Science.gov

Sample records for arms control issues

  1. International arms control: issues and agreements. Second edition

    SciTech Connect

    Blacker, C.D.; Duffy, G.

    1984-01-01

    Completely revised and updated, this is an exhaustive analysis of national and international arms control: its history, its philosophy, and its achievements and future prospects as well as its political, military, and economic ramifications. As in the first edition of 1976, the book reflects the combined contributions of the Stanford Arms Control Group. Of the fifteen chapters in the book, four are new or substantially new, and the rest have been completely revised and updated. The complete text of the SALT II treaty has been added to the appendix containing texts of major arms control agreements. After an introductory chapter, the 14 additional chapters are grouped under three sections: the setting; nuclear and strategic arms control; and regional and conventional arms control. Appendices carry: (A) abbreviations of arms control names and terms; (B) the disarmament forums, 1945-1983; and (C) texts of major arms control agreements. Suggested further readings for each chapter are also given.

  2. 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.…

  3. 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.

  4. Verification and arms control

    SciTech Connect

    Potter, W.C.

    1985-01-01

    Recent years have witnessed an increased stress upon the verification of arms control agreements, both as a technical problem and as a political issue. As one contribution here points out, the middle ground has shrunk between those who are persuaded that the Soviets are ''cheating'' and those who are willing to take some verification risks for the sake of achieving arms control. One angle, according to a Lawrence Livermore physicist who served as a member of the delegation to the various test-ban treaty negotiations, is the limited effectiveness of on-site inspection as compared to other means of verification.

  5. Arms control and the arms race

    SciTech Connect

    Not Available

    1985-01-01

    A collection of 16 articles from the Scientific American discusses the evolution of nuclear weapons since 1945 and the attempts to control the nuclear arms race through national action and international negotiations. The articles and commentaries by political scientists Bruce M. Russett and Fred Chernoff combine technical information on weapons and deployment systems with political analysis of current arms strategies and diplomacy. The articles are grouped under three major topics: SALT and the history of arms control negotiations, current strategic arms negotiations, and European security. A separate abstract was written for each of the 16 articles selected for the Energy Data Base. 226 references.

  6. Ethical issues for control-arm patients after revelation of benefits of experimental therapy: a framework modeled in neuroblastoma.

    PubMed

    Unguru, Yoram; Joffe, Steven; Fernandez, Conrad V; Yu, Alice L

    2013-02-10

    In 2009, the Children's Oncology Group (COG) phase III randomized controlled trial, ANBL0032, found that adding immunotherapy (Ch14.18) to standard therapy significantly improved outcomes in patients with high-risk neuroblastoma when administered within 110 days after autologous stem-cell transplantation (SCT). After careful deliberation and consultation, the COG Neuroblastoma Committee decided to offer Ch14.18 to prior trial participants who had been randomly assigned to the control arm (no immunotherapy), regardless of the time that had elapsed since SCT. This decision occurred in the context of a limited supply of Ch14.18 and no data regarding its role when administered beyond 110 days. In this article, we analyze the numerous ethical challenges highlighted by the ANBL0032 trial, including the limits of researchers' reciprocity-based obligations to study participants, post-trial access to beneficial therapies, and the balance between scientific knowledge and parental hope. These deliberations may be useful to other researchers when considering their ethical obligations to control-arm participants in the wake of a positive randomized trial.

  7. Ethical Issues for Control-Arm Patients After Revelation of Benefits of Experimental Therapy: A Framework Modeled in Neuroblastoma

    PubMed Central

    Unguru, Yoram; Joffe, Steven; Fernandez, Conrad V.; Yu, Alice L.

    2013-01-01

    In 2009, the Children's Oncology Group (COG) phase III randomized controlled trial, ANBL0032, found that adding immunotherapy (Ch14.18) to standard therapy significantly improved outcomes in patients with high-risk neuroblastoma when administered within 110 days after autologous stem-cell transplantation (SCT). After careful deliberation and consultation, the COG Neuroblastoma Committee decided to offer Ch14.18 to prior trial participants who had been randomly assigned to the control arm (no immunotherapy), regardless of the time that had elapsed since SCT. This decision occurred in the context of a limited supply of Ch14.18 and no data regarding its role when administered beyond 110 days. In this article, we analyze the numerous ethical challenges highlighted by the ANBL0032 trial, including the limits of researchers' reciprocity-based obligations to study participants, post-trial access to beneficial therapies, and the balance between scientific knowledge and parental hope. These deliberations may be useful to other researchers when considering their ethical obligations to control-arm participants in the wake of a positive randomized trial. PMID:23295797

  8. 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.

  9. Intelligence support to arms control. Study project

    SciTech Connect

    Grisham, A.E.

    1990-04-09

    This paper argues that intelligence support is critical to the success of arms control. It identifies and describes the roles of intelligence in the arms control process, describes the existing intelligence organizational structure for arms control support, and identifies and analyzes issues. The roles include support to policy formulation, support to treaty negotiation, support to ratification, and finally, during verification, support for the implementation of the treaty through monitoring. The Director of Central Intelligence is responsible for monitoring, while the Arms Control and Disarmament Agency has responsibility for verification. Adjudication of conflicting interpretations occurs within the NSC committee structure. For several reasons, intelligence cannot be expected to do the actual verification of an arms control treaty. Most importantly, determination of an acceptable degree of confidence is always a political issue, although based on military judgement. Assigning intelligence responsibility for monitoring, rather than verification, helps to limit the politicization of intelligence. Issues identified during the research for this paper were analyzed within three subgroups: those inherent in the intelligence discipline; these must be managed successfully to limit adverse impact on intelligence products. Second, issues and challenges inherent in arms control bureaucratic relationships; these are best managed by keeping separate the actual monitoring analysis and verification this gives the West justification for caution, and reinforces the need for continued emphasis on verification.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. Low road to arms control

    SciTech Connect

    Paine, C.

    1985-12-01

    In the absence of a strong presidential push for a meaningful agreement, the bureaucratic consensus-seeking process leading up to a US-Soviet summit can degenerate into a search for a least-common denominator that omits or otherwise protects each bureaucracy's sacred cows. Confusion among the agencies was the result of Reagan's signals that he would like to continue the arms build up at the same time he was publicly stating support for negotiations. This confusion leaves the administration's arms control policy-making in a state of contradiction, hyperbole, and bad faith. The author applies this appraisal to policies involving the Strategic Defense Initiative.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. Franklin Long on arms control

    SciTech Connect

    Thompson, K.W.

    1988-01-01

    A series on arms control must recognize the diversity of views on the subject. A leading figure in the field lectured recently at the University of Virginia and failed to mention any of the conventional approaches to arms control. Instead he equated arms control with the Strategic Defense Initiative and limited his comments exclusively to that subject. One of the aims of this series, made possible by the W. Alton Jones Foundation, is to point up the differences in thought on the subject. Publications which treat only one viewpoint do no service to public understanding. Instead they leave an impression of unanimity of approach where none exists. They stifle rather than encourage enlightenment and public discourse. The Miller Center hopes in a small way to contribute to public understanding by bringing to the attention of the people the assumptions and thinking of some dozen experts in the field. In addition, we plan one or more volumes by multiple authors who are experts on technical subjects. Thus the present volume by Franklin A. Long of Cornell is one in a series on a subject that has far-reaching implications to human survival.

  1. 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.

  2. Right says arms control wrong

    SciTech Connect

    Isaacs, J.

    1995-09-01

    This article asserts that the conservative right wing of the Republican party is in the midst of an attack on arms control in general, intent on sabotage of the treaties at the core of the program - the 1972 Anti-Ballistic Missile Treaty, and the 1991 and 1993 START treaties, and treaties in negotiation at present. The author argues that this part of the political party is far right of other conservatives, and is intent on unravelling all progress made to this pont in time.

  3. 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.

  4. Stemming the tide: Arms control in the Johnson years

    SciTech Connect

    Seaborg, G.T.; Loeb, B.S.

    1987-01-01

    The author, a Nobel laureate, former chairman of the Atomic Energy Commission, and for many years a key participant in the formulation of U.S. arms control policies, draws on his personal diaries to offer an insider's account of the efforts made during the presidency of Lyndon B. Johnson to bring nuclear arms under international control. Seaborg also outlines both national and international issues that should be resolved in order to reduce the risk of nuclear war.

  5. 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.

  6. JPRS report: Arms control, [June 21, 1989

    SciTech Connect

    1989-06-21

    This document contains articles on arms control. Some topics discussed are chemical bombs, nuclear missiles, targeting, threats, NATO, short range missiles, military inspections, treaties, and nuclear testing.

  7. Adaptive control of dual-arm robots

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1987-01-01

    Three strategies for adaptive control of cooperative dual-arm robots are described. 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 the 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 rejected 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. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.

  8. 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.

  9. JPRS report: Arms control, [October 16, 1989

    SciTech Connect

    1989-10-16

    This report contains translations of articles and/or broadcasts on arms control. Titles include: Warsaw Pact Military Council Convenes; Kostov Speaks at Disarmament Session; Chemical Weapons Reduction Proposals Welcomed; Fischer Asks for Arms Cuts in UN Speech; India Succeeds in Another `Prithvi` Test Firing; Central Europe Chemical Weapons-Free Zone; Vancouver SUN Urges Chemical Weapons Treaty; and others.

  10. 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.

  11. 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.

  12. 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.

  13. 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

  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. 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.

  16. Intelligence and arms control - a marriage of convenience

    SciTech Connect

    Hirschfeld, T.J.

    1987-01-01

    This book offers the first comprehensive look at how the vast US intelligence network enables negotiators to forge viable arms control agreements. The intelligence role in all three phases of the arms control process is discussed - from the design phase when reliable information is needed, to the execution phase when proposals are modified, to the maintenance phase when agreed-upon obligations begin to constrain adversary behavior and compliance becomes the key political issue. Contributors include: former CIA Director William E. Colby; Douglas George, Chief of the CIA's Control Intelligence Staff, Admiral Bobby R. Inman, former NSA Director; Hans Mark, former Air Force Secretary and NSA administrator; Walt W. Rostow, National Security Adviser to President Johnson; and Paul Warnke, former Director of the Arms Control and Disarmament Agency and Chief Negotiator for SALT II.

  17. 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.

  18. 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.

  19. 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.

  20. Nuclear modernization and arms control in NATO

    SciTech Connect

    Kanter, A.

    1988-12-01

    The INF Treaty and its aftermath have not simply returned NATO to a world without ground-launched cruise missiles (GLCMs), Pershing II, and the SS-20, but have crystallized and reinforced long-standing questions about the credibility of NATO's strategy of flexible response, the appropriate role of theater nuclear weapons in the future, and the prospects for continued U.S. leadership of the Alliance. These issues come together in a consideration of whether and how NATO should modernize its remaining nuclear forces. This Note analyzes different ways in which NATO can respond to the nuclear requirements that flow from its strategy. It considers how INF Treaty constraints and prospective START limits, as well as the special place and concerns of the Federal Republic of Germany (FRG), bear on the various possibilities. It also assesses the implications of different choices for Alliance cohesion, U.S. leadership of NATO, and extended deterrence. On the basis of that analysis, it describes an approach to NATO nuclear modernization and arms control.

  1. The stage shifts in arms control

    SciTech Connect

    Sigal, L.V.; Mendelschn, J.

    1988-08-01

    With the ratification of the superpowers' treaty to eliminate their intermediate-range missiles, the question of the conventional-force balance in Europe has moved to the forefront of the East/West dialogue. After years of inconclusive talks on reducing those forces, the Soviets are now taking a potentially promising approach. Until recently, the Soviets have tried without success to convince the West that no conventional-force imbalance existed in Europe. If NATO is not to concede the political high ground to Gorbachev, it should be prepared to seize the initiative and offer serious proposals of its own. At a minimum NATO must thoroughly assess what it wants from the Warsaw Pact and what it is prepared to give in return, instead of hoping that the issue of conventional arms control will fade from the public's attention. Politically and economically, both sides stand to benefit from force reductions. But any reduction proposal, even one that offers asymmetric cuts in NATO's favor, will be militarily beneficial only if the character of the two sides' forces is taken into account.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. Control issues in toilet training.

    PubMed

    Kinservik, M A; Friedhoff, M M

    2000-01-01

    There are many control issues surrounding toilet training that involve the child, the family, and the environment. Loss of control by the child during this period can result in significant physical and psychologic consequences as well as a failure to complete the developmental task of autonomy. A review of both professional and lay literature showed various approaches to toilet training with little reference to the control issues involved. Toilet training is a dynamic process that does not always go smoothly. Constipation often develops during toilet training and may be related to control issues. Neuman's Systems Model is used to identify the types of control issues often involved in toilet training. Anticipatory guidance specifically developed to address issues of control may help alleviate problems in the toilet training process. Changes for current practice are recommended.

  10. 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.

  11. 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.

  12. Worldwide report: Arms control, [February 21, 1986

    SciTech Connect

    1986-02-21

    This report contains translations/transcriptions of articles and/or broadcasts on arms control. Titles include: SDI Brainchild of Military-Industrial Complex, Not Reagan; More Polish Coverage of SDI Debate in FRG; France`s Gen. Gallois on USSR Modernization Plan; Soviet Naval Journal, Trident Has First-Strike Roll; Dutch Party Leader on Cruise Treaty, Elections; Soviet Training Methods Against Chemical Weapons; USSR Views Disarmament Conference Session Held in Geneva; Time `Running Out` for Moratorium Decision; Nordic Labor Unions Urge New Nuclear Free Zone Conference; Goals of Geneva Disarmament Meeting; and others.

  13. Cannabis: The Issue is Control.

    PubMed

    Lyman, Donald O

    2016-01-01

    Where is the national issue of cannabis (marijuana) regulation going? Recent actions at the State level are moving to guide us to a national perspective on how to control this new marketplace. PMID:26800184

  14. 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.

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

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... paragraph (f) and adding in its place the words “14 CFR”, effective Apr. 14, 2010. ... 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...

  16. Modular control of pointing beyond arm's length.

    PubMed

    Berret, Bastien; Bonnetblanc, François; Papaxanthis, Charalambos; Pozzo, Thierry

    2009-01-01

    Hand reaching and bipedal equilibrium are two important functions of the human motor behavior. However, how the brain plans goal-oriented actions combining target reaching with equilibrium regulation is not yet clearly understood. An important question is whether postural control and reaching are integrated in one single module or controlled separately. Here, we show that postural control and reaching motor commands are processed by means of a modular and flexible organization. Principal component and correlation analyses between pairs of angles were used to extract global and local coupling during a whole-body pointing beyond arm's length. A low-dimensional organization of the redundant kinematic chain allowing simultaneous target reaching and regulation of the center of mass (CoM) displacement in extrinsic space emerged from the first analysis. In follow-up experiments, both the CoM and finger trajectories were constrained by asking participants to reach from a reduced base of support with or without knee flexion, or by moving the endpoint along a predefined trajectory (straight or semicircular trajectories). Whereas joint covaried during free conditions and under equilibrium restrictions, it was decomposed in two task-dependent and task-independent modules, corresponding to a dissociation of arm versus legs, trunk, and head coordination, respectively, under imposed finger path conditions. A numerical simulation supported the idea that both postural and focal subtasks are basically integrated into the same motor command and that the CNS is able to combine or to separate the movement into autonomous functional synergies according to the task requirements.

  17. 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.

  18. Strategic-planning framework for predicting and evaluating Soviet interests in arms control. Volume 1. Final report, September 1987-August 1988

    SciTech Connect

    Kartchner, K.M.

    1988-08-01

    This report distinguishes between Soviet interest in (1) making arms control proposals; (2) negotiating arms control agreements; (3) signing arms control treaties; and (4) actually complying with agreements once signed. It suggests that four sets of factors condition Soviet arms control interests at each of these levels: (1) Soviet threat perceptions; (2) Soviet bargaining leverage; (3) Soviet leadership stability; and (4) Soviet foreign policy orientation. Specific reference is made to strategic nuclear arms control issues. Four conditions are identified as prerequisites for Soviet interest in reaching agreement on strategic arms reductions, thus providing a basis for policy forecasting.

  19. The manned maneuvering unit flight controller arm

    NASA Technical Reports Server (NTRS)

    Falkner, K. E.

    1983-01-01

    The Manned Maneuvering Unit (MMU) and its support equipment provide an extravehicular astronaut mobility, and the ability to work outside the confines of the Shuttle Orbiter payload bay. The MMU design requirements are based on the highly successful Skylab M-509 maneuvering unit. Design of the MMU was started as an R&D effort in April 1975 and Flight Hardware design was started in August 1979 to support a possible requirement for in-space inspection and repair of Orbiter thermal protection tiles. Subsequently, the qualification test and production activities were slowed, and the current projected earliest first flight is now STS-11 in January, 1984. The MMU propulsion subsystem provides complete redundancy with two identical "system". Each system contains a high pressure gaseous nitrogen tank, an isolation valve, a regulator, and twelve 1.7 lbf (7.5 N) thrusters. The thrusters are packaged to provide the crew member six-degree-of-freedom control in response to commands from translational and rotational hand controllers. This paper discusses the MMU control arm requirements, design, and developmental history.

  20. 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..., AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating...

  1. 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..., AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating...

  2. 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..., AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating...

  3. 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..., AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating...

  4. 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..., AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating...

  5. 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…

  6. Resource Letter PSNAC-1: Physics and society: Nuclear arms control

    NASA Astrophysics Data System (ADS)

    Glaser, Alexander; Mian, Zia

    2008-01-01

    This Resource Letter provides a guide to the literature on nuclear arms control for the nonspecialist. Journal articles and books are cited for the following topics: nuclear weapons, fissile materials, nonproliferation, missiles and missile defenses, verification, disarmament, and the role of scientists in arms control.

  7. 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.

  8. Consumer Controlled Housing. Feature Issue.

    ERIC Educational Resources Information Center

    Skarnulis, Edward, Ed.; Lakin, K. Charlie, Ed.

    1990-01-01

    This "feature issue" reports on consumer-controlled housing for persons with developmental disabilities, and explores housing and service options that empower individuals with disabilities to live their lives with independence, privacy, and freedom of choice. It includes an excerpt from the Association for Retarded Citizens position statement on…

  9. 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.

  10. 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.

  11. 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.

  12. 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)

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

    PubMed

    Levy, Guy; Flash, Tamar; Hochner, Binyamin

    2015-05-01

    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.

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

    PubMed

    Levy, Guy; Flash, Tamar; Hochner, Binyamin

    2015-05-01

    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. PMID:25891406

  15. 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.

  16. 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

  17. 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.

  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. 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.

  20. 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.

  1. 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.

  2. 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.

  3. Interpreting shadows: Arms control and defense planning in a rapidly changing multi-polar world

    SciTech Connect

    King, D.R.

    1999-06-01

    The focus of arms control is changing. It now deals with issues affecting all nations and not just the super powers. A new framework for approaching non-proliferation of weapons of mass destruction and arms control could focus on a two-fold policy initiative. The first policy would be a new strategic `triad` built around conventional capability including rapidly deployable forces, regional ballistic missile defense, and long-range precision-strike capability. The second policy would employ an information strategy using the current diplomatic initiatives that appear to be the most productive, or unilateral and multilateral export controls, military assistance in the form of infrastructure, and confidence building measures. Continued success in arms control requires abandoning Cold War policies. Emerging policies will need to appreciate different world views. Good intelligence will be a key factor in the success of any policy orientation and its implementation. The focus needs to change from arms control involving the superpowers to arms control involving everyone.

