardware to determine the ARM and FPGA chip as the main chip with systems based on a pre-measured target required to achieve performance requirements, this article based on ARM chip used Samsung S3C2440 chip of ARM7 architecture , the FPGA chip is chosen xilinx's XC3S400 . ARM and FPGA communicate by using SPI bus, the advantage of using SPI bus is saving a lot of pins for easy system upgrades required thereafter. The system gets the speed datas through the photoelectric-encoder that transports the datas to the FPGA, Then the system transmits the datas through the FPGA to ARM, transforms speed datas into the corresponding position and velocity data in a timely manner, prepares the corresponding PWM wave to control motor rotation by making comparison between the position data and the velocity data setted in advance . According to the system requirements to draw the schematics of the photoelectric radar servo control system and PCB board to produce specially. Secondly, using PID algorithm to control the servo system, the datas of speed obtained from photoelectric-encoder is calculated position data and speed data via high-speed digital PID algorithm and coordinate models. Finally, a

  8. Anchoring the "floating arm": Use of proprioceptive and mirror visual feedback from one arm to control involuntary displacement of the other arm.

    PubMed

    Brun, C; Guerraz, M

    2015-12-03

    Arm movement control takes advantage of multiple inputs, including those originating from the contralateral arm. In the mirror paradigm, it has been suggested that control of the unseen arm, hidden by the mirror, is facilitated by the reflection of the other, moving arm. Although proprioceptive feedback originating from the moving arm, (the image of which is reflected in the mirror), is always coupled with visual feedback in the mirror paradigm, the former has received little attention. We recently showed that the involuntary arm movement following a sustained, isometric contraction, known as the "floating arm" or "Kohnstamm phenomenon", was adjusted to the passive-motorized displacement of the other arm. However, provision of mirror feedback, that is, the reflection in the mirror of the passively moved arm, did not add to this coupling effect. Therefore, the interlimb coupling in the mirror paradigm may to a large extent have a proprioceptive origin rather than a visual origin. The objective of the present study was to decouple mirror feedback and proprioceptive feedback from the reflected, moving arm and evaluate their respective contributions to interlimb coupling in the mirror paradigm. First (in Experiment 1, under eyes-closed conditions), we found that masking the proprioceptive afferents of the passively moved arm (by co-vibrating the antagonistic biceps and triceps muscles) suppressed the interlimb coupling between involuntary displacement of one arm and passive displacement of the other. Next (in Experiment 2), we masked proprioceptive afferents of the passively moved arm and specifically evaluated mirror feedback. We found that interlimb coupling through mirror feedback (though significant) was weaker than interlimb coupling through proprioceptive feedback. Overall, the present results show that in the mirror paradigm, proprioceptive feedback is stronger and more consistent than visual-mirror feedback in terms of the impact on interlimb coupling.

  9. Frequency modulated cutaneous orientation feedback from artificial arms. [dynamic control model of human arm

    NASA Technical Reports Server (NTRS)

    Solomonow, M.; Freedy, A.; Lyman, J.

    1975-01-01

    A model of the human arm, emphasizing the neuromuscular mechanisms of feedback control, has been constructed. The various parameters and functions of physiological receptors in the feedback section have been classified into an automated category that can be incorporated in the prosthesis servo loop, and into a sensory category that should be communicated to the operator if control and dynamic performance are to be optimized. A scheme for simultaneous display of two such sensory parameters, i.e., fingertip pressure and elbow position, has been developed, implemented and evaluated. The neurophysiological mechanism of such displays, and the feasibility of sensory transformation, is discussed in this paper.

  10. The new 104th Congress: Arms control gridlock or consensus

    SciTech Connect

    Keeny, S.M. Jr.

    1995-01-01

    A Republican Congress dedicated to reducing the deficit, taxes and the role of the federal government should welcome the opportunity to reduce both foreign threats and the military budget. The author examines the political and historical aspects of arms control and current outlook.

  11. 27 CFR 479.193 - Arms Export Control Act.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 3 2012-04-01 2010-04-01 true Arms Export Control Act. 479.193 Section 479.193 Alcohol, Tobacco Products, and Firearms BUREAU OF ALCOHOL, TOBACCO, FIREARMS, AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND...

  12. 27 CFR 479.193 - Arms Export Control Act.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 3 2014-04-01 2014-04-01 false Arms Export Control Act. 479.193 Section 479.193 Alcohol, Tobacco Products, and Firearms BUREAU OF ALCOHOL, TOBACCO, FIREARMS, AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND...

  13. 27 CFR 479.193 - Arms Export Control Act.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 3 2013-04-01 2013-04-01 false Arms Export Control Act. 479.193 Section 479.193 Alcohol, Tobacco Products, and Firearms BUREAU OF ALCOHOL, TOBACCO, FIREARMS, AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND...

  14. A Short Guide to U.S. Arms Control Policy.

    ERIC Educational Resources Information Center

    Howard, Norman, Ed.; Sussman, Colleen, Ed.

    Steps the United States is taking to lessen the danger of war while building international confidence and security are described. The commitment of the United States to arms control is based on the conviction that the United States and the Soviet Union have a common interest in the avoidance of nuclear war and the survival of the human race. A…

  15. 27 CFR 479.193 - Arms Export Control Act.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 3 2011-04-01 2010-04-01 true Arms Export Control Act. 479.193 Section 479.193 Alcohol, Tobacco Products, and Firearms BUREAU OF ALCOHOL, TOBACCO, FIREARMS, AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES,...

  16. Trends in International Persuasion: Persuasion in the Arms Control Negotiations.

    ERIC Educational Resources Information Center

    Hopmann, P. Terrence; Walcott, Charles

    An analysis of the bargaining process in international arms control negotiations is possible by developing a framework of interrelated hypotheses, by delineating and practicing interactions study called "Bargaining Process Analysis," and by formulating procedural steps that bridge the gap between laboratory studies and "real world" situations. In…

  17. Mars Surveyor '98 MVACS Robotic Arm Control System Design Concepts

    NASA Technical Reports Server (NTRS)

    Bonitz, Robert G.

    1997-01-01

    This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientific investigations to be conducted as part of the Mars Surveyor '98 Lander project. Novel solutions are presented to some of the unique problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing power.

  18. The use of robots for arms control treaty verification

    SciTech Connect

    Michalowski, S.J.

    1991-01-01

    Many aspects of the superpower relationship now present a new set of challenges and opportunities, including the vital area of arms control. This report addresses one such possibility: the use of robots for the verification of arms control treaties. The central idea of this report is far from commonly-accepted. In fact, it was only encountered once in bibliographic review phase of the project. Nonetheless, the incentive for using robots is simple and coincides with that of industrial applications: to replace or supplement human activity in the performance of tasks for which human participation is unnecessary, undesirable, impossible, too dangerous or too expensive. As in industry, robots should replace workers (in this case, arms control inspectors) only when questions of efficiency, reliability, safety, security and cost-effectiveness have been answered satisfactorily. In writing this report, it is not our purpose to strongly advocate the application of robots in verification. Rather, we wish to explore the significant aspects, pro and con, of applying experience from the field of flexible automation to the complex task of assuring arms control treaty compliance. We want to establish a framework for further discussion of this topic and to define criteria for evaluating future proposals. The authors' expertise is in robots, not arms control. His practical experience has been in developing systems for use in the rehabilitation of severely disabled persons (such as quadriplegics), who can use robots for assistance during activities of everyday living, as well as in vocational applications. This creates a special interest in implementations that, in some way, include a human operator in the control scheme of the robot. As we hope to show in this report, such as interactive systems offer the greatest promise of making a contribution to the challenging problems of treaty verification. 15 refs.

  19. Walking Posture Control of Transmission Line Single Arm Inspection Robot

    NASA Astrophysics Data System (ADS)

    Yan, Yu; Liu, Xiaqing; Li, Jinliang; Ou, Yuexiong

    2017-07-01

    To control the walking posture according to transmission line single arm inspection robot, the robot is divided into normal walking and climbing walking two state, and gives the definition, then based on the state space method of state variable feedback and PD control method is used to control the two states, two kinds of control method of simulation by using Matlab, in the end, the two control methods proposed is validated in the actual circuit structures. The results show that, the proposed control method is rapid and effective, and can meet the needs of practical application.

  20. Motor control of voluntary arm movements. Kinematic and modelling study.

    PubMed

    Corradini, M L; Gentilucci, M; Leo, T; Rizzolatti, G

    1992-01-01

    The motor control of pointing and reaching-to-grasp movements was investigated using two different approaches (kinematic and modelling) in order to establish whether the type of control varies according to modifications of arm kinematics. Kinematic analysis of arm movements was performed on subjects' hand trajectories directed to large and small stimuli located at two different distances. The subjects were required either to grasp and to point to each stimulus. The kinematics of the subsequent movement, during which subject's hand came back to the starting position, were also studied. For both movements, kinematic analysis was performed on hand linear trajectories as well as on joint angular trajectories of shoulder and elbow. The second approach consisted in the parametric identification of the black box (ARMAX) model of the controller driving the arm movement. Such controller is hypothesized to work for the correct execution of the motor act. The order of the controller ARMAX model was analyzed with respect to the different experimental conditions (distal task, stimulus size and distance). Results from kinematic analysis showed that target distance and size influenced kinematic parameters both of angular and linear displacements. Nevertheless, the structure of the motor program was found to remain constant with distance and distal task, while it varied with precision requirements due to stimulus size. The estimated model order of the controller confirmed the invariance of the control law with regard to movement amplitude, whereas it was sensitive to target size.

  1. Arms Control and Nonproliferation Activities: A Catalog of Recent Events

    DTIC Science & Technology

    2006-01-19

    explosive yield of underground nuclear explosions to 150 kilotons ( TNT equivalent ). Both were ratified in 1990. CTBT negotiations began in 1994 in the...warheads. Yield: The amount of energy released by a nuclear explosion. Generally measured in equivalent tons of TNT . CRS-94 Appendix D: Arms Control...control or ban anti-personnel landmines . The fourth section of this report focus on multilateral nonproliferation efforts, such as the Nuclear

  2. Techniques for controlling a two-link flexible arm

    SciTech Connect

    Feddema, J.T.; Eisler, G.R.; Segalman, D.J.; Robinett, R.D. III; Morimoto, A.K.; Schoenwald, D.A.

    1990-01-01

    The long length and relatively small cross sectional area of the robotic arms envisioned for use inside of the underground nuclear waste storage tanks will require the control of flexible structures. This will become an important problem in the characterization and remediation of these tanks. We are developing control strategies to actively damp residual vibrations in flexible robotic arms caused by high speed motion and abrupt external forces. A planar, two-link flexible arm is currently being used to test these control strategies. In this paper, two methods of control are discussed. The first is a minimum-time control approach which utilizes a finite element model and and optimization program. These tools plan the motor torque profiles necessary for the tip of the arm to move along a straight line, in minimum time, within the motors' torque constraints, and end in a quiescent state. To account for modeling errors in the finite element model, errors in joint angles, velocities, and link curvatures are added to the optimal torque trajectory. Linear quadratic Gaussian (LQG) regulatory design theory is used to determine the feedback gains. The second method of control is a teleoperated joystick controller which uses an input shaping technique to alter the commands of the joystick so as to reduce the residual vibration of the fundamental modes. Approximating the system as linear, the natural frequency and damping ratio are estimated on-line for the complete system, which includes the structure plus a lower level proportional derivative controller. An input shaping filter is determined from the estimated natural frequency, estimated damping ratio, and the desired transfer function of the system. 11 reps., 9 figs.

  3. Toward a livable world: Leo Szilard and the crusade for nuclear arms control

    SciTech Connect

    Szilard, L.

    1987-01-01

    Covering the years 1947 through 1963, this volume chronicles the physicist's attempts to influence public policy on arms control and disarmament issues. The book describes Szilard's opposition to antiballistic missile systems, his proposal for a Washington-Moscow ''hot line,'' his work in the Pugwash conference, his role in creating the Council for a Liveable World, his advocacy of no-first-use and restricted retaliation nuclear policies, and his support of ''minimum deterence'' in place of an overwhelming counterforce capability.

  4. Workshop on arms control and security in the Middle East II summary report

    SciTech Connect

    Chrzanowski, P.L.

    1994-04-01

    The Middle East peace process is now moving more rapidly than ever before. Many actors in the region have displayed a newfound willingness to adopt innovative approaches to resolving persistent conflicts. The end of the Cold War, the accord signed between Israel and the PLO in September 1993, and other recent hopeful developments in the bilateral and multilateral talks have opened the door to real progress in regional security and arms control. The door may quickly shut, however, if promising signs are not translated into concrete, practical, and verifiable agreements. To complement the ongoing negotiations and help sustain the momentum of the Middle East peace process, the Institute on Global Conflict and Cooperation (IGCC) and the Institute of International Relations, co-sponsored a Workshop on Arms Control and Security in the Middle East in Delphi, Greece, in January 1994. Participants in the Delphi workshop were current and former government officials, veteran arms control negotiators, military officers, and leading nongovernmental specialists on arms control and regional security issues from Arab states, Israel, the United States, Europe, and Russia. To facilitate frank discussions and the free exchange of ideas, the conference was held in a private, informal setting, and all discussions at the meeting were off the record. The workshop gave Arab and Israeli participants an opportunity to draw upon the expertise that American, European, and Russian experts have gained through research and development efforts and negotiations between and within governments on arms control issues. At the same time, Arab and Israeli experts voiced their ideas, perspectives, and concerns to each other and to the participants from outside the Middle East. This report summarizes the main points of agreement and the major areas of controversy that came to the fore at the Delphi conference.

  5. Simultaneous Authentication and Certification of Arms-Control Measurement Systems

    SciTech Connect

    MacArthur, Duncan W.; Hauck, Danielle K.; Thron, Jonathan L.

    2012-07-09

    Most arms-control-treaty-monitoring scenarios involve a host party that makes a declaration regarding its nuclear material or items and a monitoring party that verifies that declaration. A verification system developed for such a use needs to be trusted by both parties. The first concern, primarily from the host party's point of view, is that any sensitive information that is collected must be protected without interfering in the efficient operation of the facility being monitored. This concern is addressed in what can be termed a 'certification' process. The second concern, of particular interest to the monitoring party, is that it must be possible to confirm the veracity of both the measurement system and the data produced by this measurement system. The monitoring party addresses these issues during an 'authentication' process. Addressing either one of these concerns independently is relatively straightforward. However, it is more difficult to simultaneously satisfy host party certification concerns and monitoring party authentication concerns. Typically, both parties will want the final access to the measurement system. We will describe an alternative approach that allows both parties to gain confidence simultaneously. This approach starts with (1) joint development of the measurement system followed by (2) host certification of several copies of the system and (3) random selection by the inspecting party of one copy to be use during the monitoring visit and one (or more) copy(s) to be returned to the inspecting party's facilities for (4) further hardware authentication; any remaining copies are stored under joint seal for use as spares. Following this process, the parties will jointly (5) perform functional testing on the selected measurement system and then (6) use this system during the monitoring visit. Steps (1) and (2) assure the host party as to the certification of whichever system is eventually used in the monitoring visit. Steps (1), (3), (4), and (5

  6. Learning and Control Model of the Arm for Loading

    NASA Astrophysics Data System (ADS)

    Kim, Kyoungsik; Kambara, Hiroyuki; Shin, Duk; Koike, Yasuharu

    We propose a learning and control model of the arm for a loading task in which an object is loaded onto one hand with the other hand, in the sagittal plane. Postural control during object interactions provides important points to motor control theories in terms of how humans handle dynamics changes and use the information of prediction and sensory feedback. For the learning and control model, we coupled a feedback-error-learning scheme with an Actor-Critic method used as a feedback controller. To overcome sensory delays, a feedforward dynamics model (FDM) was used in the sensory feedback path. We tested the proposed model in simulation using a two-joint arm with six muscles, each with time delays in muscle force generation. By applying the proposed model to the loading task, we showed that motor commands started increasing, before an object was loaded on, to stabilize arm posture. We also found that the FDM contributes to the stabilization by predicting how the hand changes based on contexts of the object and efferent signals. For comparison with other computational models, we present the simulation results of a minimum-variance model.

  7. Adaptive and predictive control of a simulated robot arm.

    PubMed

    Tolu, Silvia; Vanegas, Mauricio; Garrido, Jesús A; Luque, Niceto R; Ros, Eduardo

    2013-06-01

    In this work, a basic cerebellar neural layer and a machine learning engine are embedded in a recurrent loop which avoids dealing with the motor error or distal error problem. The presented approach learns the motor control based on available sensor error estimates (position, velocity, and acceleration) without explicitly knowing the motor errors. The paper focuses on how to decompose the input into different components in order to facilitate the learning process using an automatic incremental learning model (locally weighted projection regression (LWPR) algorithm). LWPR incrementally learns the forward model of the robot arm and provides the cerebellar module with optimal pre-processed signals. We present a recurrent adaptive control architecture in which an adaptive feedback (AF) controller guarantees a precise, compliant, and stable control during the manipulation of objects. Therefore, this approach efficiently integrates a bio-inspired module (cerebellar circuitry) with a machine learning component (LWPR). The cerebellar-LWPR synergy makes the robot adaptable to changing conditions. We evaluate how this scheme scales for robot-arms of a high number of degrees of freedom (DOFs) using a simulated model of a robot arm of the new generation of light weight robots (LWRs).

  8. Effect of motor dynamics on nonlinear feedback robot arm control

    NASA Technical Reports Server (NTRS)

    Tarn, Tzyh-Jong; Li, Zuofeng; Bejczy, Antal K.; Yun, Xiaoping

    1991-01-01

    A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

  9. Effect of motor dynamics on nonlinear feedback robot arm control

    NASA Technical Reports Server (NTRS)

    Tarn, Tzyh-Jong; Li, Zuofeng; Bejczy, Antal K.; Yun, Xiaoping

    1991-01-01

    A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

  10. Telepresence control of a dual-arm dexterous robot

    NASA Technical Reports Server (NTRS)

    Li, Larry; Cox, Brian; Shelton, Susan; Diftler, Myron

    1994-01-01

    Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory-motor skills of an on-orbit crew and effectively transfers them to a slave robot. A dual-arm dexterous robot operating under telepresence control has been developed and is being evaluated. Preliminary evaluation revealed several important observations that suggest the directions of future enhancement.

  11. Non-damaging, portable radiography: Applications in arms control verification

    SciTech Connect

    Morris, R.A.; Butterfield, K.B.; Apt, K.E.

    1992-08-01

    The state-of-the-technology necessary to perform portable radiography in support of arms control verification is evaluated. Specific requirements, such as accurate measurements of the location of features in a treaty-limited object and the detection of deeply imbedded features, are defined in three scenarios. Sources, detectors, portability, mensuration, and safety are discussed in relation to the scenarios. Examples are given of typical radiographic systems that would be capable of addressing the inspection problems associated with the three scenarios.

  12. Load balancing and closed chain multiple arm control

    NASA Technical Reports Server (NTRS)

    Kreutz, Kenneth; Lokshin, Anatole

    1988-01-01

    The authors give the general dynamical equations for several rigid link manipulators rigidly grasping a commonly held rigid object. It is shown that the number of arm-configuration degrees of freedom lost due to imposing the closed-loop kinematic constraints is the same as the number of degrees of freedom gained for controlling the internal forces of the closed-chain system. This number is equal to the dimension of the kernel of the Jacobian operator which transforms contact forces to the net forces acting on the held object, and it is shown that this kernel can be identified with the subspace of controllable internal forces of the closed-chain system. Control of these forces makes it possible to regulate the grasping forces imparted to the held object or to control the load taken by each arm. It is shown that the internal forces can be influenced without affecting the control of the configuration degrees of freedom. Control laws of the feedback linearization type are shown to be useful for controlling the location and attitude of a frame fixed with respect to the held object, while simultaneously controlling the internal forces of the closed-chain system. Force feedback can be used to linearize and control the system even when the held object has unknown mass properties. If saturation effects are ignored, an unconstrained quadratic optimization can be performed to distribute the load optimally among the joint actuators.

  13. Load balancing and closed chain multiple arm control

    NASA Technical Reports Server (NTRS)

    Kreutz, Kenneth; Lokshin, Anatole

    1988-01-01

    The authors give the general dynamical equations for several rigid link manipulators rigidly grasping a commonly held rigid object. It is shown that the number of arm-configuration degrees of freedom lost due to imposing the closed-loop kinematic constraints is the same as the number of degrees of freedom gained for controlling the internal forces of the closed-chain system. This number is equal to the dimension of the kernel of the Jacobian operator which transforms contact forces to the net forces acting on the held object, and it is shown that this kernel can be identified with the subspace of controllable internal forces of the closed-chain system. Control of these forces makes it possible to regulate the grasping forces imparted to the held object or to control the load taken by each arm. It is shown that the internal forces can be influenced without affecting the control of the configuration degrees of freedom. Control laws of the feedback linearization type are shown to be useful for controlling the location and attitude of a frame fixed with respect to the held object, while simultaneously controlling the internal forces of the closed-chain system. Force feedback can be used to linearize and control the system even when the held object has unknown mass properties. If saturation effects are ignored, an unconstrained quadratic optimization can be performed to distribute the load optimally among the joint actuators.

  14. Prosthetic arm monitoring system using a programmable interface controller.

    PubMed

    Denaro, B A; Schoenberg, J S; Self, B P; Bagley, A

    2001-01-01

    Children with upper extremity limb deficiency are often prescribed a prosthetic arm to assist with daily function. Three types of prostheses are available: passive, active body-powered, and active myoelectric; costs range from $3,000 to $15,000. Clinicians rely on parent and child feedback regarding the usefulness of the prosthesis, and may assess the child's skill in using the device in a controlled setting. However, these methods do not provide an objective quantification of the wear and use of the device during daily activities. The purpose of this project is to develop a sensor to record the amount of time per day the prosthetic arm is worn, and to count the number of times per day the child activates (closes) the prosthetic hand (or terminal device). The system that has been developed can be integrated unobtrusively into a child's prosthetic arm. A programmable interface controller (PIC) with interface circuitry and memory was developed to record the daily wear pattern and hand usage of the prosthesis at 15-minute intervals. Memory and battery capacities are sufficient to record data over a three-month period. A personal computer interface downloads the collected data and may be used to reprogram the device for different time periods of data collection. All components, including the battery, have a mass of 87 grams and fit inside the forearm cavity of a 9-year old's prosthesis. Controlled trials are underway at Shriners Hospital for Children, Northern California, to determine system reliability.

  15. Controlled multi-arm platform design using predictive probability.

    PubMed

    Hobbs, Brian P; Chen, Nan; Lee, J Jack

    2016-01-12

    The process of screening agents one-at-a-time under the current clinical trials system suffers from several deficiencies that could be addressed in order to extend financial and patient resources. In this article, we introduce a statistical framework for designing and conducting randomized multi-arm screening platforms with binary endpoints using Bayesian modeling. In essence, the proposed platform design consolidates inter-study control arms, enables investigators to assign more new patients to novel therapies, and accommodates mid-trial modifications to the study arms that allow both dropping poorly performing agents as well as incorporating new candidate agents. When compared to sequentially conducted randomized two-arm trials, screening platform designs have the potential to yield considerable reductions in cost, alleviate the bottleneck between phase I and II, eliminate bias stemming from inter-trial heterogeneity, and control for multiplicity over a sequence of a priori planned studies. When screening five experimental agents, our results suggest that platform designs have the potential to reduce the mean total sample size by as much as 40% and boost the mean overall response rate by as much as 15%. We explain how to design and conduct platform designs to achieve the aforementioned aims and preserve desirable frequentist properties for the treatment comparisons. In addition, we demonstrate how to conduct a platform design using look-up tables that can be generated in advance of the study. The gains in efficiency facilitated by platform design could prove to be consequential in oncologic settings, wherein trials often lack a proper control, and drug development suffers from low enrollment, long inter-trial latency periods, and an unacceptably high rate of failure in phase III. © The Author(s) 2016.

  16. Controlled multi-arm platform design using predictive probability

    PubMed Central

    Hobbs, Brian P.; Chen, Nan; Lee, J. Jack

    2016-01-01

    The process of screening agents one-at-a-time under the current clinical trials system suffers from several deficiencies that could be addressed in order to extend financial and patient resources. In this article, we introduce a statistical framework for designing and conducting randomized multi-arm screening platforms with binary endpoints using Bayesian modeling. In essence, the proposed platform design consolidates inter-study control arms, enables investigators to assign more new patients to novel therapies, and accommodates mid-trial modifications to the study arms that allow both dropping poorly performing agents as well as incorporating new candidate agents. When compared to sequentially conducted randomized two-arm trials, screening platform designs have the potential to yield considerable reductions in cost, alleviate the bottleneck between phase I and II, eliminate bias stemming from inter-trial heterogeneity, and control for multiplicity over a sequence of a priori planned studies. When screening five experimental agents, our results suggest that platform designs have the potential to reduce the mean total sample size by as much as 40% and boost the mean overall response rate by as much as 15%. We explain how to design and conduct platform designs to achieve the aforementioned aims and preserve desirable frequentist properties for the treatment comparisons. In addition, we demonstrate how to conduct a platform design using look-up tables that can be generated in advance of the study. The gains in efficiency facilitated by platform design could prove to be consequential in oncologic settings, wherein trials often lack a proper control, and drug development suffers from low enrollment, long inter-trial latency periods, and an unacceptably high rate of failure in phase III. PMID:26763586

  17. Arm exercise training in chronic obstructive pulmonary disease: a randomised controlled trial.

    PubMed

    McKeough, Zoe J; Bye, Peter T P; Alison, Jennifer A

    2012-08-01

    The aim of this study was to compare the effects of arm endurance training, arm strength training, a combination of arm endurance and strength training, and no arm training on endurance arm exercise capacity. A randomised controlled trial was undertaken with chronic obstructive pulmonary disease subjects randomised into one of four groups to complete 8 weeks of training: (a) arm endurance training (endurance group) consisting of supported and unsupported arm exercises, (b) arm strength training (strength group) using weight machines, (c) a combination of arm endurance and arm strength training (combined group), or (d) no arm training (control group). The primary outcome measurement was endurance arm exercise capacity measured by an endurance arm crank test. Secondary outcomes included functional arm exercise capacity measured by the incremental unsupported arm exercise test and health-related quality of life. A total of 52 subjects were recruited and 38 (73%) completed the study. When comparing the arm endurance group to the control group, there was a significant increase in endurance time of 6 min (95% CI 2-10, p < 0.01) following the interventions. When comparing the combined group to each of the control, endurance and strength groups, there was a significantly greater reduction in dyspnoea and rate of perceived exertion at the end of the functional arm exercise test for the combined group following the interventions. The mode of training to be favoured to increase endurance arm exercise capacity is arm endurance training. However, combined arm endurance and strength training may also be very useful to reduce the symptoms during everyday arm tasks.

  18. The KALI multi-arm robot programming and control environment

    NASA Technical Reports Server (NTRS)

    Backes, Paul; Hayati, Samad; Hayward, Vincent; Tso, Kam

    1989-01-01

    The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

  19. Contact control for advanced applications of light weight arms

    NASA Technical Reports Server (NTRS)

    Book, Wayne J.; Kwon, Dong-Soo

    1991-01-01

    Many applications of robotic and teleoperated manipulator arms require operation in contact and non-contact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact must occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effect of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enables a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effect of feedback gain, force trajectory, and desired final force are of particular interest and are studied. Experimental results are presented on a one link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed.

  20. Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

    NASA Astrophysics Data System (ADS)

    Nabeel, Hafiz Muhammad; Azher, Anum; Usman Ali, Syed M.; Wahab Mughal, Abdul

    2013-12-01

    In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface.

  1. Task driven feedback control of robot arms - A step toward intelligent control

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Tarn, T. J.; Li, Z. F.

    1986-01-01

    The process of connecting task descriptions originating from machine intelligence planning programs to the mechanization of feedback control of robot arms is analyzed. It is shown in this paper that control theories and practices can be extended to a higher level where feedback control of robot arms directly can respond to work space task commands provided that the work space task as a command is given in the form of a closed function of time. A general mathematical procedure using tools from differential geometry is introduced for synthesizing task space motion planning so that the planned motion can be used as a direct input to the robot arm feedback control system to achieve desired robot hand motion. By definition, 'intelligent control' is being manifested through robot performance in the task space relative to task space commands. Thus, the capability of implementing feedback control of robot arms directly driven by appropriate task descriptions in the workspace as commands is a step toward intelligent control.

  2. A general dynamic model of flexible robot arms for control

    NASA Technical Reports Server (NTRS)

    Ding, X.; Tarn, T. J.; Bejczy, A. K.

    1989-01-01

    Hamilton's principle is used to derive the dynamic model for a large class of flexible robot arms. The resultant dynamic model consists of a system of partial differential-integral equations and the dynamic boundary conditions associated with it. Some properties of the model are observed, and its application to control is discussed. This model represents an infinite-dimensional nonlinear dynamic system and yet can be turned into a finite-dimensional system that could be obtained by modal expansion, if it is desired. This provides more flexibility for control purposes as well as for the analysis of the system.

  3. Arms Control and Missile Defense: Explaining Success and Failure in U.S.-Russian Cooperation

    DTIC Science & Technology

    2013-09-01

    NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS Approved for public release; distribution is unlimited ARMS CONTROL AND...September 2013 3. REPORT TYPE AND DATES COVERED Master’s Thesis 4. TITLE AND SUBTITLE ARMS CONTROL AND MISSILE DEFENSE: EXPLAINING SUCCESS AND...on its nuclear arsenal and permanent seat on the United Nations Security Council. This research analyzed arms control and ballistic missile defense

  4. Security and Arms Control: The Search for a More Stable Peace. Revised.

    ERIC Educational Resources Information Center

    Howard, Norman, Ed.; Sussman, Colleen, Ed.

    Efforts of the United States since the end of World War II to advance the arms control process are discussed. There are five major sections. The first section recounts past arms control efforts--those that have worked and those that have not--and discusses the principles underlying U.S. arms control initiatives. The second section describes the…

  5. Control and function of arm swing in human walking and running.

    PubMed

    Pontzer, Herman; Holloway, John H; Holloway, John H; Raichlen, David A; Lieberman, Daniel E

    2009-02-01

    We investigated the control and function of arm swing in human walking and running to test the hypothesis that the arms act as passive mass dampers powered by movement of the lower body, rather than being actively driven by the shoulder muscles. We measured locomotor cost, deltoid muscle activity and kinematics in 10 healthy adult subjects while walking and running on a treadmill in three experimental conditions: control; no arms (arms folded across the chest); and arm weights (weights worn at the elbow). Decreasing and increasing the moment of inertia of the upper body in no arms and arm weights conditions, respectively, had corresponding effects on head yaw and on the phase differences between shoulder and pelvis rotation, consistent with the view of arms as mass dampers. Angular acceleration of the shoulders and arm increased with torsion of the trunk and shoulder, respectively, but angular acceleration of the shoulders was not inversely related to angular acceleration of the pelvis or arm. Restricting arm swing in no arms trials had no effect on locomotor cost. Anterior and posterior portions of the deltoid contracted simultaneously rather than firing alternately to drive the arm. These results support a passive arm swing hypothesis for upper body movement during human walking and running, in which the trunk and shoulders act primarily as elastic linkages between the pelvis, shoulder girdle and arms, the arms act as passive mass dampers which reduce torso and head rotation, and upper body movement is primarily powered by lower body movement.

  6. The arms race

    SciTech Connect

    Sheehan, M.

    1983-01-01

    This book presents a comprehensive examination of the nature of the contemporary arms race, the forces that encourage arms competition, and the means by which these forces can be controlled. The author provides analyses of such specific issues as the viability of arms control agreements; the possibilities for nuclear disarmament; the means of deterrence, detection, and defense; and the methods of destruction themselves - nuclear, conventional, chemical, and space weapons.

  7. Test and validation for robot arm control dynamics simulation

    NASA Technical Reports Server (NTRS)

    Yae, K. Harold; Kim, Sung-Soo; Haug, Edward J.; Seering, Warren; Sundaram, Kamala; Thompson, Bruce; Turner, James; Chun, Hon; Frisch, Harold P.; Schnurr, Richard

    1989-01-01

    The Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms.

  8. Sea-launched cruise missiles: Technology, missions, & arms control verification

    NASA Astrophysics Data System (ADS)

    Scribner, Richard A.

    1988-12-01

    Sea-launched cruise missiles (SLCMs) present some particularly striking problems for both national security and arms control. These small, dual-purpose, difficult to detect weapons present some formidable challenges for verification in any scheme that attempts to limit rather than eliminate them. Conventionally armed SLCMs offer to the navies of both superpowers important offensive and defensive capabilities. Nuclear armed, long-range, land-attack SLCMs, on the other hand, seem to pose destabilizing threats and otherwise have questionable value, despite strong US support for extensive deployment of them. If these weapons are not constrained, their deployment could circumvent gains which might be made in agreements directly reducing of strategic nuclear weapons. This paper reviews the technology and planned deployments of SLCMs, the verification schemes which have been discussed and are being investigated to try to deal with the problem, and examines the proposed need for and possible uses of SLCMs. It presents an overview of the problem technically, militarily, and politically.

  9. Control strategy for cooperating disparate manipulators: Non-colocated control of disturbances of a flexible arm

    NASA Technical Reports Server (NTRS)

    Lew, Jae Y.

    1991-01-01

    The long term objectives for this research are to use a small robot arm to compliment a large robot arm. Disturbances generated by robot tasks were studied. Available equipment made it convenient to study disturbances generated by an abrasive cut off saw mounted on the tip of a large armed robot, and used to cut through rods and pipes in the range of 0.5 in. to 1.5 in. The abrasive process was modeled as a friction operation. The operation of the cut off saw was performed autonomously and under teleoperated control. The behavior was stable in both cases for a P-D joint control algorithm. It was found that broad band excitation during the cutting operation is capable of exciting arm natural frequencies to above the third natural frequency of the arm. The direction of cut changed the modes excited due to the change in coupling coefficients.

  10. Ballistic missile defense: a potential arms-control initiative

    SciTech Connect

    Barasch, G.E.; Kerr, D.M.; Kupperman, R.H.; Pollock, R.; Smith, H.A.

    1981-01-01

    US strategic forces must be restructured to meet national-security objectives in a changing world. Growth and modernization of Soviet strategic missile forces are causing our land-based strategic missiles to become increasingly vulnerable to Soviet nuclear attack. For some strategic force configurations, the goals of flexible nuclear deterrence and strategic arms limitations appear mutually inconsistent. With such forces, prospects for arms limitations would degrade further if the current Soviet build-up were to continue, or if the Soviets were to install unilaterally an anti-ballistic missile system capable of wide-area, multicity defense, or both. However, if the US installs an anti-ballistic missile system along with reduced but modernized offensive strategic forces, arms limitation appears compatible with both assured destruction and war-fighting deterrence policies. This conclusion appears equally valid for expanded Soviet forces even if the Soviets also install ballistic missile defenses. In particular, an American strategic posture including layered defense of MX missiles based deceptively in silos was analyzed. The exoatmospheric-intercept component of this defense system could also defend some of our cities and industrial and military installations. If the US were to adopt this strategic posture, we believe it would create incentives for the Soviet Union to restrain strategic-armsexpansion. Mutual arms-control initiatives could follow. Test and installation of the needed defensive systems are now precluded by the Anti-Ballistic-Missile Treaty adopted in 1972. An opportunity for Treaty reconsideration occurs in 1982. Substantiation of our results would suggest that consideration be given to Treaty modifications or to replacing the Treaty with other agreements.

  11. Tags and seals to strengthen arms control verification

    SciTech Connect

    DeVolpi, A.

    1990-10-03

    Tags and seals have long been recognized as important tools in arms control. The trend in control of armaments is to limit militarily significant equipment that is capable of being verified through direct and cooperative means, chiefly on-site inspection or monitoring. Although this paper will focus on the CFE treaty, the role of tags and seals for other treaties will also be addressed. Published technology and concepts will be reviewed, based on open sources. Arms control verification tags are defined as unique identifiers designed to be tamper-revealing; in that respect, seals are similar, being used as indicators of unauthorized access. Tamper-revealing tags are intended as single-point markers, seals for two-point couplings, and nets for volume containment. Seals usually bind two separate components, such as a hatch or flange that provides access to a secure compartment or a valve that controls fluid flow. A tamper-revealing net might be comprised of a coupled fiberoptic bundle wrapped around an object. Sometimes the term ``seal`` is used to denote the tamper-revealing feature of a tag that is attached to a surface, but in this paper the tamper-indicating connection is considered to be part of the tag concept itself.

  12. Issues in applying multi-arm multi-stage methodology to a clinical trial in prostate cancer: the MRC STAMPEDE trial

    PubMed Central

    Sydes, Matthew R; Parmar, Mahesh KB; James, Nicholas D; Clarke, Noel W; Dearnaley, David P; Mason, Malcolm D; Morgan, Rachel C; Sanders, Karen; Royston, Patrick

    2009-01-01

    Background The multi-arm multi-stage (MAMS) trial is a new paradigm for conducting randomised controlled trials that allows the simultaneous assessment of a number of research treatments against a single control arm. MAMS trials provide earlier answers and are potentially more cost-effective than a series of traditionally designed trials. Prostate cancer is the most common tumour in men and there is a need to improve outcomes for men with hormone-sensitive, advanced disease as quickly as possible. The MAMS design will potentially facilitate evaluation and testing of new therapies in this and other diseases. Methods STAMPEDE is an open-label, 5-stage, 6-arm randomised controlled trial using MAMS methodology for men with prostate cancer. It is the first trial of this design to use multiple arms and stages synchronously. Results The practical and statistical issues faced by STAMPEDE in implementing MAMS methodology are discussed and contrasted with those for traditional trials. These issues include the choice of intermediate and final outcome measures, sample size calculations and the impact of varying the assumptions, the process for moving between trial stages, stopping accrual to each trial arm and overall, and issues around perceived trial complexity. Conclusion It is possible to use the MAMS design to initiate and undertake large scale cancer trials. The results from STAMPEDE will not be known for some years but the lessons learned from running a MAMS trial are shared in the hope that other researchers will use this exciting and efficient method to perform further randomised controlled trials. Trial registration ISRCTN78818544, NCT00268476 PMID:19519885

  13. Business quality control in issuing life insurance.

    PubMed

    Roberts, N K

    1999-01-01

    Fraud investigation and fraud control are entirely different processes. Similarly the auditing of a life insurance company and the issuing of life insurance policies and business quality control are not the same. Business quality control and fraud control have much in common. In this article, these similarities are explored and a case is made that companies issuing life insurance policies should consider the business quality control approach rather than the more traditional investigatory methods.

  14. Gamma-ray camera for arms control applications

    SciTech Connect

    Chevnov, M; Ignoytev, G; Morgan, J F; Seminov, D

    1999-06-01

    The Research Institute of Pulse Techniques, in collaboration with the Proliferation Prevention and Arms Control Program at LLNL, has constructed a gamma-ray camera for use in arms control agreements such as Mutual Reciprocal Inspections and Warhead Dismantlement Transparency. The camera is designed to have high efficiency (in order to reduce inspection times), moderate resolution (to decrease the intrusiveness of the measurements), and sturdy construction (to allow operation in the types of conditions that might be met during shipment and use at various forward weapons sites). The imaging element consists of a honeycomb or soda-straw lead collimator and a 312-mm-diameter NaI(Tl) scintillator viewed by an array of phototubes. Software was developed to display two- and three-dimensional views of the data and to analyze shape and peak areas.The first model was tuned for plutonium radiation in the 375- to 415-keV energy range. Images from various arrays of point sources were obtained and are presented.

  15. Uranium-233 waste definition: Disposal options, safeguards, criticality control, and arms control

    SciTech Connect

    Forsberg, C.W.; Storch, S.N.; Lewis, L.C.

    1998-07-07

    The US investigated the use of {sup 233}U for weapons, reactors, and other purposes from the 1950s into the 1970s. Based on the results of these investigations, it was decided not to use {sup 233}U on a large scale. Most of the {sup 233}U-containing materials were placed in long-term storage. At the end of the cold war, the US initiated, as part of its arms control policies, a disposition program for excess fissile materials. Other programs were accelerated for disposal of radioactive wastes placed in storage during the cold war. Last, potential safety issues were identified related to the storage of some {sup 233}U-containing materials. Because of these changes, significant activities associated with {sup 233}U-containing materials are expected. This report is one of a series of reports to provide the technical bases for future decisions on how to manage this material. A basis for defining when {sup 233}U-containing materials can be managed as waste and when they must be managed as concentrated fissile materials has been developed. The requirements for storage, transport, and disposal of radioactive wastes are significantly different than those for fissile materials. Because of these differences, it is important to classify material in its appropriate category. The establishment of a definition of what is waste and what is fissile material will provide the guidance for appropriate management of these materials. Wastes are defined in this report as materials containing sufficiently small masses or low concentrations of fissile materials such that they can be managed as typical radioactive waste. Concentrated fissile materials are defined herein as materials containing sufficient fissile content such as to warrant special handling to address nuclear criticality, safeguards, and arms control concerns.

  16. Real-time statistical quality control and ARM

    SciTech Connect

    Blough, D.K.

    1992-05-01

    An important component of the Atmospheric Radiation Measurement (ARM) Program is real-time quality control of data obtained from meteorological instruments. It is the goal of the ARM program to enhance the predictive capabilities of global circulation models by incorporating in them more detailed information on the radiative characteristics of the earth`s atmosphere. To this end, a number of Cloud and Radiation Testbeds (CART`s) will be built at various locations worldwide. Each CART will consist of an array of instruments designed to collect radiative data. The large amount of data obtained from these instruments necessitates real-time processing in order to flag outliers and possible instrument malfunction. The Bayesian dynamic linear model (DLM) proves to be an effective way of monitoring the time series data which each instrument generates. It provides a flexible yet powerful approach to detecting in real-time sudden shifts in a non-stationary multivariate time series. An application of these techniques to data arising from a remote sensing instrument to be used in the CART is provided. Using real data from a wind profiler, the ability of the DLM to detect outliers is studied. 5 refs.

  17. Real-time statistical quality control and ARM

    SciTech Connect

    Blough, D.K.

    1992-05-01

    An important component of the Atmospheric Radiation Measurement (ARM) Program is real-time quality control of data obtained from meteorological instruments. It is the goal of the ARM program to enhance the predictive capabilities of global circulation models by incorporating in them more detailed information on the radiative characteristics of the earth's atmosphere. To this end, a number of Cloud and Radiation Testbeds (CART's) will be built at various locations worldwide. Each CART will consist of an array of instruments designed to collect radiative data. The large amount of data obtained from these instruments necessitates real-time processing in order to flag outliers and possible instrument malfunction. The Bayesian dynamic linear model (DLM) proves to be an effective way of monitoring the time series data which each instrument generates. It provides a flexible yet powerful approach to detecting in real-time sudden shifts in a non-stationary multivariate time series. An application of these techniques to data arising from a remote sensing instrument to be used in the CART is provided. Using real data from a wind profiler, the ability of the DLM to detect outliers is studied. 5 refs.

  18. Modeling, design, and control of flexible manipulator arms: Status and trends

    NASA Technical Reports Server (NTRS)

    Book, Wayne J.

    1989-01-01

    The desire for higher performance manipulators has lead to dynamic behavior in which the flexibility is an essential aspect. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are examined first. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed.

  19. Control Issues for Microelectromechanical Systems

    DTIC Science & Technology

    2006-04-01

    vibrational modes in longitudinal...state variable facilitates simulation for control design [6]. VIBRATIONAL MODES AND LATERAL INSTABILITY MEMS devices usually have vibrational modes . In...Substrate (Wafer) Y Actuator Mθ Lateral Movement Fy Fx Shuttle Traveling Range Suspension X A ct ua to r Y Sensor FIGURE 4 First four vibrational modes

  20. Intelligent control system based on ARM for lithography tool

    NASA Astrophysics Data System (ADS)

    Chen, Changlong; Tang, Xiaoping; Hu, Song; Wang, Nan

    2014-08-01

    The control system of traditional lithography tool is based on PC and MCU. The PC handles the complex algorithm, human-computer interaction, and communicates with MCU via serial port; The MCU controls motors and electromagnetic valves, etc. This mode has shortcomings like big volume, high power consumption, and wasting of PC resource. In this paper, an embedded intelligent control system of lithography tool, based on ARM, is provided. The control system used S5PV210 as processor, completing the functions of PC in traditional lithography tool, and provided a good human-computer interaction by using LCD and capacitive touch screen. Using Android4.0.3 as operating system, the equipment provided a cool and easy UI which made the control more user-friendly, and implemented remote control and debug, pushing video information of product by network programming. As a result, it's convenient for equipment vendor to provide technical support for users. Finally, compared with traditional lithography tool, this design reduced the PC part, making the hardware resources efficiently used and reducing the cost and volume. Introducing embedded OS and the concepts in "The Internet of things" into the design of lithography tool can be a development trend.

  1. Templating as a Chain of Custody Tool for Arms Control

    SciTech Connect

    Benz, Jacob M.; Tanner, Jennifer E.; Duckworth, Leesa L.

    2013-06-01

    Historically, templates have been considered for use as a treaty accountable item (TAI) authentication tool, alongside item attributes. Because of this, the use of templates has fallen by the wayside due to the perceived intrusiveness of and handling/storage of template data; especially when compared to the negotiability of unclassified attribute threshold values. However, as a chain of custody tool, templates potentially have a large and important role to play in maintaining confidence in the authenticity of the treaty accountable items as they progress through an arms control regime. In general terms, templating is the process of creating a unique, measurable, and repeatable signature which is representative of the TAI. At any point in time, the signature can be re-measured or re-inspected to verify the signature has not changed. Chain of custody is the process by which a controlled boundary is established and maintained around a TAI to both deter and detect unauthorized access to the item. Typically, this is accomplished by putting a tamper indicating device (TID) on the item or container. The TID now acts as a surrogate for the item itself, and is continually checked to ensure the unique identifier and tamper indicating mechanisms have not changed since last inspection. This in and of itself is a form of templating. A stronger template is one that utilizes a signature of the combined item and container. There are many potential signatures which may be exploited, including radiation-, electromagnetic-, and acoustic-based signatures. This paper/presentation will explore the technology and mechanisms in which templating can be applied to create a more robust chain of custody over treaty accountable items as part of a future arms control regime.

  2. Stability analysis of position and force control problems for robot arms

    NASA Technical Reports Server (NTRS)

    Wen, John T.; Murphy, Steve

    1990-01-01

    Stability issues involving the control of a robot arm under the influence of external forces are discussed. Several different scenarios are considered: position control with the external force as an unmodeled disturbance, compliant control for a bounded external force in some subspace, and compliant control for a force due to the interaction with an environment whose dynamical behavior can be modeled. In each of these cases, a stability analysis using the Lyapunov method is presented. An explanation of instability is put forth for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved with the integral force feedback.

  3. Conventional forces and arms control: Technology and strategy in a changing world

    SciTech Connect

    Pilat, J.F.; White, P.C.

    1990-06-01

    To address the implications of changes for future roles of conventional forces and to assess the technology implications of future strategies, force requirements, and conventional arms control agreements, the Center for National Security Studies in cooperation with the Defense Research and Applications Directorate of the Los Alamos National Laboratory held a conference on Conventional Forces and Arms Control: Technology and Strategy in a Changing World'' at Los Alamos from September 25--27, 1989. The distinguished participants from government, industry, and academia in the United States and Western Europe addressed such issues as: What are the implications of geopolitical and technological trends for international security and stability How will these global changes affect US and allied strategies and force structure, especially the requirements for conventional, nonnuclear forces What will be the role of and rationale for conventional forces in the context of current and prospective allied security requirements How can the West assure it will have the forces necessary for its security How will technological developments influence the structure of tomorrow's conventional forces What impacts will arms reductions have on future systems and force structures What are the prospects for the development and deployment in weapon systems of future conventional military technologies, in light of existing and potential political, economic, bureaucratic, and other impediments

  4. Redundant arm control in a supervisory and shared control system

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.; Long, Mark K.

    1992-01-01

    The Extended Task Space Control approach to robotic operations based on manipulator behaviors derived from task requirements is described. No differentiation between redundant and non-redundant robots is made at the task level. The manipulation task behaviors are combined into a single set of motion commands. The manipulator kinematics are used subsequently in mapping motion commands into actuator commands. Extended Task Space Control is applied to a Robotics Research K-1207 seven degree-of-freedom manipulator in a supervisory telerobot system as an example.

  5. Disarmament and arms control in the nuclear age. Report from the Joint Committee on Foreign Affairs and Defence

    SciTech Connect

    Not Available

    1986-01-01

    This book has been prepared to facilitate more informed public debate in Australia over the dangers of nuclear war and ways of reducing its likelihood in the future. It provides a summary of the basic facts and issues that underly the nuclear debate as well as provide an assessment of Australia's contribution to disarmament and arms control. The report has three basic aims: to provide a compendium or factual information on our current nuclear circumstances and our continuing search to control and eliminate nuclear arms; to describe and analyse Australia's contributions to disarmament and arms control and the maintenance of international peace and security; and to help prepare an agenda for informed debate over our future direction and policies for reducing the risk of nuclear war.

  6. Nuclear arms control, nonproliferation, and counterterrorism: impacts on public health.

    PubMed

    Dreicer, Mona; Pregenzer, Arian

    2014-04-01

    Reducing the risks of nuclear war, limiting the spread of nuclear weapons, and reducing global nuclear weapons stockpiles are key national and international security goals. They are pursued through a variety of international arms control, nonproliferation, and counterterrorism treaties and agreements. These legally binding and political commitments, together with the institutional infrastructure that supports them, work to establish global norms of behavior and have limited the spread of weapons of mass destruction. Beyond the primary security objectives, reducing the likelihood of the use of nuclear weapons, preventing environmental releases of radioactive material, increasing the availability of safe and secure nuclear technology for peaceful purposes, and providing scientific data relevant to predicting and managing the consequences of natural or human-caused disasters worldwide provide significant benefits to global public health.

  7. Nuclear Arms Control, Nonproliferation, and Counterterrorism: Impacts on Public Health

    SciTech Connect

    Dreicer, Mona; Pregenzer, Arian

    2014-04-01

    Reducing the risks of nuclear war, limiting the spread of nuclear weapons and reducing global nuclear weapons stockpiles are key national and international security goals. They are pursued through a variety of international arms control, nonproliferation and counter-terrorism treaties and agreements. These legally binding and political commitments, together with the institutional infrastructure that supports them, work to establish global norms of behavior and have limited the spread of weapons of mass destruction. Beyond the primary security objectives, reducing the likelihood of the use of nuclear weapons, preventing environmental releases of radioactive material, increasing the availability of safe and secure nuclear technology for peaceful purposes, and providing scientific data relevant to predicting and managing the consequences of natural or human-caused disasters world-wide provide significant benefits to global public health.

  8. Nuclear Arms Control, Nonproliferation, and Counterterrorism: Impacts on Public Health

    DOE PAGES

    Dreicer, Mona; Pregenzer, Arian

    2014-04-01

    Reducing the risks of nuclear war, limiting the spread of nuclear weapons and reducing global nuclear weapons stockpiles are key national and international security goals. They are pursued through a variety of international arms control, nonproliferation and counter-terrorism treaties and agreements. These legally binding and political commitments, together with the institutional infrastructure that supports them, work to establish global norms of behavior and have limited the spread of weapons of mass destruction. Beyond the primary security objectives, reducing the likelihood of the use of nuclear weapons, preventing environmental releases of radioactive material, increasing the availability of safe and secure nuclearmore » technology for peaceful purposes, and providing scientific data relevant to predicting and managing the consequences of natural or human-caused disasters world-wide provide significant benefits to global public health.« less

  9. Nuclear Arms Control, Nonproliferation, and Counterterrorism: Impacts on Public Health

    PubMed Central

    Pregenzer, Arian

    2014-01-01

    Reducing the risks of nuclear war, limiting the spread of nuclear weapons, and reducing global nuclear weapons stockpiles are key national and international security goals. They are pursued through a variety of international arms control, nonproliferation, and counterterrorism treaties and agreements. These legally binding and political commitments, together with the institutional infrastructure that supports them, work to establish global norms of behavior and have limited the spread of weapons of mass destruction. Beyond the primary security objectives, reducing the likelihood of the use of nuclear weapons, preventing environmental releases of radioactive material, increasing the availability of safe and secure nuclear technology for peaceful purposes, and providing scientific data relevant to predicting and managing the consequences of natural or human-caused disasters worldwide provide significant benefits to global public health. PMID:24524501

  10. Control of arm movements for quick change of movement direction.

    PubMed

    Takatoku, Nozomi; Fujiwara, Motoko

    2014-01-01

    The authors investigated the control strategy for changing movement direction during arm movements by analyzing the changes in a triphasic electromyographic pattern. Subjects performed a 40° flexion (basic) and a 40° flexion-extension to return to the start position (return) under two conditions: performing a predetermined task (SF) and performing each task in response to a signal (ST). The results revealed the agonist burst for the return task under the ST condition resembled that of the basic task under the SF condition, and the antagonist burst increased after presenting the modification signal. In conclusion, the strategy for quick change of movement direction was to increase the antagonist burst by an additional command from the central nervous system without cancelling the planned movement.

  11. Computer Language Choices in Arms Control and Nonproliferation Regimes

    SciTech Connect

    White, G K

    2005-06-10

    The U.S. and Russian Federation continue to make substantive progress in the arms control and nonproliferation transparency regimes. We are moving toward an implementation choice for creating radiation measurement systems that are transparent in both their design and in their implementation. In particular, the choice of a programming language to write software for such regimes can decrease or significantly increase the costs of authentication. In this paper, we compare procedural languages with object-oriented languages. In particular, we examine the C and C++ languages; we compare language features, code generation, implementation details, and executable size and demonstrate how these attributes aid or hinder authentication and backdoor threats. We show that programs in lower level, procedural languages are more easily authenticated than are object-oriented ones. Potential tools and methods for authentication are covered. Possible mitigations are suggested for using object-oriented programming languages.

  12. Tags and seals for controling nuclear materials, Arms control and nonproliferation technologies. Second quarter 1993

    SciTech Connect

    Staehle, G; Talaber, C; Stull, S; Moulthrop, P

    1993-12-31

    This issue of Arms Control and Nonproliferation Technologies summarizes demonstrations and addresses related topics. The first article, ``Basic Nuclear Material Control and Accountability Concepts as Might be Applied to the Uranium from the US-Russian HEU Purchase,`` describes safeguards sybsystems necessary for effective nuclear material safeguards. It also presents a general discussion on HEU-to-low-enrichment uranium (LEU) commingling processes and suggests applicable key measurement points. The second article, ``A Framework for Evaluating Tamper-Indicating-Device Technologies (TIDs),`` describes their uses, proper selection, and evaluation. The final three articles discuss the tags and seals applications and general characteristics of several nuclear material containers: the Type 30B uranium hexafluoride container, the AT-400R container, and the DOT Specification 6M container for SNM. Finally, the Appendix displays short descriptions and illustrations of seven tags and seals, including: the E-cup and wire seal, the python seal, the secure loop inspectable tag/seal (SLITS), bolt-and-loop type electronic identification devices, and the shrink-wrap seal.

  13. Method and apparatus for hybrid position/force control of multi-arm cooperating robots

    NASA Technical Reports Server (NTRS)

    Hayati, Samad A. (Inventor)

    1989-01-01

    Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.

  14. Critical Issues in Crime Control Policy.

    ERIC Educational Resources Information Center

    Flynn, Edith Elisabeth, Ed.

    1983-01-01

    Entire issue discusses crime control policy in the United States, including such issues as the relation of social and environmental variables to criminal activity, dealing with the career offender, biological correlates of criminal behavior, juvenile delinquency, and white collar crime. (CS)

  15. Critical Issues in Crime Control Policy.

    ERIC Educational Resources Information Center

    Flynn, Edith Elisabeth, Ed.

    1983-01-01

    Entire issue discusses crime control policy in the United States, including such issues as the relation of social and environmental variables to criminal activity, dealing with the career offender, biological correlates of criminal behavior, juvenile delinquency, and white collar crime. (CS)

  16. The application of active side arm controllers in helicopters

    NASA Technical Reports Server (NTRS)

    Knorr, R.; Melz, C.; Faulkner, A.; Obermayer, M.

    1993-01-01

    Eurocopter Deutschland (ECD) started simulation trials to investigate the particular problems of Side Arm Controllers (SAC) applied to helicopters. Two simulation trials have been performed. In the first trial, the handling characteristics of a 'passive' SAC and the basic requirements for the application of an 'active' SAC were evaluated in pilot-in-the-loop simulations, performing the tasks in a realistic scenario representing typical phases of a transport mission. The second simulation trial investigated the general control characteristics of the 'active' in comparison to the 'passive' control principle. A description of the SACs developed by ECD and the principle of the 'passive' and 'active' control concept is given, as well as specific ratings for the investigated dynamic and ergonomic parameters effecting SAC characteristics. The experimental arrangements, as well as the trials procedures of both simulation phases, are described and the results achieved are discussed emphasizing the advantages of the 'active' as opposed to the 'passive' SAC concept. This also includes the presentation of some critical aspects still to be improved and proposals to solve them.

  17. Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

    NASA Technical Reports Server (NTRS)

    Wen, John T.; Kreutz-Delgado, Kenneth; Bayard, David S.

    1992-01-01

    A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

  18. Arms control movements and the media: From the Cold War to the nuclear freeze

    SciTech Connect

    Rojecki, A.

    1993-12-31

    The dissertation examines news coverage of the two most recent arms control movements: The test ban (1957-1963) and the nuclear freeze (1981-1984). Four questions guide the research: (1) To what extent do the news media maintain a space for oppositional politics that is independent of elite influence? (2) DOes the existence and characters of the space matter to policy outcomes? (3) Has the character of voices permitted into this space changed over time? (4) Are there differences between the more elite-oriented media and those aiming for mass audiences? The study begins by tracing the formation of arms control policy in the three presidential administrations that span the two movements. Finally, it examines the news frames used to depict movement messages and participants. The study found that space provided to movement politics varied both with administration policy formation and editorial policy. Because news coverage followed the contours of elite policy, the movements succeeded only in placing their issues on the policy agenda but not in achieving their desired goals. There were significant differences in the types of voiced permitted into the news across the two movements. Moral authority to participate in and influence arms control policy debates was virtually unquestioned during the cold war, but by the 1980s, the media were more likely to defer to expert opinion, despite its underlying partisan interest. The most significant difference in news treatment was between the elite press and television news: The simplicity of the television report was more likely to elicit core issues. But neither the press, the opposition party in Congress, nor the movement used these to challenge the rationale of administration policy or to explore the ethical implications of the influence of defense industry PACs on policy-making.

  19. Kinematic equations for resolved-rate control of an industrial robot arm

    NASA Technical Reports Server (NTRS)

    Barker, L. K.

    1983-01-01

    An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

  20. Analyst Tools and Quality Control Software for the ARM Data System

    SciTech Connect

    Moore, S.T.

    2004-12-14

    ATK Mission Research develops analyst tools and automated quality control software in order to assist the Atmospheric Radiation Measurement (ARM) Data Quality Office with their data inspection tasks. We have developed a web-based data analysis and visualization tool, called NCVweb, that allows for easy viewing of ARM NetCDF files. NCVweb, along with our library of sharable Interactive Data Language procedures and functions, allows even novice ARM researchers to be productive with ARM data with only minimal effort. We also contribute to the ARM Data Quality Office by analyzing ARM data streams, developing new quality control metrics, new diagnostic plots, and integrating this information into DQ HandS - the Data Quality Health and Status web-based explorer. We have developed several ways to detect outliers in ARM data streams and have written software to run in an automated fashion to flag these outliers.

  1. Voice control of a dual-arm telerobot

    NASA Astrophysics Data System (ADS)

    Haberlein, Robert Arthur

    This investigation explores voice control of a dual-arm telerobot. A literature review of voice control, voice technology and work measurements is conducted. This review includes a discussion of important voice technology topics, a survey of commercial voice equipment, and a study of industrial and vocational work measurement techniques. A voice control system is created for two Kraft GRIPS Master-Slave telerobotic manipulators. This system is based upon the concept of distributed computer control using inexpensive PC-AT computers that exchange information according to special communication and command protocols. The voice control system consists of four separate sub-systems; a Camera Sub-system that controls a motorized camera mount, a Teach Pendant Sub-system that emulates two standard Termiflex teach pendants, a Switch Sub-system that controls the Kraft Master switches, and a Voice Sub-system that accepts the operator's vocal commands and broadcasts digitally-recorded messages. The Voice Sub-system utilizes a Votan VPC-2100 recognition board and a TI-Speech synthesis board. The vocal commands are organized into a hierarchical structure based upon the fire-and-forget control scheme. A visual display of the vocal command status is also detailed. In order to measure the effect of the voice control system upon the work performance of the telerobot, a formal experimental plan is described using twenty-four untrained operators divided into a voice group and a control group. Each group performs an experimental taskset using modified peg-in-hole vocational rehabilitation assessment test equipment. The experimental taskset consists of eight separate subtasks that exercise each of the four voice control sub-systems. The times to complete the subtasks are recorded to score each group's work performance. A split-plot ANOVA of the performance scores reveals significant group improvements in both the mean performance and the performance variance for those tasks which involve

  2. A Visual Analytics Approach to Structured Data Analysis to Enhance Nonproliferation and Arms Control Verification Activities

    SciTech Connect

    Gillen, David S.

    2014-08-07

    Analysis activities for Nonproliferation and Arms Control verification require the use of many types of data. Tabular structured data, such as Excel spreadsheets and relational databases, have traditionally been used for data mining activities, where specific queries are issued against data to look for matching results. The application of visual analytics tools to structured data enables further exploration of datasets to promote discovery of previously unknown results. This paper discusses the application of a specific visual analytics tool to datasets related to the field of Arms Control and Nonproliferation to promote the use of visual analytics more broadly in this domain. Visual analytics focuses on analytical reasoning facilitated by interactive visual interfaces (Wong and Thomas 2004). It promotes exploratory analysis of data, and complements data mining technologies where known patterns can be mined for. Also with a human in the loop, they can bring in domain knowledge and subject matter expertise. Visual analytics has not widely been applied to this domain. In this paper, we will focus on one type of data: structured data, and show the results of applying a specific visual analytics tool to answer questions in the Arms Control and Nonproliferation domain. We chose to use the T.Rex tool, a visual analytics tool developed at PNNL, which uses a variety of visual exploration patterns to discover relationships in structured datasets, including a facet view, graph view, matrix view, and timeline view. The facet view enables discovery of relationships between categorical information, such as countries and locations. The graph tool visualizes node-link relationship patterns, such as the flow of materials being shipped between parties. The matrix visualization shows highly correlated categories of information. The timeline view shows temporal patterns in data. In this paper, we will use T.Rex with two different datasets to demonstrate how interactive exploration of

  3. 22 CFR 123.15 - Congressional certification pursuant to Section 36(c) of the Arms Export Control Act.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 36(c) of the Arms Export Control Act. 123.15 Section 123.15 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS LICENSES FOR THE EXPORT OF DEFENSE ARTICLES § 123.15 Congressional certification pursuant to Section 36(c) of the Arms Export Control Act. (a) The Arms Export Control Act requires...

  4. Data Quality Assessment and Control for the ARM Climate Research Facility

    SciTech Connect

    Peppler, R

    2012-06-26

    The mission of the Atmospheric Radiation Measurement (ARM) Climate Research Facility is to provide observations of the earth climate system to the climate research community for the purpose of improving the understanding and representation, in climate and earth system models, of clouds and aerosols as well as their coupling with the Earth's surface. In order for ARM measurements to be useful toward this goal, it is important that the measurements are of a known and reasonable quality. The ARM data quality program includes several components designed to identify quality issues in near-real-time, track problems to solutions, assess more subtle long-term issues, and communicate problems to the user community.

  5. Controlling flexible robot arms using a high speed dynamics process

    NASA Technical Reports Server (NTRS)

    Jain, Abhinandan (Inventor); Rodriguez, Guillermo (Inventor)

    1992-01-01

    Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

  6. Controlling Flexible Robot Arms Using High Speed Dynamics Process

    NASA Technical Reports Server (NTRS)

    Jain, Abhinandan (Inventor)

    1996-01-01

    A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

  7. Optimal control model of arm configuration in a reaching task

    NASA Astrophysics Data System (ADS)

    Yamaguchi, Gary T.; Kakavand, Ali

    1996-05-01

    It was hypothesized that the configuration of the upper limb during a hand static positioning task could be predicted using a dynamic musculoskeletal model and an optimal control routine. Both rhesus monkey and human upper extremity models were formulated, and had seven degrees of freedom (7-DOF) and 39 musculotendon pathways. A variety of configurations were generated about a physiologically measured configuration using the dynamic models and perturbations. The pseudoinverse optimal control method was applied to compute the minimum cost C at each of the generated configurations. Cost function C is described by the Crowninshield-Brand (1981) criterion which relates C (the sum of muscle stresses squared) to the endurance time of a physiological task. The configuration with the minimum cost was compared to the configurations chosen by one monkey (four trials) and by eight human subjects (eight trials each). Results are generally good, but not for all joint angles, suggesting that muscular effort is likely to be one major factor in choosing a preferred static arm posture.

  8. A perspective on CELSS control issues

    NASA Technical Reports Server (NTRS)

    Blackwell, Ann L.

    1990-01-01

    Some issues of Closed Ecological Life Support System (CELSS) analysis and design are effectively addressed from a systems control perspective. CELSS system properties that may be elucidated using control theory in conjunction with mathematical and simulation modeling are enumerated. The approach that is being taken to the design of a control strategy for the Crop Growth Research Chamber (CGRC) and the relationship of that approach to CELSS plant growth unit subsystems control is described.

  9. Nature of Motor Control: Perspectives and Issues

    PubMed Central

    Turvey, M. T.; Fonseca, Sergio

    2013-01-01

    Four perspectives on motor control provide the framework for developing a comprehensive theory of motor control in biological systems. The four perspectives, of decreasing orthodoxy, are distinguished by their sources of inspiration: neuroanatomy, robotics, self-organization, and ecological realities. Twelve major issues that commonly constrain (either explicitly or implicitly) the understanding of the control and coordination of movement are identified and evaluated within the framework of the four perspectives. The issues are as follows: (1) Is control strictly neural? (2) Is there a divide between planning and execution? (3) Does control entail a frequently involved knowledgeable executive? (4) Do analytical internal models mediate control? (5) Is anticipation necessarily model dependent? (6) Are movements preassembled? (7) Are the participating components context independent? (8) Is force transmission strictly myotendinous? (9) Is afference a matter of local linear signaling? (10) Is neural noise an impediment? (11) Do standard variables (of mechanics and physiology) suffice? (12) Is the organization of control hierarchical? PMID:19227497

  10. Constitutional and legal implications of arms control verification technologies

    SciTech Connect

    Tanzman, E.A.; Haffenden, R.

    1992-09-01

    United States law can both help and hinder the use of instrumentation as a component of arms control verification in this country. It can foster the general use of sophisticated verification technologies, where such devices are consistent with the value attached to privacy by the Fourth Amendment to the United States Constitution. On the other hand, law can hinder reliance on devices that cross this constitutional line, or where such technology itself threatens health, safety, or environment as such threats are defined in federal statutes. The purpose of this conference paper is to explain some of the lessons that have been learned about the relationship between law and verification technologies in the hope that law can help more than hinder. This paper has three parts. In order to start with a common understanding, part I will briefly describe the hierarchy of treaties, the Constitution, federal statutes, and state and local laws. Part 2 will discuss how the specific constitutional requirement that the government respect the right of privacy in all of its endeavors may affect the use of verification technologies. Part 3 will explain the environmental law constraints on verification technology as exemplified by the system of on-site sampling embodied in the current Rolling Text of the Draft Chemical Weapons Convention.

  11. Measurement approaches to support future warhead arms control transparency

    SciTech Connect

    Olinger, C.T.; Frankle, C.M.; Johnson, M.W.; Poths, J.

    1998-12-31

    Transparency on warhead stockpiles, warhead dismantlement, and fissile material stockpiles in nuclear weapons states will become increasingly important in the move beyond START II toward lower quantities of warheads. Congressional support for further warhead reductions will likely depend on the degree of irreversibility, or in other words, the rapidity with which warhead inventories could be reconstituted. Whether irreversibility considerations can be satisfied will depend on monitoring dismantlement as well as constraining the available stockpile of fissile materials for possible refabrication into warheads. Measurement techniques designed to address the above problems will need to consider NPT Article 1 obligations as well as Russian and US classification regulations, which prohibit or restrict the transfer of nuclear warhead design information to other states. Classification considerations currently limit the potential completeness of future inspections of weapons materials. Many conventional international safeguards approaches are not currently viable for arms control applications because they would reveal weapons design information. The authors discuss a variety of technical measures that may help to improve transparence of warhead and fissile material stockpiles and may enable limited warhead dismantlement transparency.

  12. Generation of "virtual" control groups for single arm prostate cancer adjuvant trials.

    PubMed

    Jia, Zhenyu; Lilly, Michael B; Koziol, James A; Chen, Xin; Xia, Xiao-Qin; Wang, Yipeng; Skarecky, Douglas; Sutton, Manuel; Sawyers, Anne; Ruckle, Herbert; Carpenter, Philip M; Wang-Rodriguez, Jessica; Jiang, Jun; Deng, Mingsen; Pan, Cong; Zhu, Jian-Guo; McLaren, Christine E; Gurley, Michael J; Lee, Chung; McClelland, Michael; Ahlering, Thomas; Kattan, Michael W; Mercola, Dan

    2014-01-01

    It is difficult to construct a control group for trials of adjuvant therapy (Rx) of prostate cancer after radical prostatectomy (RP) due to ethical issues and patient acceptance. We utilized 8 curve-fitting models to estimate the time to 60%, 65%, … 95% chance of progression free survival (PFS) based on the data derived from Kattan post-RP nomogram. The 8 models were systematically applied to a training set of 153 post-RP cases without adjuvant Rx to develop 8 subsets of cases (reference case sets) whose observed PFS times were most accurately predicted by each model. To prepare a virtual control group for a single-arm adjuvant Rx trial, we first select the optimal model for the trial cases based on the minimum weighted Euclidean distance between the trial case set and the reference case set in terms of clinical features, and then compare the virtual PFS times calculated by the optimum model with the observed PFSs of the trial cases by the logrank test. The method was validated using an independent dataset of 155 post-RP patients without adjuvant Rx. We then applied the method to patients on a Phase II trial of adjuvant chemo-hormonal Rx post RP, which indicated that the adjuvant Rx is highly effective in prolonging PFS after RP in patients at high risk for prostate cancer recurrence. The method can accurately generate control groups for single-arm, post-RP adjuvant Rx trials for prostate cancer, facilitating development of new therapeutic strategies.