  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. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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

  11. 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…

  12. 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

    2015-12-01

    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.

  13. 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.

  14. 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.

  15. 78 FR 43959 - Announcement of the 2013 Innovation in Arms Control Challenge Under the America Competes...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-07-22

    ... Announcement of the 2013 Innovation in Arms Control Challenge Under the America Competes Reauthorization Act of... Control Inspections? The 2013 Innovation in Arms Control Challenge will engage the public to develop tools and processes for 21st century arms control inspections. DATES: The submission period for...

  16. 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.

  17. Next steps in arms control and non-proliferation: Report of the US-Japan study group on arms control and non-proliferation

    SciTech Connect

    Clark, W.J.; Imai, R.

    1997-10-01

    Japanese and American experts view 13 key arms control and non-proliferation issues facing East Asia and the world, including how to reduce nuclear weapons, what policies Washington and Tokyo should pursue in dealing with China, theater missile defense, North Korea, and whether the growth of plutonium-based civilian nuclear power programs poses a proliferation threat. This is the final report of a Japanese-American study group co-sponsored by the Carnegie Endowment for International Peace and the International House of Japan.

  18. 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

  19. 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.

  20. 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).

  1. 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.

  2. Cold war arms control motivations and techniques - a guide for the future. Research report

    SciTech Connect

    White, E.G.

    1996-01-01

    This paper provides a brief historical account of some of the arms control agreements between the U.S. and the Soviet Union, examines their major motivations to enter into negotiations, and illustrates some successful negotiation techniques. The author hypothesizes on the utility of this Cold War arms control experience as a useful guide for arms control in a single superpower world.

  3. 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…

  4. 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

    ... Announcement of the Innovation in Arms Control Challenge Under the America Competes Reauthorization Act of 2011 SUMMARY: The Department of State's Bureau of Arms Control, Verification and Compliance (AVC) announces the following challenge: How Can the Crowd Support Arms Control Transparency Efforts? This challenge is...

  5. START II and the politics of arms control in Russia

    SciTech Connect

    Lepingwell, J.W.R.

    1995-12-31

    The arguments for nuclear weapons reduction in the post-Cold War era are compelling, but as the nuclear confrontation has receded, so has the urgency attached to the destruction of nuclear weapons. In Russia, pressing economic and political problems have diverted attention from the nuclear issue, while the polarization of politics has reduced chances for the early ratification of START II. The increasing mistrust of the West in Russian political conservative circles, combined with the cost of disarmament, have given rise to a strong lobby for slowing the arms reduction process. 88 refs. 3 tabs.

  6. 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.

  7. 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.

  8. Arms control: the common denominator in superpower relations. Research report

    SciTech Connect

    Drobot, N.J.

    1988-04-01

    The purpose of this paper is to highlight arms control as a mutually shared interest in superpower relations. Chapter I addresses US foreign policy vis-a-vis the USSR and vice versa, and focuses on current superpower national interests. Today, the USSR is preoccupied with economic development and is providing the US with unique opportunities in arms-control concessions. The US is concerned with stimulating its economy as well and in reducing federal budget deficits. Chapter II focuses on the specifics of the Intermediate-Range Nuclear Force (INF) Treaty. A review of the background since 1977 leading up to the treaty is presented followed by specific terms of the treaty to include the types pf missile systems, timetables and methods of elimination, and the mutual-verification scenario. Personnel requirements to implement the treaty are also presented. Chapter III addresses the impact of the INF treaty on NATO doctrine and force employment. Current criticisms of the treaty that relate to the resulting military balance in Europe and US commitment to NATO are presented. US/NATO and Soviet/Warsaw Pact thinking on such areas as defense sufficiency, modernization, and future arms-control agreements is also covered.

  9. Overview: Mechanism and Control of a Prosthetic Arm.

    PubMed

    Kulkarni, Tushar; Uddanwadiker, Rashmi

    2015-09-01

    Continuous growth in industrialization and lack of awareness in safety parameters the cases of amputations are growing. The search of safer, simpler and automated prosthetic arms for managing upper limbs is expected. Continuous efforts have been made to design and develop prosthetic arms ranging from simple harness actuated to automated mechanisms with various control options. However due the cost constraints, the automated prosthetic arms are still out of the reach of needy people. Recent data have shown that there is a wide scope to develop a low cost and light weight upper limb prosthesis. This review summarizes the various designs methodologies, mechanisms and control system developed by the researchers and the advances therein. Educating the patient to develop acceptability to prosthesis and using the same for the most basic desired functions of human hand, post amputation care and to improve patient's independent life is equally important. In conclusion it can be interpreted that there is a wide scope in design in an adaptive mechanism for opening and closing of the fingers using other methods of path and position synthesis. Simple mechanisms and less parts may optimize the cost factor. Reduction in the weight of the prosthesis may be achieved using polymers used for engineering applications. Control system will remain never ending challenge for the researchers, but it is essential to maintain the simplicity from the patients perspective. PMID:27281955

  10. 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)

  11. 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.

  12. 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.

  13. 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.

  14. 49 CFR 1544.221 - Carriage of prisoners under the control of armed law enforcement officers.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 9 2012-10-01 2012-10-01 false Carriage of prisoners under the control of armed... 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...

  15. 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... 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...

  16. A look behind the arms control agenda at the US-Russian and Sino-US summits

    SciTech Connect

    1995-11-01

    When President Bill Clinton met in New York with Russian President Boris Yeltsin on October 23 and Chinese President Jiang Zemin the following day, the leaders discussed a broad spectrum of arms control issues-including START II ratification, limits on Russian conventional weapons in the Caucasus, the nuclear test ban treaty, nuclear exports to Iran and NATO expansion. The crisis in Bosnia, however, dominated the administration`s pre- and post-summit briefings as well as the media`s coverage of the meetings. On October 20, the Arms Control Association (ACA) held a news conference to highlight the key arms control issues involved in the two sets of talks. Because these vital national security issues were virtually ignored by the press, the ACA press briefing remains the most comprehensive coverage of the full range of issues that were, in fact, addressed at the mini-summits. Panel speakers included Spurgeon M. Keeny, Jr., ACA president and executive director and former deputy director of the Arms Control and Disarmament Agency; Jack Mendelsohn, ACA deputy director and a former member of the US SALT II and START I delegations; Stanley Resor, ACA board chairman and former chief US delegate to the Mutual and Balanced Force Reduction talks, former defense undersecretary for policy and former secretary of the Army; and William Dircks, director of the Atlantic Council`s Program on Nuclear Policy and former deputy director general of the International Atomic Energy Agency. Extended excerpts from their remarks follow.

  17. 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.

  18. 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.

  19. Nature of motor control: perspectives and issues.

    PubMed

    Turvey, Michael T; Fonseca, Sergio

    2009-01-01

    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?

  20. 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.

  1. US arms control obligations under the Non-Proliferation Treaty

    SciTech Connect

    Not Available

    1986-06-27

    Article VI of the 1968 Non-Proliferation Treaty (NPT) obligates the nuclear weapon states parties to the Treaty ''to pursue negotiations in good faith on effective measures relating to cessation of the nuclear arms race, ... to nuclear disarmament, and on a treaty on general and complete disarmament under strict and effective international control.'' The preamble to the NPT recalls the 1963 Limited Test Ban Treaty ''determination ... to achieve the discontinuance of ... explosions.'' These provisions are interpreted by a majority of the non-nuclear weapon states parties to the Treaty as an obligation of the nuclear weapon states parties to the Treaty to pursue a comprehensive test ban (CTB). However, a review of the history of the NPT negotiations and US ratification proceedings makes clear that the NPT imposes no legal obligation on the US to pursue a CTB. The US did not make a one-to-one correspondence between Article VI and any specific arms control measure; to the contrary, the US argued successfully that such a connection (to any specific measure) would be pernicious to the attempt to achieve agreement on the NPT. This interpretation, which was sustained through the negotiations and the ratification proceedings, still reflects the limits of the legal obligations the US has accepted. But, in the absence of progress on other arms control measures, which would relieve the pressure for a CTB, the majority interpretation creates political difficulties for the US and could threaten the NPT regime in the future. These problems highlight the need for the US to better defend its compliance with Article VI and to develop a long-term strategy that will permit necessary testing while assuring the survival of the NPT regime in effective form.

  2. 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.

  3. Motion control of the satellite mounted robot arm which assures satellite attitude stability

    NASA Astrophysics Data System (ADS)

    Mitsushige, Oda

    When a robot arm is mounted on a satellite to perform some tasks, the satellite's attitude must be stabilized to retain the communication link and to generate electrical power from solar panels. It is not realistic to control the total system as one dynamic system, since the number of degrees of freedom becomes too large to be handled by state-of-the-art satellite mounted computers. This paper proposes a coordinated control between the satellite's attitude control system and the robot-arm control system. The robot-arm control system estimates the angular momentum of the planned robot-arm's motion. The satellite's attitude control system will compensate for the reaction by using feed-forward control. The robot-arm controller also manages the motion plan of the robot arm in order not to disturb the satellite's attitude stability.

  4. 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.

  5. 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.

  6. 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

  7. 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.

  8. 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.

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

    NASA Technical Reports Server (NTRS)

    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.

  10. 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.

  11. Hemispheric differences in the control of limb dynamics: a link between arm performance asymmetries and arm selection patterns

    PubMed Central

    Coelho, Chase J.; Przybyla, Andrzej; Yadav, Vivek

    2013-01-01

    Human handedness has been described and measured from two perspectives: handedness inventories rate hand preferences, whereas other tests examine motor performance asymmetries. These two measurement approaches reflect a major controversy in a literature that defines handedness as either a preference or an asymmetry in sensorimotor processing. Over the past decade, our laboratory has developed a model of handedness based on lateralization of neural processes. This model attributes distinct control processes to each hemisphere, which in turn lead to observable interlimb sensorimotor performance asymmetries. We now hypothesize that arm preference, or choice, may depend on the interaction between sensorimotor performance asymmetries and the given task. The purpose of this study is to examine whether arm selection is linked to interlimb performance asymmetries during reaching. Right-handed subjects made choice and nonchoice reaches to each of eight targets (d = 3.5 cm) arranged radially (r = 13 cm) around a midline starting position. We displaced each cursor (one associated with each hand) 30 cm to the midline start circle to ensure that there were no hemispace-related geometric, mechanical, or perceptual biases to use either arm for the two midline targets. The three targets on each side of the midline received mostly reaches from the ipsilateral arm, a tendency previously described as a “hemispace bias.” However, the midline targets, which were equidistant from each hand, received more dominant arm reaches. Dominant arm hand paths to these targets were straighter and more accurately directed. Inverse dynamics analyses revealed a more proficient dominant arm strategy that exploited intersegmental dynamics to a greater extent than did the nondominant arm. These findings suggest that sensorimotor asymmetries in dynamic coordination might explain limb choices. We discuss the implications of these results for theories of action selection, models of handedness, and

  12. Hemispheric differences in the control of limb dynamics: a link between arm performance asymmetries and arm selection patterns.

    PubMed

    Coelho, Chase J; Przybyla, Andrzej; Yadav, Vivek; Sainburg, Robert L

    2013-02-01

    Human handedness has been described and measured from two perspectives: handedness inventories rate hand preferences, whereas other tests examine motor performance asymmetries. These two measurement approaches reflect a major controversy in a literature that defines handedness as either a preference or an asymmetry in sensorimotor processing. Over the past decade, our laboratory has developed a model of handedness based on lateralization of neural processes. This model attributes distinct control processes to each hemisphere, which in turn lead to observable interlimb sensorimotor performance asymmetries. We now hypothesize that arm preference, or choice, may depend on the interaction between sensorimotor performance asymmetries and the given task. The purpose of this study is to examine whether arm selection is linked to interlimb performance asymmetries during reaching. Right-handed subjects made choice and nonchoice reaches to each of eight targets (d = 3.5 cm) arranged radially (r = 13 cm) around a midline starting position. We displaced each cursor (one associated with each hand) 30 cm to the midline start circle to ensure that there were no hemispace-related geometric, mechanical, or perceptual biases to use either arm for the two midline targets. The three targets on each side of the midline received mostly reaches from the ipsilateral arm, a tendency previously described as a "hemispace bias." However, the midline targets, which were equidistant from each hand, received more dominant arm reaches. Dominant arm hand paths to these targets were straighter and more accurately directed. Inverse dynamics analyses revealed a more proficient dominant arm strategy that exploited intersegmental dynamics to a greater extent than did the nondominant arm. These findings suggest that sensorimotor asymmetries in dynamic coordination might explain limb choices. We discuss the implications of these results for theories of action selection, models of handedness, and models

  13. 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.

  14. 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.

  15. 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.

  16. 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

  17. 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.

  18. 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

  19. 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.

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

    DOE PAGESBeta

    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

  1. 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.

  2. 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.

  3. 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.

  4. Community noise sources and noise control issues

    NASA Astrophysics Data System (ADS)

    Nihart, Gene L.

    1992-04-01

    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.

  5. 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.

  6. 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).

  7. 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.

  8. 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.

  9. 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

  10. 76 FR 818 - Bureau of Nonproliferation; Determination Under the Arms Export Control Act

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-01-06

    ... of Nonproliferation; Determination Under the Arms Export Control Act AGENCY: Department of State. ACTION: Notice. Pursuant to Section 654(c) of the Foreign Assistance Act of 1961, as amended, notice is hereby given that the Under Secretary of State for Arms Control and International Security has made...

  11. 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...

  12. 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...

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. Solving the deterrence problem: Western antinuclearism, strategic revisionism, and US arms control policy, 1979-1991

    SciTech Connect

    Leverett, F.L.

    1992-01-01

    This study is concerned with the changing domestic climate for nuclear weapons issues in the West during the 1980s. More specifically, it examines the impact of normative critiques of nuclear deterrence, as articulated by key elites in the US and various Western European democracies, on the formulation and conduct of American arms control policy between the signing of SALT 1 and the conclusion of the first START agreement. Two major schools of criticism are identified: (1) rooted in left-of-center elements of Western democratic politics, is described as antinuclearism; and (2) based in the conservative side of the political spectrum, is referred to as strategic revisionism. The first half of this study examines these two phenomena distinguishing prudential and normative dimensions of these schools. The second half examines the quite different postures taken by the two schools regarding prospective reform of the current nuclear regime, and traces the role of antinuclearist and revisionist advocacy in the debate over American arms control policy during the 1980s.

  20. 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.

  1. 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.

  2. 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

  3. 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.

  4. 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.

  5. New radiation hodoscope developments for Arms Control Treaty verification

    NASA Astrophysics Data System (ADS)

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

    1991-11-01

    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 items such as canisters and rail cars. 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.

  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. Cutaneous vascular control in the arms of women with postmastectomy oedema.

    PubMed

    Stanton, A W; Levick, J R; Mortimer, P S

    1996-05-01

    The control of forearm skin blood flow was examined in the swollen arms of twelve women with oedema caused by breast cancer treatment. The swollen arm was compared with the opposite unaffected (control) arm. Using laser Doppler flux (LDF) and continuous finger blood pressure (BP) measurements, vascular control was tested by applying a range of provocations previously shown to alter cutaneous vascular resistance (CVR) in healthy subjects. The tests and the accepted mechanism were: post-ischaemic hyperaemia (locally mediated vasodilatation), inspiratory gasp and cool reflex (both sympathetically mediated vasoconstriction), arm dependency (locally mediated vasoconstriction), and core heat load (sympathetically mediated vasodilatation). CVR was calculated as BP/(LDF-biological zero). Three differences between the control and swollen arms were identified. (i) The laser Doppler biological zero signal was significantly higher on the swollen side (P = 0.005, Student's paired t test). (ii) Baseline LDF was significantly lower on the swollen side (P = 0.002), and apparent CVR correspondingly higher. (iii) Cumulative reactive hyperaemia (area under the LDF curve above baseline) was significantly less on the swollen side (P = 0.03), although peak flux was not significantly different. Inspiratory gasp, cool reflex, arm dependency and core heat load produced changes of similar magnitude in both arms. It appears that sympathetic neural control and local vasoconstrictor control in arm dependency are normal in arm lymphoedema but that locally mediated vasodilator control is impaired. In addition, baseline skin blood flow may be reduced in this condition. The results provide no support for impairment of vascular tone as a contributory factor to the oedematous state. PMID:8737078

  8. 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.

  9. 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.

  10. Spoken language and arm gestures are controlled by the same motor control system.

    PubMed

    Gentilucci, Maurizio; Dalla Volta, Riccardo

    2008-06-01

    Arm movements can influence language comprehension much as semantics can influence arm movement planning. Arm movement itself can be used as a linguistic signal. We reviewed neurophysiological and behavioural evidence that manual gestures and vocal language share the same control system. Studies of primate premotor cortex and, in particular, of the so-called "mirror system", including humans, suggest the existence of a dual hand/mouth motor command system involved in ingestion activities. This may be the platform on which a combined manual and vocal communication system was constructed. In humans, speech is typically accompanied by manual gesture, speech production itself is influenced by executing or observing transitive hand actions, and manual actions play an important role in the development of speech, from the babbling stage onwards. Behavioural data also show reciprocal influence between word and symbolic gestures. Neuroimaging and repetitive transcranial magnetic stimulation (rTMS) data suggest that the system governing both speech and gesture is located in Broca's area. In general, the presented data support the hypothesis that the hand motor-control system is involved in higher order cognition.

  11. 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.

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

    PubMed Central

    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

    2013-01-01

    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. PMID:21543840

  13. Naval power and naval arms control during the cold war. Final report

    SciTech Connect

    Stein, P.C.; Hilton, R.P.; Quester, G.; DeRiggi, D.F.

    1992-07-01

    This document provides background information relevant to the prospects for naval arms control. It discusses the characteristics of naval power, particularly as they related to the cold war naval confrontation between the U.S. and the Soviet Union. Regional naval balances in various parts of the world are analyzed. All of the major naval arms control proposals of the cold war period are categorized and analyzed, and the advantages and disadvantages from the perspective of the U.S. are examined.

  14. 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.

  15. 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

  16. 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

  17. Application of the Actor-Critic Architecture to Functional Electrical Stimulation Control of a Human Arm.

    PubMed

    Thomas, Philip; Branicky, Michael; van den Bogert, Antonie; Jagodnik, Kathleen

    2009-01-01

    Clinical tests have shown that the dynamics of a human arm, controlled using Functional Electrical Stimulation (FES), can vary significantly between and during trials. In this paper, we study the application of the actor-critic architecture, with neural networks for the both the actor and the critic, as a controller that can adapt to these changing dynamics of a human arm. Development and tests were done in simulation using a planar arm model and Hill-based muscle dynamics. We begin by training it using a Proportional Derivative (PD) controller as a supervisor. We then make clinically relevant changes to the dynamics of the arm and test the actor-critic's ability to adapt without supervision in a reasonable number of episodes. Finally, we devise methods for achieving both rapid learning and long-term stability. PMID:20689654

  18. Creating a Reinforcement Learning Controller for Functional Electrical Stimulation of a Human Arm.

    PubMed

    Thomas, Philip S; Branicky, Michael; van den Bogert, Antonie; Jagodnik, Kathleen

    2008-01-01

    Clinical tests have shown that the dynamics of a human arm, controlled using Functional Electrical Stimulation (FES), can vary significantly between and during trials. In this paper, we study the application of Reinforcement Learning to create a controller that can adapt to these changing dynamics of a human arm. Development and tests were done in simulation using a two-dimensional arm model and Hill-based muscle dynamics. An actor-critic architecture is used with artificial neural networks for both the actor and the critic. We begin by training it using a Proportional Derivative (PD) controller as a supervisor. We then make clinically relevant changes to the dynamics of the arm and test the actor-critic's ability to adapt without supervision in a reasonable number of episodes. PMID:22081795

  19. 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.