  13. 22 CFR 124.11 - Congressional certification pursuant to Section 36(d) of the Arms Export Control Act.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 36(d) of the Arms Export Control Act. 124.11 Section 124.11 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS AGREEMENTS, OFF-SHORE PROCUREMENT AND OTHER DEFENSE SERVICES § 124.11 Congressional certification pursuant to Section 36(d) of the Arms Export Control Act. (a) The Arms...

  14. Application of a postulate based control theory for an artificial arm

    NASA Technical Reports Server (NTRS)

    Jacobsen, S. C.; Jerard, R. B.

    1975-01-01

    The biocontroller, remnant of the natural arm, and feedback elements must be considered in designing a controller for an above elbow artificial arm for amputees. This fundamental postulate is used to derive equations for developing the controller, which is shown in block diagrams.

  15. 75 FR 28848 - Determination and Certification Under Section 40a of the Arms Export Control Act

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-05-24

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF STATE Determination and Certification Under Section 40a of the Arms Export Control Act Pursuant to section 40A of the Arms Export Control Act (22 U.S.C. 2781), and Executive Order 11958, as amended, I hereby determine...

  16. 76 FR 818 - Bureau of Nonproliferation; Determination Under the Arms Export Control Act

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-01-06

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF STATE Bureau of Nonproliferation; Determination Under the Arms Export Control Act AGENCY: Department of State... determination pursuant to Section 73 of the Arms Export Control Act and has concluded that publication of...

  17. 77 FR 31909 - Determination and Certification Under the Arms Export Control Act

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-05-30

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF STATE Determination and Certification Under the Arms Export Control Act Pursuant to section 40A of the Arms Export Control Act (22 U.S.C. 2781), and Executive Order 11958, as amended, I hereby determine and certify to...

  18. 77 FR 52105 - Announcement of the Innovation in Arms Control Challenge Under the America Competes...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-08-28

    ... following challenge: How Can the Crowd Support Arms Control Transparency Efforts? This challenge is the... scientific and technological options that will provide additional transparency and information related to... to use the tools and devices commonly available to them to support arms control transparency efforts...

  19. Image-Based Verification Algorithms for Arms Control

    SciTech Connect

    Robinson, Sean M.; Jarman, Kenneth D.; Seifert, Allen; McDonald, Benjamin S.; Misner, Alex C.; White, Timothy A.; Miller, Erin A.; Pitts, W. Karl

    2011-06-09

    PNNL is developing and evaluating radiographic image analysis techniques (active and passive) for verifying sensitive objects in a material control or warhead counting regime in which sensitive information may be acquired and processed behind an information barrier. Since sensitive image information cannot be present outside the information barrier, these techniques are necessary to extract features from the full images and reduce them to relevant parameters (attributes) of the inspected items. This evaluation can be done behind the information barrier, allowing for reporting and storage of non-sensitive attributes only. Several advances have been made to radiographic object verification algorithms, in the areas of spectral imaging for passive detectors and estimation of material density in active radiographic images. Both of these advances are pertinent in an arms control context. While passive radiographic images produced by previous work may be evaluated for the presence of emissive objects, approaches which leverage the spectroscopic potential of the detectors allow a much greater discrimination of SNM from background and other sources. Spectral passive imaging approaches to warhead discrimination and counting include specific materials and geometric arrangement localization, as well as “spectral difference” metrics which group regions with similar spectra together. These approaches may improve resolution for discrimination between materials in addition to locating SNM within surrounding shielding and/or structural elements. Previous work by our group has developed the capability to discern material density and composition in radiographic images by examining the edge transition characteristics of objects. The material construction of an object can be investigated in this way. In a weapons counting or discrimination context, unknown occultation of objects of interest, as well as additional elements of warhead construction, construction materials of varying

  20. ACDA’s (Arms Control and Disarmament Agency) Coordination of Federal Arms Control Research and Management of Its External Research Program Still Need Improvement,

    DTIC Science & Technology

    1983-09-30

    MAGEMENT OF ITS EXTERNAL RESERCH PROGRAM ARE STYL INADEQPATE The Arms Control and Disarmament Agency (ACDA) needs to improve the operation of its external...proliferation, conven- tional arms transfers, advanced technology weapons. and nuclear test limitations. In 1980 we reported on ACDA’s problems in ma...0 - Nuclear Test Limitations 719,163 492,509 171,777 - 0 - Non-Nuclear Weapons of Mass Destruc- tion and Advanced Technology Weapons 33,108 53,282

  1. Anthropometric considerations for a 4-axis side-arm flight controller

    NASA Technical Reports Server (NTRS)

    Debellis, W. B.

    1986-01-01

    A data base on multiaxis side-arm flight controls was generated. The rapid advances in fly-by-light technology, automatic stability systems, and onboard computers have combined to create flexible flight control systems which could reduce the workload imposed on the operator by complex new equipment. This side-arm flight controller combines four controls into one unit and should simplify the pilot's task. However, the use of a multiaxis side-arm flight controller without complete cockpit integration may tend to increase the pilot's workload.

  2. Production of stable bispecific IgG1 by controlled Fab-arm exchange

    PubMed Central

    Gramer, Michael J; van den Bremer, Ewald TJ; van Kampen, Muriel D; Kundu, Amitava; Kopfmann, Peter; Etter, Eric; Stinehelfer, David; Long, Justin; Lannom, Tom; Noordergraaf, Esther H; Gerritsen, Jolanda; Labrijn, Aran F; Schuurman, Janine; van Berkel, Patrick HC; Parren, Paul WHI

    2013-01-01

    The manufacturing of bispecific antibodies can be challenging for a variety of reasons. For example, protein expression problems, stability issues, or the use of non-standard approaches for manufacturing can result in poor yield or poor facility fit. In this paper, we demonstrate the use of standard antibody platforms for large-scale manufacturing of bispecific IgG1 by controlled Fab-arm exchange. Two parental antibodies that each contain a single matched point mutation in the CH3 region were separately expressed in Chinese hamster ovary cells and manufactured at 1000 L scale using a platform fed-batch and purification process that was designed for standard antibody production. The bispecific antibody was generated by mixing the two parental molecules under controlled reducing conditions, resulting in efficient Fab-arm exchange of >95% at kg scale. The reductant was removed via diafiltration, resulting in spontaneous reoxidation of interchain disulfide bonds. Aside from the bispecific nature of the molecule, extensive characterization demonstrated that the IgG1 structural integrity was maintained, including function and stability. These results demonstrate the suitability of this bispecific IgG1 format for commercial-scale manufacturing using standard antibody manufacturing techniques. PMID:23995617

  3. Dynamic model of the octopus arm. II. Control of reaching movements.

    PubMed

    Yekutieli, Yoram; Sagiv-Zohar, Roni; Hochner, Binyamin; Flash, Tamar

    2005-08-01

    The dynamic model of the octopus arm described in the first paper of this 2-part series was used here to investigate the neural strategies used for controlling the reaching movements of the octopus arm. These are stereotypical extension movements used to reach toward an object. In the dynamic model, sending a simple propagating neural activation signal to contract all muscles along the arm produced an arm extension with kinematic properties similar to those of natural movements. Control of only 2 parameters fully specified the extension movement: the amplitude of the activation signal (leading to the generation of muscle force) and the activation traveling time (the time the activation wave takes to travel along the arm). We found that the same kinematics could be achieved by applying activation signals with different activation amplitudes all exceeding some minimal level. This suggests that the octopus arm could use minimal amplitudes of activation to generate the minimal muscle forces required for the production of the desired kinematics. Larger-amplitude signals would generate larger forces that increase the arm's stability against perturbations without changing the kinematic characteristics. The robustness of this phenomenon was demonstrated by examining activation signals with either a constant or a bell-shaped velocity profile. Our modeling suggests that the octopus arm biomechanics may allow independent control of kinematics and resistance to perturbation during arm extension movements.

  4. New radiation hodoscope developments for Arms Control Treaty verification

    SciTech Connect

    Dickerman, C.E.; Doerner, R.C.; Regis, J.P.; Rhodes, E.A.; Stanford, G.S.; Travis, D.J.; DeVolpi, A.

    1991-01-01

    New developments in hodoscope radiation detection technology offer a wide range of unique capabilities for arms control treaty verification (ACTV) applications. Originally developed for civilian nuclear power research by Argonne National Laboratory, this concept uses an array of radiation detectors to image or detect objects inside opaque containments. Hodoscope systems may detect neutrons and/or gamma-rays. The systems may be based on transmission of radiation through the objects; may detect radiation stimulated in the objects, or may detect intrinsic object radiation. ACTV hodoscopes do not require the high-speed data acquisition systems or the heavy shielding and collimation of reactor hodoscopes, and relatively weak radiation sources are sufficient. We have performed laboratory measurements to demonstrate a range of potential applications. Gamma-ray transmission hodoscopes can be used to inspect canisters, rail cars, etc. to monitor objects such as rocket motors. The use of relatively weak radiation sources makes it unnecessary to employ expensive and high-intensity accelerators. The heavy metal of nuclear warheads is characterized by strong gamma-ray absorption, and these materials could be counted by low-resolution tomography. Absorbers located in line with objects will themselves be detected, and sources located in the object region will be subtracted out as background. Intrinsic gamma-ray radiation from warheads also can be detected in a passive-instrument mode. Neutron hodoscopes can utilize neutron transmission, intrinsic neutron emission, or neutron-producing reactions (either prompt or delayed) stimulated by a neutron source. Monitoring of rocket motors enclosed in canisters/rail cars is the focus of the most recent ACTV hodoscope research and development activities. 3 refs., 5 figs., 2 tabs.

  5. New radiation hodoscope developments for Arms Control Treaty verification

    SciTech Connect

    Dickerman, C.E.; Doerner, R.C.; Regis, J.P.; Rhodes, E.A.; Stanford, G.S.; Travis, D.J.; DeVolpi, A.

    1991-12-01

    New developments in hodoscope radiation detection technology offer a wide range of unique capabilities for arms control treaty verification (ACTV) applications. Originally developed for civilian nuclear power research by Argonne National Laboratory, this concept uses an array of radiation detectors to image or detect objects inside opaque containments. Hodoscope systems may detect neutrons and/or gamma-rays. The systems may be based on transmission of radiation through the objects; may detect radiation stimulated in the objects, or may detect intrinsic object radiation. ACTV hodoscopes do not require the high-speed data acquisition systems or the heavy shielding and collimation of reactor hodoscopes, and relatively weak radiation sources are sufficient. We have performed laboratory measurements to demonstrate a range of potential applications. Gamma-ray transmission hodoscopes can be used to inspect canisters, rail cars, etc. to monitor objects such as rocket motors. The use of relatively weak radiation sources makes it unnecessary to employ expensive and high-intensity accelerators. The heavy metal of nuclear warheads is characterized by strong gamma-ray absorption, and these materials could be counted by low-resolution tomography. Absorbers located in line with objects will themselves be detected, and sources located in the object region will be subtracted out as background. Intrinsic gamma-ray radiation from warheads also can be detected in a passive-instrument mode. Neutron hodoscopes can utilize neutron transmission, intrinsic neutron emission, or neutron-producing reactions (either prompt or delayed) stimulated by a neutron source. Monitoring of rocket motors enclosed in canisters/rail cars is the focus of the most recent ACTV hodoscope research and development activities. 3 refs., 5 figs., 2 tabs.

  6. Applying Space Technology to Enhance Control of an Artificial Arm

    NASA Technical Reports Server (NTRS)

    Atkins, Diane; Donovan, William H.; Novy, Mara; Abramczyk, Robert

    1997-01-01

    numerical coefficients or weights. Although the function development may require much computational time and many training cases, the resulting discrimination functions can run in realtime on modest computers. These results suggest that myoelectric signals might be a feasible teleoperation medium, allowing an operator to use his or her own hand and arm as a master to intuitively control an anthropomorphic robot in a remote location such as outer space.

  7. CELSS system control: issues, methods, and directions.

    PubMed

    Blackwell, C C; Blackwell, A L

    1992-01-01

    In the general control perspective, the CELSS concept implies a very complex system and presents challenges at every level. These challenges are generated by: (1) the prospect that the system will be inherently unstable, (2) the prospective difficulty of establishing an adequate mathematical model of the system for the purpose of control law synthesis (dimensionality is high, and the dynamics and interactive processes of some of the subsystems are not understood well), (3) assuring control law robustness (assuring that the resulting control law(s) will be effective over the domain of the specified uncertainties), (4) hardware realization of the control law, (5) hardware system robustness ("fault tolerance") and (6) achieving the logistics of the automation (or "management") aspects of the problem. A suggested organization of the problem, a sketch of the issues related to perceived difficulties, a commentary/evaluation of the issues, a review of methods available to address the issues, and a suggested strategy to address the broad CELSS systems control problem are presented.

  8. Introduction and Testing of an Alternative Control Approach for a Robotic Prosthetic Arm

    PubMed Central

    Griggs, Lauren; Fahimi, Farbod

    2014-01-01

    Commercially available robotic prosthetic arms currently use independent joint control. An alternative controller involving only control of the hand in a Cartesian frame rather than controlling each joint independently is proposed and tested. An experimental 4DOF robotic arm was used as the platform for testing the proposed control approach. As opposed to joint control, Cartesian control requires the solution to the inverse kinematics problem. The inverse kinematics solution was developed for the robotic arm using the extended Jacobian method. The two control methodologies, joint control and Cartesian control, were tested on five able-bodied human subjects. Improvement of one control methodology over the other was measured by the time it took for the subjects to complete a simple motor task. The timed trial results indicated that Cartesian control was both more intuitive and more effective than joint control. So, the results suggest that much improvement can be achieved by using the proposed Cartesian control methodology. PMID:25400714

  9. A novel approach to the modelling and control of flexible robot arms

    NASA Technical Reports Server (NTRS)

    Ding, Xuru; Tarn, Tzyh-Jong; Bejczy, Antal K.

    1988-01-01

    A general dynamic model of a two-link Euler-Bernoulli beam flexible robot arm is presented in the form of partial-differential-integral equations. Observations are made on important properties of the dynamic model. The resulting infinite-dimensional system is then input-output decoupled and partially linearized by a diffeomorphic state transformation and nonlinear state feedback. The local stability issue is addressed for a one-link flexible robot arm.

  10. A novel approach to the modelling and control of flexible robot arms

    NASA Technical Reports Server (NTRS)

    Ding, Xuru; Tarn, Tzyh-Jong; Bejczy, Antal K.

    1988-01-01

    A general dynamic model of a two-link Euler-Bernoulli beam flexible robot arm is presented in the form of partial-differential-integral equations. Observations are made on important properties of the dynamic model. The resulting infinite-dimensional system is then input-output decoupled and partially linearized by a diffeomorphic state transformation and nonlinear state feedback. The local stability issue is addressed for a one-link flexible robot arm.

  11. Targeted Muscle Reinnervation for Real-Time Myoelectric Control of Multifunction Artificial Arms

    PubMed Central

    Kuiken, Todd A.; Li, Guanglin; Lock, Blair A.; Lipschutz, Robert D.; Miller, Laura A.; Stubblefield, Kathy A.; Englehart, Kevin

    2011-01-01

    Context Improving the function of prosthetic arms remains a challenge, as access to the neural control information for the arm is lost during amputation. We have developed a surgical technique called targeted muscle reinnervation (TMR) which transfers residual arm nerves to alternative muscle sites. After reinnervation, these target muscles produce an electromyogram (EMG) on the surface of the skin that can be measured and used to control prosthetic arms. Objective Assess the performance of TMR upper-limb amputee patients using a pattern-recognition algorithm to decode EMG signals and control prosthetic arm motions. Design Surface EMG signals were recorded on participants and decoded using a pattern-recognition algorithm. The decoding program controlled the movement of a virtual prosthetic arm. Participants were instructed to perform various arm movements, and their abilities to control the virtual prosthetic arm were measured. In addition, TMR patients used the same control system to operate advanced arm prosthesis prototypes. Setting This study was conducted between January 2007 and January 2008 at the Rehabilitation Institute of Chicago. Participants This study included five patients with shoulder disarticulation or transhumeral amputations who received TMR surgery between February 2002 and October 2006. It also included five non-amputee (control) participants. Main Outcome Measure Performance metrics measured during virtual arm movements included motion-selection time, motion-completion time, and motion-completion (or `success') rate. Three of the TMR patients were also able to test advanced arm prostheses. Results TMR patients were able to repeatedly perform 10 different elbow, wrist and hand motions with the virtual prosthetic arm. For TMR patients, the average (standard deviation (SD)) motion-selection and motion-completion times for elbow and wrist movements were 0.22 s (0.06) and 1.29 s (0.15), respectively. These times were 0.06 s and 0.21 s longer than

  12. 49 CFR 1544.221 - Carriage of prisoners under the control of armed law enforcement officers.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... law enforcement officers. 1544.221 Section 1544.221 Transportation Other Regulations Relating to... of prisoners under the control of armed law enforcement officers. (a) This section applies as follows: (1) This section applies to the transport of prisoners under the escort of an armed law enforcement...

  13. Arms control and nonproliferation technologies: The non-proliferation experiment. First quarter 1994

    SciTech Connect

    Staehle, G.; Stull, S.; Talaber, C.

    1994-05-01

    In this issue of Arms Control and Nonproliferation Technologies we present the initial findings of the recent Non-Proliferation Experiment (NPE), conducted by the Department of Energy at the Nevada Test Site. Through an introduction and pictorial walk-through, Marv Denny and Jay Zucca of Lawrence Livermore National Laboratory describe the overall experiment. This is followed by scientific and technical abstracts of the complex suite of experiments and analyses, which were presented at the Symposium on Non-Proliferation Experiment Results and Implications for Test Ban Treaties, April 19--21, 1994. Questions regarding the ongoing analysis and conclusions from the NPE should be directed to Leslie Casey in the Office of Research and Development within the Office of Nonproliferation and National Security of DOE. Her phone number is 202-586-2151.

  14. The arms control agenda at the UN: Breaking new ground or breaking old habits?

    SciTech Connect

    Johnson, R.

    1997-01-01

    The US opposition to debating a new international disarmament agenda for the coming decade seem ill-considered. There is inevitably a handsome majority for disarmament resolutions, especially nuclear disarmament. But to assess a resolution`s significance, it is more important to look at which countries co-sponsored it; whether a resolution did better or worse in previous sessions; and the balance of power on the vote, particularly which states registered votes against. Consensus at the United Nations can be an indication of a significant breakthrough in support of a resolution, which could lead to negotiations and ultimately a new security-enhancing arms control treaty. Alternatively, a UN consensus may simply reflect widespread endorsement of diplomatic rhetoric on an issue that no one wants to be seen as being against, but which is not likely to move forward.

  15. The Swedish Armed Forces Operational Challenges for Command and Control

    DTIC Science & Technology

    2010-02-01

    Language Workshop (Atelier 2010 sur le langage de gestion du champ de bataille pour les operations en coalition). RTO-MP-MSG-079 14. ABSTRACT 15. SUBJECT...NATO procedures Crises Response scenario (BOGALAND) including NATO- and EU-led operations HEADQUARTERS SWEDISH ARMED FORCES VIKING 11

  16. Experimental Test Rig for Optimal Control of Flexible Space Robotic Arms

    DTIC Science & Technology

    2016-12-01

    RIG FOR OPTIMAL CONTROL OF FLEXIBLE SPACE ROBOTIC ARMS by Martin J. Griggs December 2016 Thesis Advisor: Mark Karpenko Second Reader...TYPE AND DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE EXPERIMENTAL TEST RIG FOR OPTIMAL CONTROL OF FLEXIBLE SPACE ROBOTIC ARMS 5. FUNDING...rig for demonstrations on flexible space systems control. Specifically, an air-bearing test bed incorporated a two-degree of freedom (2DOF) rigid

  17. Targeted muscle reinnervation for real-time myoelectric control of multifunction artificial arms.

    PubMed

    Kuiken, Todd A; Li, Guanglin; Lock, Blair A; Lipschutz, Robert D; Miller, Laura A; Stubblefield, Kathy A; Englehart, Kevin B

    2009-02-11

    Improving the function of prosthetic arms remains a challenge, because access to the neural-control information for the arm is lost during amputation. A surgical technique called targeted muscle reinnervation (TMR) transfers residual arm nerves to alternative muscle sites. After reinnervation, these target muscles produce electromyogram (EMG) signals on the surface of the skin that can be measured and used to control prosthetic arms. To assess the performance of patients with upper-limb amputation who had undergone TMR surgery, using a pattern-recognition algorithm to decode EMG signals and control prosthetic-arm motions. Study conducted between January 2007 and January 2008 at the Rehabilitation Institute of Chicago among 5 patients with shoulder-disarticulation or transhumeral amputations who underwent TMR surgery between February 2002 and October 2006 and 5 control participants without amputation. Surface EMG signals were recorded from all participants and decoded using a pattern-recognition algorithm. The decoding program controlled the movement of a virtual prosthetic arm. All participants were instructed to perform various arm movements, and their abilities to control the virtual prosthetic arm were measured. In addition, TMR patients used the same control system to operate advanced arm prosthesis prototypes. Performance metrics measured during virtual arm movements included motion selection time, motion completion time, and motion completion ("success") rate. The TMR patients were able to repeatedly perform 10 different elbow, wrist, and hand motions with the virtual prosthetic arm. For these patients, the mean motion selection and motion completion times for elbow and wrist movements were 0.22 seconds (SD, 0.06) and 1.29 seconds (SD, 0.15), respectively. These times were 0.06 seconds and 0.21 seconds longer than the mean times for control participants. For TMR patients, the mean motion selection and motion completion times for hand-grasp patterns were 0

  18. Community noise sources and noise control issues

    NASA Technical Reports Server (NTRS)

    Nihart, Gene L.

    1992-01-01

    The topics covered include the following: community noise sources and noise control issues; noise components for turbine bypass turbojet engine (TBE) turbojet; engine cycle selection and noise; nozzle development schedule; NACA nozzle design; NACA nozzle test results; nearly fully mixed (NFM) nozzle design; noise versus aspiration rate; peak noise test results; nozzle test in the Low Speed Aeroacoustic Facility (LSAF); and Schlieren pictures of NACA nozzle.

  19. Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach

    PubMed Central

    Berret, Bastien; Chiovetto, Enrico; Nori, Francesco; Pozzo, Thierry

    2011-01-01

    An important issue in motor control is understanding the basic principles underlying the accomplishment of natural movements. According to optimal control theory, the problem can be stated in these terms: what cost function do we optimize to coordinate the many more degrees of freedom than necessary to fulfill a specific motor goal? This question has not received a final answer yet, since what is optimized partly depends on the requirements of the task. Many cost functions were proposed in the past, and most of them were found to be in agreement with experimental data. Therefore, the actual principles on which the brain relies to achieve a certain motor behavior are still unclear. Existing results might suggest that movements are not the results of the minimization of single but rather of composite cost functions. In order to better clarify this last point, we consider an innovative experimental paradigm characterized by arm reaching with target redundancy. Within this framework, we make use of an inverse optimal control technique to automatically infer the (combination of) optimality criteria that best fit the experimental data. Results show that the subjects exhibited a consistent behavior during each experimental condition, even though the target point was not prescribed in advance. Inverse and direct optimal control together reveal that the average arm trajectories were best replicated when optimizing the combination of two cost functions, nominally a mix between the absolute work of torques and the integrated squared joint acceleration. Our results thus support the cost combination hypothesis and demonstrate that the recorded movements were closely linked to the combination of two complementary functions related to mechanical energy expenditure and joint-level smoothness. PMID:22022242

  20. Conventional Middle East arms control: Impact of the end of the cold war. Study project report

    SciTech Connect

    Johnson, L.L.; Johnsen, W.T.

    1993-03-31

    The end of the Gulf War brought to the forefront concern for dangers posed by unrestrained militarization of the Middle East. In response, on 29 May 1991 President Bush unveiled a comprehensive Middle East arms control policy in a speech at the U.S. Air Force Academy. A key element of the policy banned the sale of the most dangerous conventional weapons to the region. Although the major arms suppliers (which also happen to be the five permanent members of the U.N. Security Council) have held a series of high level meetings to discuss options for restricting sales to the region, all continue conventional arms transfers to the Middle East and are likely to continue to do so. This paper contends that the end of the Cold War put additional economic pressure on the major suppliers to export arms to the Middle East; and, their interests are so compelling that the suppliers are unlikely to support President Bush's proposal. This position is supported by analyzing the interests that influence major arms suppliers to sell arms abroad. The format for this analysis includes an assessment of: each country's interest in selling arms during the Cold War; the impact of the Cold War's end on those interests; and whether the post Cold War interests conflict with President Bush's conventional arms control proposal. The paper concludes with recommendations for US policy in the region.

  1. N of 1, two contemporary arm, randomised controlled clinical trial for bilateral epicondylitis: a new study design

    PubMed Central

    Fante, Claudia Del; Perotti, Cesare; Pavesi, Claudio Francesco; Coscia, Davide; Scotti, Valeria; Tinelli, Carmine

    2011-01-01

    Objective To investigate the use of a novel study design in analysis of bilateral elbow pain. Design N of 1, two contemporary arm, open label, randomised controlled clinical trial. Setting A clinical epidemiologist at a university hospital in Pavia, Italy. Participants Two elbows with epicondylitis. Interventions Autologous platelet lysate versus “wait and see” strategy. Main outcome measures Visual analogue scale for pain on elbow extension and resisted wrist extension. Results Over six months’ follow-up, the patient experienced bilateral improvement in pain, but higher in the treated arm, with a drop in visual analogue scale for pain from 28 to 4 for right (control) arm (drop of 24 points) and from 67 to 10.5 for left (treated) arm (drop of 56.5 points). Conclusions Platelet lysate might (or might not) work. Competing interests and lack of blinding might be relevant issues in the interpretation of trial results. However, the new study design can be applied to a number of conditions such as bilateral sport or trauma injuries, bilateral otitis, or any condition affecting chiral organs or limbs. PMID:22187187

  2. Autonomous control systems - Architecture and fundamental issues

    NASA Technical Reports Server (NTRS)

    Antsaklis, P. J.; Passino, K. M.; Wang, S. J.

    1988-01-01

    A hierarchical functional autonomous controller architecture is introduced. In particular, the architecture for the control of future space vehicles is described in detail; it is designed to ensure the autonomous operation of the control system and it allows interaction with the pilot and crew/ground station, and the systems on board the autonomous vehicle. The fundamental issues in autonomous control system modeling and analysis are discussed. It is proposed to utilize a hybrid approach to modeling and analysis of autonomous systems. This will incorporate conventional control methods based on differential equations and techniques for the analysis of systems described with a symbolic formalism. In this way, the theory of conventional control can be fully utilized. It is stressed that autonomy is the design requirement and intelligent control methods appear at present, to offer some of the necessary tools to achieve autonomy. A conventional approach may evolve and replace some or all of the `intelligent' functions. It is shown that in addition to conventional controllers, the autonomous control system incorporates planning, learning, and FDI (fault detection and identification).

  3. Autonomous control systems - Architecture and fundamental issues

    NASA Technical Reports Server (NTRS)

    Antsaklis, P. J.; Passino, K. M.; Wang, S. J.

    1988-01-01

    A hierarchical functional autonomous controller architecture is introduced. In particular, the architecture for the control of future space vehicles is described in detail; it is designed to ensure the autonomous operation of the control system and it allows interaction with the pilot and crew/ground station, and the systems on board the autonomous vehicle. The fundamental issues in autonomous control system modeling and analysis are discussed. It is proposed to utilize a hybrid approach to modeling and analysis of autonomous systems. This will incorporate conventional control methods based on differential equations and techniques for the analysis of systems described with a symbolic formalism. In this way, the theory of conventional control can be fully utilized. It is stressed that autonomy is the design requirement and intelligent control methods appear at present, to offer some of the necessary tools to achieve autonomy. A conventional approach may evolve and replace some or all of the `intelligent' functions. It is shown that in addition to conventional controllers, the autonomous control system incorporates planning, learning, and FDI (fault detection and identification).

  4. Self-moved target eye tracking in control and deafferented subjects: roles of arm motor command and proprioception in arm-eye coordination.

    PubMed

    Vercher, J L; Gauthier, G M; Guédon, O; Blouin, J; Cole, J; Lamarre, Y

    1996-08-01

    1. When a visual target is moved by the subject's hand (self-moved target tracking), smooth pursuit (SP) characteristics differ from eye-alone tracking: SP latency is shorter and maximal eye velocity is higher in self-moved target tracking than in eye-alone tracking. The aim of this study was to determine which signals (motor command and/or proprioception) generated during arm motion are responsible for the decreased time interval between arm and eye motion onsets in self-moved target tracking. 2. Six control subjects tracked a visual target whose motion was generated by active or passive movements of the observer's arm in order to determine the role played by arm proprioception in the arm-eye coordination. In a second experiment, the participation of two subjects suffering complete loss of proprioception allowed us to assess the contribution of arm motor command signals. 3. In control subjects, passive movement of the arm led to eye latencies significantly longer (130 ms) than when the arm was actively self-moved (-5 ms:negative values meaning that the eyes actually started to move before the target) but slightly shorter than in eye-alone tracking (150 ms). These observations indicate that active movement of the arm is necessary to trigger short-latency SP of self-moved targets. 4. Despite the lack of proprioceptive information about arm motion, the two deafferented subjects produced early SP (-8 ms on average) when they actively moved their arms. In this respect they did not differ from control subjects. Active control of the arm is thus sufficient to trigger short-latency SP. However, in contrast with control subjects, in deafferented subjects SP gain declined with increasing target motion frequency more rapidly in self-moved target tracking than in eye-alone tracking. 5. The deafferented subjects also tracked a self-moved target while the relationship between arm and target motions was altered either by introducing a delay between arm motion and target motion

  5. An agent-vector-host-environment model for controlling small arms and light weapons.

    PubMed

    Pinto, Andrew D; Sharma, Malika; Muggah, Robert

    2011-05-01

    Armed violence is a significant public health problem. It results in fatal and non-fatal injuries and disrupts social and economic processes that are essential to the health of individuals and communities. We argue that an agent-vector-host-environment model can be helpful in understanding and describing the availability and misuse of small arms and light weapons. Moreover, such a model can assist in identifying potential control points and in developing mitigation strategies. These concepts have been developed from analogous vector control programs and are applied to controlling arms to reduce their misuse. So-called 'denormalization' and 'de-legitimization' campaigns that focus on the vector - including the industry producing these commodities - can be based on the experience of public health in controlling tobacco use and exposure. This model can assist health professionals, civil society and governments in developing comprehensive strategies to limit the production, distribution and misuse of small arms and light weapons.

  6. Modal analysis and control of flexible manipulator arms. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Neto, O. M.

    1974-01-01

    The possibility of modeling and controlling flexible manipulator arms was examined. A modal approach was used for obtaining the mathematical model and control techniques. The arm model was represented mathematically by a state space description defined in terms of joint angles and mode amplitudes obtained from truncation on the distributed systems, and included the motion of a two link two joint arm. Three basic techniques were used for controlling the system: pole allocation with gains obtained from the rigid system with interjoint feedbacks, Simon-Mitter algorithm for pole allocation, and sensitivity analysis with respect to parameter variations. An improvement in arm bandwidth was obtained. Optimization of some geometric parameters was undertaken to maximize bandwidth for various payload sizes and programmed tasks. The controlled system is examined under constant gains and using the nonlinear model for simulations following a time varying state trajectory.

  7. Hybrid position/force control of multi-arm cooperating robots

    NASA Technical Reports Server (NTRS)

    Hayati, Samad

    1986-01-01

    This paper extends the theory of hybrid position/force control to the case of multi-arm cooperating robots. Cooperation between n robot arms is achieved by controlling each arm such that the burden of actuation is shared between the arms in a nonconflicting way as they control the position of and force on a designated point on an object. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. Natural and artificial position and force constraints are defined for a point on the object and two selection matrices are obtained to control the arms. The position control loops are designed based on each manipulator's Cartesian space dynamic equations. In the position control subspace, a feature is provided which allows the robot arms to exert additional forces/torques to achieve compression, tension, or torsion in the object without affecting the execution of the motion trajectories. In the force control subspace, a method is introduced to minimize the total force/torque magnitude square while realizing the net desired force/torque on the environment.

  8. The Challenge for Arms Control Verification in the Post-New START World

    SciTech Connect

    Wuest, C R

    2012-05-24

    prospects for maintaining U.S. security and minimizing the chances of nuclear war, while deliberately reducing stockpiles to a few hundred weapons, is possible but not without risk. While the question of the appropriate level of cuts to U.S. nuclear forces is being actively debated, a key issue continues to be whether verification procedures are strong enough to ensure that both the U.S. and Russia are fulfilling their obligations under the current New Start treaty and any future arms reduction treaties. A recent opinion piece by Henry Kissinger and Brent Scowcroft (2012) raised a number of issues with respect to governing a policy to enhance strategic stability, including: in deciding on force levels and lower numbers, verification is crucial. Particularly important is a determination of what level of uncertainty threatens the calculation of stability. At present, that level is well within the capabilities of the existing verification systems. We must be certain that projected levels maintain - and when possible, reinforce - that confidence. The strengths and weaknesses of the New START verification regime should inform and give rise to stronger regimes for future arms control agreements. These future arms control agreements will likely need to include other nuclear weapons states and so any verification regime will need to be acceptable to all parties. Currently, China is considered the most challenging party to include in any future arms control agreement and China's willingness to enter into verification regimes such as those implemented in New START may only be possible when it feels it has reached nuclear parity with the U.S. and Russia. Similarly, in keeping with its goals of reaching peer status with the U.S. and Russia, Frieman (2004) suggests that China would be more willing to accept internationally accepted and applied verification regimes rather than bilateral ones. The current verification protocols specified in the New START treaty are considered as the

  9. Continuous neuronal ensemble control of simulated arm reaching by a human with tetraplegia.

    PubMed

    Chadwick, E K; Blana, D; Simeral, J D; Lambrecht, J; Kim, S P; Cornwell, A S; Taylor, D M; Hochberg, L R; Donoghue, J P; Kirsch, R F

    2011-06-01

    Functional electrical stimulation (FES), the coordinated electrical activation of multiple muscles, has been used to restore arm and hand function in people with paralysis. User interfaces for such systems typically derive commands from mechanically unrelated parts of the body with retained volitional control, and are unnatural and unable to simultaneously command the various joints of the arm. Neural interface systems, based on spiking intracortical signals recorded from the arm area of motor cortex, have shown the ability to control computer cursors, robotic arms and individual muscles in intact non-human primates. Such neural interface systems may thus offer a more natural source of commands for restoring dexterous movements via FES. However, the ability to use decoded neural signals to control the complex mechanical dynamics of a reanimated human limb, rather than the kinematics of a computer mouse, has not been demonstrated. This study demonstrates the ability of an individual with long-standing tetraplegia to use cortical neuron recordings to command the real-time movements of a simulated dynamic arm. This virtual arm replicates the dynamics associated with arm mass and muscle contractile properties, as well as those of an FES feedback controller that converts user commands into the required muscle activation patterns. An individual with long-standing tetraplegia was thus able to control a virtual, two-joint, dynamic arm in real time using commands derived from an existing human intracortical interface technology. These results show the feasibility of combining such an intracortical interface with existing FES systems to provide a high-performance, natural system for restoring arm and hand function in individuals with extensive paralysis.