  20. 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.

  1. 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.)

  2. 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.)

  3. 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)

  4. 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.)

  5. 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.)

  6. 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.

  7. 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.

  8. Design of integrated flight/fire control system for armed helicopters: multi-strata hierarchical control

    NASA Astrophysics Data System (ADS)

    Zhao, Jia; Yu, Zhi; Sheng, Gongzhang

    2006-11-01

    Traditional Integrated Flight/Fire Control (IFFC) system using the flight/fire coupler made the system functional uncoupling difficult. Based on the multi-strata hierarchical control theory, a new IFFC system of armed helicopter for air-to-ground gunnery mode was designed. It consisted of two level loops: the Space Pointing Track Loop and Tactical Mission Loop. In the first loop, two-degree-of-freedom (TDF) H∞ method was applied to realize the uncouple control of tree attitude channels of helicopter. In the second loop, the target state estimator and fire control algorithm were designed to provide the first loop with expected attitude pointing. The system discards the flight/fire coupler and decreases the coupling effect of the level loops. Simulation results show that the system can achieve the automatic tracking and aiming process with good performance and strong robustness in different target maneuvers. This design method can also be generalized to the fixed-wing IFFC system.

  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. Failure of Arm Movement Control in Stroke Patients, Characterized by Loss of Complexity.

    PubMed

    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.

  11. Accurate position control of a flexible arm using a piezoactuator associated with a hysteresis compensator

    NASA Astrophysics Data System (ADS)

    Choi, Seung-Bok; Seong, Min-Sang; Ha, Sung Hoon

    2013-04-01

    In this work, position control of a one-link flexible arm is undertaken by considering the field-dependent hysteresis behavior of a piezoceramic actuator (piezoactuator in short). The proposed arm is controlled by two actuators: a motor mounted at the hub and a piezoceramic bonded to the surface of the flexible link. In the modeling process, two transfer functions: one from the input torque to output hub angle and the other from the input voltage to the output tip deflection are obtained. The hysteretic behavior of the piezoactuator is experimentally identified using the Preisach model, and the first-order descending (FOD) curves are obtained that are required to design a hysteresis compensator. After establishing the overall control block diagram for the position control of the flexible arm, a quantitative feedback theory (QFT) controller is designed by treating parameter variations and external disturbances as uncertainties. Subsequently, a hysteresis compensator that produces additional control input to the piezoactuator is designed to enhance the vibration control performance. An experimental realization of the proposed control scheme is undertaken and the effect of the hysteresis compensator on vibration control of the flexible arm is evaluated in the time domain.

  12. When ethics constrains clinical research: trial design of control arms in "greater than minimal risk" pediatric trials.

    PubMed

    de Melo-Martín, Inmaculada; Sondhi, Dolan; Crystal, Ronald G

    2011-09-01

    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.

  13. The issue of control. An administrator's mirage?

    PubMed

    James, A E

    1989-02-01

    The administration of each discipline has a unique ethos that can characterize the human relationships intrinsic to that specialty. A common trait among leaders is that they have an intense desire to feel that they have the proper measure of control; control of the means to affect solutions to the responsibilities they have and some measure of control of their own destiny. The discipline of Radiology and Radiological Sciences has inherent complexities and natural administrative arrangements that make it very difficult to accommodate a feeling of control.

  14. 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 many…

  15. 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.

  16. 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.

  17. 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.

  18. Nonproliferation and arms control impacts on declared excess fissile material

    SciTech Connect

    Rutherford, D.A.; Close, D.A.; Lucas, M.C.; Beary, B.L.

    1996-06-01

    The presence of nuclear materials derived from dismantled nuclear weapons presents new safeguards and security issues for international inspections, for example, inspections by the International Atomic Energy Agency. The requirements of an IAEA inspection under existing guidance and the areas of conflicting interests are discussed. Possible solutions to these issues are presented. Experiences with actual inspections of material at the Y-12 facility at Oak Ridge and the Rocky Flats Environmental Technology Site are presented. A technique to recast some of the material is discussed. A new nondestructive assay/verification instrument that may satisfy the requirements of an inspection is described.

  19. Robust Position Control of End-Effector Considering Gear Stiffness and Arm Stiffness for Industrial Robot

    NASA Astrophysics Data System (ADS)

    Tungpataratanawong, Somsawas; Chitbanchong, Satit; Miyazaki, Toshimasa; Katsura, Seiichiro; Ohishi, Kiyoshi

    Industrial robot with two-inertia model and resonant vibration suppression by using parameters from resonant identification method are addressed in this paper. By using only D-PD control with vibration suppression scheme for two-inertia model of flexible joint robot, the end-effector position does not perfectly reach the desired position owing to the effect of external force to the elastic arm. However, only gear stiffness parameter of two-inertia model is not enough, the new equivalent spring constant parameter including the stiffness of link and gear of the robot is introduced as the total arm spring constant. The novel load-side disturbance compensation considering total arm elasticity is proposed in this paper. The proposed control system is based on inner-loop vibration suppression feedback control and load-side disturbance suppression which motivates the simple consideration of the elastic joint under external torque. Moreover, the experimental results show the effectiveness of the proposed robust position control of end-effector with disturbance compensation considering total arm stiffness. The experimentation on workspace impedance control with inner-loop disturbance suppression implementing on the three degree-of-freedom (3-DOF) robot manipulator is also presented and discussed. The performance and feasibility of the proposed position control of end-effector is confirmed to apply to industrial robot manipulator without additional device.

  20. 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.

  1. Dual-arm supervisory and shared control space servicing task experiments

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.

    1992-01-01

    A dual-arm task execution primitive has been implemented for cooperative dual-arm telerobotic task execution utilizing multiple sensors concurrently. The primitive has been integrated into a telerobot task execution system and can be called by a task planning system for execution of tasks requiring dual-arm sensor based motion, e.g., force control, teleoperation, and shared control. The primitive has a large input parameter set which is used to specify the desired behavior of the motion. Move-squeeze decomposition is utilized to decompose forces sensed at the wrists of the two manipulators into forces in the move subspace, which cause system motion, and forces in the squeeze subspaces, which cause internal forces. The move and squeeze forces are then separately controlled. Several space servicing tasks utilizing the cooperative dual-arm control capability are described, and experimental results from the tasks are given. The supervisory and shared control tasks include capture of a rotating satellite, orbital replacement unit changeout, fluid coupler seating and locking, and contour following.

  2. 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.

  3. 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.

  4. Ethical issues in psychosocial interventions research involving controls.

    PubMed

    Saks, E R; Jeste, D V; Granholm, E; Palmer, B W; Schneiderman, L

    2002-01-01

    Psychiatric research is of critical importance in improving the care of persons with mental illness. Yet it may also raise difficult ethical issues. This article explores those issues in the context of a particular kind of research: psychosocial intervention research with control groups. We discuss 4 broad categories of ethical issues: consent, confidentiality, boundary violations, and risk-benefit issues. We believe that, despite the potential difficulties, psychosocial intervention research is vital and can be accomplished in an ethical manner. Further discussion and research into these issues are warranted.

  5. 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.

  6. 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.)

  7. Laboratory evaluation of a unified theory for simultaneous multiple axis artificial arm control.

    PubMed

    Jerard, R B; Jacobsen, S C

    1980-08-01

    This paper reports on the application of a "postulate-based" control method for multi-axis artificial arm control. This method uses shoulder muscle EMG's as control sites, but, unlike previous techniques, the theory is the first that can be rigorously defined in terms of musculoskeletal anatomy, EMG muscle-force relationships, EMG transmission characteristics, muscle recruitment, limb dynamics and normal motion constraints. The control theory results in a deterministic, mathematically expressible set of controller equations, which use the vector of natural limb torques estimated by shoulder EMG signals and a "constraint" for input. The output of the controller equations is a vector of prosthetic torques to be applied to the artificial limb. We report on the implementation of the theory up to the point of laboratory feasibility trials of actual simultaneous above-elbow amputee control of elbow flexion and humeral rotation. Implementation of the theory required: 1) deviation of the controller equations from Newton's dynamic equations of motion into controller form in conformity with the postulate theory; 2) development of a methodology for estimating natural musculoskeletal torques from EMG signals; 3) hardware and software for experimental testing with actual closed loop amputee control of the prosthesis; and 4) a methodology for evaluating the performance of the prosthesis relative to both alternative prosthetic systems and the natural arm. These tasks were completed and simultaneous multiple-axis control of a prosthetic arm was accomplished by both amputee and nonamputee subjects. Key questions of control compatibility, naturalness, stability, and performance evaluation relative to other prostheses and the natural arm were addressed. Various problems are discussed with the conclusion that this method, despite some difficulties, holds great promise as a practical rehabilitation tool.

  8. 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.

  9. Mutual defense emphasis: The history and implications of an alternative approach to strategic arms control

    SciTech Connect

    Goldfischer, D.

    1989-01-01

    The historical advocacy and potential feasibility of a mutual defense emphasis (MDE) approach to strategic arms control is examined. MDE refers to any superpower arms control regime that incorporates defensive weapons for the purposes of (a) maintaining a stable deterrent balance, and (b) limiting societal damage should deterrence fail. The dissertation documents the promotion of MDE proposals during three periods: the early 1950's (when MDE was proposed as an alternative to the emergent policy of massive retaliation); the decade preceding the 1972 ABM Treaty (when MDE was offered as an alternative to offense-only strategic arms control); and the 1980's (when the Reagan Administration endorsed the concept of a defensive transition to a world of mutual assured security). In critically evaluating MDE proposals in their historical context, it is argued that MDE represented (and continues to represent) a plausible alternative to prevailing rationales for relying primarily on offensive strategic weapons. Consequently, the dissertation inquires into the range of political factors that accounted for the rejection of an MDE approach by US decision makers. If MDE in fact proves technically feasible, it offers several critical advantages over the prevalent mutual assured destruction (MAD) approach to strategic arms control.

  10. The administration`s arms control agenda: Gaining ground under fire

    SciTech Connect

    Holum, J.D.

    1996-03-01

    Its perhaps too easy to forget that Russia is still one country that could inflict overwhelming nuclear devastation on the United States. Russia`s Dumas elections and presidential elections speaks of changes in Russia, but this transformation will take many years and requires our consistent engagement and steady support. The author examines the Clinton Administration`s arms control agenda.

  11. 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. PMID:19759324

  12. 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. PMID:26835961

  13. 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.

  14. 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

  15. 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…

  16. 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.

  17. 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

  18. Summary of the proceedings of the Defense Nuclear Agency Conference on Arms Control and Verification Technology (ACT), 1--4 June 1992

    SciTech Connect

    Van Keuren, J.

    1992-12-01

    The first Defense Nuclear Agency Conference on Arms Control and Verification Technology provided an international forum for over 200 individuals from the arms control verification technology and national security communities for discussion on the future of arms control verification and technology developments. Papers were presented in the following sessions: Future Arms Control Initiatives, Interface between Intelligence and Arms Control, Lessons Learned, Proliferation in a Changing World Technologies -- Roles and Applications, and Economics of Arms Control. Plenary sessions for general presentations on the future role of verification technology and negotiating and implementing verification measures. The conference papers will be published separately.

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. Direct model reference adaptive control of robotic arms

    NASA Astrophysics Data System (ADS)

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

    1993-12-01

    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.

  4. 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

  5. A PC-Based Controller for Dextrous Arms

    NASA Technical Reports Server (NTRS)

    Fiorini, Paolo; Seraji, Homayoun; Long, Mark

    1996-01-01

    This paper describes the architecture and performance of a PC-based controller for 7-DOF dextrous manipulators. The computing platform is a 486-based personal computer equipped with a bus extender to access the robot Multibus controller, together with a single board computer as the graphical engine, and with a parallel I/O board to interface with a force-torque sensor mounted on the manipulator wrist.

  6. 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.

  7. 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

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

    PubMed

    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

  9. Appropriateness of hydroxyethylcellulose gel as a placebo control in vaginal microbicide trials: A comparison of the two control arms of HPTN 035

    PubMed Central

    Richardson, Barbra A.; Kelly, Cliff; Ramjee, Gita; Fleming, Thomas; Makanani, Bonus; Roberts, Sarah; Musara, Petina; Mkandawire, Nkhafwire; Moench, Thomas; Coletti, Anne; Soto-Torres, Lydia; Karim, Salim Abdool

    2013-01-01

    Objective To compare the two control arms of HPTN 035 (a hydroxyethylcellulose (HEC) gel control arm and a no gel control arm) to assess behavioral effects associated with gel use and direct causal effects of the HEC gel on STIs, pregnancy, and genital safety. Design Randomized trial with one blinded (HEC gel) and one open label (no gel) control arms. Methods HIV-uninfected, sexually active women were randomized into the HEC gel arm (n=771) and into the no gel arm (n=772) in five countries. Participants in the HEC gel arm were instructed to insert the study gel intravaginally <1 hour before each vaginal sex act. Data on sexual behavior, adherence, safety, pregnancy, and STIs were collected quarterly for 12 to 30 months of follow-up. Results During follow-up, mean reported condom use in the past week was significantly higher in the no gel arm (81% versus 70%, p<0.001). There were no significant differences, after adjusting for this differential condom use, between the two arms in rates of genital safety events, pregnancy outcomes, or STIs, including HIV-1. Conclusions In this large randomized trial, we found no significant differences between the no gel and HEC gel arms in rates of genital safety events, pregnancy outcomes, or STIs. These results aid interpretation of the results of previous vaginal microbicide trials that used the HEC gel as a control. The HEC gel is suitable as a control for ongoing and future vaginal microbicide studies. PMID:23334506

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

    SciTech Connect

    Torn, Margaret

    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.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. Neuromotor issues in the learning and control of golf skill.

    PubMed

    Knight, Christopher A

    2004-03-01

    Theoretical and practical issues related to the neuromotor control of a golf swing are presented in this paper. The typical strategy for golf training consists of high volume repetition with an emphasis on a large variety of isolated swing characteristics. The student is frequently instructed to maintain consistent performance in each swing with absolute invariance. Based on dynamical systems and motor control schema perspectives, it is argued that golfers can learn a more reliable swing by exploring swing parameters and focusing on higher order control principles that reduce the vast number of degrees of freedom. Some candidate training practices are proposed for applying these theoretical issues into practice. PMID:15532356

  19. 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

  20. Comparing comparators: a look at control arms in kidney cancer studies over the years

    PubMed Central

    Bracarda, S; Porta, C; Sisani, M; Marrocolo, F; Paglino, C; Hamzaj, A; D Buono, S; Sternberg, C N

    2015-01-01

    In the past decade, an increasing number of frequently positive randomised clinical trials have been completed, allowing new consideration of the present therapeutic armamentarium for advanced renal cell carcinoma. These studies were predominantly designed to compare the experimental drugs with 1 of 2 active control arms: interferon alpha-2a or sorafenib. Different from expectations, the final results of some of these studies were not in line with the predictions, and the reasons have not been fully investigated. Consequently, there is a great need for careful analysis of the studies carried out so far, chiefly the role and validity of the control arms. In this regard, the examination of patient baseline characteristics and other factors of potential interest seems fundamental for a correct analysis of the results of these trials and consequent optimal use of the available targeted agents. PMID:25375270

  1. Comparing comparators: a look at control arms in kidney cancer studies over the years.

    PubMed

    Bracarda, S; Porta, C; Sisani, M; Marrocolo, F; Paglino, C; Hamzaj, A; D Buono, S; Sternberg, C N

    2015-01-01

    In the past decade, an increasing number of frequently positive randomised clinical trials have been completed, allowing new consideration of the present therapeutic armamentarium for advanced renal cell carcinoma. These studies were predominantly designed to compare the experimental drugs with 1 of 2 active control arms: interferon alpha-2a or sorafenib. Different from expectations, the final results of some of these studies were not in line with the predictions, and the reasons have not been fully investigated. Consequently, there is a great need for careful analysis of the studies carried out so far, chiefly the role and validity of the control arms. In this regard, the examination of patient baseline characteristics and other factors of potential interest seems fundamental for a correct analysis of the results of these trials and consequent optimal use of the available targeted agents. PMID:25375270

  2. 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.

  3. Arm Orthosis/Prosthesis Movement Control Based on Surface EMG Signal Extraction.

    PubMed

    Suberbiola, Aaron; Zulueta, Ekaitz; Lopez-Guede, Jose Manuel; Etxeberria-Agiriano, Ismael; Graña, Manuel

    2015-05-01

    This paper shows experimental results on electromyography (EMG)-based system control applied to motorized orthoses. Biceps and triceps EMG signals are captured through two biometrical sensors, which are then filtered and processed by an acquisition system. Finally an output/control signal is produced and sent to the actuators, which will then perform the actual movement, using algorithms based on autoregressive (AR) models and neural networks, among others. The research goal is to predict the desired movement of the lower arm through the analysis of EMG signals, so that the movement can be reproduced by an arm orthosis, powered by two linear actuators. In this experiment, best accuracy has achieved values up to 91%, using a fourth-order AR-model and 100ms block length.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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

  9. 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. PMID:24772028

  10. 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.

  11. Issues in developing control zones for international space operations

    NASA Technical Reports Server (NTRS)

    Nader, Blair A.; Krishen, Kumar

    1992-01-01

    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.

  12. 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.

  13. Performance of arm locking in LISA

    SciTech Connect

    McKenzie, Kirk; Spero, Robert E.; Shaddock, Daniel A.

    2009-11-15

    For the Laser Interferometer Space Antenna (LISA) to reach its design sensitivity, the coupling of the free-running laser frequency noise to the signal readout must be reduced by more than 14 orders of magnitude. One technique employed to reduce the laser frequency noise will be arm locking, where the laser frequency is locked to the LISA arm length. In this paper we detail an implementation of arm locking. We investigate orbital effects (changing arm lengths and Doppler frequencies), the impact of errors in the Doppler knowledge that can cause pulling of the laser frequency, and the noise limit of arm locking. Laser frequency pulling is examined in two regimes: at lock acquisition and in steady state. The noise performance of arm locking is calculated with the inclusion of the dominant expected noise sources: ultrastable oscillator (clock) noise, spacecraft motion, and shot noise. We find that clock noise and spacecraft motion limit the performance of dual arm locking in the LISA science band. Studying these issues reveals that although dual arm locking [A. Sutton and D. A. Shaddock, Phys. Rev. D 78, 082001 (2008)] has advantages over single (or common) arm locking in terms of allowing high gain, it has disadvantages in both laser frequency pulling and noise performance. We address this by proposing a modification to the dual arm-locking sensor, a hybrid of common and dual arm-locking sensors. This modified dual arm-locking sensor has the laser frequency pulling characteristics and low-frequency noise coupling of common arm locking, but retains the control system advantages of dual arm locking. We present a detailed design of an arm-locking controller and perform an analysis of the expected performance when used with and without laser prestabilization. We observe that the sensor phase changes beneficially near unity-gain frequencies of the arm-locking controller, allowing a factor of 10 more gain than previously believed, without degrading stability. With a time

  14. On The Structure Of The Time-Optimal Control Of Robot Arms

    NASA Astrophysics Data System (ADS)

    Chen, Yaobin; Desrochers, Alan A.