  10. Generation of “Virtual” Control Groups for Single Arm Prostate Cancer Adjuvant Trials

    PubMed Central

    Koziol, James A.; Chen, Xin; Xia, Xiao-Qin; Wang, Yipeng; Skarecky, Douglas; Sutton, Manuel; Sawyers, Anne; Ruckle, Herbert; Carpenter, Philip M.; Wang-Rodriguez, Jessica; Jiang, Jun; Deng, Mingsen; Pan, Cong; Zhu, Jian-guo; McLaren, Christine E.; Gurley, Michael J.; Lee, Chung; McClelland, Michael; Ahlering, Thomas; Kattan, Michael W.; Mercola, Dan

    2014-01-01

    It is difficult to construct a control group for trials of adjuvant therapy (Rx) of prostate cancer after radical prostatectomy (RP) due to ethical issues and patient acceptance. We utilized 8 curve-fitting models to estimate the time to 60%, 65%, … 95% chance of progression free survival (PFS) based on the data derived from Kattan post-RP nomogram. The 8 models were systematically applied to a training set of 153 post-RP cases without adjuvant Rx to develop 8 subsets of cases (reference case sets) whose observed PFS times were most accurately predicted by each model. To prepare a virtual control group for a single-arm adjuvant Rx trial, we first select the optimal model for the trial cases based on the minimum weighted Euclidean distance between the trial case set and the reference case set in terms of clinical features, and then compare the virtual PFS times calculated by the optimum model with the observed PFSs of the trial cases by the logrank test. The method was validated using an independent dataset of 155 post-RP patients without adjuvant Rx. We then applied the method to patients on a Phase II trial of adjuvant chemo-hormonal Rx post RP, which indicated that the adjuvant Rx is highly effective in prolonging PFS after RP in patients at high risk for prostate cancer recurrence. The method can accurately generate control groups for single-arm, post-RP adjuvant Rx trials for prostate cancer, facilitating development of new therapeutic strategies. PMID:24465467

  11. Controller design for flexible, distributed parameter mechanical arms via combined state space and frequency domain techniques

    NASA Technical Reports Server (NTRS)

    Book, W. J.; Majett, M.

    1982-01-01

    The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results.

  12. Solid modelling for the manipulative robot arm (power) and adaptive vision control for space station missions

    NASA Technical Reports Server (NTRS)

    Harrand, V.; Choudry, A.

    1987-01-01

    The structure of a flexible arm derived from concatenation of the Stewart-Table-based links were studied. Solid modeling provides not only a realistic simulation, but is also essential for studying vision algorithms. These algorithms could be used for the adaptive control of the arm, using the well-known algorithms such as shape from shading, edge detection, orientation, etc. Details of solid modeling and its relation to vision based adaptive control are discussed.

  13. EDITORIAL: Special issue on quantum control

    NASA Astrophysics Data System (ADS)

    Mancini, Stefano; Man'ko, Vladimir I.; Wiseman, Howard M.

    2005-10-01

    Controlling the dynamics or measurement of quantum systems via the manipulation of external parameters is a most important phenomenon that lies at the heart of several fields including atomic and optical physics, molecular chemistry and quantum information. As quantum technologies have matured, a host of practical applications of quantum control have been realized in quantum optics, cavity QED, atomic spin ensembles, ion trapping, and Bose--Einstein condensation. As a result, quantum control theory is a rapidly growing research field. The aim of this special issue is to give an idea of the present status of research in quantum control, and to stimulate further activity. The papers chosen cover a great variety of ideas in this field. To aid the reader, we have divided the papers into four broad sections: quantum filtering and feedback control; open-loop control; quantum information applications; optical and related applications. Of course there are many papers that cross the boundaries between the categories we have identified, so we encourage readers to peruse the whole issue. While some may quibble with our classification scheme, we think it will be useful, especially to those who are new to the area. In each section the papers are ordered by date of submission. The first section is on quantum filtering and feedback control. Quantum filtering means determining estimates for some (or all) observables of the system from classical measurement results obtained gradually over time from the output of the quantum system. The conditioned quantum state is one way to generate such estimates. This filtering of the measurement results is useful for feedback control (also known as closed-loop control), because those estimates can be used as the basis for varying the external control parameters. This section begins with a review article (the one exception to the ordering of papers by submission date). The second section is on open-loop control in the broad sense. This is

  14. The timing of control signals underlying fast point-to-point arm movements.

    PubMed

    Ghafouri, M; Feldman, A G

    2001-04-01

    on the handle, or computed with equations of motion. In some trials, an electromagnetic brake prevented movements. In such movements, the hand force and joint torques reached a steady state after a time that was much smaller than the movement duration in unobstructed movements and was approximately equal to the time to peak velocity (mean difference < 80 ms). In an additional experiment, subjects were instructed to rapidly initiate corrections of the pushing force in response to movement arrest. They were able to initiate such corrections only when the joint torques and the pushing force had practically reached a steady state. The latency of correction onset was, however, smaller than the duration of unobstructed movements. We concluded that during the time at which the steady state torques were reached, the control pattern of IC shifts remained the same despite the movement block. Thereby the duration of these shifts did not exceed the time of reaching the steady state torques. Our findings are consistent with the hypothesis that, in unobstructed movements, the IC shifts and resulting shifts in the EP end approximately at peak velocity. In other words, during the latter part of the movement, the control signals responsible for the equilibrium shift remained constant, and the movement was driven by the arm inertial, viscous and elastic forces produced by the muscle-reflex system. Fast movements may thus be completed without continuous control guidance. As a consequence, central corrections and sequential commands may be issued rapidly, without waiting for the end of kinematic responses to each command, which may be important for many motor behaviours including typing, piano playing and speech. Our study also illustrates that the timing of the control signals may be substantially different from that of the resulting motor output and that the same control pattern may produce different motor outputs depending on external conditions.

  15. Approaches to integrating nuclear weapons stockpile management and arms control objectives.

    SciTech Connect

    Sanders, Lani Miyoshi; DeLand, Sharon Marie; Pregenzer, Arian Leigh

    2010-06-01

    Historically, U.S. arms control policy and the U.S. nuclear weapons enterprise have been reactive to each other, rather than interdependent and mutually reinforcing. One element of the divergence has been the long timescale necessary to plan and create substantive changes in the infrastructure vs. the inherent unpredictability of arms control outcomes. We explore several examples that illustrate this tension, some of the costs and implications associated with this reactive paradigm, and illustrate that, while the nuclear weapons enterprise has long considered the implications of arms control in sizing capacity of its missions, it has not substantively considered arms control in construction requirement for capabilities and products. Since previous arms control agreements have limited numbers and types of deployed systems, with delivery systems as the object of verification, this disconnect has not been forefront. However, as future agreements unfold, the warhead itself may become the treaty limited item and the object of verification. Such a scenario might offer both the need and the opportunity to integrate nuclear weapons and arms control requirements in unprecedented ways. This paper seeks to inspire new thinking on how such integration could be fostered and the extent to which it can facilitate significant reduction in nuclear stockpiles.

  16. Dynamics, control and sensor issues pertinent to robotic hands for the EVA retriever system

    NASA Technical Reports Server (NTRS)

    Mclauchlan, Robert A.

    1987-01-01

    Basic dynamics, sensor, control, and related artificial intelligence issues pertinent to smart robotic hands for the Extra Vehicular Activity (EVA) Retriever system are summarized and discussed. These smart hands are to be used as end effectors on arms attached to manned maneuvering units (MMU). The Retriever robotic systems comprised of MMU, arm and smart hands, are being developed to aid crewmen in the performance of routine EVA tasks including tool and object retrieval. The ultimate goal is to enhance the effectiveness of EVA crewmen.

  17. Robot Arm Control and Having Meal Aid System with Eye Based Human-Computer Interaction (HCI)

    NASA Astrophysics Data System (ADS)

    Arai, Kohei; Mardiyanto, Ronny

    Robot arm control and having meal aid system with eye based HCI is proposed. The proposed system allows disabled person to select desirable food from the meal tray by their eyes only. Robot arm which is used for retrieving the desirable food is controlled by human eye. At the tip of the robot arm, tiny camera is equipped. Disabled person wear a glass of which a single Head Mount Display: HMD and tiny camera is mounted so that disabled person can take a look at the desired food and retrieve it by looking at the food displayed onto HMD. Experimental results show that disabled person can retrieve the desired food successfully. It also is confirmed that robot arm control by eye based HCI is much faster than that by hands.

  18. Anticipatory postural adjustments to arm movement reveal complex control of paraspinal muscles in the thorax.

    PubMed

    Lee, Linda-Joy; Coppieters, Michel W; Hodges, Paul W

    2009-02-01

    Anatomical and empirical data suggest that deep and superficial muscles may have different functions for thoracic spine control. This study investigated thoracic paraspinal muscle activity during anticipatory postural adjustments associated with arm movement. Electromyographic (EMG) recordings were made from the right deep (multifidus/rotatores) and superficial (longissimus) muscles at T5, T8, and T11 levels using fine-wire electrodes. Ten healthy participants performed fast unilateral and bilateral flexion and extension arm movements in response to a light. EMG amplitude was measured during 25ms epochs for 150ms before and 400ms after deltoid EMG onset. During arm flexion movements, multifidus and longissimus had two bursts of activity, one burst prior to deltoid and a late burst. With arm extension both muscles were active in a single burst after deltoid onset. There was differential activity with respect to direction of trunk rotation induced by arm movement. Right longissimus was most active with left arm movements and right multifidus was most active with right arm movements. All levels of the thorax responded similarly. We suggest that although thoracic multifidus and longissimus function similarly to control sagittal plane perturbations, these muscles are differentially active with rotational forces on the trunk.

  19. Analyst Tools and Quality Control Software for the ARM Data System

    SciTech Connect

    Moore, Sean; Hughes, Gary

    2008-07-31

    Mission Research develops analyst tools and automated quality control software in order to assist the Atmospheric Radiation Measurement (ARM) Data Quality Office with their data inspection tasks. We have developed web-based data analysis and visualization tools such as the interactive plotting program NCVweb, various diagnostic plot browsers, and a datastream processing status application. These tools allow even novice ARM researchers to be productive with ARM data with only minimal effort. We also contribute to the ARM Data Quality Office by analyzing ARM data streams, developing new quality control metrics, new diagnostic plots, and integrating this information into DQ HandS - the Data Quality Health and Status web-based explorer. We have developed several ways to detect outliers in ARM data streams and have written software to run in an automated fashion to flag these outliers. We have also embarked on a system to comprehensively generate long time-series plots, frequency distributions, and other relevant statistics for scientific and engineering data in most high-level, publicly available ARM data streams. Furthermore, frequency distributions categorized by month or by season are made available to help define valid data ranges specific to those time domains. These statistics can be used to set limits that when checked, will improve upon the reporting of suspicious data and the early detection of instrument malfunction. The statistics and proposed limits are stored in a database for easy reporting, refining, and for use by other processes. Web-based applications to view the results are also available.

  20. Strategic defense and arms control. (Latest citations from the NTIS bibliographic database). Published Search

    SciTech Connect

    Not Available

    1993-08-01

    The bibliography contains citations concerning studies of relationships between national defense needs and arms control policies. Included are references to specific weapons systems such as the cruise missile, MX missile, Trident submarine, non-nuclear strategic weapons, and chemical weapons. Topics also review strategies involving space, NATO, and the Strategic Defense Initiative. Policies, positions, and negotiations refer to the Strategic Arms Limitation Talks (SALT), the Strategic Arms Reduction Talks (START), the Anti-ballistic Missile Treaty, and international meetings on proliferation of weapons and the use of space for military missions. (Contains a minimum of 176 citations and includes a subject term index and title list.)

  1. Design and Vibration Control of Safe Robot Arm with MR-Based Passive Compliant Joint

    NASA Astrophysics Data System (ADS)

    Yun, Seung-Kook; Yoon, Seong-Sik; Kang, Sungchul; Kim, Munsang

    In this paper, vibration control of a safe arm with passive compliant joints and visco-elastic covering for a human-friendly service robot is presented. The passive compliant joint (PCJ) is designed to passively attenuate the applied force. The rotary spring gives the arm compliant property, and yet it can be a source of vibration. We use an input-preshaping method which is motivated by the input shaping technique (IST) based on impulse responses. Experiments prove that both of fast motion and force attenuation of the safe arm can be achieved.

  2. Strategic defense and arms control. (Latest citations from the NTIS bibliographic database). Published Search

    SciTech Connect

    1996-04-01

    The bibliography contains citations concerning studies of relationships between national defense needs and arms control policies. Included are references to specific weapons systems such as the cruise missile, MX missile, Trident submarine, non-nuclear strategic weapons, and chemical weapons. Topics also review strategies involving space, NATO, and the Strategic Defense Initiative. Policies, positions, and negotiations refer to the Strategic Arms Limitation Talks (SALT), the Strategic Arms Reduction Talks (START), the Anti-ballistic Missile Treaty, and international meetings on proliferation of weapons and the use of space for military missions. (Contains 50-250 citations and includes a subject term index and title list.) (Copyright NERAC, Inc. 1995)

  3. Strategic defense and arms control. (Latest citations from the NTIS bibliographic database). Published Search

    SciTech Connect

    1995-01-01

    The bibliography contains citations concerning studies of relationships between national defense needs and arms control policies. Included are references to specific weapons systems such as the cruise missile, MX missile, Trident submarine, non-nuclear strategic weapons, and chemical weapons. Topics also review strategies involving space, NATO, and the Strategic Defense Initiative. Policies, positions, and negotiations refer to the Strategic Arms Limitation Talks (SALT), the Strategic Arms Reduction Talks (START), the Anti-ballistic Missile Treaty, and international meetings on proliferation of weapons and the use of space for military missions. (Contains a minimum of 195 citations and includes a subject term index and title list.)

  4. Strategic defense and arms control. (Latest citations from the NTIS data base). Published Search

    SciTech Connect

    Not Available

    1992-03-01

    The bibliography contains citations concerning studies of relationships between national defense needs and arms control policies. Included are references to specific weapons systems such as the cruise missile, MX missile, Trident submarine, non-nuclear strategic weapons, and chemical weapons. Topics also review strategies involving space, NATO, and the Strategic Defense Initiative. Policies, positions, and negotiations refer to the Strategic Arms Limitation Talks (SALT), the Strategic Arms Reduction Talks (START), the Anti-ballistic Missile Treaty, and international meetings on proliferation of weapons and on the use of space for military missions. (Contains a minimum of 163 citations and includes a subject term index and title list.)

  5. Strategic Defense and Arms Control. (Latest citations from the NTIS Bibliographic database). Published Search

    SciTech Connect

    Not Available

    1993-12-01

    The bibliography contains citations concerning studies of relationships between national defense needs and arms control policies. Included are references to specific weapons systems such as the cruise missile, MX missile, Trident submarine, non-nuclear strategic weapons, and chemical weapons. Topics also review strategies involving space, NATO, and the Strategic Defense Initiative. Policies, positions, and negotiations refer to the Strategic Arms Limitation Talks (SALT), the Strategic Arms Reduction Talks (START), the Anti-ballistic Missile Treaty, and international meetings on proliferation of weapons and the use of space for military missions. (Contains a minimum of 181 citations and includes a subject term index and title list.)

  6. Feedback control of vibrations in a moving flexible robot arm with rotary and prismatic joints

    NASA Technical Reports Server (NTRS)

    Wang, P. K. C.; Wei, Jin-Duo

    1987-01-01

    A robot with a long extendible flexible arm which can also undergo both vertical translation and rotary motion is considered. First, A distributed-parameter model for the robot arm dynamics is developed. It is found that the extending motion could enhance the arm vibrations. Then, a Galerkin-type approximation based on an appropriate time-dependent basis for the solution space is used to obtain an approximate finite-dimensional model for simulation studies. A feedback control for damping the motion-induced vibrations is derived by considering the time rate-of-change of the total vibrational energy of the flexible arm. The authors conclude with some simulation results for a special case with the proposed control law.

  7. Redundancy resolution of a human arm for controlling a seven DOF wearable robotic system.

    PubMed

    Kim, Hyunchul; Miller, Levi Makaio; Al-Refai, Aimen; Brand, Moshe; Rosen, Jacob

    2011-01-01

    The human arm including the shoulder, elbow, wrist joints and exclusion scapular motion has 7 Degrees of Freedom (DOF) while positioning of the wrist in space and orientating the palm is a task that requires 6 DOF. As such it includes one more DOF than is needed to complete the task. Given the redundant nature of the arm, multiple arm configurations can be used to complete a task, which is expressed mathematically by none unique solution for the inverse kinematics. Despite this mathematical difficulty, the motor control provides a unique solution for the arm redundancy as the arm is moved in space. Resolving this redundancy is becoming critical as the human interacts with a wearable robotic system(exoskeleton) which includes the same redundancy as the human arm. Therefore, the inverse kinematics solution resolving the redundancy of these two coupled systems must be identical in order to guarantee a seamless integration. The redundancy of the arm can be formulated kinematically by defining the swivel angle - the rotation angle of the plane including the upper and lower arm around a virtual axis connecting the shoulder and wrist joints which are fixed in space. Analyzing reaching tasks recorded with a motion capture lab indicates that the swivel angle is selected such that when the elbow joint is flexed, the palm points the head. Based on these experimental results, selecting the point around the center of the head as a stationary target allows to calculate the swivel angle and in that way to resolve the human arm redundancy. Experimental results indicated that by using the proposed redundancy resolution criteria the error between the predicted swivel angle and the actual swivel angle adopted by the motor control system is less then 5 Deg. This criterion or a synthesis of several additional criteria may improve the synergistic relationships between an operator and a wearable robotic system.

  8. Human Arm-Like Robot Control Based on Human Multi-Joint Arm Viscoelastic Properties and A Modified Forward Gaze Model

    NASA Astrophysics Data System (ADS)

    Wang, Aihui; Deng, Mingcong

    In this paper, a human arm-like robot control scheme is proposed based on time-varying viscoelastic properties which consist of multi-joint stiffness and multi-joint viscosity during human arm movements and a modified forward gaze model. In general, in human multi-joint arm movements, the multi-joint torque is assumed to be a function of multi-joint stiffness matrix, multi-joint viscosity matrix, and motor command descending from central nervous system (CNS). In order to make the present human arm-like robot move like a human multi-joint arm, a feedback controller and a modified forward gaze model are presented in the human arm-like robot control system. That is, the feedback controller is designed to obtain desired motion mechanism based on real measured data from viscoelastic properties of human multi-joint arm, and the forward gaze model in which steering gains are modified using a cost function is used to compensate the term related to the effect of CNS. The effectiveness of the proposed method is confirmed by the simulation results based on experimental data.

  9. Cox report and the US-China arms control technical exchange program

    SciTech Connect

    Di Capua, M S

    1999-09-01

    The ACE program furthered the national security interests of the US by promoting technical approaches to the implementation and verification of arms control treaties that the international community embraces. The Cox Committee report suggests that uncontrolled interactions were taking place between US and Chinese nuclear weapons scientists in the course of the ACE program. On the contrary, elaborate controls were in place at the very beginning and remained in place to control the interactions and protect US national security information. The ACE program payoff to national security was just beginning and its suspension, resulting from the Cox reports allegations, is a setback to US-China progress on arms control.

  10. The oculomanual coordination control center takes into account the mechanical properties of the arm.

    PubMed

    Scarchilli, K; Vercher, J L

    1999-01-01

    When the eyes and arm are involved in a tracking task, the characteristics of each system differ from those observed when they act alone: smooth pursuit (SP) latency decreases from 130 ms in external target tracking tasks to 0 ms in self-moved target tracking tasks. Two models have been proposed to explain this coordination. The common command model suggests that the same command be addressed to the two sensorimotor systems, which are otherwise organized in parallel, while the coordination control model proposes that coordination is due to a mutual exchange of information between the motor systems. In both cases, the interaction should take into account the dynamic differences between the two systems. However, the nature of the adaptation depends on the model. During self-moved target tracking a perturbation was applied to the arm through the use of an electromagnetic brake. A randomized perturbation of the arm increased the arm motor reaction time without affecting SP. In contrast, a constant perturbation produced an adaptation of the coordination control characterized by a decrease in arm latency and an increase in SP latency relative to motor command. This brought the arm-to-SP latency back to 0 ms. These results support the coordination control model.

  11. Study of design and control of remote manipulators. Modeling manipulator arms with distributed flexibility for design and control

    NASA Technical Reports Server (NTRS)

    Book, W. J.

    1974-01-01

    The interactions of control system and distributed flexible structural dynamics is explored for mechanical arms. A modeling process using 4 x 4 transfer matrices is described which permits the closed loop response of many current arm configurations to be evaluated. Root locus, frequency response, modal shapes, and time impulse response have all been obtained from the digital computer implementation of this model, which is oriented to arm design and allows for easy variation of the arm configuration through data cards. The model corresponds with experimentally observed natural frequencies with an average error of less than 5% in the first three flexible modes in the seven cases considered. The model was used to explore the limits imposed by structural flexibility on a nondimensionalized two link arm with one and two joints for planar motion.

  12. Dual arm master controller for a bilateral servo-manipulator

    DOEpatents

    Kuban, Daniel P.; Perkins, Gerald S.

    1989-01-01

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

  13. Dynamic control of robot arms in tasks space using nonlinear feedback

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Tarn, T. J.

    1988-01-01

    Differential geometric system and control theory is used to develop a new dynamic system feedback technique for robot task space commands. The nonlinear robot arm system is feedback-linearized and simultaneously is output-decoupled by an appropriate nonlinear feedback and nonlinear coordinate transformation. On the joint space level, the scheme only commands drive forces or torques or their equivalent quantities addressed to the joint drives. An important property of the technique is that the planned and commanded task space trajectory together with its time derivatives directly drive the robot arm through a linear system model. A method for task space motion planning matching the requirements of the new scheme is briefly presented. The implications of the new technique for second and third order model robot arms with and without force feedback measuremnts and for two or more dynamically cooperating robot arms are discussed.

  14. Rocker arm and hydraulic lash adjuster with load/motion control button

    SciTech Connect

    Stegeman, G.T.

    1987-10-13

    An integral rocker arm and hydraulic lash adjuster is described with load/motion control button assembly including a rocker arm having a cam actuated arm portion. An intermediate support portion with a cylindrical bore extends transversely therethrough. The valve actuator arm has a stepped bore therethrough and a slot means extending to the pivot axis and having a width so as to slidably receive the valve stem. The stepped bore defines a cylindrical enlarged lower wall defining a cavity, an adjuster guide wall, an enlarged intermediate wall and a further enlarged upper wall with a retainer groove therein and two abutment shoulders. A disc retainer is positioned in the intermediate wall. A split ring retainer is operatively positioned in the retainer groove to secure the disc retainer against axial movement in one direction. A hydraulic lash adjuster is operatively positioned within the follower body to abut at one end against the disc retainer.

  15. A limit-cycle self-organizing map architecture for stable arm control.

    PubMed

    Huang, Di-Wei; Gentili, Rodolphe J; Katz, Garrett E; Reggia, James A

    2017-01-01

    Inspired by the oscillatory nature of cerebral cortex activity, we recently proposed and studied self-organizing maps (SOMs) based on limit cycle neural activity in an attempt to improve the information efficiency and robustness of conventional single-node, single-pattern representations. Here we explore for the first time the use of limit cycle SOMs to build a neural architecture that controls a robotic arm by solving inverse kinematics in reach-and-hold tasks. This multi-map architecture integrates open-loop and closed-loop controls that learn to self-organize oscillatory neural representations and to harness non-fixed-point neural activity even for fixed-point arm reaching tasks. We show through computer simulations that our architecture generalizes well, achieves accurate, fast, and smooth arm movements, and is robust in the face of arm perturbations, map damage, and variations of internal timing parameters controlling the flow of activity. A robotic implementation is evaluated successfully without further training, demonstrating for the first time that limit cycle maps can control a physical robot arm. We conclude that architectures based on limit cycle maps can be organized to function effectively as neural controllers. Copyright © 2016 Elsevier Ltd. All rights reserved.

  16. Toward a Conceptual Framework for Operational Arms Control in Europe’s Central Region

    DTIC Science & Technology

    1988-11-01

    AD-A214 057 Toward a Conceptual Framework for Operational Arms Control in Europe’s Central Region Paul K. Davis DTIG ELECTEfl NOVO TIM D A Report...USDP toCVED Toward A Conceptual Framework for Operational interim IIAArms Control in Europe’s Central Region PE. 0IORMING OJIG RIE UMUER 111"hI 7...CLAgOIIFCA11N OPP TWOS PA441WhOM 0... 4CR.,.aI 177 R-3704-USDP Toward a Conceptual Framework for Operational Arms Control in Europe’s Central Region Paul

  17. Arms control and nonproliferation technologies. First quarter 1995

    SciTech Connect

    Staehle, G; Alonzo, G M; Sanford, N M

    1995-01-01

    This first quarter issue for 1995 highlights the Small Business Innovation Research (SBIR) program. The SBIR program is managed by the DOE`s Basic Energy Sciences program within the Office of Energy Research. Each year, the SBIR program solicits research ideas of interest to the DOE. Articles contained in this issue include: The Small Business Innovation Research Program supported by the Office of Nonproliferation and National Security; Automated cueing to man-made objects via multispectral image; Security systems get smart with advanced processing and thermal imaging; A breakthrough in cooling system technology; The APSTNG neutron probe; Lithium-doped fullerene neutron detector; Miniature GC-MS for on-site chemical analysis; and Winner of Sandia President`s Quality Award.

  18. Russia and the Current State of Arms Control

    DTIC Science & Technology

    2012-09-01

    Conflict as Analyzed by the Center of Analysis of Strategies and Technologies in Mos- cow ,” Eurasia Daily Monitor, Vol. 7, Issues: 15 and 16, available...costs in blood , treasure, and prestige for the United States. “Only China has any prospect of coming out of this war as a victor, but even for it, it...and the interventions of both President Obama and President Medvedev, Mos- cow and Washington announced in early 2010 that a 19 new treaty limiting

  19. Extended Deterrence and Arms Control: A Collection of Conference Papers

    DTIC Science & Technology

    1988-05-01

    presented at the conference. It should be of interest to analysts working on political and defense issues. The views expressed by the authors should be...complete and the scheduled FY87 IOC will be met; additionally, work has begun on a simi- lar modernization of the Fylingdales site; - progress continues...on the development of the Nuclear Detonation Detection System, and we are working suc- cessfully toward an FOC late in this decade; - by the end of

  20. Feedback control of polysilicon etching: Controller design issues

    SciTech Connect

    Rauf, S.; Kushner, M.J.

    1998-12-31

    Feedback control can considerably improve the performance of rf plasma processing reactors. It has been recently demonstrated that plasma simulations can be useful in developing feedback control strategies and controllers. In this paper, the authors extend that work to address issues related to the improvement of controller design, experimental validation, and advanced control strategies for polysilicon etching in inductively coupled plasmas (ICP). The computational tool used in this study, the Virtual Plasma Equipment Model (VPEM), is based on a detailed 2-dimensional hybrid plasma equipment simulation. To validate the control aspects of the VPEM, they simulated a magnetic bucket ICP reactor currently being used for real time feedback control experiments at the University of Wisconsin. Results for the use of capacitively coupled power to control etch rate in real time will be discussed for both PID and PID-feed forward controllers. It has been demonstrated that controllers designed using response surface based techniques can control actuator drifts, compensate for external disturbances and nullify the effect of long term drifts in reactor characteristics. For these controllers to be generally useful, they must be able to handle variances such as sensor noise and process drift. They will discuss and demonstrate design improvements which make the controllers more robust, insensitive to noise and adaptive.

  1. Dual arm master controller for a bilateral servo-manipulator

    SciTech Connect

    Kuban, D.P.; Perkins, G.S.

    1989-11-28

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences there between. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed. 13 figs.

  2. Modeling of Prosthetic Limb Rotation Control by Sensing Rotation of Residual Arm Bone

    PubMed Central

    Kuiken, Todd A.

    2011-01-01

    We proposed a new approach to improve the control of prosthetic arm rotation in amputees. Arm rotation is sensed by implanting a small permanent magnet into the distal end of the residual bone, which produces a magnetic field. The position of the bone rotation can be derived from magnetic field distribution detected with magnetic sensors on the arm surface, and then conveyed to the prosthesis controller to manipulate the rotation of the prosthesis. Proprioception remains intact for residual limb skeletal structures; thus, this control system should be natural and easy-to-use. In this study, simulations have been conducted in an upper arm model to assess the feasibility and performance of sensing the voluntary rotation of residual humerus with an implanted magnet. A sensitivity analysis of the magnet size and arm size was presented. The influence of relative position of the magnet to the magnetic sensors, orientation of the magnet relative to the limb axis, and displacement of the magnetic sensors on the magnetic field was evaluated. The performance of shielding external magnetostatic interference was also investigated. The simulation results suggest that the direction and angle of rotation of residual humerus could be obtained by decoding the magnetic field signals with magnetic sensors built into a prosthetic socket. This pilot study provides important guidelines for developing a practical interface between the residual bone rotation and the prosthesis for control of prosthetic rotation. PMID:18713682

  3. Modeling of prosthetic limb rotation control by sensing rotation of residual arm bone.

    PubMed

    Li, Guanglin; Kuiken, Todd A

    2008-09-01

    We proposed a new approach to improve the control of prosthetic arm rotation in amputees. Arm rotation is sensed by implanting a small permanent magnet into the distal end of the residual bone, which produces a magnetic field. The position of the bone rotation can be derived from magnetic field distribution detected with magnetic sensors on the arm surface, and then conveyed to the prosthesis controller to manipulate the rotation of the prosthesis. Proprioception remains intact for residual limb skeletal structures; thus, this control system should be natural and easy-to-use. In this study, simulations have been conducted in an upper arm model to assess the feasibility and performance of sensing the voluntary rotation of residual humerus with an implanted magnet. A sensitivity analysis of the magnet size and arm size was presented. The influence of relative position of the magnet to the magnetic sensors, orientation of the magnet relative to the limb axis, and displacement of the magnetic sensors on the magnetic field was evaluated. The performance of shielding external magnetostatic interference was also investigated. The simulation results suggest that the direction and angle of rotation of residual humerus could be obtained by decoding the magnetic field signals with magnetic sensors built into a prosthetic socket. This pilot study provides important guidelines for developing a practical interface between the residual bone rotation and the prosthesis for control of prosthetic rotation.

  4. Numerical Issues for Circulation Control Calculations

    NASA Technical Reports Server (NTRS)

    Swanson, Roy C., Jr.; Rumsey, Christopher L.

    2006-01-01

    Steady-state and time-accurate two-dimensional solutions of the compressible Reynolds-averaged Navier- Stokes equations are obtained for flow over the Lockheed circulation control (CC) airfoil and the General Aviation CC (GACC) airfoil. Numerical issues in computing circulation control flows such as the effects of grid resolution, boundary and initial conditions, and unsteadiness are addressed. For the Lockheed CC airfoil computed solutions are compared with detailed experimental data, which include velocity and Reynolds stress profiles. Three turbulence models, having either one or two transport equations, are considered. Solutions are obtained on a sequence of meshes, with mesh refinement primarily concentrated on the airfoil circular trailing edge. Several effects related to mesh refinement are identified. For example, sometimes sufficient mesh resolution can exclude nonphysical solutions, which can occur in CC airfoil calculations. Also, sensitivities of the turbulence models with mesh refinement are discussed. In the case of the GACC airfoil the focus is on the difference between steady-state and time-accurate solutions. A specific objective is to determine if there is self-excited vortex shedding from the jet slot lip.

  5. Ethical issues in naturalistic versus controlled trials

    PubMed Central

    Helmchen, Hanfried

    2011-01-01

    Ethical core issues in research with human subjects are related to informed consent and risk-benefit assessment. This is valid for all types of studies. However, there has been much greater focus of ethical considerations on controlled clinical trials than on naturalistic trials, probably because the former are interventional in nature and may have unknown and perhaps severe somatic risks, whereas naturalistic studies seem not to intervene but only to observe, and therefore are assumed to have fewer or almost no risks. However, there are also ethical implications in naturalistic trials, although their weight is differently accentuated, more with potential, more with potential psychological burdens of the observational procedures and more with potential physical risks in interventional trials. This will be elaborated with examples of placebo-controlled trials and of incidental findings in screenings, of marketing influences on observational studies, and of psychological burdens by survey interviews. The ethical implications wilt be analyzed within a more general framework, Finally, recommendations will be offered. PMID:21842614

  6. When Ethics Constrains Clinical Research: Trial Design of Control Arms in “Greater Than Minimal Risk” Pediatric Trials

    PubMed Central

    de Melo-Martín, Inmaculada; Sondhi, Dolan

    2011-01-01

    Abstract For more than three decades clinical research in the United States has been explicitly guided by the idea that ethical considerations must be central to research design and practice. In spite of the centrality of this idea, attempting to balance the sometimes conflicting values of advancing scientific knowledge and protecting human subjects continues to pose challenges. Possible conflicts between the standards of scientific research and those of ethics are particularly salient in relation to trial design. Specifically, the choice of a control arm is an aspect of trial design in which ethical and scientific issues are deeply entwined. Although ethical quandaries related to the choice of control arms may arise when conducting any type of clinical trials, they are conspicuous in early phase gene transfer trials that involve highly novel approaches and surgical procedures and have children as the research subjects. Because of children's and their parents' vulnerabilities, in trials that investigate therapies for fatal, rare diseases affecting minors, the scientific and ethical concerns related to choosing appropriate controls are particularly significant. In this paper we use direct gene transfer to the central nervous system to treat late infantile neuronal ceroid lipofuscinosis to illustrate some of these ethical issues and explore possible solutions to real and apparent conflicts between scientific and ethical considerations. PMID:21446781

  7. To Keep and Bear Arms: Gun Control and the Second Amendment. Teacher's Guide.

    ERIC Educational Resources Information Center

    Edwards, Amy N.; Walker, Tim

    This teacher's guide is designed to accompany the two-part videotape "To Keep and Bear Arms: Gun Control and the Second Amendment." The videotape and teacher's guide should help students to: (1) understand the history of the Second Amendment; (2) examine how guns and gun control laws affect people's lives; (3) compare and contrast the…

  8. To Keep and Bear Arms: Gun Control and the Second Amendment. Teacher's Guide.

    ERIC Educational Resources Information Center

    Edwards, Amy N.; Walker, Tim

    This teacher's guide is designed to accompany the two-part videotape "To Keep and Bear Arms: Gun Control and the Second Amendment." The videotape and teacher's guide should help students to: (1) understand the history of the Second Amendment; (2) examine how guns and gun control laws affect people's lives; (3) compare and contrast the…

  9. Optimal output fast feedback in two-time scale control of flexible arms

    NASA Technical Reports Server (NTRS)

    Siciliano, B.; Calise, A. J.; Jonnalagadda, V. R. P.

    1986-01-01

    Control of lightweight flexible arms moving along predefined paths can be successfully synthesized on the basis of a two-time scale approach. A model following control can be designed for the reduced order slow subsystem. The fast subsystem is a linear system in which the slow variables act as parameters. The flexible fast variables which model the deflections of the arm along the trajectory can be sensed through strain gage measurements. For full state feedback design the derivatives of the deflections need to be estimated. The main contribution of this work is the design of an output feedback controller which includes a fixed order dynamic compensator, based on a recent convergent numerical algorithm for calculating LQ optimal gains. The design procedure is tested by means of simulation results for the one link flexible arm prototype in the laboratory.