    1988-02-01

    The time-optimal control problem with hard control bounds has long been of interest to control engineers and researchers. For linear systems, under suitable conditions, such as normality and controllability, the time-optimal control can be shown to be of the bang-bang type. Much of the theoretical study of this problem has been limited to linear systems. In this paper the problem of determining the structure of the minimum-time control for robotic manipulators is addressed. We derive an alternate dynamic model for a robot arm using state variables based on the Hamiltonian Canonical equations. We then show that the structure of the minimum time control law requires that at least one of the actuators is always in saturation while the others adjust their torques so that some constraints on the motion are not violated while enabling the manipulator to achieve its

  15. 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.

  16. 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.

  17. 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. PMID:25228853

  18. Russia`s crumbling tactical nuclear weapons complex: An opportunity for arms control

    SciTech Connect

    Lambert, S.P.; Miller, D.A.

    1997-04-01

    As politicians and policy makers trumpet the successes of strategic reductions and the achievements of the START agreements, Russia has increasingly focused on a rhetorical and doctrinal campaign to enhance the credibility of nuclear war fighting threats by legitimizing theater or tactical nuclear systems. The Russian Federation is convinced that its security rests upon these weapons, and it has therefore attempted to shield both the personnel and the hardware from the effects of the military rollback. The notion that the two largest possessors of nuclear weapons could speedily draw down their arsenals to under 2000 warheads, as a START 3 regime suggests, is misguided. This ignores the thousands of so-called tactical nuclear weapons possessed by both states. The arms control proposal presented in this paper incorporates a regime calling for the elimination of air delivered tactical nuclear weapons that may prove to be a useful model for reinvigorating the stalled process of nuclear arms reductions.

  19. 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.

  20. 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.

  1. Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

    NASA Astrophysics Data System (ADS)

    Yi, Seung-Jong

    Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and

  2. Learning arm's posture control using reinforcement learning and feedback-error-learning.

    PubMed

    Kambara, H; Kim, J; Sato, M; Koike, Y

    2004-01-01

    In this paper, we propose a learning model using the Actor-Critic method and the feedback-error-learning scheme. The Actor-Critic method, which is one of the major frameworks in reinforcement learning, has attracted attention as a computational learning model in the basal ganglia. Meanwhile, the feedback-error-learning is learning architecture proposed as a computationally coherent model of cerebellar motor learning. This learning architecture's purpose is to acquire a feed-forward controller by using a feedback controller's output as an error signal. In past researches, a predetermined constant gain feedback controller was used for the feedback-error-learning. We use the Actor-Critic method for obtaining a feedback controller in the feedback-error-earning. By applying the proposed learning model to an arm's posture control, we show that high-performance feedback and feed-forward controller can be acquired from only by using a scalar value of reward. PMID:17271719

  3. Neuromotor Issues in the Learning and Control of Golf Skill

    ERIC Educational Resources Information Center

    Knight, Christopher A.

    2004-01-01

    Theoretical and practical issues related to the neuromotor control of a golf swing are presented in this paper. The typical strategy for golf training consists of high volume repetition with an emphasis on a large variety of isolated swing characteristics. The student is frequently instructed to maintain consistent performance in each swing with…

  4. Brain-Machine Interface control of a robot arm using actor-critic rainforcement learning.

    PubMed

    Pohlmeyer, Eric A; Mahmoudi, Babak; Geng, Shijia; Prins, Noeline; Sanchez, Justin C

    2012-01-01

    Here we demonstrate how a marmoset monkey can use a reinforcement learning (RL) Brain-Machine Interface (BMI) to effectively control the movements of a robot arm for a reaching task. In this work, an actor-critic RL algorithm used neural ensemble activity in the monkey's motor cortext to control the robot movements during a two-target decision task. This novel approach to decoding offers unique advantages for BMI control applications. Compared to supervised learning decoding methods, the actor-critic RL algorithm does not require an explicit set of training data to create a static control model, but rather it incrementally adapts the model parameters according to its current performance, in this case requiring only a very basic feedback signal. We show how this algorithm achieved high performance when mapping the monkey's neural states (94%) to robot actions, and only needed to experience a few trials before obtaining accurate real-time control of the robot arm. Since RL methods responsively adapt and adjust their parameters, they can provide a method to create BMIs that are robust against perturbations caused by changes in either the neural input space or the output actions they generate under different task requirements or goals. PMID:23366831

  5. 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

  6. 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. PMID:26983620

  7. An efficient formulation of robot arm dynamics for control and computer simulation

    NASA Astrophysics Data System (ADS)

    Lee, C. S. G.; Nigam, R.

    This paper describes an efficient formulation of the dynamic equations of motion of industrial robots based on the Lagrange formulation of d'Alembert's principle. This formulation, as applied to a PUMA robot arm, results in a set of closed form second order differential equations with cross product terms. They are not as efficient in computation as those formulated by the Newton-Euler method, but provide a better analytical model for control analysis and computer simulation. Computational complexities of this dynamic model together with other models are tabulated for discussion.

  8. 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.

  9. 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.

  10. Some possible applications of measurements on mu mesons to nuclear safeguards, nonproliferation, and arms control activities

    SciTech Connect

    Kane, W.R.; Vanier, P.E.

    1997-10-01

    In the nuclear safeguards and arms control areas, well-developed methodologies exist for determining the properties of nuclear materials via measurements of the gamma rays and neutrons emitted from these materials, or in the arms control area, by the use of radiography. In certain favorable instances, it may by feasible to perform comparable measurements with the use of a ubiquitous, naturally-occurring radiation--cosmic ray mu mesons (muons). At the earth`s surface these charged particles have a broad energy distribution peaking at about 500 MeV with a flux of approximately 10{sup {minus}2}/cm{sup 2}-sec-steradian. In traversing matter, muons lose energy at a rate of approximately 2 MeV/gram almost independent of atomic number. Muons can readily be detected by either plastic scintillators or wire planes. While the flux is small, a scintillator of one meter area, for example, will register about 20,000 events/min. these particles should have utility in the detection and imaging of objects with sectional densities of a few hundred grams/cm{sup 2}. The degree of intrusiveness of the imaging can be controlled through the detector configuration. Some possible applications include: (1) mass measurements on large UF{sub 6} cylinders, (2) determination of the size of treaty-limited objects, e.g., missiles, in rail cars or other containment; (3) verification of single or multiple warheads or components; (4) the detection of concealed, underground cavities. Examples will be presented.

  11. 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. PMID:9631320

  12. 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.

  13. 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.

  14. 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.

  15. 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

  16. Controlled release of nitric oxide chemotherapy using a nano-sized biodegradable multi-arm polymer

    PubMed Central

    Duan, Shaofeng; Cai, Shuang; Yang, Qiuhong; Forrest, M. Laird

    2013-01-01

    Nitric oxide is a cell signaling molecule that can be a potent inducer of cell death in cancers at elevated concentrations. Nitric oxide molecules are short-lived in vivo; therefore, NO-donating prodrugs have been developed that can deliver NO to tissues at micromolar concentrations. However, NO is also toxic to normal tissues and chronic exposure at low levels can induce tumor growth. We have designed a polymeric carrier system to deliver nitric oxide locoregionally to tumorigenic tissues. A highly water solubility and biodegradable 4-arm polymer nanocarrier, sugar poly-(6-O-methacryloyl-D-galactose), was synthesized using MADIX/RAFT polymerization, and utilized to deliver high concentrations of nitric oxide to xenografts of human head and neck squamous cell carcinoma (HNSCC). The in vitro release of the newly synthesized nitric oxide donor, O2-(2,4-dinitrophenyl) 1-[4-(2-hydroxy)ethyl]-3-methylpiperazin-1-yl]diazen-1-ium-1,2-diolate and its corresponding multi-arm polymer-based nanoconjugate demonstrated a 1- and 2.3-fold increase in half-life, respectively, compared to the release half-life of the nitric oxide -donor prodrug JS-K. When administered to tumor-bearing nude mice, the subcutaneously injected multi-arm polymer nitric oxide nanoparticles resulted in 50% tumor inhibition and a 7-week extension of the average survival time, compared to intravenous JS-K therapy (nitric oxide nanoparticles: CR=25%, PR=37.5%, PD=37.5%; JS-K: PD=100%). In summary, we have developed an effective nitric oxide anti-cancer chemotherapy that could be administered regionally to provide the local disease control, improving prognosis for head and neck cancers. PMID:22281420

  17. Issues related to regulatory control of naturally occurring radioactive materials

    SciTech Connect

    Chen, S.Y.

    1997-04-01

    Nearly 80% of human radiation exposure is from naturally occurring radioactive materials (NORM). While exposure from man-made sources of radiation has been well regulated, no consistent regulatory controls exist for NORM. Because elevated radiation levels have resulted from NORM enhancement activities such as occur in the petroleum, fertilizer, mining, and processing industries, some form of regulatory control is in order. In the US, regulation of NORM by federal agencies such as the Nuclear Regulatory Commission or the Environmental Protection Agency is not anticipated in the near future because there are no authorizing federal statutes. Important issues for addressing the control of NORM include source characterization and generation, radiation protection concerns, waste management and disposition, and the regulatory framework.

  18. 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.

  19. Optical fibre techniques for use within tamper indicating enclosures designed for arms control verification purposes

    NASA Astrophysics Data System (ADS)

    Dyer, Thomas C.; Thompson, Alexander W. J.; Wynn, Paul; White, Helen

    2014-10-01

    Ensuring that a future nuclear arms control agreement can be verified is a complex technical challenge. Tamper Indicating Enclosures (TIEs) are likely to be deployed as part of a chain of custody regime, providing an indication of an unauthorised attempt to access an item within the agreement. This paper focuses on the assessment of optical fibre techniques for ensuring boundary control as part of a TIE design. The results of optical fibre damage, subsequent repair attempts, enclosure construction considerations and unique identification features have been evaluated for a selection of fused-silica optical fibres. This paper focuses on detecting a fibre repair attempt, presents a method for increasing repair resistance and a method for uniquely identifying an enclosure using the optical signature from the embedded optical fibre.

  20. Statistical Issues for Design and Analysis of Single-Arm Multi-Stage Phase II Cancer Clinical Trials

    PubMed Central

    Jung, Sin-Ho

    2015-01-01

    Summary 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. PMID:25749311

  1. 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.

  2. Portal and perimeter monitoring systems (PPMS) for use in verifying arms control treaty compliance

    SciTech Connect

    Fields, V.C. )

    1991-01-01

    This paper reports that on site inspection is one important form of verification available to insure compliance with arms control treaties. On site inspection has been implemented in the Intermediate Nuclear Forces (INF) Treaty with a site at Votkinsk, USSR and is planned for use in verifying the Strategic Arms Reduction Talks (START) treaty currently in negotiation. The Raytheon Company, under contract to the Defense Nuclear Agency, is responsible for the research and development of the portal and perimeter monitoring equipment for potential verification tasks associated with future START treaties. Under DNA tasking, Raytheon has developed prototype portal and perimeter monitoring systems to satisfy short and long term monitoring requirements and has demonstrated these prototype systems at the DNA Technical On-Site Inspection (TOSI) facility at Kirtland, AFB, NM. The DNA design goals were to provide the US with a simple, modular low cost and highly reliable PPMS using available commercial off-the-shelf equipment which could be installed at potential monitoring sites with a minimum of site preparation. Testing to date indicates these design goals have been met.

  3. 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…

  4. 78 FR 8218 - Bureau of Political-Military Affairs; Statutory Debarment Under the Arms Export Control Act and...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-02-05

    .... Further, Federal Register document 2012-18043, published at 77 FR 43414, Tuesday, July 24, 2012, is... of Political-Military Affairs; Statutory Debarment Under the Arms Export Control Act and the... of Defense Trade Controls Compliance, Bureau of Political-Military Affairs, Department of State...

  5. 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..., Acting Director, Office of Defense Trade Controls Compliance, Bureau of Political- Military Affairs... by the Assistant Secretary for Political-Military Affairs based on the underlying nature of...

  6. 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.

  7. 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

  8. 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

  9. Why we cannot grow a human arm.

    PubMed

    Ricci, John L

    2013-11-01

    There are several significant issues that prevent us from growing a human arm now, or within the next 10-20 years. From a tissue engineering perspective, while we can grow many of the components necessary for construction of a human arm, we can only grow them in relatively small volumes, and when scaled up to large volumes we lack the ability to develop adequate blood/nerve supply. From a genetic engineering perspective, we will probably never be able to turn on the specific genes necessary to "grow an arm" unless it is attached to a fetus and this presents enormous ethical issues related to farming of human organs and structures. Perhaps the most daunting problem facing the transplantation of a tissue engineered or transplanted arm is that of re-innervation of the structure. Since the sensory and motor nerve cells of the arm are located outside of the structure, re-innervation requires those nerves to regenerate over relatively large distances to repopulate the nervous system of the arm. This is something with which we have had little success. We can grow repair parts, but "growing an arm" presents too many insurmountable problems. The best we could possibly do with tissue engineering or genetic engineering would be the equivalent of a fetal arm and the technical problems, costs, and ethical hurdles are enormous. A more likely solution is a functional, permanent, neuroelectronically-controlled prosthesis. These are nearly a reality today.

  10. The Indefinite Extension of the Nuclear Non-Proliferation Treaty: A Hinderence or Help to Future Arms Control

    NASA Astrophysics Data System (ADS)

    Pella, Peter J.

    1996-05-01

    The indefinite and "unconditional" extension of the Nuclear Non-Proliferation Treaty (NPT) was achieved almost one year ago today. This outcome was a major foreign policy goal of the Clinton Administration. Some critics of the NPT's indefinite extension claim that nuclear weapons states parties to the NPT have now legitimized their possession of nuclear weapons for all time and that there is no incentive for future nuclear arms control and disarmament measures. A discussion of how the indefinite extension of the NPT has affected the nuclear arms control landscape and the prospects for future disarmament measures will be discussed.

  11. Kinematically redundant arm formulations for coordinated multiple arm implementations

    NASA Technical Reports Server (NTRS)

    Bailey, Robert W.; Quiocho, Leslie J.; Cleghorn, Timothy F.

    1990-01-01

    Although control laws for kinematically redundant robotic arms were presented as early as 1969, redundant arms have only recently become recognized as viable solutions to limitations inherent to kinematically sufficient arms. The advantages of run-time control optimization and arm reconfiguration are becoming increasingly attractive as the complexity and criticality of robotic systems continues to progress. A generalized control law for a spatial arm with 7 or more degrees of freedom (DOF) based on Whitney's resolved rate formulation is given. Results from a simulation implementation utilizing this control law are presented. Furthermore, results from a two arm simulation are presented to demonstrate the coordinated control of multiple arms using this formulation.

  12. Nuclear arms: ethics, strategy, politics

    SciTech Connect

    Woolsey, R.J.

    1984-01-01

    The range of debate over strategy and arms control today is broader than it was in the late 1950s and early 1960s. In part this is because the early 1980s debate has involved questioning of the fundamental notion of deterrence - by no less than the American Catholic bishops. Today's debate has also seen a national nuclear freeze campaign that, although its congressional supporters have held firmly to a bilateral approach, was tilted perceptibly towards unilateralism by noncongressional leaders at their national conference in February 1983. In one way or another the authors wrestle with different aspects of one central question: could the beginning steps for any consensus be possible, in today's climate, on strategic issues. Ethical issues are addressed in the first 3 papers: Charles Krauthammer, On Nuclear Morality; Patrick Glynn, The Moral Case for the Arms Buildup; and Michael Quinlarc, Thinking Deterrence Through. Three chapters on strategic considerations include: Brent Snowcroft, Understanding the US Strategic Arsenal; William J. Perry, Technological Prospects for US Strategic Forces; and Richard Burt, The Strategic and Political Lessons of INF. Arms control and politics is treated in chapters by: Walter B. Slocombe, Arms Control: Prospects; and Colin S. Gray, Arms Control: Problems. The nonnuclear dimensions of strategy are discussed in chapters by Amory B. and L. Hunter Lovins, Reducing Vulnerability - The Energy Jugular; and Robert Kupperman, Vulnerable America. The chapters on space and defense are: Hans Mark, Arms Control and Space Technology; and Newt Gingrich and John Madison, Space and National Defense. The concluding chapters are by Sen. Sam Nunn, The Need to Reshape Military Stategy; and the editor, R. James Woolsey, The Politics of Vulnerability, 1980-1983.

  13. Dynamics and control of a free flying two armed robot in space

    NASA Astrophysics Data System (ADS)

    Ernwald, Liron; Guelman, M.; Vanwoerkom, P. T. L. M.

    1992-02-01

    Control of a robot manipulator in space is complicated by the effects of reaction forces and torques on the robot base, the resulting motion of which contributes to the resultant motion of the manipulator. The operational space approach to control is generalized for the case of a free-flying robot in space, with two manipulator arms. A system model was developed on the basis of the recursive Newton Euler algorithm. System matrices and vectors were partitioned to define the control structure, and control algorithms were developed. It is shown that the robot base and the end effectors are free to behave independently and to achieve their required inertial position and altitude as required. It is shown that small errors in assumed payload characteristics can cause system oscillations and even render the system unstable. An algorithm was developed which is robust with respect to generalized modeling errors, and an algorithm based on the use of an observer together with feedforward and feedback loops was proposed. It is shown that in the limit, this observer behaves as if the joint angular acceleration were directly available to the system. The basic idea is generalized for the free-flying robot, by assuming that angular accelerations are measured at each joint. This additional information enables an exact online computation to be performed, of the components of the generalized matrix of inertia and the Coriolis/centripetal vector. This exact computation facilitates the assurance of robust robot control.

  14. Advanced Issues of Wind Turbine Modelling and Control

    NASA Astrophysics Data System (ADS)

    Simani, Silvio

    2015-11-01

    The motivation for this paper comes from a real need to have an overview about the challenges of modelling and control for very demanding systems, such as wind turbine systems, which require reliability, availability, maintainability, and safety over power conversion efficiency. These issues have begun to stimulate research and development in the wide control community particularly for these installations that need a high degree of “sustainability”. Note that this topic represents a key point mainly for offshore wind turbines with very large rotors, since they are characterised by challenging modelling and control problems, as well as expensive and safety critical maintenance works. In this case, a clear conflict exists between ensuring a high degree of availability and reducing maintenance times, which affect the final energy cost. On the other hand, wind turbines have highly nonlinear dynamics, with a stochastic and uncontrollable driving force as input in the form of wind speed, thus representing an interesting challenge also from the modelling point of view. Suitable control methods can provide a sustainable optimisation of the energy conversion efficiency over wider than normally expected working conditions. Moreover, a proper mathematical description of the wind turbine system should be able to capture the complete behaviour of the process under monitoring, thus providing an important impact on the control design itself. In this way, the control scheme could guarantee prescribed performance, whilst also giving a degree of “tolerance” to possible deviation of characteristic properties or system parameters from standard conditions, if properly included in the wind turbine model itself. The most important developments in advanced controllers for wind turbines are addressed, and open problems in the areas of modelling of wind turbines are also outlined.

  15. Applying Space Technology to Enhance Control of an Artificial Arm for Children and Adults With Amputations

    NASA Technical Reports Server (NTRS)

    Atkins, Diane J.

    1998-01-01

    The first single function myoelectric prosthetic hand was introduced in the 1960's. This hand was controlled by the electric fields generated by muscle contractions in the residual limb of the amputee user. Electrodes and amplifiers, embedded in the prosthetic socket, measured these electric fields across the skin, which increase in amplitude as the individual contracts their muscle. When the myoelectric signal reached a certain threshold amplitude, the control unit activated a motor which opened or closed a hand-like prosthetic terminal device with a pincher grip. Late in the 1990's, little has changed. Most current myoelectric prostheses still operate in this same, single-function way. To better understand the limitations of the current single-function myoelectric hand and the needs of those who use them, The Institute for Rehabilitation and Research (TIRR), sponsored by the National Institutes of Health (NUH), surveyed approximately 2,500 individuals with upper limb loss [1]. When asked to identify specific features of their current myoelectric prostheses that needed improvement, the survey respondents overwhelmingly identified the lack of wrist and finger movement, as well as poor control capability. However, simply building a mechanism with individual finger and wrist motion is not enough. In the 1960's and 1970's, engineers built a number of more dexterous prosthetic hands. Unfortunately, these were rejected during clinical trials due to a difficult and distracting control interface. The goal of this project, "Applying Space Technology to Enhance Control of an Artificial Arm for Children and Adults with Amputations," was to lay the foundation for a multi-function, intuitive myoelectric control system which requires no conscious thought to move the hand. We built an extensive myoelectric signal database for six motions from ten amputee volunteers, We also tested a control system based on new artificial intelligence techniques on the data from two of these

  16. 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

  17. Kinematics and control of redundant robotic arm based on dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Branz, Francesco; Antonello, Andrea; Carron, Andrea; Carli, Ruggero; Francesconi, Alessandro

    2015-04-01

    Soft robotics is a promising field and its application to space mechanisms could represent a breakthrough in space technologies by enabling new operative scenarios (e.g. soft manipulators, capture systems). Dielectric Elastomers Actuators have been under deep study for a number of years and have shown several advantages that could be of key importance for space applications. Among such advantages the most notable are high conversion efficiency, distributed actuation, self-sensing capability, multi-degree-of-freedom design, light weight and low cost. The big potentialities of double cone actuators have been proven in terms of good performances (i.e. stroke and force/torque), ease of manufacturing and durability. In this work the kinematic, dynamic and control design of a two-joint redundant robotic arm is presented. Two double cone actuators are assembled in series to form a two-link design. Each joint has two degrees of freedom (one rotational and one translational) for a total of four. The arm is designed to move in a 2-D environment (i.e. the horizontal plane) with 4 DoF, consequently having two degrees of redundancy. The redundancy is exploited in order to minimize the joint loads. The kinematic design with redundant Jacobian inversion is presented. The selected control algorithm is described along with the results of a number of dynamic simulations that have been executed for performance verification. Finally, an experimental setup is presented based on a flexible structure that counteracts gravity during testing in order to better emulate future zero-gravity applications.

  18. Shaping of arm configuration space by prescription of non-Euclidean metrics with applications to human motor control.

    PubMed

    Biess, Armin

    2013-01-01

    The study of the kinematic and dynamic features of human arm movements provides insights into the computational strategies underlying human motor control. In this paper a differential geometric approach to movement control is taken by endowing arm configuration space with different non-Euclidean metric structures to study the predictions of the generalized minimum-jerk (MJ) model in the resulting Riemannian manifold for different types of human arm movements. For each metric space the solution of the generalized MJ model is given by reparametrized geodesic paths. This geodesic model is applied to a variety of motor tasks ranging from three-dimensional unconstrained movements of a four degree of freedom arm between pointlike targets to constrained movements where the hand location is confined to a surface (e.g., a sphere) or a curve (e.g., an ellipse). For the latter speed-curvature relations are derived depending on the boundary conditions imposed (periodic or nonperiodic) and the compatibility with the empirical one-third power law is shown. Based on these theoretical studies and recent experimental findings, I argue that geodesics may be an emergent property of the motor system and that the sensorimotor system may shape arm configuration space by learning metric structures through sensorimotor feedback.

  19. Shaping of arm configuration space by prescription of non-Euclidean metrics with applications to human motor control

    NASA Astrophysics Data System (ADS)

    Biess, Armin

    2013-01-01

    The study of the kinematic and dynamic features of human arm movements provides insights into the computational strategies underlying human motor control. In this paper a differential geometric approach to movement control is taken by endowing arm configuration space with different non-Euclidean metric structures to study the predictions of the generalized minimum-jerk (MJ) model in the resulting Riemannian manifold for different types of human arm movements. For each metric space the solution of the generalized MJ model is given by reparametrized geodesic paths. This geodesic model is applied to a variety of motor tasks ranging from three-dimensional unconstrained movements of a four degree of freedom arm between pointlike targets to constrained movements where the hand location is confined to a surface (e.g., a sphere) or a curve (e.g., an ellipse). For the latter speed-curvature relations are derived depending on the boundary conditions imposed (periodic or nonperiodic) and the compatibility with the empirical one-third power law is shown. Based on these theoretical studies and recent experimental findings, I argue that geodesics may be an emergent property of the motor system and that the sensorimotor system may shape arm configuration space by learning metric structures through sensorimotor feedback.

  20. Gaze Contingent Cartesian Control of a Robotic Arm for Laparoscopic Surgery

    PubMed Central

    Fujii, Kenko; Salerno, Antonino; Sriskandarajah, Kumuthan; Kwok, Ka-Wai; Shetty, Kunal; Yang, Guang-Zhong

    2014-01-01

    This paper introduces a gaze contingent controlled robotic arm for laparoscopic surgery, based on gaze gestures. The method offers a natural and seamless communication channel between the surgeon and the robotic laparoscope. It offers several advantages in terms of reducing on-screen clutter and efficiently conveying visual intention. The proposed hands-free system enables the surgeon to be part of the robot control feedback loop, allowing user-friendly camera panning and zooming. The proposed platform avoids the limitations of using dwell-time camera control in previous gaze contingent camera control methods. The system represents a true hands-free setup without the need of obtrusive sensors mounted on the surgeon or the use of a foot pedal. Hidden Markov Models (HMMs) were used for real-time gaze gesture recognition. This method was evaluated with a cohort of 11 subjects by using the proposed system to complete a modified upper gastrointestinal staging laparoscopy and biopsy task on a phantom box trainer, with results demonstrating the potential clinical value of the proposed system. PMID:24748999

  1. Randomized controlled trials in environmental health research: ethical issues.

    PubMed

    Resnik, David B

    2008-01-01

    Randomized controlled trials (RCTs) are becoming increasingly common in environmental health research. Like all studies involving human subjects, environmental health RCTs raise many ethical challenges, ranging from obtaining informed consent to minimizing risks to protecting privacy and confidentiality. One of the most important issues raised by these studies is whether it is ethical to withhold effective environmental health interventions from research subjects in order to satisfy scientific objectives. Although environmental health investigators usually do not have professional obligations to provide medical care to research subjects, they have ethical obligations to avoid exploiting them. Withholding interventions from research subjects can be ethical, provided that it does not lead to exploitation of individuals or groups. To avoid exploiting individuals or groups, investigators should ensure that research subjects and study populations receive a fair share of the benefits of research.

  2. Robust control of multi-jointed arm with a decentralized autonomous control mechanism

    NASA Technical Reports Server (NTRS)

    Kimura, Shinichi; Miyazaki, Ken; Suzuki, Yoshiaki

    1994-01-01

    A decentralized autonomous control mechanism applied to the control of three dimensional manipulators and its robustness to partial damage was assessed by computer simulation. Decentralized control structures are believed to be quite robust to time delay between the operator and the target system. A 10-jointed manipulator based on our control mechanism was able to continue its positioning task in three-dimensional space without revision of the control program, even after some of its joints were damaged. These results suggest that this control mechanism can be effectively applied to space telerobots, which are associated with serious time delay between the operator and the target system, and which cannot be easily repaired after being partially damaged.

  3. Real-time myoprocessors for a neural controlled powered exoskeleton arm.

    PubMed

    Cavallaro, Ettore E; Rosen, Jacob; Perry, Joel C; Burns, Stephen

    2006-11-01

    Exoskeleton robots are promising assistive/rehabilitative devices that can help people with force deficits or allow the recovery of patients who have suffered from pathologies such as stroke. The key component that allows the user to control the exoskeleton is the human machine interface (HMI). Setting the HMI at the neuro-muscular level may lead to seamless integration and intuitive control of the exoskeleton arm as a natural extension of the human body. At the core of the exoskeleton HMI there is a model of the human muscle, the "myoprocessor," running in real-time and in parallel to the physiological muscle, that predicts joint torques as a function of the joint kinematics and neural activation levels. This paper presents the development of myoprocessors for the upper limb based on the Hill phenomenological muscle model. Genetic algorithms are used to optimize the internal parameters of the myoprocessors utilizing an experimental database that provides inputs to the model and allows for performance assessment. The results indicate high correlation between joint moment predictions of the model and the measured data. Consequently, the myoprocessor seems an adequate model, sufficiently robust for further integration into the exoskeleton control system. PMID:17073345

  4. Feasibility of surgical randomised controlled trials with a placebo arm: a systematic review

    PubMed Central

    Wartolowska, Karolina; Collins, Gary S; Hopewell, Sally; Judge, Andrew; Dean, Benjamin J F; Rombach, Ines; Beard, David J; Carr, Andrew J

    2016-01-01

    Objectives To find evidence, either corroborating or refuting, for many persisting beliefs regarding the feasibility of carrying out surgical randomised controlled trials with a placebo arm, with emphasis on the challenges related to recruitment, funding, anaesthesia or blinding. Design Systematic review. Data sources and study selection The analysis involved studies published between 1959 and 2014 that were identified during an earlier systematic review of benefits and harms of placebo-controlled surgical trials published in 2014. Results 63 trials were included in the review. The main problem reported in many trials was a very slow recruitment rate, mainly due to the difficulty in finding eligible patients. Existing placebo trials were funded equally often from commercial and non-commercial sources. General anaesthesia or sedation was used in 41% of studies. Among the reviewed trials, 81% were double-blinded, and 19% were single-blinded. Across the reviewed trials, 96% (range 50–100%) of randomised patients completed the study. The withdrawal rate during the study was similar in the surgical and in the placebo groups. Conclusions This review demonstrated that placebo-controlled surgical trials are feasible, at least for procedures with a lower level of invasiveness, but also that recruitment is difficult. Many of the presumed challenges to undertaking such trials, for example, funding, anaesthesia or blinding of patients and assessors, were not reported as obstacles to completion in any of the reviewed trials. PMID:27008687

  5. 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

    ... 22 Foreign Relations 1 2011-04-01 2011-04-01 false Congressional certification pursuant to Section 36(d) of the Arms Export Control Act. 124.11 Section 124.11 Foreign Relations DEPARTMENT OF STATE..., any member country of that Organization, or Australia, Japan, New Zealand, or South Korea or at...

  6. Laparoscopic Surgical Treatment of Severe Obesity Combined with Gastroesophageal Reflux Disease: A Pilot Randomized Two-Arm Controlled Clinical Study

    ERIC Educational Resources Information Center

    Ospanov, Oral B.; Orekeshova, Akzhunis M.; Fursov, Roman A.; Yelemesov, Aset A.

    2016-01-01

    Obesity and gastroesophageal reflux disease (GERD) are serious medical, social, and economic problems of modern society. A pilot randomized two-arm controlled clinical study was conducted to compare laparoscopic plication of the greater gastric curvature combined with Nissen fundoplication (LFN+LGP) versus only Nissen fundoplication (LFN). The…

  7. Ohio Arms Control Study Group: Workshop I, June 24-26, 1976, The Ohio State University. Summary of Proceedings.

    ERIC Educational Resources Information Center

    Ohio State Univ., Columbus. Mershon Center.

    The booklet summarizes proceedings of a conference coordinated by the Ohio Arms Control Study Group (OACSG) on the topic of United States-USSR relations and the influence of nuclear weapons upon international behavior and strategic thought. The OACSG is composed of faculty members from Ohio colleges and universities who have a vocational or…

  8. Motor imagery, P300 and error-related EEG-based robot arm movement control for rehabilitation purpose.

    PubMed

    Bhattacharyya, Saugat; Konar, Amit; Tibarewala, D N

    2014-12-01

    The paper proposes a novel approach toward EEG-driven position control of a robot arm by utilizing motor imagery, P300 and error-related potentials (ErRP) to align the robot arm with desired target position. In the proposed scheme, the users generate motor imagery signals to control the motion of the robot arm. The P300 waveforms are detected when the user intends to stop the motion of the robot on reaching the goal position. The error potentials are employed as feedback response by the user. On detection of error the control system performs the necessary corrections on the robot arm. Here, an AdaBoost-Support Vector Machine (SVM) classifier is used to decode the 4-class motor imagery and an SVM is used to decode the presence of P300 and ErRP waveforms. The average steady-state error, peak overshoot and settling time obtained for our proposed approach is 0.045, 2.8% and 44 s, respectively, and the average rate of reaching the target is 95%. The results obtained for the proposed control scheme make it suitable for designs of prosthetics in rehabilitative applications.

  9. 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

    ... in the Federal Register. Dated: October 28, 2011. Hillary Rodham Clinton, Secretary of State. BILLING... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF STATE Delegation by the Secretary of State to the Under Secretary of State for Arms Control and...

  10. 78 FR 18664 - Delegation to the Under Secretary for Arms Control and International Security of Authority To...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-03-27

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF STATE Delegation to the Under Secretary for Arms Control and International Security of Authority To Concur With the Secretary of Defense Authorization of Activities of the Office of Security Cooperation in Iraq By virtue...

  11. A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm

    NASA Technical Reports Server (NTRS)

    Sicard, Pierre; Wen, John T.

    1991-01-01

    The main goal is to develop a general theory for the control of flexible robots, including flexible joint robots, flexible link robots, rigid bodies with flexible appendages, etc. As part of the validation, the theory is applied to the control law development for a test example which consists of a three-link arm modeled after the shoulder yaw joint of the space shuttle remote manipulator system (RMS). The performance of the closed loop control system is then compared with the performance of the existing RMS controller to demonstrate the effectiveness of the proposed approach. The theoretical foundation of this new approach to the control of flexible robots is presented and its efficacy is demonstrated through simulation results on the three-link test arm.

  12. Pharmaceuticals: pharmaceutical cost controls--2005. End of Year Issue Brief.

    PubMed

    Seay, Melicia; Varma, Priya

    2005-12-31

    The enactment of the Omnibus Budget Reconciliation Act of 1990 (OBRA '90) gave states the option of offering pharmaceutical benefits within their Medicaid programs. But the law placed restrictions on states' flexibility to control what prescriptions they would cover and required the states to reimburse outpatient prescription drugs from manufacturers that signed rebate agreements with the U.S. Department of Health and Human Services. Forty-nine states--Arizona is excluded, based on its program structure--and the District of Columbia currently offer prescription drug coverage under the Medicaid Drug Rebate Program. During the past four years, states all over the country have been plagued with revenue shortfalls in their state Medicaid budgets. While the fiscal situation improved for most states in the 2004 legislative session, many states still face budget pressures in 2005. Compounding existing budget pressures are threats from the Bush Administration to shift increased costs of the Medicaid program on to the states. All things considered, the economic pressure of funding Medicaid is at the top of legislative agendas in 2005. As in previous years, states are attempting to reduce costs to their Medicaid programs by seeking savings in their pharmaceutical programs. Prescription drug costs are highly attributed as a contributing factor to the fiscal climate of state Medicaid programs. Currently, prescription drug spending outpaces that of every other category of health care and drug prices are rising faster than inflation. In response, states are instituting a variety of pharmaceutical cost control measures such as creating preferred drug lists (PDLs), negotiating supplemental rebates, forming bulk purchasing pools, promoting generic drug substitution and implementing price controls. As prescription drug cost containment tools have gained acceptance and momentum, they continue to be controversial. This issue brief explores the debate, history, methodology, utilization

  13. Understanding Nuclear Weapons and Arms Control: A Guide to the Issues. Instructor's Manual.

    ERIC Educational Resources Information Center

    Zahka, William J.; Mayers, Teena Karsa

    Intended for teachers of secondary and college level students, this instructor's guide presents an overview of materials covered in the student text, followed by four categories of examination questions and teaching aids. The guide reflects the format of the student text and is divided into four sections. A brief description is provided of each…

  14. Arms control and the Helsinki Summit: Issues and obstacles in the second Clinton term

    SciTech Connect

    1997-03-01

    Prior to the summit, there was general concern that the proposed expansion of NATO would prevent a successful summit and prevent agreement on any measures leading to the ratification of START II. The Duma has held up START II ratification for a number of reasons, but basically the Russians felt that START II was an inequitable agreement that would force them into a major, expensive buildup that they could not afford. There were also serious concerns in the Duma about US intentions in the area of ballistic missile defenses, which would affect their willingness to enter into substantial reductions. There are some very serious questions that remain, and it`s not even clear in some instances what was and wasn`t agreed to at the summit. With regard to NATO expansion, it was formally stated that the two sides disagreed on the desirability and acceptability of expansion. Yeltsin, however, accepted that he, in any case, could not stop the expansion process. He sought to get some amelioration for the problems that it would cause in Russian eyes. He did not get a formal charter between Russia and NATO outlining the limits of expansion and Russian rights, but rather a commitment to a document that was intended to minimize the potential consequences of disagreement. This document would seek, to some extent, to compensate Russian concerns. However, it was specifically indicated that it would not be a formal treaty but rather a heads-of-government document constituting a political commitment. This document does not exist, and it may not be that easy to formalize it between Russia and NATO. The Duma will be very disappointed in this outcome with regard to NATO expansion.

  15. Anticipatory control of center of mass and joint stability during voluntary arm movement from a standing posture: interplay between active and passive control.

    PubMed

    Patla, Aftab E; Ishac, Milad G; Winter, David A

    2002-04-01

    Anticipatory control of upright posture is the focus of this study that combines experimental and modeling work. Individuals were asked to raise or lower their arms from two initial postures such that the final posture of the arm was at 90 degrees with respect to the body. Holding different weights in the hand varied the magnitude of perturbation to postural stability generated by the arm movement. Whole body kinematics and ground reaction forces were measured. Inverse dynamic analysis was used to determine the internal joint moments at the shoulder, hip, knee and ankle, and reaction forces at the shoulder. Center of mass (COM) of the arm, posture (rest of the body without the arms) and whole body (net COM) were also determined. Changes in joint moment at the hip, knee and ankle revealed a significant effect of the direction of movement. The polarities of the joint moment response were appropriate for joint stabilization. Net COM change showed a systematic effect of the direction of movement even though the arm COM was displaced by the same amount and in the same direction for both arm raising and lowering conditions. In order to determine the effects of the passive forces and moments on the posture COM, the body was modeled as an inverted pendulum. The model was customized for each participant; the relevant model parameters were estimated from data obtained from each trial. The ankle joint stiffness and viscosity were adjusted to ensure postural equilibrium prior to arm movement. Joint reactive forces and moments generated by the arm movements were applied at the shoulder level of this inverted pendulum; these were the only inputs and no active control was included. The posture COM profile from the model simulation was calculated. Results show that simulated posture COM profile and measured posture COM profile are identical for about 200 ms following the onset of arm movement and then they deviate. Therefore, the initial control of COM is passive in nature and the

  16. Design of clinical trials of antidepressants: should a placebo control arm be included?

    PubMed

    Fritze, J; Möller, H J

    2001-01-01

    There is no doubt that available antidepressants are efficacious and effective. Nevertheless, more effective drugs with improved tolerability are needed. With this need in mind, some protagonists claim that future antidepressants should be proved superior to, or at least as effective as, established antidepressants, making placebo control methodologically dispensable in clinical trials. Moreover, the use of placebo control is criticised as unethical because it might result in effective treatment being withheld. There are, however, a number of methodological reasons why placebo control is indispensable for the proof of efficacy of antidepressants. Comparing investigational antidepressants only with standard antidepressants and not placebo yields ambiguous results that are difficult to interpret, be it in superiority or equivalence testing, and this method of assessment requires larger sample sizes than those required with the use of placebo control. Experimental methodology not adhering to the optimal study design is ethically questionable. Restricting the testing of investigational antidepressants only to superiority over standard antidepressants is an obstacle to therapeutic progress in terms of tolerability and the detection of innovative mechanisms of action from which certain subgroups of future patients might benefit. The use of a methodology that requires larger samples for testing of superiority or equivalence is also ethically questionable. In view of the high placebo response rates in trials of antidepressants, placebo treatment does not mean withholding effective treatment. Accepting the necessity of the clinical evaluation of new, potentially ineffective antidepressants implicitly means accepting placebo control as ethically justified. Three- or multi-arm comparisons including placebo and an active reference represent the optimal study design. PMID:11602002

  17. Soviet interests in strategic arms reductions, 1981-1983

    SciTech Connect

    Kartchner, K.M.