  10. Whole Arm Grasping Control for Redundant Robot Manipulators

    DTIC Science & Technology

    2005-01-01

    Force Control and Contour Following,” Proc. of the Japan/USA Symposium on Flexible Automation, Ann Arbor, Michigan, 2000. [10] P. Li and R. Horowitz...Theory and Practice, Marcel Dekker Publishing Co., New York, NY, 2003. [9] J. Li and P. Li, “Passive Velocity Field Control (PVFC) Approach to Robot

  11. The Waterloo Vision and Mobility Study: postural control strategies in subjects with ARM.

    PubMed

    Elliott, D B; Patla, A E; Flanagan, J G; Spaulding, S; Rietdyk, S; Strong, G; Brown, S

    1995-11-01

    Binocular vision function and standing balance control was assessed in 16 subjects with age-related maculopathy (ARM) (mean age 73.9 +/- 7.4 years) and 19 controls (mean age 69.1 +/- 5.5 years). Balance control was assessed using the center of pressure signal from force plate data. It was quantified using the root mean square (RMS) error of the amplitude, sampled over a 1 min period. This was evaluated during normal standing, and while the input from the kinesthetic and/or visual systems were disrupted. The two subject groups showed significantly different RMS values across conditions (P < 0.005). The differences in RMS between ARM and control groups were only significant when the input to the kinesthetic sensory system was disrupted. Our results suggest that in the normal standing condition, the kinesthetic and vestibular systems compensated for the lack of useful information from the visual system in ARM subjects. When kinesthetic system input was disrupted, balance control of the ARM group was significantly poorer than the control. There was a weak correlation between postural control and contrast sensitivity. Various strategies for preventing falls in elderly patients with low vision are suggested.

  12. Filtering sensory information with XCSF: improving learning robustness and robot arm control performance.

    PubMed

    Kneissler, Jan; Stalph, Patrick O; Drugowitsch, Jan; Butz, Martin V

    2014-01-01

    It has been shown previously that the control of a robot arm can be efficiently learned using the XCSF learning classifier system, which is a nonlinear regression system based on evolutionary computation. So far, however, the predictive knowledge about how actual motor activity changes the state of the arm system has not been exploited. In this paper, we utilize the forward velocity kinematics knowledge of XCSF to alleviate the negative effect of noisy sensors for successful learning and control. We incorporate Kalman filtering for estimating successive arm positions, iteratively combining sensory readings with XCSF-based predictions of hand position changes over time. The filtered arm position is used to improve both trajectory planning and further learning of the forward velocity kinematics. We test the approach on a simulated kinematic robot arm model. The results show that the combination can improve learning and control performance significantly. However, it also shows that variance estimates of XCSF prediction may be underestimated, in which case self-delusional spiraling effects can hinder effective learning. Thus, we introduce a heuristic parameter, which can be motivated by theory, and which limits the influence of XCSF's predictions on its own further learning input. As a result, we obtain drastic improvements in noise tolerance, allowing the system to cope with more than 10 times higher noise levels.

  13. Algorithms for adaptive control of two-arm flexible manipulators under uncertainty

    NASA Technical Reports Server (NTRS)

    Skowronski, J. M.

    1987-01-01

    A nonlinear extension of model reference adaptive control (MRAC) technique is used to guide a double arm nonlinearizable robot manipulator with flexible links, driven by actuators collocated with joints subject to uncertain payload and inertia. The objective is to track a given simple linear and rigid but compatible dynamical model in real, possible stipulated time and within stipulated degree of accuracy of convergence while avoiding collision of the arms. The objective is attained by a specified signal adaptive feedback controller and by adaptive laws, both given in closed form. A case of 4 DOF manipulator illustrates the technique.

  14. Integrating nuclear weapons stockpile management and nuclear arms control to enable significant stockpile reductions

    SciTech Connect

    Sanders, Lani Miyoshi; DeLand, Sharon M.; Pregenzer, Arian L.

    2010-11-01

    In his 2009 Prague speech and the 2010 Nuclear Posture Review, President Barack Obama committed the United States to take concrete steps toward nuclear disarmament while maintaining a safe, secure, and effective nuclear deterrent. There is an inherent tension between these two goals that is best addressed through improved integration of nuclear weapons objectives with nuclear arms control objectives. This article reviews historical examples of the interaction between the two sets of objectives, develops a framework for analyzing opportunities for future integration, and suggests specific ideas that could benefit the nuclear weapons enterprise as it undergoes transformation and that could make the future enterprise compatible with a variety of arms control futures.

  15. Defining the questions: a research agenda for nontraditional authentication in arms control

    SciTech Connect

    Hauck, Danielle K; Mac Arthur, Duncan W; Smith, Morag K; Thron, Jonathan L; Budlong - Sylvester, Kory

    2010-01-01

    Many traditional authentication techniques have been based on hardware solutions. Thus authentication of measurement system hardware has been considered in terms of physical inspection and destructive analysis. Software authentication has implied hash function analysis or authentication tools such as Rose. Continuity of knowledge is maintained through TIDs and cameras. Although there is ongoing progress improving all of these authentication methods, there has been little discussion of the human factors involved in authentication. Issues of non-traditional authentication include sleight-of-hand substitutions, monitor perception vs. reality, and visual diversions. Since monitor confidence in a measurement system depends on the product of their confidences in each authentication element, it is important to investigate all authentication techniques, including the human factors. This paper will present an initial effort to identify the most important problems that traditional authentication approaches in safeguards have not addressed and are especially relevant to arms control verification. This will include a survey of the literature and direct engagement with nontraditional experts in areas like psychology and human factors. Based on the identification of problem areas, potential research areas will be identified and a possible research agenda will be developed.

  16. Robotic arm

    DOEpatents

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  17. Research on the man in the loop control system of the robot arm based on gesture control

    NASA Astrophysics Data System (ADS)

    Xiao, Lifeng; Peng, Jinbao

    2017-03-01

    The Man in the loop control system of the robot arm based on gesture control research complex real-world environment, which requires the operator to continuously control and adjust the remote manipulator, as the background, completes the specific mission human in the loop entire system as the research object. This paper puts forward a kind of robot arm control system of Man in the loop based on gesture control, by robot arm control system based on gesture control and Virtual reality scene feedback to enhance immersion and integration of operator, to make operator really become a part of the whole control loop. This paper expounds how to construct a man in the loop control system of the robot arm based on gesture control. The system is a complex system of human computer cooperative control, but also people in the loop control problem areas. The new system solves the problems that the traditional method has no immersion feeling and the operation lever is unnatural, the adjustment time is long, and the data glove mode wears uncomfortable and the price is expensive.

  18. Arms Control: US and International efforts to ban biological weapons

    SciTech Connect

    Not Available

    1992-12-01

    The Bacteriological (Biological) and Toxin Weapons Convention, the treaty that bans the development, production, and stockpiling and acquisition of biological weapons was opened for signature in 1972 and came into force in 1975 after being ratified by 22 governments, including the depository nations of the USA, the United Kingdom, and the former Soviet Union. In support of the Convention, the USA later established export controls on items used to make biological weapons. Further, in accordance with the 1990 President`s Enhanced Proliferation Control Initiative, actions were taken to redefine and expand US export controls, as well as to encourage multilateral controls through the Australia Group. Thus far, the Convention has not been effective in stopping the development of biological weapons. The principal findings as to the reasons of the failures of the Convention are found to be: the Convention lacks universality, compliance measures are effective, advantage of verification may outweigh disadvantages. Recommendations for mitigating these failures are outlined in this report.

  19. Direct model reference adaptive control of robotic arms

    NASA Technical Reports Server (NTRS)

    Kaufman, Howard; Swift, David C.; Cummings, Steven T.; Shankey, Jeffrey R.

    1993-01-01

    The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

  20. Mirror therapy for patients with severe arm paresis after stroke--a randomized controlled trial.

    PubMed

    Thieme, Holm; Bayn, Maria; Wurg, Marco; Zange, Christian; Pohl, Marcus; Behrens, Johann

    2013-04-01

    To evaluate the effects of individual or group mirror therapy on sensorimotor function, activities of daily living, quality of life and visuospatial neglect in patients with a severe arm paresis after stroke. Randomized controlled trial. Inpatient rehabilitation centre. Sixty patients with a severe paresis of the arm within three months after stroke. Three groups: (1) individual mirror therapy, (2) group mirror therapy and (3) control intervention with restricted view on the affected arm. Motor function on impairment (Fugl-Meyer Test) and activity level (Action Research Arm Test), independence in activities of daily living (Barthel Index), quality of life (Stroke Impact Scale) and visuospatial neglect (Star Cancellation Test). After five weeks, no significant group differences for motor function were found (P > 0.05). Pre-post differences for the Action Research Arm Test and Fugl-Meyer Test: individual mirror therapy: 3.4 (7.1) and 3.2 (3.8), group mirror therapy: 1.1 (3.1) and 5.1 (10.0) and control therapy: 2.8 (6.7) and 5.2 (8.7). However, a significant effect on visuospatial neglect for patients in the individual mirror therapy compared to control group could be shown (P < 0.01). Furthermore, it was possible to integrate a mirror therapy group intervention for severely affected patients after stroke. This study showed no effect on sensorimotor function of the arm, activities of daily living and quality of life of mirror therapy compared to a control intervention after stroke. However, a positive effect on visuospatial neglect was indicated.

  1. A distributed Petri Net controller for a dual arm testbed

    NASA Technical Reports Server (NTRS)

    Bjanes, Atle

    1991-01-01

    This thesis describes the design and functionality of a Distributed Petri Net Controller (DPNC). The controller runs under X Windows to provide a graphical interface. The DPNC allows users to distribute a Petri Net across several host computers linked together via a TCP/IP interface. A sub-net executes on each host, interacting with the other sub-nets by passing a token vector from host to host. One host has a command window which monitors and controls the distributed controller. The input to the DPNC is a net definition file generated by Great SPN. Thus, a net may be designed, analyzed and verified using this package before implementation. The net is distributed to the hosts by tagging transitions that are host-critical with the appropriate host number. The controller will then distribute the remaining places and transitions to the hosts by generating the local nets, the local marking vectors and the global marking vector. Each transition can have one or more preconditions which must be fulfilled before the transition can fire, as well as one or more post-processes to be executed after the transition fires. These implement the actual input/output to the environment (machines, signals, etc.). The DPNC may also be used to simulate a Great SPN net since stochastic and deterministic firing rates are implemented in the controller for timed transitions.

  2. Polio control after certification: major issues outstanding.

    PubMed Central

    Fine, Paul E. M.; Oblapenko, George; Sutter, Roland W.

    2004-01-01

    Now that the global eradication of wild poliovirus is almost within sight, planning for the post-certification era is becoming a priority issue. It is agreed that a stockpile of appropriate polio vaccines will need to be established, and a surveillance and response capacity will need to be maintained, in order to protect the world against any possible future outbreaks attributable either to the persistence of wild poliovirus or vaccine-derived polioviruses (VDPVs) or to the unintentional or intentional release of poliovirus from a laboratory or vaccine store. Although it has been suggested that the stockpile should consist of monovalent oral poliovirus vaccine (mOPV), many questions remain concerning its nature, financing, management, and use--in particular, because of uncertainties over future national vaccination policies, and over the availability of different vaccines, after the certification of wild poliovirus eradication. There are further uncertainties concerning the possible role and efficacy of inactivated poliovirus vaccine (IPV) used either routinely or in outbreak control in low-hygiene settings, the potential for rapid geographical spread of polioviruses should an outbreak occur after certification, and the risks inherent in introducing additional oral polio vaccine (OPV) viruses into populations in which the vaccine coverage and prevalence of immunity have declined, and which may thus favour the spread of VDPVs. Given these important gaps in knowledge, no country should discontinue polio vaccination until a coordinated policy for the post-certification era has been developed and the recommended measures have been put in place. PMID:15106300

  3. Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

    NASA Astrophysics Data System (ADS)

    Meng, Jianjun; Zhang, Shuying; Bekyo, Angeliki; Olsoe, Jaron; Baxter, Bryan; He, Bin

    2016-12-01

    Brain-computer interface (BCI) technologies aim to provide a bridge between the human brain and external devices. Prior research using non-invasive BCI to control virtual objects, such as computer cursors and virtual helicopters, and real-world objects, such as wheelchairs and quadcopters, has demonstrated the promise of BCI technologies. However, controlling a robotic arm to complete reach-and-grasp tasks efficiently using non-invasive BCI has yet to be shown. In this study, we found that a group of 13 human subjects could willingly modulate brain activity to control a robotic arm with high accuracy for performing tasks requiring multiple degrees of freedom by combination of two sequential low dimensional controls. Subjects were able to effectively control reaching of the robotic arm through modulation of their brain rhythms within the span of only a few training sessions and maintained the ability to control the robotic arm over multiple months. Our results demonstrate the viability of human operation of prosthetic limbs using non-invasive BCI technology.

  4. Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

    PubMed Central

    Meng, Jianjun; Zhang, Shuying; Bekyo, Angeliki; Olsoe, Jaron; Baxter, Bryan; He, Bin

    2016-01-01

    Brain-computer interface (BCI) technologies aim to provide a bridge between the human brain and external devices. Prior research using non-invasive BCI to control virtual objects, such as computer cursors and virtual helicopters, and real-world objects, such as wheelchairs and quadcopters, has demonstrated the promise of BCI technologies. However, controlling a robotic arm to complete reach-and-grasp tasks efficiently using non-invasive BCI has yet to be shown. In this study, we found that a group of 13 human subjects could willingly modulate brain activity to control a robotic arm with high accuracy for performing tasks requiring multiple degrees of freedom by combination of two sequential low dimensional controls. Subjects were able to effectively control reaching of the robotic arm through modulation of their brain rhythms within the span of only a few training sessions and maintained the ability to control the robotic arm over multiple months. Our results demonstrate the viability of human operation of prosthetic limbs using non-invasive BCI technology. PMID:27966546

  5. 3D joystick for robotic arm control by individuals with high level spinal cord injuries.

    PubMed

    Jiang, Hairong; Wachs, Juan P; Pendergast, Martin; Duerstock, Bradley S

    2013-06-01

    An innovative 3D joystick was developed to enable quadriplegics due to spinal cord injuries (SCIs) to more independently and efficiently operate a robotic arm as an assistive device. The 3D joystick was compared to two different manual input modalities, a keyboard control and a traditional joystick, in performing experimental robotic arm tasks by both subjects without disabilities and those with upper extremity mobility impairments. Fitts's Law targeting and practical pouring tests were conducted to compare the performance and accuracy of the proposed 3D joystick. The Fitts's law measurements showed that the 3D joystick had the best index of performance (IP), though it required an equivalent number of operations and errors as the standard robotic arm joystick. The pouring task demonstrated that the 3D joystick took significantly less task completion time and was more accurate than keyboard control. The 3D joystick also showed a decreased learning curve to the other modalities.

  6. Review of the provisions and effectiveness of selected arms control agreements, 1812-1939

    SciTech Connect

    Phillips, J.H.

    1985-10-01

    RDA has conducted historical research on a number of arms control agreements, with particular emphasis on the verification and compliance provisions, for the period between the conclusion of the War of 1812 and the beginning of World War II. Particular emphasis was placed on the Treaty of Versailles for several reasons, among them the fact that it was the first agreement that contained quantitative arms reduction and disarmament provisions along with a formal mechanism for carrying them out, including unrestricted on-site inspections. Other arms control agreements and activities that are addressed include the Rush-Bagot Agreement, the Hague Conferences, League of Nations activities, and US initiatives after World War I that resulted in treaties that attempted to limit naval armaments.

  7. Virtual reality in the rehabilitation of the arm after hemiplegic stroke: a randomized controlled pilot study.

    PubMed

    Crosbie, J H; Lennon, S; McGoldrick, M C; McNeill, M D J; McDonough, S M

    2012-09-01

    To assess the feasibility of a trial to investigate the effectiveness of virtual reality-mediated therapy compared to conventional physiotherapy in the motor rehabilitation of the arm following stroke, and to provide data for a power analysis to determine numbers for a future main trial. Pilot randomized controlled trial. Clinical research facility. Eighteen people with a first stroke, 10 males and 8 females, 7 right and 2 left side most affected. Mean time since stroke 10.8 months. Participants were randomized to a virtual reality group or a conventional arm therapy group for nine sessions over three weeks. The upper limb Motricity Index and the Action Research Arm Test were completed at baseline, post intervention and six weeks follow-up. Outcome data were obtained from 95% of participants at the end of treatment and at follow-up: one participant withdrew. Compliance was high; only two people reported side-effects from virtual reality exposure. Both groups demonstrated small (7-8 points on upper limb Motricity Index and 4 points on the Action Research Arm Test), but non-significant, changes to their arm impairment and activity levels. A randomized controlled trial of virtual reality-mediated therapy comparable to conventional therapy would be feasible, with some suggested improvements in recruitment and outcome measures. Seventy-eight participants (39 per group) would be required for a main trial.

  8. Torque control in lingual orthodontics with lever arm mechanics: a case report.

    PubMed

    Aravind, M; Shivaprakash, G; Ramesh, G C

    2013-01-01

    The aim of this report is to illustrate treatment mechanics for torque control in lingual mechanotherapy using a lever arm and transpalatal arch (TPA) tab system during en masse retraction of anterior teeth. An 18-year-old female with bimaxillary dentoalveolar proclination with crowding was treated with a lever arm-TPA tab system. The retraction tabs bent into the TPA placed across the maxillary second molars were used as anchorage. The retraction force on the maxillary anterior teeth was applied using lever arm hooks soldered between the lateral incisors and canines on a lingual mushroom archwire. By applying a retraction force to the lever arm hooks, the maxillary anterior teeth experienced greater palatal root movement as compared to the conventional retraction forces applied at the crown level. The tabs, placed high in the TPA, produced a distal tipping moment on the maxillary second molars, reinforcing their anchorage. The retraction force applied to the long lever arm hooks from the TPA tabs at the level of center of resistance (CRes) of anterior and posterior teeth is advantageous mainly in two aspects. First, it reinforces the anchorage, and second, it favors the palatal root movement of anterior teeth, thus obtaining better control over the torque during en masse retraction.

  9. Supplementary Motor Area exerts Proactive and Reactive Control of Arm Movements

    PubMed Central

    Chen, Xiaomo; Scangos, Katherine Wilson; Stuphorn, Veit

    2010-01-01

    Adaptive behavior requires the ability to flexibly control actions. This can occur either proactively to anticipate task requirements, or reactively in response to sudden changes. Here we report neuronal activity in the supplementary motor area (SMA) that is correlated with both forms of behavioral control. Single and multi-unit activity and intracranial local field potentials (LFP) were recorded in macaque monkeys during a stop signal task, which elicits both proactive and reactive behavioral control. The LFP power in high (60-150 Hz) and low (25-40 Hz) frequency bands was significantly correlated with arm movement reaction time, starting before target onset. Multi- and single unit activity also showed a significant regression with reaction time. In addition, LFPs, multi- and single unit activity changed their activity level depending on the trial history, mirroring adjustments on the behavioral level. Together, these findings indicate that neuronal activity in the SMA exerts proactive control of arm movements by adjusting the level of motor readiness. On trials when the monkeys successfully canceled arm movements in response to an unforeseen stop signal, the LFP power particularly in a low (10-50 Hz) frequency range increased early enough to be causally related to the inhibition of the arm movement on those trials. This indicated that neuronal activity in the SMA is also involved in response inhibition in reaction to sudden task changes. Our findings indicate therefore that SMA plays a role in the proactive control of motor readiness and the reactive inhibition of unwanted movements. PMID:21048123

  10. 78 FR 66984 - Bureau of Political-Military Affairs; Statutory Debarment Under the Arms Export Control Act and...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-11-07

    ... of Political-Military Affairs; Statutory Debarment Under the Arms Export Control Act and the..., Section 38 of the Arms Export Control Act, as amended, (``AECA'') (22 U.S.C. 2778). DATES: Effective Date..., Acting Director, Office of Defense Trade Controls Compliance, Bureau of Political- Military Affairs...

  11. An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations

    NASA Technical Reports Server (NTRS)

    Yun, Xiaoping; Kumar, Vijay R.

    1991-01-01

    An approach to the control of constrained dynamic systems such as multiple arm systems, multifingered grippers, and walking vehicles is described. The basic philosophy is to utilize a minimal set of inputs to control the trajectory and the surplus input to control the constraint or interaction forces and moments in the closed chain. A dynamic control model for the closed chain is derived that is suitable for designing a controller in which the trajectory and the interaction forces and moments are explicitly controlled. Nonlinear feedback techniques derived from differential geometry are then applied to linearize and decouple the nonlinear model. These ideas are illustrated through a planar example in which two arms are used for cooperative manipulation. Results from a simulation are used to illustrate the efficacy of the method.

  12. An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations

    NASA Technical Reports Server (NTRS)

    Yun, Xiaoping; Kumar, Vijay R.

    1991-01-01

    An approach to the control of constrained dynamic systems such as multiple arm systems, multifingered grippers, and walking vehicles is described. The basic philosophy is to utilize a minimal set of inputs to control the trajectory and the surplus input to control the constraint or interaction forces and moments in the closed chain. A dynamic control model for the closed chain is derived that is suitable for designing a controller in which the trajectory and the interaction forces and moments are explicitly controlled. Nonlinear feedback techniques derived from differential geometry are then applied to linearize and decouple the nonlinear model. These ideas are illustrated through a planar example in which two arms are used for cooperative manipulation. Results from a simulation are used to illustrate the efficacy of the method.

  13. Robust torque control of an elastic robotic arm based on invertibility and feedback stabilization

    NASA Technical Reports Server (NTRS)

    Singh, S. N.; Schy, A. A.

    1985-01-01

    An approach to the control of elastic robotic systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law, u sub d, is derived such that in the closed loop system, independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law, u sub s, is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that, in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = u sub d + u sub s.

  14. Balancing Cost and Effectiveness in Arms Control Monitoring

    DTIC Science & Technology

    1992-09-01

    subsequent inspections and, as a consequence, allows for a positive determination of cheating. In Addition, declarations create a variety of risks for...built around the weapons controlled by the treaty. If a nation chooses to cheat within the established infrascture, it does so at a greater risk of I...very difficult for a nation to explain discovered treaty violations as anything but cheating. Altogether, these risks may well generate a substantial

  15. Controlled, Rapid Uprighting of Molars: A surprisingly Simple Solution The Pivot Arm Appliance.

    PubMed

    Warise, Timothy R; Galella, Steve A

    2015-01-01

    In orthodontic cases where the regional anatomy provides limited room for eruption, there is etiologically a higher occurrence of tipped/impacted second molars. Although second molar extraction with third molar replacement is a useful option, the "Pivot Arm Appliance" encourages the uprighting of the second molar as a preferred treatment. The most unique and important attribute of the "Pivot Arm Appliance" is the rotating tube. In cases of access limitation, the disto-occlusal surface of the molar presents as one area that is accessible. Other features of the "Pivot Arm Appliance" include: The position of the rotator tube delivers optimal rotational force through the pivoting action of the tube/arm complex. The "Pivot Arm Appliance" takes advantage of the efficiency and simplicity of a Class I lever system. The anatomical fulcrum being the dense cortical bone located anterior to the ascending ramus. The vertical spring system is compact, reliable and delivers gentle controlled force in rotational direction. The lingual location of the "Pivot Arm Appliance" does not hinder the function of the tongue, impinge on the soft tissue or interfere with normal masticatory function. The ease of placement of the rotator tube and subsequent insertion of the spring. It is well to note the uprighting appliance provides a very useful and practical approach to the unique problem of severely tipped second molars with limited buccal access. The "Pivot Arm Appliance" does not function only in these situations but can be used in all cases of second molar uprighting of a moderate to severe nature.

  16. Optimization of Casting Design Parameters on Fabrication of Reliable Semi-Solid Aluminum Suspension Control Arm

    NASA Astrophysics Data System (ADS)

    Ragab, Kh. A.; Bouaicha, A.; Bouazara, M.

    2017-09-01

    The semi-solid casting process has the advantage of providing reliable mechanical aluminum parts that work continuously in dynamic as control arm of the suspension system in automotive vehicles. The quality performance of dynamic control arm is related to casting mold and gating system designs that affect the fluidity of semi-solid metal during filling the mold. Therefore, this study focuses on improvement in mechanical performance, depending on material characterization, and casting design optimization, of suspension control arms made of A357 aluminum semi-solid alloys. Mechanical and design analyses, applied on the suspension arm, showed the occurrence of mechanical failures at unexpected weak points. Metallurgical analysis showed that the main reason lies in the difficult flow of semi-solid paste through the thin thicknesses of a complex geometry. A design modification procedure is applied to the geometry of the suspension arm to avoid this problem and to improve its quality performance. The design modification of parts was carried out by using SolidWorks design software, evaluation of constraints with ABAQUS, and simulation of flow with ProCast software. The proposed designs showed that the modified suspension arm, without ribs and with a central canvas designed as Z, is considered as a perfect casting design showing an increase in the structural strength of the component. In this case, maximum von Mises stress is 199 MPa that is below the yield strength of the material. The modified casting mold design shows a high uniformity and minim turbulence of molten metal flow during semi-solid casting process.

  17. Noninvasive Electroencephalogram Based Control of a Robotic Arm for Writing Task Using Hybrid BCI System.

    PubMed

    Gao, Qiang; Dou, Lixiang; Belkacem, Abdelkader Nasreddine; Chen, Chao

    2017-01-01

    A novel hybrid brain-computer interface (BCI) based on the electroencephalogram (EEG) signal which consists of a motor imagery- (MI-) based online interactive brain-controlled switch, "teeth clenching" state detector, and a steady-state visual evoked potential- (SSVEP-) based BCI was proposed to provide multidimensional BCI control. MI-based BCI was used as single-pole double throw brain switch (SPDTBS). By combining the SPDTBS with 4-class SSEVP-based BCI, movement of robotic arm was controlled in three-dimensional (3D) space. In addition, muscle artifact (EMG) of "teeth clenching" condition recorded from EEG signal was detected and employed as interrupter, which can initialize the statement of SPDTBS. Real-time writing task was implemented to verify the reliability of the proposed noninvasive hybrid EEG-EMG-BCI. Eight subjects participated in this study and succeeded to manipulate a robotic arm in 3D space to write some English letters. The mean decoding accuracy of writing task was 0.93 ± 0.03. Four subjects achieved the optimal criteria of writing the word "HI" which is the minimum movement of robotic arm directions (15 steps). Other subjects had needed to take from 2 to 4 additional steps to finish the whole process. These results suggested that our proposed hybrid noninvasive EEG-EMG-BCI was robust and efficient for real-time multidimensional robotic arm control.

  18. United States Arms Control and Disarmament Agency. Ninth Annual Report to Congress.

    ERIC Educational Resources Information Center

    Arms Control and Disarmament Agency, Washington, DC.

    This annual report surveys activities of the Arms Control and Disarmament Agency (ACDA) and summarizes disarmament developments for the calendar year 1968. An act of Congress states that ACDA must have such a position within the Government that it can provide the President, the Secretary of State, other officials of the executive branch, and the…

  19. Octopuses use a human-like strategy to control precise point-to-point arm movements.

    PubMed

    Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

    2006-04-18

    One of the key problems in motor control is mastering or reducing the number of degrees of freedom (DOFs) through coordination. This problem is especially prominent with hyper-redundant limbs such as the extremely flexible arm of the octopus. Several strategies for simplifying these control problems have been suggested for human point-to-point arm movements. Despite the evolutionary gap and morphological differences, humans and octopuses evolved similar strategies when fetching food to the mouth. To achieve this precise point-to-point-task, octopus arms generate a quasi-articulated structure based on three dynamic joints. A rotational movement around these joints brings the object to the mouth . Here, we describe a peripheral neural mechanism-two waves of muscle activation propagate toward each other, and their collision point sets the medial-joint location. This is a remarkably simple mechanism for adjusting the length of the segments according to where the object is grasped. Furthermore, similar to certain human arm movements, kinematic invariants were observed at the joint level rather than at the end-effector level, suggesting intrinsic control coordination. The evolutionary convergence to similar geometrical and kinematic features suggests that a kinematically constrained articulated limb controlled at the level of joint space is the optimal solution for precise point-to-point movements.

  20. Multicomponent Control Strategy Underlying Production of Maximal Hand Velocity During Horizontal Arm Swing

    PubMed Central

    Kim, Young-Kwan; Hinrichs, Richard N.

    2009-01-01

    Movement control responsible for generation of maximal hand velocity was studied on the example of horizontal arm swing that is a component of various sports activities. The movement was performed with the nondominant arm in similarity with the baseball bat swing. The task was to generate maximum hand velocity at a target. The movement included trunk long-axis rotation and horizontal shoulder and elbow extension. Kinematics and torque analyses were performed to study the organization of fastest movements and to compare trials representing the best and worst performance in each subject. Results revealed complex control strategy, with the trunk, shoulder, and elbow playing unique roles in generation of maximal hand velocity. The trunk provided a crucial contribution, directly, rotating the entire arm, and indirectly, exerting interaction torque that caused swift elbow extension. The major role of the shoulder was to transfer the mechanical effect of trunk motion to the elbow. However, the shoulder became the primary motion generator when the trunk reached its limits of rotation, revealing sequential organization of control. The role of the elbow was to maximally comply with passive influence of proximal joints. The findings are discussed in light of the leading joint hypothesis that offers a straightforward interpretation of control of horizontal arm swing as well as practically efficient recommendations for increases in movement speed. The revealed role of intersegmental dynamics in production of high movement speed suggests that movement slowness characteristic for some motor disorders may be partially a compensatory strategy that facilitates regulation of interaction torque. PMID:19759324

  1. Noninvasive Electroencephalogram Based Control of a Robotic Arm for Writing Task Using Hybrid BCI System

    PubMed Central

    Gao, Qiang

    2017-01-01

    A novel hybrid brain-computer interface (BCI) based on the electroencephalogram (EEG) signal which consists of a motor imagery- (MI-) based online interactive brain-controlled switch, “teeth clenching” state detector, and a steady-state visual evoked potential- (SSVEP-) based BCI was proposed to provide multidimensional BCI control. MI-based BCI was used as single-pole double throw brain switch (SPDTBS). By combining the SPDTBS with 4-class SSEVP-based BCI, movement of robotic arm was controlled in three-dimensional (3D) space. In addition, muscle artifact (EMG) of “teeth clenching” condition recorded from EEG signal was detected and employed as interrupter, which can initialize the statement of SPDTBS. Real-time writing task was implemented to verify the reliability of the proposed noninvasive hybrid EEG-EMG-BCI. Eight subjects participated in this study and succeeded to manipulate a robotic arm in 3D space to write some English letters. The mean decoding accuracy of writing task was 0.93 ± 0.03. Four subjects achieved the optimal criteria of writing the word “HI” which is the minimum movement of robotic arm directions (15 steps). Other subjects had needed to take from 2 to 4 additional steps to finish the whole process. These results suggested that our proposed hybrid noninvasive EEG-EMG-BCI was robust and efficient for real-time multidimensional robotic arm control. PMID:28660211

  2. 49 CFR 1544.221 - Carriage of prisoners under the control of armed law enforcement officers.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 9 2011-10-01 2011-10-01 false Carriage of prisoners under the control of armed law enforcement officers. 1544.221 Section 1544.221 Transportation Other Regulations Relating to Transportation (Continued) TRANSPORTATION SECURITY ADMINISTRATION, DEPARTMENT OF HOMELAND SECURITY CIVIL...

  3. 49 CFR 1544.221 - Carriage of prisoners under the control of armed law enforcement officers.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 9 2014-10-01 2014-10-01 false Carriage of prisoners under the control of armed law enforcement officers. 1544.221 Section 1544.221 Transportation Other Regulations Relating to Transportation (Continued) TRANSPORTATION SECURITY ADMINISTRATION, DEPARTMENT OF HOMELAND SECURITY CIVIL...

  4. 49 CFR 1544.221 - Carriage of prisoners under the control of armed law enforcement officers.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 9 2013-10-01 2013-10-01 false Carriage of prisoners under the control of armed law enforcement officers. 1544.221 Section 1544.221 Transportation Other Regulations Relating to Transportation (Continued) TRANSPORTATION SECURITY ADMINISTRATION, DEPARTMENT OF HOMELAND SECURITY CIVIL...

  5. Arms Control with a Democracy: Negotiating with the New Soviet Union

    DTIC Science & Technology

    1991-09-01

    8217 Group, " Radio Liberty: Report On The USSR, 17 May 1991, 16-21. 44Excerpts from Colonel Viktor Alksnis speech as quoted in news report. Fen Montaigne ...3-15. MccGwire, Michael. "New Directions in Soviet Arms-Control Policy." TheWashington Ouarterly Vol. 11, No. 3, Summer 1988: 185-200. Montaigne , Fen

  6. Heterodyne holography with full control of both the signal and reference arms.

    PubMed

    Gross, Michel

    2016-01-20

    Heterodyne holography is a variant of phase-shifting holography in which the reference and signal arms are controlled by acousto-optic modulators. In this review paper, we will briefly describe the method and its properties, and we will illustrate its advantages in experimental applications.

  7. Multicomponent control strategy underlying production of maximal hand velocity during horizontal arm swing.

    PubMed

    Kim, Young-Kwan; Hinrichs, Richard N; Dounskaia, Natalia

    2009-11-01

    Movement control responsible for generation of maximal hand velocity was studied on the example of horizontal arm swing that is a component of various sports activities. The movement was performed with the nondominant arm in similarity with the baseball bat swing. The task was to generate maximum hand velocity at a target. The movement included trunk long-axis rotation and horizontal shoulder and elbow extension. Kinematics and torque analyses were performed to study the organization of fastest movements and to compare trials representing the best and worst performance in each subject. Results revealed complex control strategy, with the trunk, shoulder, and elbow playing unique roles in generation of maximal hand velocity. The trunk provided a crucial contribution, directly, rotating the entire arm, and indirectly, exerting interaction torque that caused swift elbow extension. The major role of the shoulder was to transfer the mechanical effect of trunk motion to the elbow. However, the shoulder became the primary motion generator when the trunk reached its limits of rotation, revealing sequential organization of control. The role of the elbow was to maximally comply with passive influence of proximal joints. The findings are discussed in light of the leading joint hypothesis that offers a straightforward interpretation of control of horizontal arm swing as well as practically efficient recommendations for increases in movement speed. The revealed role of intersegmental dynamics in production of high movement speed suggests that movement slowness characteristic for some motor disorders may be partially a compensatory strategy that facilitates regulation of interaction torque.

  8. The Development of BCI Using Alpha Waves for Controlling the Robot Arm

    NASA Astrophysics Data System (ADS)

    Inoue, Shinsuke; Akiyama, Yoko; Izumi, Yoshinobu; Nishijima, Shigehiro

    The highly accurate BCI using alpha waves was developed for controlling the robot arm, and real-time operation was succeeded by using noninvasive electrodes. The significant components of the alpha wave were identified by spectral analysis and confirmation of the amplitude of the alpha wave. When the alpha wave was observed in the subject, the subjects were instructed to select the multiple decision branches, concerning 7 motions (including “STOP”) of a robot arm. As a result, high accuracy (70-95%) was obtained, and the subject succeeded in transferring a small box by controlling the robot arm. Since high accuracy was obtained by use of this method, it can be applied to control equipments such as a robot arm. Since the alpha wave can be easily generated, the BCI using alpha waves does not need more training than that using other signals. Moreover, we tried to reduce the false positive errors by effectively detecting artifacts using spectral analysis and detecting signals of 50μV or more. As a result, the false positive errors could be reduced from 25% to 0%. Therefore, this technique shows great promise in the area of communication and the control of other external equipments, and will make great contribution in the improvement of Quality of Life (QOL) of mobility disabled.

  9. Beyond the Illusion of Symmetry: How to Think about Arms Control

    DTIC Science & Technology

    1988-05-01

    accident " (53) and contribute instead to increased assurances during times of crisis. In the end, arms control should not create instability (62:4) as it...the illusion of symmetry!" 79 APPENDIX US AND SOVIET STRATEGIC NUCLEAR FORCE STATUS Sotiict-.Xmcrican Nucleair Balwtict: United States Sot wcl I fljtof

  10. Massachusetts Institute of Technology Defense and Arms Control Studies Program, Abbual Report, 1989-1990

    DTIC Science & Technology

    1990-01-01

    range of weapons-related technolo- gies. I am happy to report also that Professor Postol received the prestigious Leo Szilard Award this year from the...studydevelopmns in weapons technology of relevance to defense and arms control policy. In 1990 Dr. Postol received the Leo Szilard Award from the

  11. Defense and Arms Control Studies Program, Annual Report 1991-1992

    DTIC Science & Technology

    1992-01-01

    career scientists to study developments in weapons technology of relevance to defense and arms control policy. In 1990 Dr. Postol was awarded the Leo ... Szilard Prize from the American Physical Society. MASSACHUSETTS INSTITUTE OF TECHNOLOGY 1 GEORGE W. RATHJENS became Professor in the Department of

  12. Designing and evaluating conventional arms control measures: The case of the Korean peninsula

    SciTech Connect

    Han Yongsup.

    1991-01-01

    As a method of designing and evaluating arms control measures, this study takes a combined approach of qualitative analysis and military simulation. Three qualitative criteria derived from the case studies on the Korean and European arms control are used to examine whether these measures are legally binding, verifiable, and negotiable. One quantifiable criterion is used to test against the base case scenario (a one-day surprise attach by North Korea) whether arms control measures will stabilize or destabilize the military status quo on the Peninsula in terms of North Korea's extent of penetration in the actual war situations. Four alternative measures are derived from the analysis: (1) Confidence and Security Building Measures (CSBMs); (2) Establishment of Asymmetric Non-Deployment Zone (NDZ); (3) Reduction of the joint US-South Korean Team Spirit' exercises and North Korea's Forward Deployed Forces; and, (4) Reduction of South Korean and US forces and North Korean Forces. Findings indicate that establishment of the NDZ and a North Korean unilateral reduction are estimated to best achieve the goal of South Korean arms control.

  13. Mated Flight Control Issues for Space Exploration Systems

    NASA Technical Reports Server (NTRS)

    Lim, Kyong B.; Markley, F. Landis; Whorton, Mark S.

    2006-01-01

    Several unique issues related to mated flight control have been broadly identified. These issues include redundancies in subsystems, controllability, command and control authority distribution, information flow across elements, and changes and variability in system characteristics due to variable mated configurations during operations. Architectural options for mated flight control are discussed in the context of evolving space systems.

  14. SpaceWire- Based Control System Architecture for the Lightweight Advanced Robotic Arm Demonstrator [LARAD

    NASA Astrophysics Data System (ADS)

    Rucinski, Marek; Coates, Adam; Montano, Giuseppe; Allouis, Elie; Jameux, David

    2015-09-01

    The Lightweight Advanced Robotic Arm Demonstrator (LARAD) is a state-of-the-art, two-meter long robotic arm for planetary surface exploration currently being developed by a UK consortium led by Airbus Defence and Space Ltd under contract to the UK Space Agency (CREST-2 programme). LARAD has a modular design, which allows for experimentation with different electronics and control software. The control system architecture includes the on-board computer, control software and firmware, and the communication infrastructure (e.g. data links, switches) connecting on-board computer(s), sensors, actuators and the end-effector. The purpose of the control system is to operate the arm according to pre-defined performance requirements, monitoring its behaviour in real-time and performing safing/recovery actions in case of faults. This paper reports on the results of a recent study about the feasibility of the development and integration of a novel control system architecture for LARAD fully based on the SpaceWire protocol. The current control system architecture is based on the combination of two communication protocols, Ethernet and CAN. The new SpaceWire-based control system will allow for improved monitoring and telecommanding performance thanks to higher communication data rate, allowing for the adoption of advanced control schemes, potentially based on multiple vision sensors, and for the handling of sophisticated end-effectors that require fine control, such as science payloads or robotic hands.

  15. Reach and grasp by people with tetraplegia using a neurally controlled robotic arm

    PubMed Central

    Hochberg, Leigh R.; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y.; Simeral, John D.; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S.; van der Smagt, Patrick; Donoghue, John P.

    2012-01-01

    Paralysis following spinal cord injury (SCI), brainstem stroke, amyotrophic lateral sclerosis (ALS) and other disorders can disconnect the brain from the body, eliminating the ability to carry out volitional movements. A neural interface system (NIS)1–5 could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with longstanding tetraplegia can use an NIS to move and click a computer cursor and to control physical devices6–8. Able-bodied monkeys have used an NIS to control a robotic arm9, but it is unknown whether people with profound upper extremity paralysis or limb loss could use cortical neuronal ensemble signals to direct useful arm actions. Here, we demonstrate the ability of two people with long-standing tetraplegia to use NIS-based control of a robotic arm to perform three-dimensional reach and grasp movements. Participants controlled the arm over a broad space without explicit training, using signals decoded from a small, local population of motor cortex (MI) neurons recorded from a 96-channel microelectrode array. One of the study participants, implanted with the sensor five years earlier, also used a robotic arm to drink coffee from a bottle. While robotic reach and grasp actions were not as fast or accurate as those of an able-bodied person, our results demonstrate the feasibility for people with tetraplegia, years after CNS injury, to recreate useful multidimensional control of complex devices directly from a small sample of neural signals. PMID:22596161

  16. Reach and grasp by people with tetraplegia using a neurally controlled robotic arm.

    PubMed

    Hochberg, Leigh R; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y; Simeral, John D; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S; van der Smagt, Patrick; Donoghue, John P

    2012-05-16

    Paralysis following spinal cord injury, brainstem stroke, amyotrophic lateral sclerosis and other disorders can disconnect the brain from the body, eliminating the ability to perform volitional movements. A neural interface system could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with long-standing tetraplegia can use a neural interface system to move and click a computer cursor and to control physical devices. Able-bodied monkeys have used a neural interface system to control a robotic arm, but it is unknown whether people with profound upper extremity paralysis or limb loss could use cortical neuronal ensemble signals to direct useful arm actions. Here we demonstrate the ability of two people with long-standing tetraplegia to use neural interface system-based control of a robotic arm to perform three-dimensional reach and grasp movements. Participants controlled the arm and hand over a broad space without explicit training, using signals decoded from a small, local population of motor cortex (MI) neurons recorded from a 96-channel microelectrode array. One of the study participants, implanted with the sensor 5 years earlier, also used a robotic arm to drink coffee from a bottle. Although robotic reach and grasp actions were not as fast or accurate as those of an able-bodied person, our results demonstrate the feasibility for people with tetraplegia, years after injury to the central nervous system, to recreate useful multidimensional control of complex devices directly from a small sample of neural signals.

  17. Synchronized computational architecture for generalized bilateral control of robot arms

    NASA Technical Reports Server (NTRS)

    Szakaly, Zoltan F. (Inventor)

    1991-01-01

    A master six degree of freedom Force Reflecting Hand Controller (FRHC) is available at a master site where a received image displays, in essentially real time, a remote robotic manipulator which is being controlled in the corresponding six degree freedom by command signals which are transmitted to the remote site in accordance with the movement of the FRHC at the master site. Software is user-initiated at the master site in order to establish the basic system conditions, and then a physical movement of the FRHC in Cartesean space is reflected at the master site by six absolute numbers that are sensed, translated and computed as a difference signal relative to the earlier position. The change in position is then transmitted in that differential signal form over a high speed synchronized bilateral communication channel which simultaneously returns robot-sensed response information to the master site as forces applied to the FRHC so that the FRHC reflects the feel of what is taking place at the remote site. A system wide clock rate is selected at a sufficiently high rate that the operator at the master site experiences the Force Reflecting operation in real time.

  18. Leo Szilard Lectureship Award: Science Matters - Technical Dimensions of Arms Control and Non-Proliferation Agreements

    NASA Astrophysics Data System (ADS)

    Timbie, James

    2017-01-01

    Agreements to reduce nuclear arms and prevent proliferation of nuclear weapons are technical as well as political documents. They must be both technically sound and politically acceptable. This presentation illustrates technical aspects of arms control and non-proliferation agreements, with examples from SALT I, INF, the HEU Agreement, START, and the Iran nuclear negotiations, drawing on 44 years of personal experience in the negotiation of these agreements. The lecture is designed to convey an appreciation of the role that individuals with technical training can play in diplomatic efforts to reduce nuclear forces and prevent nuclear proliferation.

  19. Control and Calibration of a Staubli RX130 Robotic Arm for Construction of Surface Current Coils

    NASA Astrophysics Data System (ADS)

    Vanmeter, Patrick; Crawford, Christopher; Guler, Emre; Fugal, Mario; Irvin, Bradley

    2013-10-01

    Precision low energy neutron experiments require extremely uniform magnetic fields for manipulating the neutron spin. Such fields can be generated with surface current coils-precision 3-dimensional printed circuits. We are developing a facility to etch out these circuits on copper-plated curved forms using a high-speed spindle attached to the end-effector of a Staubli RX130 six-axis robotic arm. We describe our mathematical model of the robotic links and the software system we designed to control the motion of the arm and to prevent collisions during actuations. We developed a calibration procedure to achieve accuracy of 30 microns in the position of drill.

  20. Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

    NASA Technical Reports Server (NTRS)

    Montgomery, Raymond C.; Kenny, Sean P.; Ghosh, Dave; Shenhar, Joram

    1993-01-01

    Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

  1. Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

    NASA Astrophysics Data System (ADS)

    Montgomery, Raymond C.; Kenny, Sean P.; Ghosh, Dave; Shenhar, Joram

    1993-02-01

    Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

  2. Trajectory and Force Control of a Direct Drive Arm.

    DTIC Science & Technology

    1986-09-01

    101 td if? AW v1.0e -. M) see back DD FR, 1473 EDITION OF INOV 6 ISOUSOLETE UNCLASSIFIED S/N 0!02-OI4-6101 1 SECURITY CLASSIFICATION OF THIS PAGE... SOLAR HYBRID CONTROL: SX, SYI . % * 2.0.1 SET POINT: (0.4 0.6) 0. 0.5JOINT I PRISMATIC 0. 0.0 A~~ 0aa 0 O𔃽A5 Oa 1 c .24 0.5 0.7 1.0 Figure 6.23...speed, power , and 144 almost ideal dynamic characteristics, they will continue to provide researchers with many new opportunities to study effectively

  3. High-Resolution Fast-Neutron Spectrometry for Arms Control and Treaty Verification

    SciTech Connect

    David L. Chichester; James T. Johnson; Edward H. Seabury

    2012-07-01

    Many nondestructive nuclear analysis techniques have been developed to support the measurement needs of arms control and treaty verification, including gross photon and neutron counting, low- and high-resolution gamma spectrometry, time-correlated neutron measurements, and photon and neutron imaging. One notable measurement technique that has not been extensively studied to date for these applications is high-resolution fast-neutron spectrometry (HRFNS). Applied for arms control and treaty verification, HRFNS has the potential to serve as a complimentary measurement approach to these other techniques by providing a means to either qualitatively or quantitatively determine the composition and thickness of non-nuclear materials surrounding neutron-emitting materials. The technique uses the normally-occurring neutrons present in arms control and treaty verification objects of interest as an internal source of neutrons for performing active-interrogation transmission measurements. Most low-Z nuclei of interest for arms control and treaty verification, including 9Be, 12C, 14N, and 16O, possess fast-neutron resonance features in their absorption cross sections in the 0.5- to 5-MeV energy range. Measuring the selective removal of source neutrons over this energy range, assuming for example a fission-spectrum starting distribution, may be used to estimate the stoichiometric composition of intervening materials between the neutron source and detector. At a simpler level, determination of the emitted fast-neutron spectrum may be used for fingerprinting 'known' assemblies for later use in template-matching tests. As with photon spectrometry, automated analysis of fast-neutron spectra may be performed to support decision making and reporting systems protected behind information barriers. This paper will report recent work at Idaho National Laboratory to explore the feasibility of using HRFNS for arms control and treaty verification applications, including simulations and

  4. Trial-to-trial adaptation in control of arm reaching and standing posture.

    PubMed

    Pienciak-Siewert, Alison; Horan, Dylan P; Ahmed, Alaa A

    2016-12-01

    Classical theories of motor learning hypothesize that adaptation is driven by sensorimotor error; this is supported by studies of arm and eye movements that have shown that trial-to-trial adaptation increases with error. Studies of postural control have shown that anticipatory postural adjustments increase with the magnitude of a perturbation. However, differences in adaptation have been observed between the two modalities, possibly due to either the inherent instability or sensory uncertainty in standing posture. Therefore, we hypothesized that trial-to-trial adaptation in posture should be driven by error, similar to what is observed in arm reaching, but the nature of the relationship between error and adaptation may differ. Here we investigated trial-to-trial adaptation of arm reaching and postural control concurrently; subjects made reaching movements in a novel dynamic environment of varying strengths, while standing and holding the handle of a force-generating robotic arm. We found that error and adaptation increased with perturbation strength in both arm and posture. Furthermore, in both modalities, adaptation showed a significant correlation with error magnitude. Our results indicate that adaptation scales proportionally with error in the arm and near proportionally in posture. In posture only, adaptation was not sensitive to small error sizes, which were similar in size to errors experienced in unperturbed baseline movements due to inherent variability. This finding may be explained as an effect of uncertainty about the source of small errors. Our findings suggest that in rehabilitation, postural error size should be considered relative to the magnitude of inherent movement variability.

  5. Stepping Out of the Shade: Control of Neuronal Activity by the Scaffold Protein Kidins220/ARMS

    PubMed Central

    Scholz-Starke, Joachim; Cesca, Fabrizia

    2016-01-01

    The correct functioning of the nervous system depends on the exquisitely fine control of neuronal excitability and synaptic plasticity, which relies on an intricate network of protein-protein interactions and signaling that shapes neuronal homeostasis during development and in adulthood. In this complex scenario, Kinase D interacting substrate of 220 kDa/ankyrin repeat-rich membrane spanning (Kidins220/ARMS) acts as a multi-functional scaffold protein with preferential expression in the nervous system. Engaged in a plethora of interactions with membrane receptors, cytosolic signaling components and cytoskeletal proteins, Kidins220/ARMS is implicated in numerous cellular functions including neuronal survival, neurite outgrowth and maturation and neuronal activity, often in the context of neurotrophin (NT) signaling pathways. Recent studies have highlighted a number of cell- and context-specific roles for this protein in the control of synaptic transmission and neuronal excitability, which are at present far from being completely understood. In addition, some evidence has began to emerge, linking alterations of Kidins220 expression to the onset of various neurodegenerative diseases and neuropsychiatric disorders. In this review, we present a concise summary of our fragmentary knowledge of Kidins220/ARMS biological functions, focusing on the mechanism(s) by which it controls various aspects of neuronal activity. We have tried, where possible, to discuss the available evidence in the wider context of NT-mediated regulation, and to outline emerging roles of Kidins220/ARMS in human pathologies. PMID:27013979

  6. A new class of energy based control laws for revolute robot arms - Tracking control, robustness enhancement and adaptive control

    NASA Technical Reports Server (NTRS)

    Wen, John T.; Kreutz, Kenneth; Bayard, David S.

    1988-01-01

    A class of joint-level control laws for all-revolute robot arms is introduced. The analysis is similar to the recently proposed energy Liapunov function approach except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. By using energy Liapunov functions with the modified potential energy, a much simpler analysis can be used to show closed-loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness-enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted, and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the nonadaptive control laws by their estimates.

  7. AmeriFlux US-ARc ARM Southern Great Plains control site- Lamont

    DOE Data Explorer

    Torn, Margaret [Lawrence Berkeley National Laboratory

    2016-01-01

    This is the AmeriFlux version of the carbon flux data for the site US-ARc ARM Southern Great Plains control site- Lamont. Site Description - The ARM SGP Control site is located in the native tallgrass prairies of the USDA Grazinglands Research Laboratory near El Reno, OK. One of two adjacent 35 ha plots with identical towers, measurements at the US-ARc unburned plot are used as the experimental control. The second plot, US-Arb, was burned on 2005/03/08. Measurement comparisons between the control and burn plot are used to address questions regarding the effects of burning activities on carbon fluxes. The region evaded burning activities for at least 15 years. Current disturbances consist of only light grazing activities.

  8. The role of intrinsic factors in control of arm movement direction: implications from directional preferences.

    PubMed

    Dounskaia, Natalia; Goble, Jacob A; Wang, Wanyue

    2011-03-01

    The role of extrinsic and intrinsic factors in control of arm movement direction remains under debate. We addressed this question by investigating preferences in selection of movement direction and whether factors causing these preferences have extrinsic or intrinsic nature. An unconstrained free-stroke drawing task was used during which participants produced straight strokes on a horizontal table, choosing the direction and the beginning and end of each stroke arbitrarily. The variation of the initial arm postures across strokes provided a possibility to distinguish between the extrinsic and intrinsic origins of directional biases. Although participants were encouraged to produce strokes equally in all directions, each participant demonstrated preferences for some directions over the others. However, the preferred directions were not consistent across participants, suggesting no directional preferences in extrinsic space. Consistent biases toward certain directions were revealed in intrinsic space representing initial arm postures. Factors contributing to the revealed preferences were analyzed within the optimal control framework. The major bias was explained by a tendency predicted by the leading joint hypothesis (LJH) to minimize active interference with interaction torque generated by shoulder motion at the elbow. Some minor biases may represent movements of minimal inertial resistance or maximal kinematic manipulability. These results support a crucial role of intrinsic factors in control of the movement direction of the arm. Based on the LJH interpretation of the major bias, we hypothesize that the dominant tendency was to minimize neural effort for control of arm intersegmental dynamics. Possible organization of neural processes underlying optimal selection of movement direction is discussed.

  9. 77 FR 2341 - Delegation by the Secretary of State to the Under Secretary for Arms Control and International...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-01-17

    ... Delegation by the Secretary of State to the Under Secretary for Arms Control and International Security of.... 2651a), and to the extent authorized by law, I hereby delegate to the Under Secretary for Arms Control and International Security the authorities and functions delegated to the Secretary of State pursuant...

  10. 76 FR 70209 - Delegation by the Secretary of State to the Under Secretary of State for Arms Control and...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-11-10

    ... delegate to the Under Secretary for Arms Control and International Security, to the extent authorized by... Delegation by the Secretary of State to the Under Secretary of State for Arms Control and International Security of Authority To Submit Certain Non-Proliferation Reports to Congress By virtue of the authority...

  11. Some piloting experiences with multifunction isometric side-arm controllers in a helicopter

    NASA Technical Reports Server (NTRS)

    Morgan, J. M.

    1982-01-01

    The installation of two side-arm mounted, isometric controllers in the NAE Airborne Simulator, a modified, variable stability Bell 205 A is described, as is the development of various control systems for use with them. The results of two experiments are presented indicating both the feasibility and acceptability of such systems for a wide variety of tasks in a conventional single rotor helicopter, with a minimum of stability augmentation. Areas of future research are indicated.

  12. A robust control scheme for flexible arms with friction in the joints

    NASA Technical Reports Server (NTRS)

    Rattan, Kuldip S.; Feliu, Vicente; Brown, H. Benjamin, Jr.

    1988-01-01

    A general control scheme to control flexible arms with friction in the joints is proposed in this paper. This scheme presents the advantage of being robust in the sense that it minimizes the effects of the Coulomb friction existing in the motor and the effects of changes in the dynamic friction coefficient. A justification of the robustness properties of the scheme is given in terms of the sensitivity analysis.

  13. Reporting of analyses from randomized controlled trials with multiple arms: a systematic review

    PubMed Central

    2013-01-01

    Background Multiple-arm randomized trials can be more complex in their design, data analysis, and result reporting than two-arm trials. We conducted a systematic review to assess the reporting of analyses in reports of randomized controlled trials (RCTs) with multiple arms. Methods The literature in the MEDLINE database was searched for reports of RCTs with multiple arms published in 2009 in the core clinical journals. Two reviewers extracted data using a standardized extraction form. Results In total, 298 reports were identified. Descriptions of the baseline characteristics and outcomes per group were missing in 45 reports (15.1%) and 48 reports (16.1%), respectively. More than half of the articles (n = 171, 57.4%) reported that a planned global test comparison was used (that is, assessment of the global differences between all groups), but 67 (39.2%) of these 171 articles did not report details of the planned analysis. Of the 116 articles reporting a global comparison test, 12 (10.3%) did not report the analysis as planned. In all, 60% of publications (n = 180) described planned pairwise test comparisons (that is, assessment of the difference between two groups), but 20 of these 180 articles (11.1%) did not report the pairwise test comparisons. Of the 204 articles reporting pairwise test comparisons, the comparisons were not planned for 44 (21.6%) of them. Less than half the reports (n = 137; 46%) provided baseline and outcome data per arm and reported the analysis as planned. Conclusions Our findings highlight discrepancies between the planning and reporting of analyses in reports of multiple-arm trials. PMID:23531230

  14. Best supportive care in clinical trials: review of the inconsistency in control arm design.

    PubMed

    Nipp, R D; Currow, D C; Cherny, N I; Strasser, F; Abernethy, A P; Zafar, S Y

    2015-06-30

    Best supportive care (BSC) as a control arm in clinical trials is poorly defined. We conducted a review to evaluate clinical trials' concordance with published, consensus-based framework for BSC delivery in trials. A consensus-based Delphi panel previously identified four key domains of BSC delivery in trials: multidisciplinary care; supportive care documentation; symptom assessment; and symptom management. We reviewed trials including BSC control arms from 2002 to 2014 to assess concordance to BSC standards and to selected items from the CONSORT 2010 guidelines. Of 408 articles retrieved, we retained 18 after applying exclusion criteria. Overall, trials conformed to the CONSORT guidelines better than the BSC standards (28% vs 16%). One-third of articles offered a detailed description of BSC, 61% reported regular symptom assessment, and 44% reported using validated symptom assessment measures. One-third reported symptom assessment at identical intervals in both arms. None documented evidence-based symptom management. No studies reported educating patients about symptom management or goals of therapy. No studies reported offering access to palliative care specialists. Reporting of BSC in trials is incomplete, resulting in uncertain internal and external validity. Such studies risk systematically over-estimating the net clinical effect of the comparator arms.

  15. Best supportive care in clinical trials: review of the inconsistency in control arm design

    PubMed Central

    Nipp, R D; Currow, D C; Cherny, N I; Strasser, F; Abernethy, A P; Zafar, S Y

    2015-01-01

    Background: Best supportive care (BSC) as a control arm in clinical trials is poorly defined. We conducted a review to evaluate clinical trials' concordance with published, consensus-based framework for BSC delivery in trials. Methods: A consensus-based Delphi panel previously identified four key domains of BSC delivery in trials: multidisciplinary care; supportive care documentation; symptom assessment; and symptom management. We reviewed trials including BSC control arms from 2002 to 2014 to assess concordance to BSC standards and to selected items from the CONSORT 2010 guidelines. Results: Of 408 articles retrieved, we retained 18 after applying exclusion criteria. Overall, trials conformed to the CONSORT guidelines better than the BSC standards (28% vs 16%). One-third of articles offered a detailed description of BSC, 61% reported regular symptom assessment, and 44% reported using validated symptom assessment measures. One-third reported symptom assessment at identical intervals in both arms. None documented evidence-based symptom management. No studies reported educating patients about symptom management or goals of therapy. No studies reported offering access to palliative care specialists. Conclusions: Reporting of BSC in trials is incomplete, resulting in uncertain internal and external validity. Such studies risk systematically over-estimating the net clinical effect of the comparator arms. PMID:26068397

  16. Flight Control Development for the ARH-70 Armed Reconnaissance Helicopter Program

    NASA Technical Reports Server (NTRS)

    Christensen, Kevin T.; Campbell, Kip G.; Griffith, Carl D.; Ivler, Christina M.; Tischler, Mark B.; Harding, Jeffrey W.

    2008-01-01

    In July 2005, Bell Helicopter won the U.S. Army's Armed Reconnaissance Helicopter competition to produce a replacement for the OH-58 Kiowa Warrior capable of performing the armed reconnaissance mission. To meet the U.S. Army requirement that the ARH-70A have Level 1 handling qualities for the scout rotorcraft mission task elements defined by ADS-33E-PRF, Bell equipped the aircraft with their generic automatic flight control system (AFCS). Under the constraints of the tight ARH-70A schedule, the development team used modem parameter identification and control law optimization techniques to optimize the AFCS gains to simultaneously meet multiple handling qualities design criteria. This paper will show how linear modeling, control law optimization, and simulation have been used to produce a Level 1 scout rotorcraft for the U.S. Army, while minimizing the amount of flight testing required for AFCS development and handling qualities evaluation of the ARH-70A.

  17. Flight Control Development for the ARH-70 Armed Reconnaissance Helicopter Program

    NASA Technical Reports Server (NTRS)

    Christensen, Kevin T.; Campbell, Kip G.; Griffith, Carl D.; Ivler, Christina M.; Tischler, Mark B.; Harding, Jeffrey W.

    2008-01-01

    In July 2005, Bell Helicopter won the U.S. Army's Armed Reconnaissance Helicopter competition to produce a replacement for the OH-58 Kiowa Warrior capable of performing the armed reconnaissance mission. To meet the U.S. Army requirement that the ARH-70A have Level 1 handling qualities for the scout rotorcraft mission task elements defined by ADS-33E-PRF, Bell equipped the aircraft with their generic automatic flight control system (AFCS). Under the constraints of the tight ARH-70A schedule, the development team used modem parameter identification and control law optimization techniques to optimize the AFCS gains to simultaneously meet multiple handling qualities design criteria. This paper will show how linear modeling, control law optimization, and simulation have been used to produce a Level 1 scout rotorcraft for the U.S. Army, while minimizing the amount of flight testing required for AFCS development and handling qualities evaluation of the ARH-70A.

  18. Computed torque control of a free-flying cooperat ing-arm robot

    NASA Technical Reports Server (NTRS)

    Koningstein, Ross; Ullman, Marc; Cannon, Robert H., Jr.

    1989-01-01

    The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.

  19. Alternative Control Technologies: Human Factors Issues

    DTIC Science & Technology

    1998-10-01

    1V Contents Page Executive Summary iii Synth~se iv List of Authors/ Speakers vi Foreword vii Reference Operational Rationale and Related Issues for...Bibliography B List of Authors/ Speakers Lecture Series Director: Dr Alain LEGER Interface Homme-Machine, Dir. Tech. Sextant Avionique/MMI Rue Toussaint Catros...current production and future aircraft and the protection of the shorter for females by around 5 mm and the curved hand length crew to these levels is

  20. American press coverage of US-Soviet relations, the Soviet Union, nuclear weapons, arms control, and national security: A bibliography

    SciTech Connect

    Dorman, W.A.; Manoff, R.K.; Weeks, J.

    1988-01-01

    This bibliography covers work that addresses coverage of nuclear and arms control issues, defense, the Soviet Union, and Soviet-American relations by the American news media between 1965 and 1988. Material selected for inclusion either discusses press performance or addresses conditions -- such as classification of information -- that directly impact on media coverage of such issues. Bodies of literature on media coverage of conflict elsewhere in the world lie outside the Center's current mandate (which has shaped the parameters of this bibliography) except insofar as such conflicts are presented by the news media specifically in the context of US-Soviet relations. Much the same is true of such issues as the North-South flow of information and the debate over calls for a New World Information Order. However, the authors have decided to include assessments of American media coverage of the Vietnam War as a case study of a watershed conflict that raised many of the issues discussed throughout this literature in a particularly compelling way.

  1. Application of model reference adaptive control to a flexible remote manipulator arm

    NASA Technical Reports Server (NTRS)

    Meldrum, D. R.; Balas, M. J.

    1986-01-01

    An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

  2. Failure of Arm Movement Control in Stroke Patients, Characterized by Loss of Complexity

    PubMed Central

    Goh, Segun; Han, Kyungreem; Ryu, Jehkwang; Kim, Seonjin; Choi, MooYoung

    2015-01-01

    We study the mechanism of human arm-posture control by means of nonlinear dynamics and quantitative time series analysis methods. Utilizing linear and nonlinear measures in combination, we find that pathological tremors emerge in patient dynamics and serve as a main feature discriminating between normal and patient groups. The deterministic structure accompanied with loss of complexity inherent in the tremor dynamics is also revealed. To probe the underlying mechanism of the arm-posture dynamics, we further analyze the coupling patterns between joints and components, and discuss their roles in breaking of the organization structure. As a result, we elucidate the mechanisms in the arm-posture dynamics of normal subjects responding to the gravitational force and for the reduction of the dynamic degrees of freedom in the patient dynamics. This study provides an integrated framework for the origin of the loss of complexity in the dynamics of patients as well as the coupling structure in the arm-posture dynamics. PMID:26536132

  3. Perspectives and implications for the proliferation of non-lethal weapons in the context of contemporary conflict, security interests and arms control.

    PubMed

    Lewer, N; Feakin, T

    2001-01-01

    This article briefly looks at the characteristics of contemporary conflict and the global political arena, particularly from 1989 and the end of the cold war. The development of and potential roles for second generation non-lethal weapons (NLWs) in war-fighting, peace support operations, and civil policing are discussed. There are arguments both for and against further and rapid development of NLWs. The question of proliferation and arms control is examined within the context of concepts such as the revolution in military affairs (RMA) and factors such as the increasing role of non-state actors, current security requirements and the problems concerning the implementation and enforcement of current and envisaged arms control regimes. Proliferation, which may be vertical or horizontal, may not always be seen as a malign process but rather one which requires specific ethical and operational perspectives. Proliferation is about both technology push and operational requirements. The effectiveness of legislative approaches to controlling proliferation, especially to countries which are considered to have poor human rights records, is discussed and issues about who wants to control NLWs, and why, are raised. Some technologies may be seen as less threatening to existing arms control and management treaties and the ethical debates which surround them. A concern regarding increasing use of non-lethal technologies for political oppression is part of this debate. The issues are illustrated using India as case study.

  4. Visual Attention Allocation Between Robotic Arm and Environmental Process Control: Validating the STOM Task Switching Model

    NASA Technical Reports Server (NTRS)

    Wickens, Christopher; Vieanne, Alex; Clegg, Benjamin; Sebok, Angelia; Janes, Jessica

    2015-01-01

    Fifty six participants time shared a spacecraft environmental control system task with a realistic space robotic arm control task in either a manual or highly automated version. The former could suffer minor failures, whose diagnosis and repair were supported by a decision aid. At the end of the experiment this decision aid unexpectedly failed. We measured visual attention allocation and switching between the two tasks, in each of the eight conditions formed by manual-automated arm X expected-unexpected failure X monitoring- failure management. We also used our multi-attribute task switching model, based on task attributes of priority interest, difficulty and salience that were self-rated by participants, to predict allocation. An un-weighted model based on attributes of difficulty, interest and salience accounted for 96 percent of the task allocation variance across the 8 different conditions. Task difficulty served as an attractor, with more difficult tasks increasing the tendency to stay on task.

  5. Unilateral versus bilateral robot-assisted rehabilitation on arm-trunk control and functions post stroke: a randomized controlled trial

    PubMed Central

    2013-01-01

    Background Although the effects of robot-assisted arm training after stroke are promising, the relative effects of unilateral (URT) vs. bilateral (BRT) robot-assisted arm training remain uncertain. This study compared the effects of URT vs. BRT on upper extremity (UE) control, trunk compensation, and function in patients with chronic stroke. Method This was a single-blinded, randomized controlled trial. The intervention was implemented at 4 hospitals. Fifty-three patients with stroke were randomly assigned to URT, BRT, or control treatment (CT). Each group received UE training for 90 to 105 min/day, 5 days/week, for 4 weeks. The kinematic variables for arm motor control and trunk compensation included normalized movement time, normalized movement units, and the arm-trunk contribution slope in unilateral and bilateral tasks. Motor function and daily function were measured by the Wolf Motor Function Test (WMFT), Motor Activity Log (MAL), and ABILHAND Questionnaire. Results The BRT and CT groups elicited significantly larger slope values (i.e., less trunk compensation) at the start of bilateral reaching than the URT group. URT led to significantly better effects on WMFT-Time than BRT. Differences in arm control kinematics and performance on the MAL and ABILHAND among the 3 groups were not significant. Conclusions BRT and URT resulted in differential improvements in specific UE/trunk performance in patients with stroke. BRT elicited larger benefits than URT on reducing compensatory trunk movements at the beginning of reaching. In contrast, URT produced better improvements in UE temporal efficiency. These relative effects on movement kinematics, however, did not translate into differential benefits in daily functions. Trial registration ClinicalTrials.gov: NCT00917605. PMID:23587106

  6. Unilateral versus bilateral robot-assisted rehabilitation on arm-trunk control and functions post stroke: a randomized controlled trial.

    PubMed

    Wu, Ching-Yi; Yang, Chieh-Ling; Chen, Ming-de; Lin, Keh-Chung; Wu, Li-Ling

    2013-04-12

    Although the effects of robot-assisted arm training after stroke are promising, the relative effects of unilateral (URT) vs. bilateral (BRT) robot-assisted arm training remain uncertain. This study compared the effects of URT vs. BRT on upper extremity (UE) control, trunk compensation, and function in patients with chronic stroke. This was a single-blinded, randomized controlled trial. The intervention was implemented at 4 hospitals. Fifty-three patients with stroke were randomly assigned to URT, BRT, or control treatment (CT). Each group received UE training for 90 to 105 min/day, 5 days/week, for 4 weeks. The kinematic variables for arm motor control and trunk compensation included normalized movement time, normalized movement units, and the arm-trunk contribution slope in unilateral and bilateral tasks. Motor function and daily function were measured by the Wolf Motor Function Test (WMFT), Motor Activity Log (MAL), and ABILHAND Questionnaire. The BRT and CT groups elicited significantly larger slope values (i.e., less trunk compensation) at the start of bilateral reaching than the URT group. URT led to significantly better effects on WMFT-Time than BRT. Differences in arm control kinematics and performance on the MAL and ABILHAND among the 3 groups were not significant. BRT and URT resulted in differential improvements in specific UE/trunk performance in patients with stroke. BRT elicited larger benefits than URT on reducing compensatory trunk movements at the beginning of reaching. In contrast, URT produced better improvements in UE temporal efficiency. These relative effects on movement kinematics, however, did not translate into differential benefits in daily functions. ClinicalTrials.gov: NCT00917605.

  7. Primary reaction control system/remote manipulator system interaction with loaded arm. Space shuttle engineering and operations support

    NASA Technical Reports Server (NTRS)

    Taylor, E. C.; Davis, J. D.

    1978-01-01

    A study of the interaction between the orbiter primary reaction control system (PRCS) and the remote manipulator system (RMS) with a loaded arm is documented. This analysis was performed with the Payload Deployment and Retrieval Systems Simulation (PDRSS) program with the passive arm bending option. The passive-arm model simulates the arm as massless elastic links with locked joints. The study was divided into two parts. The first part was the evaluation of the response of the arm to step inputs (i.e. constant jet torques) about each of the orbiter body axes. The second part of the study was the evaluation of the response of the arm to minimum impulse primary RCS jet firings with both single pulse and pulse train inputs.

  8. Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

    NASA Technical Reports Server (NTRS)

    Barker, L. K.; Houck, J. A.; Carzoo, S. W.

    1984-01-01

    An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

  9. Design issues for floor control protocols

    NASA Astrophysics Data System (ADS)

    Dommel, Hans-Peter; Garcia-Luna-Aceves, Jose J.