    1987-01-01

    This dissertation makes two contributions to the literature on Soviet arms control policy. First, it elaborates a framework for scaling Soviet interests in strategic arms reductions, distinguishing among: (1) Soviet interests in proposing arms control initiatives; (2) Soviet interests in negotiating arms control initiatives; (3) Soviet interest in concluding agreements on arms control initiatives; and (4) Soviet interests in complying with arms control initiatives. Second, this framework is applied to the US-Soviet strategic arms reduction talks /START/ during the first Reagan administration, yielding a conclusion that Soviet interest in reducing strategic nuclear weapons during this time were limited to negotiating the issue while stalling movement toward an agreement. In seeking to analyze the reasons for the lack of Soviet interest in a strategic arms reduction agreement during this period, it was found that historically, Soviet interest in arms control appears to have been highest when: (1) the Soviets perceived a substantial external threat to its existence; (2) the other side possessed sufficient negotiating leverage; (3) the Soviet leadership had survived a period of succession; and (4) Soviet foreign policy stressed openings to the West. Separate chapters examine each of these factors.

  18. Using Functional Electrical Stimulation Mediated by Iterative Learning Control and Robotics to Improve Arm Movement for People With Multiple Sclerosis.

    PubMed

    Sampson, Patrica; Freeman, Chris; Coote, Susan; Demain, Sara; Feys, Peter; Meadmore, Katie; Hughes, Ann-Marie

    2016-02-01

    Few interventions address multiple sclerosis (MS) arm dysfunction but robotics and functional electrical stimulation (FES) appear promising. This paper investigates the feasibility of combining FES with passive robotic support during virtual reality (VR) training tasks to improve upper limb function in people with multiple sclerosis (pwMS). The system assists patients in following a specified trajectory path, employing an advanced model-based paradigm termed iterative learning control (ILC) to adjust the FES to improve accuracy and maximise voluntary effort. Reaching tasks were repeated six times with ILC learning the optimum control action from previous attempts. A convenience sample of five pwMS was recruited from local MS societies, and the intervention comprised 18 one-hour training sessions over 10 weeks. The accuracy of tracking performance without FES and the amount of FES delivered during training were analyzed using regression analysis. Clinical functioning of the arm was documented before and after treatment with standard tests. Statistically significant results following training included: improved accuracy of tracking performance both when assisted and unassisted by FES; reduction in maximum amount of FES needed to assist tracking; and less impairment in the proximal arm that was trained. The system was well tolerated by all participants with no increase in muscle fatigue reported. This study confirms the feasibility of FES combined with passive robot assistance as a potentially effective intervention to improve arm movement and control in pwMS and provides the basis for a follow-up study.

  19. Tuning Curves for Arm Posture Control in Motor Cortex Are Consistent with Random Connectivity

    PubMed Central

    Abbott, L. F.; Vaadia, Eilon

    2016-01-01

    Neuronal responses characterized by regular tuning curves are typically assumed to arise from structured synaptic connectivity. However, many responses exhibit both regular and irregular components. To address the relationship between tuning curve properties and underlying circuitry, we analyzed neuronal activity recorded from primary motor cortex (M1) of monkeys performing a 3D arm posture control task and compared the results with a neural network model. Posture control is well suited for examining M1 neuronal tuning because it avoids the dynamic complexity of time-varying movements. As a function of hand position, the neuronal responses have a linear component, as has previously been described, as well as heterogeneous and highly irregular nonlinearities. These nonlinear components involve high spatial frequencies and therefore do not support explicit encoding of movement parameters. Yet both the linear and nonlinear components contribute to the decoding of EMG of major muscles used in the task. Remarkably, despite the presence of a strong linear component, a feedforward neural network model with entirely random connectivity can replicate the data, including both the mean and distributions of the linear and nonlinear components as well as several other features of the neuronal responses. This result shows that smoothness provided by the regularity in the inputs to M1 can impose apparent structure on neural responses, in this case a strong linear (also known as cosine) tuning component, even in the absence of ordered synaptic connectivity. PMID:27224735

  20. The Impact of Arms Limitation Agreements and Export Control Regulations of International Commercial Launch Activities

    NASA Astrophysics Data System (ADS)

    Freeland, Steven

    2002-01-01

    The commercial launch industry is by its very nature a global sector dominated by multinationals that operate across national boundaries. Since the end of the Cold War, new launch operators have become increasingly reliant on existing space and propulsion technology from Russia and other former constituent republics of the Soviet Union. With this in mind, the impact of export controls imposed by various countries under various internationally agreements, especially those of Australia, Russia and the United States, has become an increasingly important factor in the day-to-day operation of commercial launch operators. This is particularly true for launch operators utilising converted ballistic missiles as launch vehicles, as they have to consider also the impact of arms reduction treaties, such as START, on their launch operations. This paper explores the legal and administrative operations of the START and export control regimes operated by Russia and the United States, as well as emerging launching States such as Australia, and how they impact on the logistical operations of domestic or multinational commercial launch operators.

  1. Design issues of a reinforcement-based self-learning fuzzy controller for petrochemical process control

    NASA Technical Reports Server (NTRS)

    Yen, John; Wang, Haojin; Daugherity, Walter C.

    1992-01-01

    Fuzzy logic controllers have some often-cited advantages over conventional techniques such as PID control, including easier implementation, accommodation to natural language, and the ability to cover a wider range of operating conditions. One major obstacle that hinders the broader application of fuzzy logic controllers is the lack of a systematic way to develop and modify their rules; as a result the creation and modification of fuzzy rules often depends on trial and error or pure experimentation. One of the proposed approaches to address this issue is a self-learning fuzzy logic controller (SFLC) that uses reinforcement learning techniques to learn the desirability of states and to adjust the consequent part of its fuzzy control rules accordingly. Due to the different dynamics of the controlled processes, the performance of a self-learning fuzzy controller is highly contingent on its design. The design issue has not received sufficient attention. The issues related to the design of a SFLC for application to a petrochemical process are discussed, and its performance is compared with that of a PID and a self-tuning fuzzy logic controller.

  2. Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms

    PubMed Central

    Togo, Shunta; Kagawa, Takahiro; Uno, Yoji

    2016-01-01

    The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the “UCM reference feedback control.” To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque

  3. Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms.

    PubMed

    Togo, Shunta; Kagawa, Takahiro; Uno, Yoji

    2016-01-01

    The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the "UCM reference feedback control." To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque change

  4. Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms.

    PubMed

    Togo, Shunta; Kagawa, Takahiro; Uno, Yoji

    2016-01-01

    The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the "UCM reference feedback control." To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque change

  5. Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm

    PubMed Central

    López, Natalia M; di Sciascio, Fernando; Soria, Carlos M; Valentinuzzi, Max E

    2009-01-01

    Background Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA) and Decentralized Kalman Filter (DKF), both based on the myoelectric signal variance as selecting criterion. Methods Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB® environment and in a Digital Signal Processor (DSP). The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude. Results Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits. Conclusion The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present. PMID:19243627

  6. Neural control of rhythmic, cyclical human arm movement: task dependency, nerve specificity and phase modulation of cutaneous reflexes

    PubMed Central

    Zehr, E Paul; Kido, Aiko

    2001-01-01

    The organization and pattern of cutaneous reflex modulation during rhythmic cyclical movements of the human upper limbs has received much less attention than that afforded the lower limb. Our working hypothesis is that control mechanisms underlying the modulation of cutaneous reflex amplitude during rhythmic arm movement are similar to those that control reflex modulation in the leg. Thus, we hypothesized that cutaneous reflexes would show task dependency and nerve specificity in the upper limb during rhythmic cyclical arm movement as has been demonstrated in the human lower limb. EMG was recorded from 10 muscles crossing the human shoulder, elbow and wrist joints while bilateral whole arm rhythmic cyclical movements were performed on a custom-made, hydraulic apparatus. Cutaneous reflexes were evoked with trains (5× 1.0 ms pulses at 300 Hz) of electrical stimulation delivered at non-noxious intensities (∼2× threshold for radiating parasthesia) to the superficial radial, median and ulnar nerves innervating the hand. Cutaneous reflexes were typically modulated with the movement cycle (i.e. phase dependency was observed). There was evidence for nerve specificity of cutaneous reflexes during rhythmic movement of the upper limbs. Task-dependent modulation was also seen as cutaneous reflexes were of larger amplitude or inhibitory (reflex reversal) during arm cycling as compared to static contraction. While there are some differences in the patterns of cutaneous reflex modulation seen between the arms and legs, it is concluded that cutaneous reflexes are modulated similarly in the upper and lower limbs implicating similar motor control mechanisms. PMID:11744775

  7. Iyengar Yoga for Distressed Women: A 3-Armed Randomized Controlled Trial

    PubMed Central

    Michalsen, Andreas; Jeitler, Michael; Brunnhuber, Stefan; Lüdtke, Rainer; Büssing, Arndt; Musial, Frauke; Dobos, Gustav; Kessler, Christian

    2012-01-01

    Distress is an increasing public health problem. We aimed to investigate the effects of an Iyengar yoga program on perceived stress and psychological outcomes in distressed women and evaluated a potential dose-effect relationship. Seventy-two female distressed subjects were included into a 3-armed randomized controlled trial and allocated to yoga group 1 (n = 24) with twelve 90 min sessions over 3 months, yoga group 2 (n = 24) with 24 sessions over 3 months, or a waiting list control group (n = 24). The primary outcome was stress perception, measured by Cohen Stress Scale; secondary outcomes included state trait anxiety, depression, psychological and physical quality of life (QOL), profile of Mood States, well being, and bodily complaints. After three months, women in the yoga groups showed significant improvements in perceived stress (P = 0.003), state trait anxiety (P = 0.021 and P = 0.003), depression (P = 0.008), psychological QOL (P = 0.012), mood states being (P = 0.007), and bodily complaints well(P = 0.012) when compared to controls. Both yoga programs were similarly effective for these outcomes; however, compliance was better in the group with fewer sessions (yoga group 1). Dose effects were seen only in the analysis of group-independent effects for back pain, anxiety, and depression. These findings suggest that Iyengar yoga effectively reduces distress and improves related psychological and physical outcomes. Furthermore, attending twice-weekly yoga classes was not superior to once-weekly classes, as a result of limited compliance in the twice-weekly group. PMID:23049608

  8. The evolution of disarmament and arms control thought, 1945-1963

    SciTech Connect

    Williams, R.E. Jr.

    1987-01-01

    The onset of the Cold War and the total failure of nuclear disarmament efforts at the United Nations were only the most obvious of several factors prompting a reexamination of the disarmament approach in the early 1950s. The end of the American nuclear monopoly, the development of the hydrogen bomb, the experience with limited war in Korea, and the rise of concerns about the possibility of nuclear surprise attack (exacerbated by Sputnik) all prompted the Eisenhower administration and the community of strategic thinkers to question the feasibility and even the desirability of nuclear disarmament. To replace disarmament, the strategic community developed the arms-control approach; this approach, the intellectual foundations of which were largely completed in 1961, has been the basis of American policy for the regulation of nuclear weapons since the Kennedy administration. Since its development, the new thinking has been challenged both by disarmers, who regard it as a conservative approach designed merely to perpetuate mutual nuclear deterrence, and traditionalists, who perceive many similarities to the disarmament approach and are skeptical of its faith in the ability of adversaries to act together to reduce the threat that weapons pose.

  9. An efficient process of generating bispecific antibodies via controlled Fab-arm exchange using culture supernatants.

    PubMed

    Paul, Suparna; Connor, Judy; Nesspor, Tom; Haytko, Peter; Boakye, Ken; Chiu, Mark L; Jiang, Haiyan

    2016-05-01

    Bispecific antibody generation is actively pursued for therapeutic and research antibody development. Although there are multiple strategies for generating bispecific antibodies (bsAbs); the common challenge is to develop a scalable method to prepare bsAbs with high purity and yield. The controlled Fab-arm exchange (cFAE) method combines two parental monoclonal antibodies (mAbs), each with a matched point mutation, F405L and K409R in the respective CH3 domains. The conventional process employs two steps: the purification of two parental mAbs from culture supernatants followed by cFAE. Following a reduction/oxidation reaction, the bispecific mAb is formed with greater than 95% heterodimerization efficiency. In this study, cFAE was initiated in culture supernatants expressing the two parental mAbs, thereby eliminating the need to first purify the parental mAbs. The bsAbs formed in culture supernatant was then purified using a Protein A affinity chromatography. The BsAbs generated in this manner had efficiency comparable to the conventional method using purified parental mAbs. BsAbs prepared by two different routes showed indistinguishable characteristics by SDS capillary electrophoresis, analytical size exclusion, and cation exchange chromatography. This alternative method significantly shortened timelines and reduced resources required for bsAb generation, providing an improved process with potential benefits in large-scale bsAb preparation, as well as for HTP small-scale bsAb matrix selection. PMID:26826313

  10. An efficient process of generating bispecific antibodies via controlled Fab-arm exchange using culture supernatants.

    PubMed

    Paul, Suparna; Connor, Judy; Nesspor, Tom; Haytko, Peter; Boakye, Ken; Chiu, Mark L; Jiang, Haiyan

    2016-05-01

    Bispecific antibody generation is actively pursued for therapeutic and research antibody development. Although there are multiple strategies for generating bispecific antibodies (bsAbs); the common challenge is to develop a scalable method to prepare bsAbs with high purity and yield. The controlled Fab-arm exchange (cFAE) method combines two parental monoclonal antibodies (mAbs), each with a matched point mutation, F405L and K409R in the respective CH3 domains. The conventional process employs two steps: the purification of two parental mAbs from culture supernatants followed by cFAE. Following a reduction/oxidation reaction, the bispecific mAb is formed with greater than 95% heterodimerization efficiency. In this study, cFAE was initiated in culture supernatants expressing the two parental mAbs, thereby eliminating the need to first purify the parental mAbs. The bsAbs formed in culture supernatant was then purified using a Protein A affinity chromatography. The BsAbs generated in this manner had efficiency comparable to the conventional method using purified parental mAbs. BsAbs prepared by two different routes showed indistinguishable characteristics by SDS capillary electrophoresis, analytical size exclusion, and cation exchange chromatography. This alternative method significantly shortened timelines and reduced resources required for bsAb generation, providing an improved process with potential benefits in large-scale bsAb preparation, as well as for HTP small-scale bsAb matrix selection.

  11. A role for arms control and technology in peace-keeping operations

    SciTech Connect

    Indusi, J.; Allentuck, J.

    1995-08-01

    This paper describes a potential role for arms control monitoring technology in peace-keeping operations. The basic idea is to utilize monitoring technology developed or suggested for treaty verification (primarily Conventional Forces Europe (CFE), but other treaties as well) to minimize the exposure of humans as part of ``peace-keeping`` forces in various trouble spots throughout the world. The impetus comes from the dangers and high costs of stationing peace-keeping of forces in areas such as Bosnia-Herzegovina. Aside from the costs associated with such efforts the loss of life has escalated recently from 743 peace keepers lost from 1948 to 1988, to 180 lives lost in 1993 alone. Some potential advantages to using technology for certain monitoring roles are discussed in the paper and include: minimizing exposure/risk to peace-keeping personnel from hostile fire, hostage taking, etc.; sharable technology will allow all parties to view results, assess violations or transgressions, etc.; can be applied to equipment, railways, roads, etc., to confirm human and other monitoring capabilities; and provides data to settle disputes on which side initiated hostilities.

  12. Coordination of multiple robot arms

    NASA Technical Reports Server (NTRS)

    Barker, L. K.; Soloway, D.

    1987-01-01

    Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.

  13. Robust adaptive control modeling of human arm movements subject to altered gravity and mechanical loads

    NASA Astrophysics Data System (ADS)

    Tryfonidis, Michail

    It has been observed that during orbital spaceflight the absence of gravitation related sensory inputs causes incongruence between the expected and the actual sensory feedback resulting from voluntary movements. This incongruence results in a reinterpretation or neglect of gravity-induced sensory input signals. Over time, new internal models develop, gradually compensating for the loss of spatial reference. The study of adaptation of goal-directed movements is the main focus of this thesis. The hypothesis is that during the adaptive learning process the neural connections behave in ways that can be described by an adaptive control method. The investigation presented in this thesis includes two different sets of experiments. A series of dart throwing experiments took place onboard the space station Mir. Experiments also took place at the Biomechanics lab at MIT, where the subjects performed a series of continuous trajectory tracking movements while a planar robotic manipulandum exerted external torques on the subjects' moving arms. The experimental hypothesis for both experiments is that during the first few trials the subjects will perform poorly trying to follow a prescribed trajectory, or trying to hit a target. A theoretical framework is developed that is a modification of the sliding control method used in robotics. The new control framework is an attempt to explain the adaptive behavior of the subjects. Numerical simulations of the proposed framework are compared with experimental results and predictions from competitive models. The proposed control methodology extends the results of the sliding mode theory to human motor control. The resulting adaptive control model of the motor system is robust to external dynamics, even those of negative gain, uses only position and velocity feedback, and achieves bounded steady-state error without explicit knowledge of the system's nonlinearities. In addition, the experimental and modeling results demonstrate that

  14. Addressing Teachers' Feelings of Lack of Control over Policy Issues

    ERIC Educational Resources Information Center

    Judson, Eugene

    2014-01-01

    This study reports on how an American Education System course, traditionally taught with broad objectives, was contextualized for science teachers. Using pre-assessment data, specific policy issues were targeted with the objective of increasing teachers' feelings of influence over issues. The approach used was adapted from exposure therapy, a…

  15. Arms control and the rule of law: National measures for enforcement and verification

    SciTech Connect

    Tanzman, E.A.

    1997-04-19

    Much has been written about the deterrence strategies that justified the arms race. Walter Slocombe explained that {open_quotes}[t]he dominant problem of U.S. nuclear strategy is credibly using U.S. nuclear power to deter and if necessary resist nonnuclear as well as nuclear threats to America`s allies, forces, and interests overseas.{close_quotes} As a result, the {open_quotes}flexible response{close_quotes} doctrine was developed to declare {open_quotes}that the United States, in consultation with its allies, is prepared to use nuclear weapons should other means of protection from Soviet attack threaten to fail.{close_quotes} In contrast, Freeman Dyson pointed out the Soviet Union was committed to the concept of {open_quotes}counterforce,{close_quotes} which meant that {open_quotes}if the Soviet Union sees a nuclear attack coming or has reason to believe that an attack is about to be launched, the Soviet Union will strike first at the attacker`s weapons with all available forces, and will then do whatever is necessary in order to survive.{close_quotes} Out of these military postures 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.`

  16. Articulated coordination of the right arm underlies control of bow parameters and quick bow reversals in skilled cello bowing.