    1995-03-01

    Floor control allows users of networked multimedia applications to remotely share resources like cursors, data views, video and audio channels, or entire applications without access conflicts. Floors are mutually exclusive permissions, granted dynamically to collaborating users, mitigating race conditions and guaranteeing fair and deadlock- free resource access. Although floor control is an early concept within computer-supported cooperative work, no framework exists and current floor control mechanisms are often limited to simple objects. While small-scale collaboration can be facilitated by social conventions, the importance of floors becomes evident for large-scale application sharing and teleconferencing orchestration. In this paper, the concept of a scalable session protocol is enhanced with floor control. Characteristics of collaborative environments are discussed, and session and floor control are discerned. The system's and user's requirements perspectives are discussed, including distributed storage policies, packet structure and user-interface design for floor presentation, manipulation, and triggering conditions for floor migration. Interaction stages between users, and scenarios of participant withdrawal, late joins, and establishment of subgroups are elicited with respect to floor generation, bookkeeping, and passing. An API is proposed to standardize and integrate floor control among shared applications. Finally, a concise classification for existing systems with a notion of floor control is introduced.

  10. Defense and Arms Control Studies Program, Annual Report 1992-1993

    DTIC Science & Technology

    1993-01-01

    and George Rathjens, "Nuclear Weapons After the Cold War," in Joseph Rotblat , Jack Steinberger, and Bhalchandra Udgaonkar, editors, A Nuclear- Weapon...February 1993). DEFENSE AND ARMS CONTROL STUDIES PROGRAM12 Marvin Miller and Jack Ruina, "The Breakout Problem," in Joseph Rotblat , Jack Steinberger, and...Aftermath October 14- ROBERT ALVAREZ U.S. Senate Committee on Governmental Affairs Disarmament and the U.S. Nuclear Cleanup October 21 - JOSEPH

  11. A Strategic Planning Framework for Predicting and Evaluating Soviet Interests in Arms Control. Volume 1

    DTIC Science & Technology

    1988-08-01

    EVALUATING SOVIET INTERESTS IN ARMS CONTROL VOLUME I by KERRY M. KARTCHNER AUGUST 1988 Approved for public release; distribution Unlimited. Prepared...AuTH.ORiTY I DISTRIBUTION’ AVAILASIOTY OF REPORT Io DC-S,,CTON DOWNGRADING SCHEDULE Approved for public release... publications , as well as Congressional hearings and reports; 3. translated Soviet sources; and, 4. other U.S. publications , books, journal articles

  12. Russia and Arms Control: Are There Opportunities for the Obama Administration

    DTIC Science & Technology

    2009-03-01

    reducing this burden, to Washington Headquarters Services , Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite...bilateral consequences thereof. But those are by no means the only reasons for concern regarding the arms control agenda. Since the outbreak of the Russo...still the case that the bilateral strategic relationship is a factor of enormous consequence in international affairs beyond their own bilateral

  13. This weapon called peace: The doctrine and strategy of Soviet arms control and disarmament policy

    SciTech Connect

    Trifan, D.D.

    1989-01-01

    The strategy of Soviet arms-control and disarmament policy can be summarized in what we have termed the ratchet strategy of peaceful coexistence, in which a strategic advance is achieved through the tactics of multiple and indirect lines of approach, legitimized through invocation of peaceful coexistence, and made permanent and irreversible both by treaties and agreements and by the increasing military capability of the Soviet Union and her allies. This strategy is unchanged from World War II until today. Soviet strategic thought is based on the writings of V. I. Lenin; and both Lenin's strategic concepts and Soviet disarmament and arms-control strategy bear a striking resemblance to the precepts expressed by the 4th-century B.C. Chinese strategist Sun Tzu in the Art of War. This dissertation examines not only the strategic content of this policy, but the doctrinal components of Soviet disarmament and arms control strategy. The doctrinal principles must be derived through examination of: authoritative political and strategic writings, records of negotiations and negotiating positions, treaties and agreements, data concerning weapons systems, and the relationship of these to observed political and strategic developments during the period under examination. The doctrinal principles behind this strategy are: (1) the primary purpose of peaceful coexistence is the undermining of imperialism, (2) any means are permissible in the pursuit of peace strategy, and (3) the motive force for this strategy is Marxist-Leninist ideology, with the ultimate goal being the worldwide imposition of socialism in its Soviet variety. Shifts in Soviet policy are tactical instead of strategic in nature; and in keeping with the Soviet idea of the correlation of forces this strategy can be termed a time-fluid two-player zero-sum game. Consequently, Soviet arms-control and disarmament policy can be a weapon called peace.

  14. Prospects for Indian and Pakistani Arms Control and Confidence-Building Measures

    DTIC Science & Technology

    2010-01-01

    section examines the strategic anxieties of India and Pakistan, re- spectively; the second section reviews the treaties and CBMs that have been attempted...environment amenable to pragmatic CBMs and limited arms-control measures. STRATEGIC ANXIETIES As previously suggested, the dynamics associated with the...perceptions must be factored into the overall security equation. India’s Strategic Anxieties In general, India believes that China is encircling the country

  15. Milestones in Strategic Arms Control, 1945 2000: United States Air Force Roles and Outcomes

    DTIC Science & Technology

    2002-09-01

    the shaping of national and international security through arms-control agreements have all had their most pro- found development in this time frame...policy context of national security strategy and national military strategy—particularly nuclear strategy—and USAF development to support that...and practice was also the central force shaping much of the development of the organi- zation charged with employing most of the US nuclear capa

  16. A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements.

    PubMed

    Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

    2017-02-01

    Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  <6°. An upper cervical SCI patient, empowered by the exoskeleton, successfully carried a ball to a goal in all 10 trials. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of daily actions.

  17. A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements

    NASA Astrophysics Data System (ADS)

    Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

    2017-02-01

    Objective. Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Approach. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Main results. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  <6°. An upper cervical SCI patient, empowered by the exoskeleton, successfully carried a ball to a goal in all 10 trials. Significance. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of

  18. Use of Social Media to Target Information-Driven Arms Control and Nonproliferation Verification

    SciTech Connect

    Kreyling, Sean J.; Williams, Laura S.; Gastelum, Zoe N.; Whattam, Kevin M.; Corley, Courtney D.; Cramer, Nicholas O.; Rose, Stuart J.; Bell, Eric B.; Gregory, Michelle L.

    2012-07-19

    There has been considerable discussion within the national security community, including a recent workshop sponsored by the U.S. State Department, about the use of social media for extracting patterns of collective behavior and influencing public perception in areas relevant to arms control and nonproliferation. This paper seeks to explore if, and how, social media can be used to supplement nonproliferation and arms control inspection and monitoring activities on states and sites of greatest proliferation relevance. In this paper, we set the stage for how social media can be applied in this problem space and describe some of the foreseen challenges, including data validation, sources and attributes, verification, and security. Using information analytics and data visualization capabilities available at Pacific Northwest National Laboratory (PNNL), we provide graphical examples of some social media "signatures" of potential relevance for nonproliferation and arms control purposes. We conclude by describing a proposed case study and offering recommendations both for further research and next steps by the policy community.

  19. Domestic politics, citizen activism, and U. S. nuclear arms control policy

    SciTech Connect

    Knopf, J.W.

    1991-01-01

    The author seeks to ascertain whether and how citizens' movements concerning nuclear arms control and disarmament affect US arms control policy. The author employs a comparative case study methodology. He examines cases of the Eisenhower and Kennedy Administrations during the period of protest against nuclear testing, and the Reagan Administration during the nuclear weapons freeze campaign and the subsequent campaign for a comprehensive test ban. He hows there are four mechanisms through which public advocacy efforts can influence arms control policy, identifies the conditions under which each can be effective, and details the type of impact each mechanism has. Domestic activism interacts with broader public opinion in a way that creates electoral pressure; with elite-level debates in a way that removes a consensus behind presidential policy or changes the winning coalition in Congress; with bureaucratic politics, by generating ideas that have utility for some agents within the Executive; or with the public diplomacy of foreign governments, especially the Soviet Union. Citizens' movements had an impact on policy in each of the cases studied. The type and extent of impact, and the mechanisms involved in giving activism influence, are different for each case.

  20. Attitude control of an object commonly held by multiple robot arms - A Lyapunov approach

    NASA Technical Reports Server (NTRS)

    Kreutz, Kenneth; Wen, John T.

    1988-01-01

    Multiple robot arms moving a commonly held object can be viewed as complex actuators whose purpose is to provide net forces and moments to the object. These forces and moments can be used to control the orientation, or attitude, of the object via the Euler equation describing attitude evolution in response to applied moments at the mass center. In contrast to the common approach that feedback-linearizes the attitude dynamics to a double integrator form with respect to some three-parameter local representation of orientation, the authors control the object using a globally nonsingular representation. Using an energy-motivated Liapunov function, globally stable control of attitude is shown.

  1. Attitude control of an object commonly held by multiple robot arms - A Lyapunov approach

    NASA Technical Reports Server (NTRS)

    Kreutz, Kenneth; Wen, John T.

    1988-01-01

    Multiple robot arms moving a commonly held object can be viewed as complex actuators whose purpose is to provide net forces and moments to the object. These forces and moments can be used to control the orientation, or attitude, of the object via the Euler equation describing attitude evolution in response to applied moments at the mass center. In contrast to the common approach that feedback-linearizes the attitude dynamics to a double integrator form with respect to some three-parameter local representation of orientation, the authors control the object using a globally nonsingular representation. Using an energy-motivated Liapunov function, globally stable control of attitude is shown.

  2. 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.

  3. An Embedded Laser Marking Controller Based on ARM and FPGA Processors

    PubMed Central

    Dongyun, Wang; Xinpiao, Ye

    2014-01-01

    Laser marking is an important branch of the laser information processing technology. The existing laser marking machine based on PC and WINDOWS operating system, are large and inconvenient to move. Still, it cannot work outdoors or in other harsh environments. In order to compensate for the above mentioned disadvantages, this paper proposed an embedded laser marking controller based on ARM and FPGA processors. Based on the principle of laser galvanometer scanning marking, the hardware and software were designed for the application. Experiments showed that this new embedded laser marking controller controls the galvanometers synchronously and could achieve precise marking. PMID:24772028

  4. An embedded laser marking controller based on ARM and FPGA processors.

    PubMed

    Dongyun, Wang; Xinpiao, Ye

    2014-01-01

    Laser marking is an important branch of the laser information processing technology. The existing laser marking machine based on PC and WINDOWS operating system, are large and inconvenient to move. Still, it cannot work outdoors or in other harsh environments. In order to compensate for the above mentioned disadvantages, this paper proposed an embedded laser marking controller based on ARM and FPGA processors. Based on the principle of laser galvanometer scanning marking, the hardware and software were designed for the application. Experiments showed that this new embedded laser marking controller controls the galvanometers synchronously and could achieve precise marking.

  5. Naval Arms Control: A Poor Choice of Words and an Idea Whose Time Has Yet to Come

    DTIC Science & Technology

    1990-07-23

    BT EWE COPY hNPS-56-90-012 NAVAL POSTGRADUATE SCHOOL Monterey, California ’D STA TEs ?’G... R AcT DDA3 i 1SEP2 01990 NAVAL ARMS CONTROL: A POOR...NAVAL ARMS CONTROL: A POOR CHOICE OF WORDS AND AN IDEA WHOSE TIME HAS YET TO COME 12. PERSONAL AUTHOR(S) James J. Tritten 13a TYPE OF REPORT 13b TIME...technical grounds. Author reviews the goals of arms control and finds none of these three areas in need of formal regulation. Author concludes with a number

  6. Adaptive Strategies for Controls of Flexible Arms. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Yuan, Bau-San

    1989-01-01

    An adaptive controller for a modern manipulator has been designed based on asymptotical stability via the Lyapunov criterion with the output error between the system and a reference model used as the actuating control signal. Computer simulations were carried out to test the design. The combination of the adaptive controller and a system vibration and mode shape estimator show that the flexible arm should move along a pre-defined trajectory with high-speed motion and fast vibration setting time. An existing computer-controlled prototype two link manipulator, RALF (Robotic Arm, Large Flexible), with a parallel mechanism driven by hydraulic actuators was used to verify the mathematical analysis. The experimental results illustrate that assumed modes found from finite element techniques can be used to derive the equations of motion with acceptable accuracy. The robust adaptive (modal) control is implemented to compensate for unmodelled modes and nonlinearities and is compared with the joint feedback control in additional experiments. Preliminary results show promise for the experimental control algorithm.

  7. Recommendations on multiple testing adjustment in multi-arm trials with a shared control group.

    PubMed

    Howard, Dena R; Brown, Julia M; Todd, Susan; Gregory, Walter M

    2016-09-19

    Multi-arm clinical trials assessing multiple experimental treatments against a shared control group can offer efficiency advantages over independent trials through assessing an increased number of hypotheses. Published opinion is divided on the requirement for multiple testing adjustment to control the family-wise type-I error rate (FWER). The probability of a false positive error in multi-arm trials compared to equivalent independent trials is affected by the correlation between comparisons due to sharing control data. We demonstrate that this correlation in fact leads to a reduction in the FWER, therefore FWER adjustment is not recommended solely due to sharing control data. In contrast, the correlation increases the probability of multiple false positive outcomes across the hypotheses, although standard FWER adjustment methods do not control for this. A stringent critical value adjustment is proposed to maintain equivalent evidence of superiority in two correlated comparisons to that obtained within independent trials. FWER adjustment is only required if there is an increased chance of making a single claim of effectiveness by testing multiple hypotheses, not due to sharing control data. For competing experimental therapies, the correlation between comparisons can be advantageous as it eliminates bias due to the experimental therapies being compared to different control populations.

  8. Wolfgang K.H. Panofsky: Physics, Science Policy, and Arms Control

    SciTech Connect

    Luth, Vera

    2010-10-13

    Wolfgang K. H. Panofsky, professor at Stanford University and founding director of the Stanford Linear Accelerator, was a legendary figure in physics in the second half of the 20th century. He is respected for his contribution in three important areas: as a scientist who advanced particle physics and accelerator development, as the founder of SLAC, a research laboratory of international rank, and a long-time advisor to the US government on science policy, on national security, and on arms control. Over many years he was the outstanding leader of the US National Academy of Sciences efforts to advise the US government on the need for international agreements on nuclear non-proliferation and arms reduction. This presentation will high light the accomplishment of the gentleman who became a legendary and beloved figure to all who had a chance to meet and interact with him, and who called him simply Pief.

  9. Critical issues in process control system security : DHS spares project.

    SciTech Connect

    Hernandez, Jacquelynne; McIntyre, Annie; Henrie, Morgan

    2010-10-01

    The goals of this event are: (1) Discuss the next-generation issues and emerging risks in cyber security for control systems; (2) Review and discuss common control system architectures; (3) Discuss the role of policy, standards, and supply chain issues; (4) Interact to determine the most pertinent risks and most critical areas of the architecture; and (5) Merge feedback from Control System Managers, Engineers, IT, and Auditors.

  10. Control issues for a hydraulically powered dissimilar teleoperated system

    SciTech Connect

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

    1995-12-31

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling`s Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)

  11. Disease detection and resource use in the safety and control arms of the HPV FOCAL cervical cancer screening trial.

    PubMed

    Coldman, Andrew J; Gondara, Lovedeep; Smith, Laurie W; van Niekerk, Dirk; Ceballos, Kathy; Krajden, Mel; Cook, Darrel; Quinlan, David J; Lee, Marette; Stuart, Gavin Ce; Peacock, Stuart; Martin, Ruth Elwood; Gentile, Laura; Franco, Eduardo L; Ogilvie, Gina S

    2016-12-06

    The HPV FOCAL Trial is a RCT comparing human papilloma virus (HPV) with Liquid Based Cytology (LBC) screening for cervical cancer. Results are presented for the comparison of the Safety and Control arms after two rounds. HPV FOCAL included randomisation of women aged 25-65 into the Safety arm, where they were initially screened with HPV and the Control arm, where they received entry screening with LBC, with both arms screened again with LBC at 24 months. There are 6203 (Safety) and 6075 (Control) women included in this analysis. For the Safety vs Control arms, Round 1 screening resulted in increased detection of cervical intraepithelial neoplasia 2 or worse (CIN2+),15.3 vs 10.4 per 1000, RR=1.48 (95%CI=1.08-2.03) and higher colposcopy referral rates, 5.6% vs 3.2%. LBC screening at 24 months resulted in similar colposcopy referral rates, 1.5% vs 1.9%, and decreased CIN2+ detection, 2.0 vs 4.7 per 1000, RR=0.43 (95%CI=0.21-0.88) in the Safety vs Control arms. CIN2+ detection and colposcopy referral rates declined with increasing age in both arms. One round of HPV screening detected similar levels of CIN2+ as two rounds of LBC screening. CIN2+ detection at 2 years was lower in those screened by HPV, indicating an improved 2-year negative predictive value of the HPV test.

  12. Hypertension: issues in control and resistance.

    PubMed

    Wofford, Marion R; Minor, Deborah S

    2009-10-01

    Hypertension remains uncontrolled in more than 50% of treated patients. Barriers to hypertension control include those that are patient-related, physician-related, and related to the health system. Identification of uncontrolled hypertension, pseudoresistant hyper-tension, and resistant hypertension require thoughtful attention to accurate blood pressure measurement, lifestyle factors, evaluation for secondary causes of hypertension, and proper treatment. Recent guidelines emphasize the importance of aggressive treatment and referral to hypertension specialists for patients with resistant hypertension, defined as blood pressure that remains above goal despite the use of three appropriate anti-hypertensive agents.

  13. A synchronized computational architecture for generalized bilateral control of robot arms

    NASA Technical Reports Server (NTRS)

    Bejczy, Antal K.; Szakaly, Zoltan

    1987-01-01

    This paper describes a computational architecture for an interconnected high speed distributed computing system for generalized bilateral control of robot arms. The key method of the architecture is the use of fully synchronized, interrupt driven software. Since an objective of the development is to utilize the processing resources efficiently, the synchronization is done in the hardware level to reduce system software overhead. The architecture also achieves a balaced load on the communication channel. The paper also describes some architectural relations to trading or sharing manual and automatic control.

  14. A synchronized computational architecture for generalized bilateral control of robot arms

    NASA Technical Reports Server (NTRS)

    Bejczy, Antal K.; Szakaly, Zoltan

    1987-01-01

    This paper describes a computational architecture for an interconnected high speed distributed computing system for generalized bilateral control of robot arms. The key method of the architecture is the use of fully synchronized, interrupt driven software. Since an objective of the development is to utilize the processing resources efficiently, the synchronization is done in the hardware level to reduce system software overhead. The architecture also achieves a balaced load on the communication channel. The paper also describes some architectural relations to trading or sharing manual and automatic control.

  15. A Synchronized Computational Architecture For Generalized Bilateral Control Of Robot Arms

    NASA Astrophysics Data System (ADS)

    Bejczy, Antal K.; Szakaly, Zoltan

    1987-10-01

    This paper describes a computational architecture for an interconnected high speed distributed computing system for generalized bilateral control of robot arms. The key method of the architecture is the use of fully synchronized, interrupt driven software. Since an objective of the development is to utilize the processing resources efficiently, the synchronization is done in the hardware level to reduce system software overhead. The architecture also achieves a balanced load on the communication channel. The paper also describes some architectural relations to trading or sharing manual and automatic control.

  16. Winching up heavy loads with a compliant arm: a new local joint controller.

    PubMed

    Schneider, Axel; Cruse, Holk; Schmitz, Josef

    2008-05-01

    A closed kinematic chain, like an arm that operates a crank, has a constrained movement space. A meaningful movement of the chain's endpoint is only possible along the free movement directions which are given implicitly by the contour of the object that confines the movement of the chain. Many technical solutions for such a movement task, in particular those used in robotics, use central controllers and force-torque sensors in the arm's wrist or a leg's ankle to construct a coordinate system (task frame formalism) at the local point of contact the axes of which coincide with the free and constrained movement directions. Motivated by examples from biology, we introduce a new control system that solves a constrained movement task. The control system is inspired by the control architecture that is found in stick insects like Carausius morosus. It consists of decentral joint controllers that work on elastic joints (compliant manipulator). The decentral controllers are based on local positive velocity feedback (LPVF). It has been shown earlier that LPVF enables contour following of a limb in a compliant motion task without a central controller. In this paper we extend LPVF in such a way that it is even able to follow a contour if a considerable counter force drags the limb away along the contour in a direction opposite to the desired. The controller extension is based on the measurement of the local mechanical power generated in the elastic joint and is called power-controlled relaxation LPVF. The new control approach has the following advantages. First, it still uses local joint controllers without knowledge of the kinematics. Second, it does not need a force or torque measurement at the end of the limb. In this paper we test power-controlled relaxation LPVF on a crank turning task in which a weight has to be winched up by a two-joint compliant manipulator.

  17. Evaluation of a graphic interface to control a robotic grasping arm: a multicenter study.

    PubMed

    Laffont, Isabelle; Biard, Nicolas; Chalubert, Gérard; Delahoche, Laurent; Marhic, Bruno; Boyer, François C; Leroux, Christophe

    2009-10-01

    Laffont I, Biard N, Chalubert G, Delahoche L, Marhic B, Boyer FC, Leroux C. Evaluation of a graphic interface to control a robotic grasping arm: a multicenter study. Grasping robots are still difficult to use for persons with disabilities because of inadequate human-machine interfaces (HMIs). Our purpose was to evaluate the efficacy of a graphic interface enhanced by a panoramic camera to detect out-of-view objects and control a commercialized robotic grasping arm. Multicenter, open-label trial. Four French departments of physical and rehabilitation medicine. Control subjects (N=24; mean age, 33y) and 20 severely impaired patients (mean age, 44y; 5 with muscular dystrophies, 13 with traumatic tetraplegia, and 2 others) completed the study. None of these patients was able to grasp a 50-cL bottle without the robot. Participants were asked to grasp 6 objects scattered around their wheelchair using the robotic arm. They were able to select the desired object through the graphic interface available on their computer screen. Global success rate, time needed to select the object on the screen of the computer, number of clicks on the HMI, and satisfaction among users. We found a significantly lower success rate in patients (81.1% vs 88.7%; chi(2)P=.017). The duration of the task was significantly higher in patients (71.6s vs 39.1s; P<.001). We set a cut-off for the maximum duration at 79 seconds, representing twice the amount of time needed by the control subjects to complete the task. In these conditions, the success rate for the impaired participants was 65% versus 85.4% for control subjects. The mean number of clicks necessary to select the object with the HMI was very close in both groups: patients used (mean +/- SD) 7.99+/-6.07 clicks, whereas controls used 7.04+/-2.87 clicks. Considering the severity of patients' impairment, all these differences were considered tiny. Furthermore, a high satisfaction rate was reported for this population concerning the use of the

  18. [Balloonsacroplasty: C-arm or CT controlled application? : Experience with 46 patients].

    PubMed

    Prokop, A; Andresen, R; Chmielnicki, M

    2016-11-01

    Sacral insufficiency fractures are often overlooked and lead to severe therapy-resistant pain. These fractures can be most sensitively detected with magnetic resonance imaging (MRI). Similar to balloon kyphoplasty, sacroplasty provides fixation of these fractures with cement. This study was carried out to investigate whether pain is reduced using this method and whether computed tomography (CT)-guided cement application results in less cement extravasation and fewer complications than C-arm controlled application. In a retrospective multicenter study, 46 patients (41 female, 5 male) with an average age of 75 years were treated by sacroplasty. The procedure was performed with CT-guidance for 25 patients and with C-arm control for 21 patients. Pain was evaluated using a visual analog scale. Patients were followed up for 6 months. The average operation time was 35 min and postinterventional hospital stay averaged 4 days. In the CT group pain decreased from an average score of 8.8 ± 0.7 preoperatively to 2.6 ± 0.6 postoperatively (p < 0.001) and in the C-arm group pain decreased from 8.2 ±1.0 to 2.2± 1.4 (p < 0.001). There were no cases of cement extravasation in the CT group (0 out of 25 = 0 %) and 8 asymptomatic cases in the C-arm group (8 out of 21 = 38 %). In addition, there were two injuries to the superior gluteal artery with hematoma in the area of puncture, one requiring operative treatment. There were two mortalities in the CT group from lung disease and stroke during the study but this was unrelated to the operation. Balloon sacroplasty results in a reliable and significant reduction in pain for sacral insufficiency fractures. The C-arm controlled cement application resulted in more frequent extravasation and complications than CT-guided application.

  19. Multi-muscle FES force control of the human arm for arbitrary goals.

    PubMed

    Schearer, Eric M; Liao, Yu-Wei; Perreault, Eric J; Tresch, Matthew C; Memberg, William D; Kirsch, Robert F; Lynch, Kevin M

    2014-05-01

    We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject's hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint force targets was 11% of the total range of achievable forces. Major sources of error were random error due to trial-to-trial variability and model bias due to nonstationary system properties. Because the muscles working collectively are the actuators of the skeletal system, the quantification of errors in force control guides designs of motion controllers for multi-joint, multi-muscle FES systems that can achieve arbitrary goals.

  20. Special issues in pain control during terminal illness.

    PubMed Central

    Librach, S. L.

    1995-01-01

    Pain control is still a prime concern in managing patients with terminal illnesses, such as AIDS and cancer. I review some special issues that confront family physicians providing such care. Issues include common blocks to good pain management, understanding different types of pain, and the appropriate use of adjunct analgesic drugs and therapies. PMID:7539651

  1. Controls and informatics — the integration issue

    NASA Astrophysics Data System (ADS)

    Billinge, Roy; Shering, George

    1994-12-01

    The use of computers now permeates all activities in a large research establishment such as CERN, the European Centre for Particle Physics. In addition to their use in control systems, they have become essential tools in engineering design, for administration, data logging, statistical analysis and so on. Team work and communication are now highly dependent on electronic mail and shared access to databases and documents. In recent years, many of these applications of information technology have evolved in parallel such that it is now common for individuals to be required to "master" several disparate systems. With the explosion of compatible personal computer systems and highly developed mass-market software, it is our contention that the time is ripe (if not already overdue) for an integrated environment giving access to the whole range of activities. Although this paper presents the case in the context of a particle accelerator laboratory, it may be equally applicable wherever people are required to pursue a wide range of professional activities.

  2. Identifying, Visualizing, and Fusing Social Media Data to Support Nonproliferation and Arms Control Treaty Verification: Preliminary Results

    SciTech Connect

    Gastelum, Zoe N.; Cramer, Nicholas O.; Benz, Jacob M.; Kreyling, Sean J.; Henry, Michael J.; Corley, Courtney D.; Whattam, Kevin M.

    2013-07-11

    While international nonproliferation and arms control verification capabilities have their foundations in physical and chemical sensors, state declarations, and on-site inspections, verification experts are beginning to consider the importance of open source data to complement and support traditional means of verification. One of those new, and increasingly expanding, sources of open source information is social media, which can be ingested and understood through social media analytics (SMA). Pacific Northwest National Laboratory (PNNL) is conducting research to further our ability to identify, visualize, and fuse social media data to support nonproliferation and arms control treaty verification efforts. This paper will describe our preliminary research to examine social media signatures of nonproliferation or arms control proxy events. We will describe the development of our preliminary nonproliferation and arms control proxy events, outline our initial findings, and propose ideas for future work.

  3. Design of a telescope control system using an ARM microcontroller with embedded RTOS

    NASA Astrophysics Data System (ADS)

    Peñuela Pico, Cristian R.; Atara Montañez, Fabian A.; Cuervo, Juan C.; Gonzalez-Llorente, Jesus

    2014-08-01

    This work presents the design of a wireless control system that allows driving all the necessary instruments to control the orientation of an equatorial mounting telescope through a real time operative system (RTOS) that runs over ARM microcontroller. The control system is commanded through a user-interface which works under Android platform giving the user the option to control the tracking mode, right ascension, and declination. The system was successfully deployed and tested during a one-hour observation of the Moon. The frequency measured by the oscilloscope is 66.67 Hz which equals the sidereal speed. The telescope control systems allows the user to have a better precision when locating a star but also to cover long-duration tracking processes

  4. Treating fibromyalgia with mindfulness-based stress reduction: results from a 3-armed randomized controlled trial.

    PubMed

    Schmidt, Stefan; Grossman, Paul; Schwarzer, Barbara; Jena, Susanne; Naumann, Johannes; Walach, Harald

    2011-02-01

    Mindfulness-based stress reduction (MBSR) is a structured 8-week group program teaching mindfulness meditation and mindful yoga exercises. MBSR aims to help participants develop nonjudgmental awareness of moment-to-moment experience. Fibromyalgia is a clinical syndrome with chronic pain, fatigue, and insomnia as major symptoms. Efficacy of MBSR for enhanced well-being of fibromyalgia patients was investigated in a 3-armed trial, which was a follow-up to an earlier quasi-randomized investigation. A total of 177 female patients were randomized to one of the following: (1) MBSR, (2) an active control procedure controlling for nonspecific effects of MBSR, or (3) a wait list. The major outcome was health-related quality of life (HRQoL) 2 months post-treatment. Secondary outcomes were disorder-specific quality of life, depression, pain, anxiety, somatic complaints, and a proposed index of mindfulness. Of the patients, 82% completed the study. There were no significant differences between groups on primary outcome, but patients overall improved in HRQoL at short-term follow-up (P=0.004). Post hoc analyses showed that only MBSR manifested a significant pre-to-post-intervention improvement in HRQoL (P=0.02). Furthermore, multivariate analysis of secondary measures indicated modest benefits for MBSR patients. MBSR yielded significant pre-to-post-intervention improvements in 6 of 8 secondary outcome variables, the active control in 3, and the wait list in 2. In conclusion, primary outcome analyses did not support the efficacy of MBSR in fibromyalgia, although patients in the MBSR arm appeared to benefit most. Effect sizes were small compared to the earlier, quasi-randomized investigation. Several methodological aspects are discussed, e.g., patient burden, treatment preference and motivation, that may provide explanations for differences. In a 3-armed randomized controlled trial in female patients suffering from fibromyalgia, patients benefited modestly from a mindfulness

  5. Feedback control of arm movements using Neuro-Muscular Electrical Stimulation (NMES) combined with a lockable, passive exoskeleton for gravity compensation.

    PubMed

    Klauer, Christian; Schauer, Thomas; Reichenfelser, Werner; Karner, Jakob; Zwicker, Sven; Gandolla, Marta; Ambrosini, Emilia; Ferrante, Simona; Hack, Marco; Jedlitschka, Andreas; Duschau-Wicke, Alexander; Gföhler, Margit; Pedrocchi, Alessandra

    2014-01-01

    Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES) to enable reaching functions in people with no residual voluntary control of the arm and shoulder due to high level spinal cord injury. NMES is applied to the deltoids and the biceps muscles and integrated with a three degrees of freedom (DoFs) passive exoskeleton, which partially compensates gravitational forces and allows to lock each DOF. The user is able to choose the target hand position and to trigger actions using an eyetracker system. The target position is selected by using the eyetracker and determined by a marker-based tracking system using Microsoft Kinect. A central controller, i.e., a finite state machine, issues a sequence of basic movement commands to the real-time arm controller. The NMES control algorithm sequentially controls each joint angle while locking the other DoFs. Daily activities, such as drinking, brushing hair, pushing an alarm button, etc., can be supported by the system. The robust and easily tunable control approach was evaluated with five healthy subjects during a drinking task. Subjects were asked to remain passive and to allow NMES to induce the movements. In all of them, the controller was able to perform the task, and a mean hand positioning error of less than five centimeters was achieved. The average total time duration for moving the hand from a rest position to a drinking cup, for moving the cup to the mouth and back, and for finally returning the arm to the rest position was 71 s.

  6. Feedback control of arm movements using Neuro-Muscular Electrical Stimulation (NMES) combined with a lockable, passive exoskeleton for gravity compensation

    PubMed Central

    Klauer, Christian; Schauer, Thomas; Reichenfelser, Werner; Karner, Jakob; Zwicker, Sven; Gandolla, Marta; Ambrosini, Emilia; Ferrante, Simona; Hack, Marco; Jedlitschka, Andreas; Duschau-Wicke, Alexander; Gföhler, Margit; Pedrocchi, Alessandra

    2014-01-01

    Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES) to enable reaching functions in people with no residual voluntary control of the arm and shoulder due to high level spinal cord injury. NMES is applied to the deltoids and the biceps muscles and integrated with a three degrees of freedom (DoFs) passive exoskeleton, which partially compensates gravitational forces and allows to lock each DOF. The user is able to choose the target hand position and to trigger actions using an eyetracker system. The target position is selected by using the eyetracker and determined by a marker-based tracking system using Microsoft Kinect. A central controller, i.e., a finite state machine, issues a sequence of basic movement commands to the real-time arm controller. The NMES control algorithm sequentially controls each joint angle while locking the other DoFs. Daily activities, such as drinking, brushing hair, pushing an alarm button, etc., can be supported by the system. The robust and easily tunable control approach was evaluated with five healthy subjects during a drinking task. Subjects were asked to remain passive and to allow NMES to induce the movements. In all of them, the controller was able to perform the task, and a mean hand positioning error of less than five centimeters was achieved. The average total time duration for moving the hand from a rest position to a drinking cup, for moving the cup to the mouth and back, and for finally returning the arm to the rest position was 71 s. PMID:25228853

  7. Strategy of arm movement control is determined by minimization of neural effort for joint coordination.

    PubMed

    Dounskaia, Natalia; Shimansky, Yury

    2016-06-01

    Optimality criteria underlying organization of arm movements are often validated by testing their ability to adequately predict hand trajectories. However, kinematic redundancy of the arm allows production of the same hand trajectory through different joint coordination patterns. We therefore consider movement optimality at the level of joint coordination patterns. A review of studies of multi-joint movement control suggests that a 'trailing' pattern of joint control is consistently observed during which a single ('leading') joint is rotated actively and interaction torque produced by this joint is the primary contributor to the motion of the other ('trailing') joints. A tendency to use the trailing pattern whenever the kinematic redundancy is sufficient and increased utilization of this pattern during skillful movements suggests optimality of the trailing pattern. The goal of this study is to determine the cost function minimization of which predicts the trailing pattern. We show that extensive experimental testing of many known cost functions cannot successfully explain optimality of the trailing pattern. We therefore propose a novel cost function that represents neural effort for joint coordination. That effort is quantified as the cost of neural information processing required for joint coordination. We show that a tendency to reduce this 'neurocomputational' cost predicts the trailing pattern and that the theoretically developed predictions fully agree with the experimental findings on control of multi-joint movements. Implications for future research of the suggested interpretation of the trailing joint control pattern and the theory of joint coordination underlying it are discussed.

  8. Towards Rehabilitation Robotics: Off-the-Shelf BCI Control of Anthropomorphic Robotic Arms.

    PubMed

    Athanasiou, Alkinoos; Xygonakis, Ioannis; Pandria, Niki; Kartsidis, Panagiotis; Arfaras, George; Kavazidi, Kyriaki Rafailia; Foroglou, Nicolas; Astaras, Alexander; Bamidis, Panagiotis D

    2017-01-01

    Advances in neural interfaces have demonstrated remarkable results in the direction of replacing and restoring lost sensorimotor function in human patients. Noninvasive brain-computer interfaces (BCIs) are popular due to considerable advantages including simplicity, safety, and low cost, while recent advances aim at improving past technological and neurophysiological limitations. Taking into account the neurophysiological alterations of disabled individuals, investigating brain connectivity features for implementation of BCI control holds special importance. Off-the-shelf BCI systems are based on fast, reproducible detection of mental activity and can be implemented in neurorobotic applications. Moreover, social Human-Robot Interaction (HRI) is increasingly important in rehabilitation robotics development. In this paper, we present our progress and goals towards developing off-the-shelf BCI-controlled anthropomorphic robotic arms for assistive technologies and rehabilitation applications. We account for robotics development, BCI implementation, and qualitative assessment of HRI characteristics of the system. Furthermore, we present two illustrative experimental applications of the BCI-controlled arms, a study of motor imagery modalities on healthy individuals' BCI performance, and a pilot investigation on spinal cord injured patients' BCI control and brain connectivity. We discuss strengths and limitations of our design and propose further steps on development and neurophysiological study, including implementation of connectivity features as BCI modality.