    PubMed

    Verrel, Julius; Woollacott, Marjorie; Lindenberger, Ulman

    2014-01-01

    Stringed instrument bowing is a complex coordinative motor skill acquired though years of intense practice. We apply a novel "freezing" analysis to investigate how movement at different joints contributes to bow transport (movement amplitude), stabilization of bow parameters (angle, velocity) during bow movements, and quick reversals of bow direction (acceleration amplitude). Participants were ten advanced or professional cellists (19-32 years, at least 10 years of practice) and ten age-matched novice players. Arm and bow movements were recorded using 3D motion capture. To assess how performance depends on articulated use of the right arm, actual data were compared to surrogate data, generated by artificially removing movement at ("freezing") individual joints in measured arm movements. This analysis showed that both elbow and shoulder significantly contribute to bow transport in experts, while only the shoulder contributed to bow transport in novices. Moreover, experts showed more strongly increased variability of bow parameters and reduced acceleration amplitudes at bow reversals for surrogate compared to actual movement data. This indicates that movement across joints was organized to reduce bow variability and achieve quick bow reversals. Corresponding effects were less pronounced or absent in the novices, in particular for the wrist and elbow. Our results demonstrate the importance of articulated use of the right arm and clarify the contribution of different joints in experts' bowing performance. Moreover, they support theories of motor control and learning that propose exploitation of biomechanical degrees of freedom, in particular of distal joints, as a critical component in skilled motor performance.

  17. Controlled synthesis of multi-arm star polyether-polycarbonate polyols based on propylene oxide and CO2.

    PubMed

    Hilf, Jeannette; Schulze, Patricia; Seiwert, Jan; Frey, Holger

    2014-01-01

    Multi-arm star copolymers based on a hyperbranched poly(propylene oxide) polyether-polyol (hbPPO) as a core and poly(propylene carbonate) (PPC) arms are synthesized in two steps from propylene oxide (PO), a small amount of glycidol and CO2 . The PPC arms are prepared via carbon dioxide (CO2 )/PO copolymerization, using hbPPO as a multifunctional macroinitiator and the (R,R)-(salcy)CoOBzF5 catalyst. Star copolymers with 14 and 28 PPC arms, respectively, and controlled molecular weights in the range of 2700-8800 g mol(-1) are prepared (Mw /Mn = 1.23-1.61). Thermal analysis reveals lowered glass transition temperatures in the range of -8 to 10 °C for the PPC star polymers compared with linear PPC, which is due to the influence of the flexible polyether core. Successful conversion of the terminal hydroxyl groups with phenylisocyanate demonstrates the potential of the polycarbonate polyols for polyurethane synthesis. PMID:24214125

  18. Controlled synthesis of multi-arm star polyether-polycarbonate polyols based on propylene oxide and CO2.

    PubMed

    Hilf, Jeannette; Schulze, Patricia; Seiwert, Jan; Frey, Holger

    2014-01-01

    Multi-arm star copolymers based on a hyperbranched poly(propylene oxide) polyether-polyol (hbPPO) as a core and poly(propylene carbonate) (PPC) arms are synthesized in two steps from propylene oxide (PO), a small amount of glycidol and CO2 . The PPC arms are prepared via carbon dioxide (CO2 )/PO copolymerization, using hbPPO as a multifunctional macroinitiator and the (R,R)-(salcy)CoOBzF5 catalyst. Star copolymers with 14 and 28 PPC arms, respectively, and controlled molecular weights in the range of 2700-8800 g mol(-1) are prepared (Mw /Mn = 1.23-1.61). Thermal analysis reveals lowered glass transition temperatures in the range of -8 to 10 °C for the PPC star polymers compared with linear PPC, which is due to the influence of the flexible polyether core. Successful conversion of the terminal hydroxyl groups with phenylisocyanate demonstrates the potential of the polycarbonate polyols for polyurethane synthesis.

  19. Trends and challenges in global arms control regimes: Implications for the Mediterranean, North Africa, and the Middle East

    SciTech Connect

    Lehman, R.F. II

    1994-06-01

    In another sense, however, the nuclear age and ballistic missiles long ago created a much smaller world in which the distinctions between global and regional security have been lessened. In an age of weapons of mass destruction, any point on the earth can find itself suddenly at the center of world attention. This makes it all the more important that we understand all of the arms control tools available, including global approaches. In discussing global arms control regimes, I will focus primarily on those that are open to universal membership such as the Nuclear Nonproliferation Treaty (NPT) or which have global reach, such as certain export control and supplier regimes. It is important to remember, however, that certain regional, bilateral, and even unilateral arms control measures can have a global impact as well. One need only witness the impact of the Treaty on Conventional Forces in Europe (CFE). Despite its mere {open_quotes}Atlantic to the Urals{close_quotes} focus, the CFE treaty helped change the political and strategic calculations of the entire world. Likewise, the Conference on Security and Cooperation in Europe (CSCE), with its headquarters in Vienna, is centered on Europe but spreads from Vancouver to Vladivostok (or perhaps we should say from Amchitka to Kamchatka), circumnavigating much of the northern hemisphere when measured the long way around via North America. The political significance of its successes and failures outdistance CSCE`s geographical spread.

  20. Threshold position control of arm movement with anticipatory increase in grip force.

    PubMed

    Pilon, Jean-François; De Serres, Sophie J; Feldman, Anatol G

    2007-07-01

    The grip force holding an object between fingers usually increases before or simultaneously with arm movement thus preventing the object from sliding. We experimentally analyzed and simulated this anticipatory behavior based on the following notions. (1) To move the arm to a new position, the nervous system shifts the threshold position at which arm muscles begin to be recruited. Deviated from their activation thresholds, arm muscles generate activity and forces that tend to minimize this deviation by bringing the arm to a new position. (2) To produce a grip force, with or without arm motion, the nervous system changes the threshold configuration of the hand. This process defines a threshold (referent) aperture (R(a)) of appropriate fingers. The actual aperture (Q(a)) is constrained by the size of the object held between the fingers whereas, in referent position R(a), the fingers virtually penetrate the object. Deviated by the object from their thresholds of activation, hand muscles generate activity and grip forces in proportion to the gap between the Q(a) and R(a). Thus, grip force emerges since the object prevents the fingers from reaching the referent position. (3) From previous experiences, the system knows that objects tend to slide off the fingers when arm movements are made and, to prevent sliding, it starts narrowing the referent aperture simultaneously with or somewhat before the onset of changes in the referent arm position. (4) The interaction between the fingers and the object is accomplished via the elastic pads on the tips of fingers. The pads are compressed not only due to the grip force but also due to the tangential inertial force ("load") acting from the object on the pads along the arm trajectory. Compressed by the load force, the pads move back and forth in the gap between the finger bones and object, thus inevitably changing the normal component of the grip force, in synchrony with and in proportion to the load force. Based on these notions

  1. An open-source and cross-platform framework for Brain Computer Interface-guided robotic arm control.

    PubMed

    Kubben, Pieter L; Pouratian, Nader

    2012-01-01

    Brain Computer Interfaces (BCIs) have focused on several areas, of which motor substitution has received particular interest. Whereas open-source BCI software is available to facilitate cost-effective collaboration between research groups, it mainly focuses on communication and computer control. We developed an open-source and cross-platform framework, which works with cost-effective equipment that allows researchers to enter the field of BCI-based motor substitution without major investments upfront. It is based on the C++ programming language and the Qt framework, and offers a separate class for custom MATLAB/Simulink scripts. It has been tested using a 14-channel wireless electroencephalography (EEG) device and a low-cost robotic arm that offers 5° of freedom. The software contains four modules to control the robotic arm, one of which receives input from the EEG device. Strengths, current limitations, and future developments will be discussed. PMID:23372966

  2. An open-source and cross-platform framework for Brain Computer Interface-guided robotic arm control

    PubMed Central

    Kubben, Pieter L.; Pouratian, Nader

    2012-01-01

    Brain Computer Interfaces (BCIs) have focused on several areas, of which motor substitution has received particular interest. Whereas open-source BCI software is available to facilitate cost-effective collaboration between research groups, it mainly focuses on communication and computer control. We developed an open-source and cross-platform framework, which works with cost-effective equipment that allows researchers to enter the field of BCI-based motor substitution without major investments upfront. It is based on the C++ programming language and the Qt framework, and offers a separate class for custom MATLAB/Simulink scripts. It has been tested using a 14-channel wireless electroencephalography (EEG) device and a low-cost robotic arm that offers 5° of freedom. The software contains four modules to control the robotic arm, one of which receives input from the EEG device. Strengths, current limitations, and future developments will be discussed. PMID:23372966

  3. Electromagnetic Signature Technique as a Promising Tool to Verify Nuclear Weapons Storage and Dismantlement under a Nuclear Arms Control Regime

    SciTech Connect

    Bunch, Kyle J.; Williams, Laura S.; Jones, Anthony M.; Ramuhalli, Pradeep

    2012-08-01

    The 2010 ratification of the New START Treaty has been widely regarded as a noteworthy national security achievement for both the Obama administration and the Medvedev-Putin regime, but deeper cuts are envisioned under future arms control regimes. Future verification needs will include monitoring the storage of warhead components and fissile materials and verifying dismantlement of warheads, pits, secondaries, and other materials. From both the diplomatic and technical perspectives, verification under future arms control regimes will pose new challenges. Since acceptable verification technology must protect sensitive design information and attributes, non-nuclear non-sensitive signatures may provide a significant verification tool without the use of additional information barriers. The use of electromagnetic signatures to monitor nuclear material storage containers is a promising technology with the potential to fulfill these challenging requirements. Research performed at Pacific Northwest National Laboratory (PNNL) has demonstrated that low frequency electromagnetic signatures of sealed metallic containers can be used to confirm the presence of specific components on a “yes/no” basis without revealing classified information. Arms control inspectors might use this technique to verify the presence or absence of monitored items, including both nuclear and non-nuclear materials. Although additional research is needed to study signature aspects such as uniqueness and investigate container-specific scenarios, the technique potentially offers a rapid and cost-effective tool to verify reduction and dismantlement of U.S. and Russian nuclear weapons.

  4. Motor Cortical Correlates of Arm Resting in the Context of a Reaching Task and Implications for Prosthetic Control

    PubMed Central

    Kennedy, Scott D.; Schwartz, Andrew B.; Whitford, Andrew S.; Sohn, Jeong-Woo; McMorland, Angus J.C.

    2014-01-01

    Prosthetic devices are being developed to restore movement for motor-impaired individuals. A robotic arm can be controlled based on models that relate motor-cortical ensemble activity to kinematic parameters. The models are typically built and validated on data from structured trial periods during which a subject actively performs specific movements, but real-world prosthetic devices will need to operate correctly during rest periods as well. To develop a model of motor cortical modulation during rest, we trained monkeys (Macaca mulatta) to perform a reaching task with their own arm while recording motor-cortical single-unit activity. When a monkey spontaneously put its arm down to rest between trials, our traditional movement decoder produced a nonzero velocity prediction, which would cause undesired motion when applied to a prosthetic arm. During these rest periods, a marked shift was found in individual units' tuning functions. The activity pattern of the whole population during rest (Idle state) was highly distinct from that during reaching movements (Active state), allowing us to predict arm resting from instantaneous firing rates with 98% accuracy using a simple classifier. By cascading this state classifier and the movement decoder, we were able to predict zero velocity correctly, which would avoid undesired motion in a prosthetic application. Interestingly, firing rates during hold periods followed the Active pattern even though hold kinematics were similar to those during rest with near-zero velocity. These findings expand our concept of motor-cortical function by showing that population activity reflects behavioral context in addition to the direct parameters of the movement itself. PMID:24760860

  5. Use of Optically Stimulated Luminescence Imaging Plates and Reader for Arms Control Applications

    SciTech Connect

    Miller, Steven D.; Tomeraasen, Paul L.; Burghard, Brion J.; Traub, Richard J.

    2001-07-05

    Optically Stimulated Luminescence (OSL) technology has been pioneered at the Pacific Northwest National Laboratory (PNNL) for applications in personnel radiation dosimetry and commercially has become highly successful in replacing older technologies such as Thermoluminescence Dosimeters (TLDs) and film. OSL phosphors are used to measure radiation exposure by illuminating them with light after ionizing radiation exposure and measuring the amount of light emitted by the OSL phosphor. By using a two-dimensional plate of OSL material and raster scanning a light beam across the OSL plate a radiation pattern or image can be measured. The Arms Control community requires an electrons-free medium to measure the attributes of extent and symmetry on Pu pits in storage containers. OSL technology, used in the two-dimensional imaging mode, provides a means to measure these attributes with exposure times on the order of an hour. A special OSL reader has been built by PNNL to measure OSL imaging plates with a size of 20 cm by 30 cm. The reader uses 10 light emitting diode clusters with 10 corresponding photomultiplier tubes to measure an OSL imaging plate in less than 5 minutes. The resolution of each of the 10 measurement assemblies is 1 square-centimeter. A collimator assembly employing a Venetian-blind type collimator is used in conjunction with the OSL film to image the Pu pit within the storage container. The output of the OSL reader is a two dimensional array of intensities that will be used with the appropriate information barriers to measure extent and symmetry. This device also clearly distinguishes the difference between a point source and a distributed source. Details of the OSL technology, OSL reader system, collimator design, and system performance will be presented.

  6. Addressing the human factors issues associated with control room modifications

    SciTech Connect

    O`Hara, J.; Stubler, W.; Kramer, J.

    1998-03-01

    Advanced human-system interface (HSI) technology is being integrated into existing nuclear plants as part of plant modifications and upgrades. The result of this trend is that hybrid HSIs are created, i.e., HSIs containing a mixture of conventional (analog) and advanced (digital) technology. The purpose of the present research is to define the potential effects of hybrid HSIs on personnel performance and plant safety and to develop human factors guidance for safety reviews of them where necessary. In support of this objective, human factors issues associated with hybrid HSIs were identified. The issues were evaluated for their potential significance to plant safety, i.e., their human performance concerns have the potential to compromise plant safety. The issues were then prioritized and a subset was selected for design review guidance development.

  7. The positive effect of mirror visual feedback on arm control in children with spastic hemiparetic cerebral palsy is dependent on which arm is viewed.

    PubMed

    Smorenburg, Ana R P; Ledebt, Annick; Feltham, Max G; Deconinck, Frederik J A; Savelsbergh, Geert J P

    2011-09-01

    Mirror visual feedback has previously been found to reduce disproportionate interlimb variability and neuromuscular activity in the arm muscles in children with Spastic Hemiparetic Cerebral Palsy (SHCP). The aim of the current study was to determine whether these positive effects are generated by the mirror per se (i.e. the illusory perception of two symmetrically moving limbs, irrespective of which arm generates the mirror visual feedback) or by the visual illusion that the impaired arm has been substituted and appears to move with less jerk and in synchrony with the less-impaired arm (i.e. by mirror visual feedback of the less-impaired arm only). Therefore, we compared the effect of mirror visual feedback from the impaired and the less-impaired upper limb on the bimanual coupling and neuromuscular activity during a bimanual coordination task. Children with SHCP were asked to perform a bimanual symmetrical circular movement in three different visual feedback conditions (i.e. viewing the two arms, viewing only one arm, and viewing one arm and its mirror image), combined with two head orientation conditions (i.e. looking from the impaired and looking from the less-impaired body side). It was found that mirror visual feedback resulted in a reduction in the eccentric activity of the Biceps Brachii Brevis in the impaired limb compared to the condition with actual visual feedback from the two arms. More specifically, this effect was exclusive to mirror visual feedback from the less-impaired arm and absent when mirror visual feedback from the impaired arm was provided. Across conditions, the less-impaired arm was the leading limb, and the nature of this coupling was independent from visual condition or head orientation. Also, mirror visual feedback did not affect the intensity of the mean neuromuscular activity or the muscle activity of the Triceps Brachii Longus. It was concluded that the positive effects of mirror visual feedback in children with SHCP are not just the

  8. The positive effect of mirror visual feedback on arm control in children with spastic hemiparetic cerebral palsy is dependent on which arm is viewed.

    PubMed

    Smorenburg, Ana R P; Ledebt, Annick; Feltham, Max G; Deconinck, Frederik J A; Savelsbergh, Geert J P

    2011-09-01

    Mirror visual feedback has previously been found to reduce disproportionate interlimb variability and neuromuscular activity in the arm muscles in children with Spastic Hemiparetic Cerebral Palsy (SHCP). The aim of the current study was to determine whether these positive effects are generated by the mirror per se (i.e. the illusory perception of two symmetrically moving limbs, irrespective of which arm generates the mirror visual feedback) or by the visual illusion that the impaired arm has been substituted and appears to move with less jerk and in synchrony with the less-impaired arm (i.e. by mirror visual feedback of the less-impaired arm only). Therefore, we compared the effect of mirror visual feedback from the impaired and the less-impaired upper limb on the bimanual coupling and neuromuscular activity during a bimanual coordination task. Children with SHCP were asked to perform a bimanual symmetrical circular movement in three different visual feedback conditions (i.e. viewing the two arms, viewing only one arm, and viewing one arm and its mirror image), combined with two head orientation conditions (i.e. looking from the impaired and looking from the less-impaired body side). It was found that mirror visual feedback resulted in a reduction in the eccentric activity of the Biceps Brachii Brevis in the impaired limb compared to the condition with actual visual feedback from the two arms. More specifically, this effect was exclusive to mirror visual feedback from the less-impaired arm and absent when mirror visual feedback from the impaired arm was provided. Across conditions, the less-impaired arm was the leading limb, and the nature of this coupling was independent from visual condition or head orientation. Also, mirror visual feedback did not affect the intensity of the mean neuromuscular activity or the muscle activity of the Triceps Brachii Longus. It was concluded that the positive effects of mirror visual feedback in children with SHCP are not just the

  9. Nonproliferation and arms control assessment of weapons-usable fissile material storage and excess plutonium disposition alternatives

    SciTech Connect

    1997-01-01

    This report has been prepared by the Department of Energy`s Office of Arms Control and Nonproliferation (DOE-NN) with support from the Office of Fissile Materials Disposition (DOE-MD). Its purpose is to analyze the nonproliferation and arms reduction implications of the alternatives for storage of plutonium and HEU, and disposition of excess plutonium, to aid policymakers and the public in making final decisions. While this assessment describes the benefits and risks associated with each option, it does not attempt to rank order the options or choose which ones are best. It does, however, identify steps which could maximize the benefits and mitigate any vulnerabilities of the various alternatives under consideration.