  9. A neural model of cerebellar learning for arm movement control: cortico-spino-cerebellar dynamics.

    PubMed

    Contreras-Vidal, J L; Grossberg, S; Bullock, D

    1997-01-01

    A neural network model of opponent cerebellar learning for arm movement control is proposed. The model illustrates how a central pattern generator in cortex and basal ganglia, a neuromuscular force controller in spinal cord, and an adaptive cerebellum cooperate to reduce motor variability during multijoint arm movements using mono- and bi-articular muscles. Cerebellar learning modifies velocity commands to produce phasic antagonist bursts at interpositus nucleus cells whose feed-forward action overcomes inherent limitations of spinal feedback control of tracking. Excitation of alpha motoneuron pools, combined with inhibition of their Renshaw cells by the cerebellum, facilitate movement initiation and optimal execution. Transcerebellar pathways are opened by learning through long-term depression (LTD) of parallel fiber-Purkinje cell synapses in response to conjunctive stimulation of parallel fibers and climbing fiber discharges that signal muscle stretch errors. The cerebellar circuitry also learns to control opponent muscles pairs, allowing cocontraction and reciprocal inhibition of muscles. Learning is stable, exhibits load compensation properties, and generalizes better across movement speeds if motoneuron pools obey the size principle. The intermittency of climbing fiber discharges maintains stable learning. Long-term potentiation (LTP) in response to uncorrelated parallel fiber signals enables previously weakened synapses to recover. Loss of climbing fibers, in the presence of LTP, can erode normal opponent signal processing. Simulated lesions of the cerebellar network reproduce symptoms of cerebellar disease, including sluggish movement onsets, poor execution of multijoint plans, and abnormally prolonged endpoint oscillations.

  10. Towards Rehabilitation Robotics: Off-the-Shelf BCI Control of Anthropomorphic Robotic Arms

    PubMed Central

    Xygonakis, Ioannis; Pandria, Niki; Kartsidis, Panagiotis; Arfaras, George; Kavazidi, Kyriaki Rafailia; Foroglou, Nicolas

    2017-01-01

    Advances in neural interfaces have demonstrated remarkable results in the direction of replacing and restoring lost sensorimotor function in human patients. Noninvasive brain-computer interfaces (BCIs) are popular due to considerable advantages including simplicity, safety, and low cost, while recent advances aim at improving past technological and neurophysiological limitations. Taking into account the neurophysiological alterations of disabled individuals, investigating brain connectivity features for implementation of BCI control holds special importance. Off-the-shelf BCI systems are based on fast, reproducible detection of mental activity and can be implemented in neurorobotic applications. Moreover, social Human-Robot Interaction (HRI) is increasingly important in rehabilitation robotics development. In this paper, we present our progress and goals towards developing off-the-shelf BCI-controlled anthropomorphic robotic arms for assistive technologies and rehabilitation applications. We account for robotics development, BCI implementation, and qualitative assessment of HRI characteristics of the system. Furthermore, we present two illustrative experimental applications of the BCI-controlled arms, a study of motor imagery modalities on healthy individuals' BCI performance, and a pilot investigation on spinal cord injured patients' BCI control and brain connectivity. We discuss strengths and limitations of our design and propose further steps on development and neurophysiological study, including implementation of connectivity features as BCI modality. PMID:28948168

  11. Wolfgang K.H. Panofsky: Scientist and Arms-Control Expert

    NASA Astrophysics Data System (ADS)

    Lüth, Vera G.

    2013-10-01

    Wolfgang K.H. Panofsky is remembered as the legendary founder and first director of SLAC, the Stanford Linear Accelerator Center. He devoted his life to teaching and research in accelerator and particle physics, to science policy, to his work as a science advisor to both the US and foreign governments, and to world peace as an expert on arms control and international security. He was admired by all who had a chance to meet and interact with him, and who simply called him Pief.

  12. Increasing Inspectability of Hardware and Software for Arms Control and Nonproliferation Regimes

    SciTech Connect

    White, G

    2001-07-18

    As the U.S. and the Russian Federation get closer to deploying systems for monitoring nuclear material within arms control and nonproliferation transparency regimes, the level of inspectability of the system hardware and software must increase beyond the systems demonstrated to date. These systems include the Trilateral Initiative prototype, the Fissile Material Transparency Technology Demonstration (FMTTD) system, and the Trusted Radiation Attribute Demonstration System (TRADS). Toward this goal, several alternative technologies will be discussed along with ways in which they would increase inspectability. Some examples of such technologies include the use of microcontrollers instead of fully capable computers, open source operating systems, rantime environments, and compilers.

  13. SDI and the lawyers: Evolving interpretations of international arms control accords

    SciTech Connect

    Kaman, E.J.; Loprest, F.J. Jr.; Pisano, N.A.; Steiner, R.W.

    1989-01-01

    This note surveys international agreements that SDI may violate and discusses the policies underlying these potential legal and diplomatic conflicts. Part I provides an overview of the ABM Treaty, with emphasis on the provisions involved in the present interpretation controversy. Part II considers five other international covenants containing provisions upon which SDI may ultimately encroach. Part III evaluates several policy proposals that would permit SDI to proceed consistently with American international diplomatic commitments. This part also examines how an outright abrogation of the ABM Treaty or other agreements might affect American credibility and the arms-control process.

  14. Mars Surveyor '98 Landers MVACS Robotic Arm Control System Design Concepts

    NASA Technical Reports Server (NTRS)

    Bonitz, Robert G.

    1997-01-01

    This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientific investigations to be conducted as part of the Mars Surveyor '98 Lander project. Solutions are presented to some of the problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing resources. Problems addressed include 4-DOF forward and inverse kinematics, trajectory planning to minimize potential impact damage, joint drive train protection, Lander tilt prevention, hardware fault monitoring, and collision avoidance.

  15. Arm-free paraplegic standing--Part I: Control model synthesis and simulation.

    PubMed

    Matjacić, Z; Bajd, T

    1998-06-01

    The following paper is the first part of our investigation into the feasibility of arm-free paraplegic standing. A novel control strategy for unsupported paraplegic standing which utilizes the residual sensory and motor abilities of the thoracic spinal cord injured subjects is proposed. The strategy is based on voluntary and reflex activity of the paraplegic person's upper body and artificially controlled stiffness in the ankles. The knees and hips are maintained in an extended position by functional electrical stimulation (FES). The analysis of a linearized double inverted pendulum model revealed that with properly selected ankle stiffness the system can be easily stabilized. We developed a closed-loop double inverted pendulum model including a neural system delay, trunk muscles dynamics, body segmental dynamics and linear quadratic regulator (LQR) optimal controller. Through simulations of the closed-loop model two different strategies for disturbance rejection were explained. We investigated the capability of the closed-loop model to reject disturbances, imposed at the ankle joint (in anterior and posterior directions) for various stiffness levels and neural system delays in the presence of biomechanical constraints. By limiting permissible excursions of the center of pressure, we found out that the length of the foot is the most important constraint, while the strength of the trunk muscles is not of major importance for successful balancing. An ankle stiffness of approximately 10 Nm/degree suffices for arm-free standing of paraplegic subjects.

  16. Multi-objective optimization of an active constrained layer damping treatment for vibration control of a rotating flexible arm

    NASA Astrophysics Data System (ADS)

    Hau, L. C.; Fung, E. H. K.; Yau, D. T. W.

    2006-12-01

    This paper describes the use of the multi-objective genetic algorithm (MOGA) to solve an integrated optimization problem of a rotating flexible arm with active constrained layer damping (ACLD) treatment. The arm is rotating in a horizontal plane with triangular velocity profiles. The ACLD patch is placed at the clamped end of the arm. The design objectives are to minimize the total treatment weight, the control voltage and the tip displacement of the arm, as well as to maximize the passive damping characteristic of the arm. Design variables include the control gains, the maximum angular velocity, the shear modulus of the viscoelastic layer, the thickness of the piezoelectric constraining and viscoelastic layers, and the length of the ACLD patch. In order to evaluate the effect of different combinations of design variables on the system, the finite element method, in conjunction with the Golla-Hughes-McTavish (GHM) method, is employed to model the flexible arm with ACLD treatment to predict its dynamic behavior, in which the effects of centrifugal stiffening due to the rotation of flexible arm are taken into account. As a result of optimization, reasonable Pareto solutions are successfully obtained. It is shown that the MOGA is applicable to the present integrated optimization problem.

  17. Feedback attitude sliding mode regulation control of spacecraft using arm motion

    NASA Astrophysics Data System (ADS)

    Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

    2013-09-01

    The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

  18. Intelligent fault-tolerant control for swing-arm system in the space-borne spectrograph

    NASA Astrophysics Data System (ADS)

    Shi, Yufeng; Zhou, Chunjie; Huang, Xiongfeng; Yin, Quan

    2012-04-01

    Fault-tolerant control (FTC) for the space-borne equipments is very important in the engineering design. This paper presents a two-layer intelligent FTC approach to handle the speed stability problem in the swing-arm system suffering from various faults in space. This approach provides the reliable FTC at the performance level, and improves the control flow error detection capability at the code level. The faults degrading the system performance are detected by the performance-based fault detection mechanism. The detected faults are categorized as the anticipated faults and unanticipated faults by the fault bank. Neural network is used as an on-line estimator to approximate the unanticipated faults. The compensation control and intelligent integral sliding mode control are employed to accommodate two types of faults at the performance level, respectively. To guarantee the reliability of the FTC at the code level, the key parts of the program codes are modified by control flow checking by software signatures (CFCSS) to detect the control flow errors caused by the single event upset. Meanwhile, some of the undetected control flow errors can be detected by the FTC at the performance level. The FTC for the anticipated fault and unanticipated fault are verified in Synopsys Saber, and the detection of control flow error is tested in the DSP controller. Simulation results demonstrate the efficiency of the novel FTC approach.

  19. Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint

    PubMed Central

    Vu, Van Hoan; Isableu, Brice; Berret, Bastien

    2016-01-01

    The study aimed at investigating the extent to which the brain adaptively exploits or compensates interaction torque (IT) during movement control in various velocity and load conditions. Participants performed arm pointing movements toward a horizontal plane without a prescribed reach endpoint at slow, neutral and rapid speeds and with/without load attached to the forearm. Experimental results indicated that IT overall contributed to net torque (NT) to assist the movement, and that such contribution increased with limb inertia and instructed speed and led to hand trajectory variations. We interpreted these results within the (inverse) optimal control framework, assuming that the empirical arm trajectories derive from the minimization of a certain, possibly composite, cost function. Results indicated that mixing kinematic, energetic and dynamic costs was necessary to replicate the participants’ adaptive behavior at both kinematic and dynamic levels. Furthermore, the larger contribution of IT to NT was associated with an overall decrease of the kinematic cost contribution and an increase of its dynamic/energetic counterparts. Altogether, these results suggest that the adaptive use of IT might be tightly linked to the optimization of a composite cost which implicitly favors more the kinematic or kinetic aspects of movement depending on load and speed. PMID:27941920

  20. Two-dimensional myoelectric control of a robotic arm for upper limb amputees

    NASA Astrophysics Data System (ADS)

    López Celani, Natalia M.; Soria, Carlos M.; Orosco, Eugenio C.; di Sciascio, Fernando A.; Valentinuzzi, Max E.

    2007-11-01

    Rehabilitation engineering and medicine have become integral and significant parts of health care services, particularly and unfortunately in the last three or four decades, because of wars, terrorism and large number of car accidents. Amputees show a high rate of rejection to wear prosthetic devices, often because of lack of an adequate period of adaptation. A robotic arm may appear as a good preliminary stage. To test the hypothesis, myoelectric signals from two upper limb amputees and from four normal volunteers were fed, via adequate electronic conditioning and using MATLAB, to an industrial robotic arm. Proportional strength control was used for two degrees of freedom (x-y plane) by means of eight signal features of control (four traditional statistics plus energy, integral of the absolute value, Willison's amplitude, waveform length and envelope) for comparison purposes, and selecting the best of them as final reference. Patients easily accepted the system and learned in short time how to operate it. Results were encouraging so that valuable training, before prosthesis is implanted, appears as good feedback; besides, these patients can be hired as specialized operators in semi-automatized industry.

  1. Statistical issues for design and analysis of single-arm multi-stage phase II cancer clinical trials.

    PubMed

    Jung, Sin-Ho

    2015-05-01

    Phase II trials have been very widely conducted and published every year for cancer clinical research. In spite of the fast progress in design and analysis methods, single-arm two-stage design is still the most popular for phase II cancer clinical trials. Because of their small sample sizes, statistical methods based on large sample approximation are not appropriate for design and analysis of phase II trials. As a prospective clinical research, the analysis method of a phase II trial is predetermined at the design stage and it is analyzed during and at the end of the trial as planned by the design. The analysis method of a trial should be matched with the design method. For two-stage single arm phase II trials, Simon's method has been the standards for choosing an optimal design, but the resulting data have been analyzed and published ignoring the two-stage design aspect with small sample sizes. In this article, we review analysis methods that exactly get along with the exact two-stage design method. We also discuss some statistical methods to improve the existing design and analysis methods for single-arm two-stage phase II trials. Copyright © 2015 Elsevier Inc. All rights reserved.

  2. TRANSPARENCY, VERIFICATION AND THE FUTURE OF NUCLEAR NONPROLIFERATION AND ARMS CONTROL

    SciTech Connect

    J. PILAT

    2000-11-01

    In the future, if the nuclear nonproliferation and arms control agendas are to advance, they will likely become increasingly seen as parallel undertakings with the objective of cradle-to-grave controls over nuclear warheads and/or materials. The pursuit of such an agenda was difficult enough at the outset of the nuclear age; it will be more difficult in the future with relatively wide-spread military and civil nuclear programs. This agenda will require both verification and transparency. To address emerging nuclear dangers, we may expect hybrid verification-transparency regimes to be seen as acceptable. Such regimes would have intrusive but much more limited verification provisions than Cold War accords, and have extensive transparency provisions designed in part to augment the verification measures, to fill in the ''gaps'' of the verification regime, and the like.

  3. FAT-based adaptive sliding control for flexible arms: Theory and experiments

    NASA Astrophysics Data System (ADS)

    Haung, An-Chyau; Liao, Kuo-Kai

    2006-11-01

    An adaptive sliding controller is proposed in this paper for flexible arms containing time-varying uncertainties with unknown bounds based on function approximation technique (FAT). The uncertainties are firstly represented by finite linear combinations of orthonormal basis with some unknown constant weighting vectors. Output error dynamics can thus be derived as a stable first-order filter driven by parameter error vectors. Appropriate update laws for the weighting vectors are selected using the Lyapunov method so that asymptotic convergence of the output error can be proved as long as a sufficient number of basis functions are used. Effects of the approximation error on system performance are also investigated in this paper. Both computer simulation and experimental results confirm the feasibility of the proposed control strategy.

  4. Control of a flexible-link robotic arm manipulating an unknown dynamic payload

    NASA Astrophysics Data System (ADS)

    Alder, Lawrence John

    1993-12-01

    When light-weight space-based robots, such as the space shuttle's RMS (remote manipulator system), manipulate massive payloads such as satellites, significant structural bending is induced in the links of the robot. In addition, space-based robots will often manipulate payloads that are not rigid bodies: for example, satellites may contain fuel or have flexible appendages. This dissertation contributes new basic technology that will enable flexible-link manipulators to perform precise end-point control of payloads while simultaneously controlling the unknown internal dynamics of the payload. The approach taken here combines high-performance control with an innovative identification algorithm. In addition, to facilitate the development of controllers, a numerically efficient procedure to merge payload and arm dynamic models is presented. First, controllers incorporating end-point feedback with a known payload are made robust to high-frequency modelling errors, sensor noise, and sensor bias using frequency-weighted linear quadratic Gaussian design methods. Using end-point position measurements as the primary sensor, the robot is then capable of actively damping the internal payload dynamics an order of magnitude faster than the natural damping rate--if it knows the payload parameter. However, with this type of controller small parameter variations in the payload can lead to poor performance or instability. This research has therefore also developed an identification algorithm that updates the end-point controller parameters; this enables the system to achieve high performance when the payload dynamics are not known a priori. By using a nominal control law, the identification problem can be reduced to detecting and identifying eigenvalues of a closed system. To identify these eigenvalues, a generic algorithm capable of determining the eigenvalues of a system in real time has been developed: even the order of the system need not be known in advance. With this approach

  5. Flight Testing a Digital Flight Control System. Issues and Results

    DTIC Science & Technology

    1984-07-01

    Program is primarily oriented to the development, integration, and I - evaluation of new flight control technologies . The testbed used in this program is...will be tested for safe operations to give confidence in case of non-rUettable automatic IBU engagement. ISSUE: CONTROL LAW AND REDUNDANCY MAGEMENT CO...were available. Being an advanced development program evaluating new aspects of integrated flight control technology , the latter approach was chosen

  6. Control of a Six Degree-of-Freedom Prosthetic Arm after Targeted Muscle Reinnervation Surgery

    PubMed Central

    Miller, Laura A.; Lipschutz, Robert D.; Stubblefield, Kathy A.; Lock, Blair A.; Huang, He; Williams, T. Walley; Weir, Richard F.; Kuiken, Todd A.

    2011-01-01

    Objectives To fit and evaluate the control of a complex prosthesis for a shoulder disarticulation level amputee subject with targeted muscle reinnervation. Design One participant who had targeted muscle reinnervation surgery was fit with an advanced prosthesis and usage with this device was compared to the device used in the home setting. Setting The experiments were completed within a laboratory setting. Participants The first recipient of targeted muscle reinnervation: a bilateral shoulder disarticulation level amputee. Interventions Two years after surgery, the subject was fit with a 6 degree of freedom (DOF) prosthesis (shoulder flexion, humeral rotation, elbow flexion, wrist rotation, wrist flexion, and hand control). Control of this device was compared to his commercially available 3 DOF system (elbow, wrist rotation, and powered hook terminal device). Main Outcome Measure In order to assess performance, movement analysis and timed movement tasks were executed. Results The subject was able to independently operate all 6 arm functions with good control. He could simultaneously operate 2 DOF of several different joint combinations with relative ease. He operated up to 4 DOF simultaneously, but with poor control. Work space was markedly increased and some timed-tasks were faster with the 6-DOF system. Conclusions This proof-of-concept study shows that advances in control of shoulder disarticulation level prostheses can improve the quality of movement. Additional control sources may spur the development of more advanced and complex componentry for these amputees. PMID:18996233

  7. Issues associated with establishing control zones for international space operations

    NASA Technical Reports Server (NTRS)

    Nader, Blair A.; Krishen, Kumar

    1991-01-01

    Cooperative missions in Earth orbit can be facilitated by developing a strategy to regulate the manner in which vehicles interact in orbit. One means of implementing such a strategy is to utilize a control zones technique that assigns different types of orbital operations to specific regions of space surrounding a vehicle. Considered here are issues associated with developing a control zones technique to regulate the interactions of spacecraft in proximity to a manned vehicle. Technical and planning issues, flight hardware and software issues, mission management parameter, and other constraints are discussed. Also covered are manned and unmanned vehicle operations, and manual versus automated flight control. A review of the strategies utilized by the Apollo Soyuz Test Project and the Space Station Freedom Program is also presented.

  8. Stigma-related barriers and facilitators to help seeking for mental health issues in the armed forces: a systematic review and thematic synthesis of qualitative literature.

    PubMed

    Coleman, S J; Stevelink, S A M; Hatch, S L; Denny, J A; Greenberg, N

    2017-03-14

    A recent quantitative review in the area of stigma and help seeking in the armed forces has questioned the association between these factors (Sharp et al. 2015). To date, the contribution of qualitative literature in this area has largely been ignored, despite the value this research brings to the understanding of complex social constructs such as stigma. The aim of the current systematic review of qualitative studies was to identify appropriate literature, assess the quality and synthesize findings across studies regarding evidence of stigma-related barriers and facilitators to help seeking for mental health issues within the armed forces. A multi-database text word search incorporating searches of PsycINFO, MEDLINE, Social Policy and Practice, Social Work Abstracts, EMBASE, ERIC and EBM Review databases between 1980 and April 2015 was conducted. Literature was quality assessed using the Critical Appraisal Skills Programme tool. Thematic synthesis was conducted across the literature. The review identified eight studies with 1012 participants meeting the inclusion criteria. Five overarching themes were identified across the literature: (1) non-disclosure; (2) individual beliefs about mental health; (3) anticipated and personal experience of stigma; (4) career concerns; and (5) factors influencing stigma. The findings from the current systematic review found that unlike inconsistent findings in the quantitative literature, there was substantial evidence of a negative relationship between stigma and help seeking for mental health difficulties within the armed forces. The study advocates for refinement of measures to accurately capture the complexity of stigma and help seeking in future quantitative studies.

  9. The post-cold war settlement in Europe: A triumph of arms control

    SciTech Connect

    Mandelbaum, M.

    1997-03-01

    {open_quotes}The military capabilities of the countries of Europe are also less threatening now than in the past, and this has been accomplished by arms control.{close_quotes} The author argues that there is a new security order in place in Europe, one that differs from the two most familiar ways of organizing security: balance-of-power politics and world government. Balance-of-power politics has been the source of such stability as Europe has enjoyed for most of its recorded history, including during the Cold War years. World government is a utopian dream that has been envisioned and advocated but never implemented, and that might not be a source of celebration if it were implemented, which it almost surely will not be. The theme of The Dawn of Peace in Europe is that, in the wake of the Cold War, Europe has established a third method for achieving security, called common security and that owes something to the concept of cooperative security that was developed at the Brookings Institution. Within this common security regime, Europe is still made up of soverign states. There is no supranational authority. The states of Europe are still armed. But peace in Europe does not depend-as it has for most of Europe`s recorded history-on a finely balanced hostility between and among the most powerful European nations. The new common security order has dramatically reduced both the incentives and the capabilities for war.

  10. Neural control of rhythmic human arm movement: phase dependence and task modulation of hoffmann reflexes in forearm muscles.

    PubMed

    Zehr, E Paul; Collins, David F; Frigon, Alain; Hoogenboom, Nienke

    2003-01-01

    Although we move our arms rhythmically during walking, running, and swimming, we know little about the neural control of such movements. Our working hypothesis is that neural mechanisms controlling rhythmic movements are similar in the human lumbar and cervical spinal cord. Thus reflex modulation during rhythmic arm movement should be similar to that seen during leg movement. Our main experimental hypotheses were that the amplitude of H-reflexes in the forearm muscles would be modulated during arm movement (i.e., phase-dependent) and would be inhibited during cycling compared with static contraction (i.e., task-dependent). Furthermore, to determine the locus of any modulation, we tested the effect that active and passive movement of the ipsilateral (relative to stimulated arm) and contralateral arm had on H-reflex amplitude. Subjects performed rhythmic arm cycling on a custom-made hydraulic ergometer in which the two arms could be constrained to move together (180 degrees out of phase) or could rotate independently. Position of the stimulated limb in the movement cycle is described with respect to the clock face. H-reflexes were evoked at 12, 3, 6, and 9 o'clock positions during static contraction as well as during rhythmic arm movements. Reflex amplitudes were compared between tasks at equal M wave amplitudes and similar levels of electromyographic (EMG) activity in the target muscle. Surface EMG recordings were obtained bilaterally from flexor carpi radialis as well as from other muscles controlling the wrist, elbow, and shoulder. Compared with reflexes evoked during static contractions, movement of the stimulated limb attenuated H-reflexes by 50.8% (P < 0.005), 65.3% (P < 0.001), and 52.6% (P < 0.001) for bilateral, active ipsilateral, and passive ipsilateral movements, respectively. In contrast, movement of the contralateral limb did not significantly alter H-reflex amplitude. H-reflexes were also modulated by limb position (P < 0.005). Thus task- and phase

  11. Emulating a robotic manipulator arm with an hybrid motion-control system

    NASA Astrophysics Data System (ADS)

    Aragón-González, G.; León-Galicia, A.; Noriega-Hernández, M.; Salazar-Hueta, A.

    2015-01-01

    A motion control system with four and 1/2 degrees of freedom, designed to move small objects within a 0.25 m3 space, parallel to a horizontal table, with high speed and performance similar to a robotic manipulator arm was built. The machine employs several actuators and control devices. Its main characteristic is to incorporate a servomotor, steeper motors, electromechanical and fluid power actuators and diverse control resources. A group of actuators arranged on a spherical coordinates system is attached to the servomotor platform. A linear pneumatic actuator with an angular grip provides the radial extension and load clamping capacity. Seven inductive proximity sensors and one encoder provide feedback, for operating the actuators under closed loop conditions. Communication between the sensors and control devices is organized by a PLC. A touch screen allows governing the system remotely, easily and interactively, without knowing the specific programming language of each control component. The graphic environment on the touch screen guides the user to design and store control programs, establishing coordinated automatic routines for moving objects in space, simulation and implementation of industrial positioning or machining processes.

  12. Intuitive wireless control of a robotic arm for people living with an upper body disability.

    PubMed

    Fall, C L; Turgeon, P; Campeau-Lecours, A; Maheu, V; Boukadoum, M; Roy, S; Massicotte, D; Gosselin, C; Gosselin, B

    2015-08-01

    Assistive Technologies (ATs) also called extrinsic enablers are useful tools for people living with various disabilities. The key points when designing such useful devices not only concern their intended goal, but also the most suitable human-machine interface (HMI) that should be provided to users. This paper describes the design of a highly intuitive wireless controller for people living with upper body disabilities with a residual or complete control of their neck and their shoulders. Tested with JACO, a six-degree-of-freedom (6-DOF) assistive robotic arm with 3 flexible fingers on its end-effector, the system described in this article is made of low-cost commercial off-the-shelf components and allows a full emulation of JACO's standard controller, a 3 axis joystick with 7 user buttons. To do so, three nine-degree-of-freedom (9-DOF) inertial measurement units (IMUs) are connected to a microcontroller and help measuring the user's head and shoulders position, using a complementary filter approach. The results are then transmitted to a base-station via a 2.4-GHz low-power wireless transceiver and interpreted by the control algorithm running on a PC host. A dedicated software interface allows the user to quickly calibrate the controller, and translates the information into suitable commands for JACO. The proposed controller is thoroughly described, from the electronic design to implemented algorithms and user interfaces. Its performance and future improvements are discussed as well.

  13. Muscle Synergies Heavily Influence the Neural Control of Arm Endpoint Stiffness and Energy Consumption.

    PubMed

    Inouye, Joshua M; Valero-Cuevas, Francisco J

    2016-02-01

    Much debate has arisen from research on muscle synergies with respect to both limb impedance control and energy consumption. Studies of limb impedance control in the context of reaching movements and postural tasks have produced divergent findings, and this study explores whether the use of synergies by the central nervous system (CNS) can resolve these findings and also provide insights on mechanisms of energy consumption. In this study, we phrase these debates at the conceptual level of interactions between neural degrees of freedom and tasks constraints. This allows us to examine the ability of experimentally-observed synergies--correlated muscle activations--to control both energy consumption and the stiffness component of limb endpoint impedance. In our nominal 6-muscle planar arm model, muscle synergies and the desired size, shape, and orientation of endpoint stiffness ellipses, are expressed as linear constraints that define the set of feasible muscle activation patterns. Quadratic programming allows us to predict whether and how energy consumption can be minimized throughout the workspace of the limb given those linear constraints. We show that the presence of synergies drastically decreases the ability of the CNS to vary the properties of the endpoint stiffness and can even preclude the ability to minimize energy. Furthermore, the capacity to minimize energy consumption--when available--can be greatly affected by arm posture. Our computational approach helps reconcile divergent findings and conclusions about task-specific regulation of endpoint stiffness and energy consumption in the context of synergies. But more generally, these results provide further evidence that the benefits and disadvantages of muscle synergies go hand-in-hand with the structure of feasible muscle activation patterns afforded by the mechanics of the limb and task constraints. These insights will help design experiments to elucidate the interplay between synergies and the mechanisms

  14. Muscle Synergies Heavily Influence the Neural Control of Arm Endpoint Stiffness and Energy Consumption

    PubMed Central

    Inouye, Joshua M.; Valero-Cuevas, Francisco J.

    2016-01-01

    Much debate has arisen from research on muscle synergies with respect to both limb impedance control and energy consumption. Studies of limb impedance control in the context of reaching movements and postural tasks have produced divergent findings, and this study explores whether the use of synergies by the central nervous system (CNS) can resolve these findings and also provide insights on mechanisms of energy consumption. In this study, we phrase these debates at the conceptual level of interactions between neural degrees of freedom and tasks constraints. This allows us to examine the ability of experimentally-observed synergies—correlated muscle activations—to control both energy consumption and the stiffness component of limb endpoint impedance. In our nominal 6-muscle planar arm model, muscle synergies and the desired size, shape, and orientation of endpoint stiffness ellipses, are expressed as linear constraints that define the set of feasible muscle activation patterns. Quadratic programming allows us to predict whether and how energy consumption can be minimized throughout the workspace of the limb given those linear constraints. We show that the presence of synergies drastically decreases the ability of the CNS to vary the properties of the endpoint stiffness and can even preclude the ability to minimize energy. Furthermore, the capacity to minimize energy consumption—when available—can be greatly affected by arm posture. Our computational approach helps reconcile divergent findings and conclusions about task-specific regulation of endpoint stiffness and energy consumption in the context of synergies. But more generally, these results provide further evidence that the benefits and disadvantages of muscle synergies go hand-in-hand with the structure of feasible muscle activation patterns afforded by the mechanics of the limb and task constraints. These insights will help design experiments to elucidate the interplay between synergies and the

  15. Issues in human/computer control of dexterous remote hands

    NASA Technical Reports Server (NTRS)

    Salisbury, K.

    1987-01-01

    Much research on dexterous robot hands has been aimed at the design and control problems associated with their autonomous operation, while relatively little research has addressed the problem of direct human control. It is likely that these two modes can be combined in a complementary manner yielding more capability than either alone could provide. While many of the issues in mixed computer/human control of dexterous hands parallel those found in supervisory control of traditional remote manipulators, the unique geometry and capabilities of dexterous hands pose many new problems. Among these are the control of redundant degrees of freedom, grasp stabilization and specification of non-anthropomorphic behavior. An overview is given of progress made at the MIT AI Laboratory in control of the Salisbury 3 finger hand, including experiments in grasp planning and manipulation via controlled slip. It is also suggested how we might introduce human control into the process at a variety of functional levels.

  16. A Developmental Study of Static Postural Control and Superimposed Arm Movements in Normal and Slowly Developing Children.

    ERIC Educational Resources Information Center

    Fisher, Janet M.

    Selected electromyographic parameters underlying static postural control in 4, 6, and 8 year old normally and slowly developing children during performance of selected arm movements were studied. Developmental delays in balance control were assessed by the Cashin Test of Motor Development (1974) and/or the Williams Gross Motor Coordination Test…

  17. A Developmental Study of Static Postural Control and Superimposed Arm Movements in Normal and Slowly Developing Children.

    ERIC Educational Resources Information Center

    Fisher, Janet M.

    Selected electromyographic parameters underlying static postural control in 4, 6, and 8 year old normally and slowly developing children during performance of selected arm movements were studied. Developmental delays in balance control were assessed by the Cashin Test of Motor Development (1974) and/or the Williams Gross Motor Coordination Test…

  18. 22 CFR 123.15 - Congressional certification pursuant to Section 36(c) of the Arms Export Control Act.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 36(c) of the Arms Export Control Act. 123.15 Section 123.15 Foreign Relations DEPARTMENT OF STATE... firearm controlled under Category I of the United States Munitions List, of this subchapter, in an amount... national security interests of the United States, approval may not be granted for any transaction until...

  19. Interdisciplinary Comprehensive Arm Rehabilitation Evaluation (ICARE): a randomized controlled trial protocol.

    PubMed

    Winstein, Carolee J; Wolf, Steven L; Dromerick, Alexander W; Lane, Christianne J; Nelsen, Monica A; Lewthwaite, Rebecca; Blanton, Sarah; Scott, Charro; Reiss, Aimee; Cen, Steven Yong; Holley, Rahsaan; Azen, Stanley P

    2013-01-11

    Residual disability after stroke is substantial; 65% of patients at 6 months are unable to incorporate the impaired upper extremity into daily activities. Task-oriented training programs are rapidly being adopted into clinical practice. In the absence of any consensus on the essential elements or dose of task-specific training, an urgent need exists for a well-designed trial to determine the effectiveness of a specific multidimensional task-based program governed by a comprehensive set of evidence-based principles. The Interdisciplinary Comprehensive Arm Rehabilitation Evaluation (ICARE) Stroke Initiative is a parallel group, three-arm, single blind, superiority randomized controlled trial of a theoretically-defensible, upper extremity rehabilitation program provided in the outpatient setting.The primary objective of ICARE is to determine if there is a greater improvement in arm and hand recovery one year after randomization in participants receiving a structured training program termed Accelerated Skill Acquisition Program (ASAP), compared to participants receiving usual and customary therapy of an equivalent dose (DEUCC). Two secondary objectives are to compare ASAP to a true (active monitoring only) usual and customary (UCC) therapy group and to compare DEUCC and UCC. Following baseline assessment, participants are randomized by site, stratified for stroke duration and motor severity. 360 adults will be randomized, 14 to 106 days following ischemic or hemorrhagic stroke onset, with mild to moderate upper extremity impairment, recruited at sites in Atlanta, Los Angeles and Washington, D.C. The Wolf Motor Function Test (WMFT) time score is the primary outcome at 1 year post-randomization. The Stroke Impact Scale (SIS) hand domain is a secondary outcome measure.The design includes concealed allocation during recruitment, screening and baseline, blinded outcome assessment and intention to treat analyses. Our primary hypothesis is that the improvement in log

  20. Interdisciplinary Comprehensive Arm Rehabilitation Evaluation (ICARE): a randomized controlled trial protocol

    PubMed Central

    2013-01-01

    Background Residual disability after stroke is substantial; 65% of patients at 6 months are unable to incorporate the impaired upper extremity into daily activities. Task-oriented training programs are rapidly being adopted into clinical practice. In the absence of any consensus on the essential elements or dose of task-specific training, an urgent need exists for a well-designed trial to determine the effectiveness of a specific multidimensional task-based program governed by a comprehensive set of evidence-based principles. The Interdisciplinary Comprehensive Arm Rehabilitation Evaluation (ICARE) Stroke Initiative is a parallel group, three-arm, single blind, superiority randomized controlled trial of a theoretically-defensible, upper extremity rehabilitation program provided in the outpatient setting. The primary objective of ICARE is to determine if there is a greater improvement in arm and hand recovery one year after randomization in participants receiving a structured training program termed Accelerated Skill Acquisition Program (ASAP), compared to participants receiving usual and customary therapy of an equivalent dose (DEUCC). Two secondary objectives are to compare ASAP to a true (active monitoring only) usual and customary (UCC) therapy group and to compare DEUCC and UCC. Methods/design Following baseline assessment, participants are randomized by site, stratified for stroke duration and motor severity. 360 adults will be randomized, 14 to 106 days following ischemic or hemorrhagic stroke onset, with mild to moderate upper extremity impairment, recruited at sites in Atlanta, Los Angeles and Washington, D.C. The Wolf Motor Function Test (WMFT) time score is the primary outcome at 1 year post-randomization. The Stroke Impact Scale (SIS) hand domain is a secondary outcome measure. The design includes concealed allocation during recruitment, screening and baseline, blinded outcome assessment and intention to treat analyses. Our primary hypothesis is that the