  10. Postdeployment Battlemind Training for the U.K. Armed Forces: A Cluster Randomized Controlled Trial

    ERIC Educational Resources Information Center

    Mulligan, Kathleen; Fear, Nicola T.; Jones, Norman; Alvarez, Helen; Hull, Lisa; Naumann, Ulrike; Wessely, Simon; Greenberg, Neil

    2012-01-01

    Objective: Combat exposure can increase the risk of subsequent psychological ill-health in armed forces (AF) personnel. A U.S. postdeployment psycho-educational intervention, Battlemind, showed a beneficial effect on mental health in U.S. military personnel exposed to high combat levels. We evaluated the effectiveness of an anglicized version of…

  11. Biomechanical aspects of segmented arch mechanics combined with power arm for controlled anterior tooth movement: A three-dimensional finite element study

    PubMed Central

    Ozaki, Hiroya; Tominaga, Jun-ya; Hamanaka, Ryo; Sumi, Mayumi; Chiang, Pao-Chang; Tanaka, Motohiro; Koga, Yoshiyuki

    2015-01-01

    The porpose of this study was to determine the optimal length of power arms for achieving controlled anterior tooth movement in segmented arch mechanics combined with power arm. A three-dimensional finite element method was applied for the simulation of en masse anterior tooth retraction in segmented power arm mechanics. The type of tooth movement, namely, the location of center of rotation of the maxillary central incisor in association with power arm length, was calculated after the retraction force was applied. When a 0.017 × 0.022-in archwire was inserted into the 0.018-in slot bracket, bodily movement was obtained at 9.1 mm length of power arm, namely, at the level of 1.8 mm above the center of resistance. In case a 0.018 × 0.025-in full-size archwire was used, bodily movement of the tooth was produced at the power arm length of 7.0 mm, namely, at the level of 0.3 mm below the center of resistance. Segmented arch mechanics required shorter length of power arms for achieving any type of controlled anterior tooth movement as compared to sliding mechanics. Therefore, this space closing mechanics could be widely applied even for the patients whose gingivobuccal fold is shallow. The segmented arch mechanics combined with power arm could provide higher amount of moment-to-force ratio sufficient for controlled anterior tooth movement without generating friction, and vertical forces when applying retraction force parallel to the occlusal plane. It is, therefore, considered that the segmented power arm mechanics has a simple appliance design and allows more efficient and controllable tooth movement. PMID:25610497

  12. Biomechanical aspects of segmented arch mechanics combined with power arm for controlled anterior tooth movement: A three-dimensional finite element study.

    PubMed

    Ozaki, Hiroya; Tominaga, Jun-Ya; Hamanaka, Ryo; Sumi, Mayumi; Chiang, Pao-Chang; Tanaka, Motohiro; Koga, Yoshiyuki; Yoshida, Noriaki

    2015-01-01

    The porpose of this study was to determine the optimal length of power arms for achieving controlled anterior tooth movement in segmented arch mechanics combined with power arm. A three-dimensional finite element method was applied for the simulation of en masse anterior tooth retraction in segmented power arm mechanics. The type of tooth movement, namely, the location of center of rotation of the maxillary central incisor in association with power arm length, was calculated after the retraction force was applied. When a 0.017 × 0.022-in archwire was inserted into the 0.018-in slot bracket, bodily movement was obtained at 9.1 mm length of power arm, namely, at the level of 1.8 mm above the center of resistance. In case a 0.018 × 0.025-in full-size archwire was used, bodily movement of the tooth was produced at the power arm length of 7.0 mm, namely, at the level of 0.3 mm below the center of resistance. Segmented arch mechanics required shorter length of power arms for achieving any type of controlled anterior tooth movement as compared to sliding mechanics. Therefore, this space closing mechanics could be widely applied even for the patients whose gingivobuccal fold is shallow. The segmented arch mechanics combined with power arm could provide higher amount of moment-to-force ratio sufficient for controlled anterior tooth movement without generating friction, and vertical forces when applying retraction force parallel to the occlusal plane. It is, therefore, considered that the segmented power arm mechanics has a simple appliance design and allows more efficient and controllable tooth movement.

  13. Viscoelastic model for redundancy resolution of the human arm via the swivel angle: applications for upper limb exoskeleton control.

    PubMed

    Kim, Hyunchul; Roldan, Jay Ryan; Li, Zhi; Rosen, Jacob

    2012-01-01

    One of the key research efforts associated with a redundant seven degree of freedom (7-DOF) upper limb exoskeleton robot that is mechanically coupled to the human body is to develop high and low level control algorithms that enable the system to become a natural extension of the human body. Improving the synergistic relationship between the exoskeleton and the operator is manifested in part by decreasing the force exchange between the two entities. Such a reduction is accomplished in part by developing criteria for resolving the human arm redundancy. The redundancy may be represented by a swivel angle which is defined as the angular rotation of the elbow around an axis that passes through the shoulder and wrist joints. The proposed criteria for defining the swivel angle takes into account the dynamics of the human arm along with a viscoelastic muscle-like model with variable damping. The swivel angle is estimated using the pseudo-inverse of the Jacobian with a secondary objective function that estimates the desired joint angles during human arm movement. The result is then fed to the muscle model to create a more realistic human motion. The estimated swivel angle is then compared with the actual swivel angle measured experimentally by a motion capture system. Results indicate that the average error between the estimated and measured swivel joint angle is 4.4 degrees (in the range [3.7-6] degrees), which are lower than the kinematically based redundant resolution criterion. PMID:23367411

  14. The role of Congress in arms transfer to the Middle East, 1976-1988

    SciTech Connect

    Ghanem, M.E.

    1991-01-01

    This study examines how domestic considerations affect the conduct of foreign policy of the Unites States. Taking the role of Congress in arms transfer to the Middle East as a case in point, the study identifies the major actors in the arms transfer policymaking process, examines the dynamic and fluid relationship between those actors, explores how Congress voted on arms transfer to moderate Arab countries, and also addresses the question of why members of Congress voted the way they did on this issue. Arms transfer involves companies that make the arms to be transferred and ethnic groups who have emotional ties to their countries of origin requesting the arms. Except for the Arms Export Control Act of 1976, Congress has not been an initiator in arms-transfer policymaking; its role has been confined to fine-tuning arms transfers rather than blocking, vetoing them. The executive branch is still in control of arms-transfer policymaking. The House and Senate have behaved differently on exporting arms to Arab countries. The House has been more opposed to such arms sales than the Senate.

  15. A common neural element receiving rhythmic arm and leg activity as assessed by reflex modulation in arm muscles.

    PubMed

    Sasada, Syusaku; Tazoe, Toshiki; Nakajima, Tsuyoshi; Futatsubashi, Genki; Ohtsuka, Hiroyuki; Suzuki, Shinya; Zehr, E Paul; Komiyama, Tomoyoshi

    2016-04-01

    Neural interactions between regulatory systems for rhythmic arm and leg movements are an intriguing issue in locomotor neuroscience. Amplitudes of early latency cutaneous reflexes (ELCRs) in stationary arm muscles are modulated during rhythmic leg or arm cycling but not during limb positioning or voluntary contraction. This suggests that interneurons mediating ELCRs to arm muscles integrate outputs from neural systems controlling rhythmic limb movements. Alternatively, outputs could be integrated at the motoneuron and/or supraspinal levels. We examined whether a separate effect on the ELCR pathways and cortico-motoneuronal excitability during arm and leg cycling is integrated by neural elements common to the lumbo-sacral and cervical spinal cord. The subjects performed bilateral leg cycling (LEG), contralateral arm cycling (ARM), and simultaneous contralateral arm and bilateral leg cycling (A&L), while ELCRs in the wrist flexor and shoulder flexor muscles were evoked by superficial radial (SR) nerve stimulation. ELCR amplitudes were facilitated by cycling tasks and were larger during A&L than during ARM and LEG. A low stimulus intensity during ARM or LEG generated a larger ELCR during A&L than the sum of ELCRs during ARM and LEG. We confirmed this nonlinear increase in single motor unit firing probability following SR nerve stimulation during A&L. Furthermore, motor-evoked potentials following transcranial magnetic and electrical stimulation did not show nonlinear potentiation during A&L. These findings suggest the existence of a common neural element of the ELCR reflex pathway that is active only during rhythmic arm and leg movement and receives convergent input from contralateral arms and legs. PMID:26961103

  16. Maneuver control and active vibration suppression of a two-link flexible arm using a hybrid variable structure/Lyapunov control design

    NASA Astrophysics Data System (ADS)

    Mirzaee, E.; Eghtesad, M.; Fazelzadeh, S. A.

    2010-11-01

    This paper deals with maneuver control and vibration suppression of a two-link flexible arm with embedded smart materials. First, by using extended Hamilton's principle and assumed mode method, equations of motion of the two-link flexible arm with PZT patches as sensor and actuator are obtained. Inspecting the resulting equations reveals that the dynamics of the flexible structure that encompasses the vibrations of the links and their rigid in-plane maneuver takes place in two different time scales. Consistent with this characteristic, a slow subsystem associated with rigid motion dynamics and a fast subsystem associated with link flexible dynamics are identified by using the singular perturbation theory. Then, a hybrid controller is proposed as a combination of two distinct controllers for these subsystems and their stability is studied using the Lyapunov approach. The controller consists of a variable structure control (VSC) for maneuvering control of the slow subsystem and a Lyapunov based controller for vibration suppression of the flexible structure. According to the numerical simulation results it can be concluded that the proposed hybrid controller has a suitable and efficient performance for maneuver control and suppressing the transverse vibrations of the structure.

  17. The clinical relevance of axillary reverse mapping (ARM): study protocol for a randomized controlled trial

    PubMed Central

    2013-01-01

    Background Axillary lymph node dissection (ALND) in patients with breast cancer has the potential to induce side-effects, including upper-limb lymphedema. Axillary reverse mapping (ARM) is a technique that enables discrimination of the lymphatic drainage of the breast from that of the upper limb in the axillary lymph node (LN) basin. If lymphedema is caused by removing these lymphatics and nodes in the upper limb, the possibility of identifying these lymphatics would enable surgeons to preserve them. The aim of this study is to determine the clinical relevance of selective axillary LN and lymphatic preservation by means of ARM. To minimize the risk of overlooking tumor-positive ARM nodes and the associated risk of undertreatment, we will only include patients with a tumor-positive sentinel lymph node (SLN). Patients who are candidates for ALND because of a proven positive axillary LN at clinical examination can be included in a registration study. Methods/design The study will enroll 280 patients diagnosed with SLN biopsy-proven metastasis of invasive breast cancer with an indication for a completion ALND. Patients will be randomized to undergo standard ALND or an ALND in which the ARM nodes and their corresponding lymphatics will be left in situ. Primary outcome is the presence of axillary surgery-related lymphedema at 6, 12, and 24 months post-operatively, measured by the water-displacement method. Secondary outcome measures include pain, paresthesia, numbness, and loss of shoulder mobility, quality of life, and axillary recurrence risk. Discussion The benefit of ALND in patients with a positive SLN is a subject of debate. For many patients, an ALND will remain the treatment of choice. This multicenter randomized trial will provide evidence of whether or not axillary LN preservation by means of ARM decreases the side-effects of an ALND. Enrolment of patients will start in April 2013 in five breast-cancer centers in the Netherlands, and is expected to conclude by

  18. EXAMINING THE ROLE AND RESEARCH CHALLENGES OF SOCIAL MEDIA AS A TOOL FOR NONPROLIFERATION AND ARMS CONTROL TREATY VERIFICATION

    SciTech Connect

    Henry, Michael J.; Cramer, Nicholas O.; Benz, Jacob M.; Gastelum, Zoe N.; Kreyling, Sean J.; West, Curtis L.

    2014-05-13

    Traditional arms control treaty verification activities typically involve a combination of technical measurements via physical and chemical sensors, state declarations, political agreements, and on-site inspections involving international subject matter experts. However, the ubiquity of the internet, and the electronic sharing of data that it enables, has made available a wealth of open source information with the potential to benefit verification efforts. Open source information is already being used by organizations such as the International Atomic Energy Agency to support the verification of state-declared information, prepare inspectors for in-field activities, and to maintain situational awareness . The recent explosion in social media use has opened new doors to exploring the attitudes, moods, and activities around a given topic. Social media platforms, such as Twitter, Facebook, and YouTube, offer an opportunity for individuals, as well as institutions, to participate in a global conversation at minimal cost. Social media data can also provide a more data-rich environment, with text data being augmented with images, videos, and location data. The research described in this paper investigates the utility of applying social media signatures as potential arms control and nonproliferation treaty verification tools and technologies, as determined through a series of case studies. The treaty relevant events that these case studies touch upon include detection of undeclared facilities or activities, determination of unknown events recorded by the International Monitoring System (IMS), and the global media response to the occurrence of an Indian missile launch. The case studies examine how social media can be used to fill an information gap and provide additional confidence to a verification activity. The case studies represent, either directly or through a proxy, instances where social media information may be available that could potentially augment the evaluation

  19. The arms race and nuclear war

    SciTech Connect

    Barash, D.P.

    1987-01-01

    Addressing the history, physics, biology, economics, politics, psychology, and ethics of nuclear armaments, the author provides a survey of diverse facets of the nuclear controversy. The study encompasses such key areas as nuclear hardware and technology; the short- and long-term effects of nuclear weapons; strategic doctrine, deterrence and defense policy; the arms race, arms control, and nuclear proliferation; and the economic impact, psychology, and ethics of nuclear armaments. A ''Policy Issues'' section, presenting both the advocate and opponent sides of the debate, is included with each chapter.

  20. Peer Mentoring in Higher Education: Issues of Power and Control

    ERIC Educational Resources Information Center

    Christie, Hazel

    2014-01-01

    In response to widespread support for mentoring schemes in higher education this article calls for a more critical investigation of the dynamics of power and control, which are intrinsic to the mentoring process, and questions presumptions that mentoring brings only positive benefits to its participants. It provides this more critical appraisal by…

  1. Current Issues in Human Spacecraft Thermal Control Technology

    NASA Technical Reports Server (NTRS)

    Ungar, Eugene K.

    2008-01-01

    Efficient thermal management of Earth-orbiting human spacecraft, lunar transit spacecraft and landers, as well as a lunar habitat will require advanced thermal technology. These future spacecraft will require more sophisticated thermal control systems that can dissipate or reject greater heat loads at higher input heat fluxes while using fewer of the limited spacecraft mass, volume and power resources. The thermal control designs also must accommodate the harsh environments associated with these missions including dust and high sink temperatures. The lunar environment presents several challenges to the design and operation of active thermal control systems. During the Apollo program, landings were located and timed to occur at lunar twilight, resulting in a benign thermal environment. The long duration polar lunar bases that are foreseen in 15 years will see extremely cold thermal environments. Long sojourns remote from low-Earth orbit will require lightweight, but robust and reliable systems. Innovative thermal management components and systems are needed to accomplish the rejection of heat from lunar bases. Advances are required in the general areas of radiators, thermal control loops and equipment. Radiators on the Moon's poles must operate and survive in very cold environments. Also, the dusty environment of an active lunar base may require dust mitigation and removal techniques to maintain radiator performance over the long term.

  2. Assessing sedimentation issues within aging of flood-control reservoirs

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Flood control reservoirs designed and built by federal agencies have been extremely effective in reducing the ravages of floods nationwide. Yet some structures are being removed for a variety of reasons, while other structures are aging rapidly and require either rehabilitation or decommissioning. ...

  3. Armed conflict and child health

    PubMed Central

    Rieder, Michael; Choonara, Imti

    2012-01-01

    Summary Armed conflict has a major impact on child health throughout the world. One in six children worldwide lives in an area of armed conflict and civilians are more likely to die than soldiers as a result of the conflict. In stark contrast to the effect on children, the international arms trade results in huge profits for the large corporations involved in producing arms, weapons and munitions. Armed conflict is not inevitable but is an important health issue that should be prevented. PMID:21393303

  4. How do octopuses use their arms?

    PubMed

    Mather, J A

    1998-09-01

    A taxonomy of the movement patterns of the 8 flexible arms of octopuses is constructed. Components consist of movements of the arm itself, the ventral suckers and their stalks, as well as the relative position of arms and the skin web between them. Within 1 arm, combinations of components result in a variety of behaviors. At the level of all arms, 1 group of behaviors is described as postures, on the basis of the spread of all arms and the web to make a 2-dimensional surface whose position differs in the 3rd dimension. Another group of arm behaviors is actions, more or less coordinated and involving several to all arms. Arm control appears to be based on radial symmetry, relative equipotentiality of all arms, relative independence of each arm, and separability of components within the arm. The types and coordination of arm behaviors are discussed with relationship to biomechanical limits, muscle structures, and neuronal programming.

  5. Policy issues papers: six papers on controlled trading

    SciTech Connect

    Bush, J.; Carson, B.; Lyders, J.; Weiss, M.; Foster, D.

    1981-08-01

    Contents: Emission allocation - a tool for air quality planning and implementation of reasonable further progress; An emission offset and banking regulation for the Puget Sound Region; The Puget Sound emissions banking experience; Emission reductions from shutdowns - Their role in banking and trading systems; The potential of generating emission reduction credits from solar and energy conservation under innovative reforms in air pollution control; Indirect offsets - A supplemental program to facilitate interfirm trades in emission reductions.

  6. Operational issues in the control of the vectors of Brugia.

    PubMed

    Chang, M S

    2002-12-01

    An estimated 13 million people in the Oriental Region have brugian filariasis. The filarial parasites that cause this disease exist in periodic and sub-periodic forms and are transmitted by four genera of mosquito: Anopheles, Mansonia and, less frequently, Coquillettidia and Ochlerotatus. In most endemic countries, control of the disease has been entirely based on chemotherapy, although house-spraying and use of insecticide-treated bednets can be quite effective against the vectors of nocturnally periodic Brugia malayi and B. timori. The vector-control methods that may be applied against the Mansonia mosquitoes that transmit the parasites causing sub-periodic brugian filariasis are reviewed here. Most of the conventional methods for controlling the immature, aquatic stages of mosquitoes have proved unsatisfactory against Mansonia. The reason is that, unlike the those of other genera, the larvae and pupae of Mansonia spp. are relatively immobile and obtain air not at the water surface but from the underwater roots, stems and leaves of floating plants to which the larvae and pupae attach. Removal of host plants can be very effective in reducing Mansonia productivity, whereas large-scale use of herbicides is restricted by the potential adverse effects on the ecosystem. Environmental management in water-development projects remains the best option.

  7. Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism.

    PubMed

    Liu, Zhi; Chen, Ci; Zhang, Yun; Chen, C L P

    2015-03-01

    To achieve an excellent dual-arm coordination of the humanoid robot, it is essential to deal with the nonlinearities existing in the system dynamics. The literatures so far on the humanoid robot control have a common assumption that the problem of output hysteresis could be ignored. However, in the practical applications, the output hysteresis is widely spread; and its existing limits the motion/force performances of the robotic system. In this paper, an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, is presented and investigated. In the controller design, the prior knowledge of system dynamics is assumed to be unknown. The motion error is guaranteed to converge to a small neighborhood of the origin by Lyapunov's stability theory. Simultaneously, the internal force is kept bounded and its error can be made arbitrarily small.

  8. Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism.

    PubMed

    Liu, Zhi; Chen, Ci; Zhang, Yun; Chen, C L P

    2015-03-01

    To achieve an excellent dual-arm coordination of the humanoid robot, it is essential to deal with the nonlinearities existing in the system dynamics. The literatures so far on the humanoid robot control have a common assumption that the problem of output hysteresis could be ignored. However, in the practical applications, the output hysteresis is widely spread; and its existing limits the motion/force performances of the robotic system. In this paper, an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, is presented and investigated. In the controller design, the prior knowledge of system dynamics is assumed to be unknown. The motion error is guaranteed to converge to a small neighborhood of the origin by Lyapunov's stability theory. Simultaneously, the internal force is kept bounded and its error can be made arbitrarily small. PMID:24968367

  9. Research issues in implementing remote presence in teleoperator control

    NASA Technical Reports Server (NTRS)

    Corker, K.; Mishkin, A. H.; Lyman, J.

    1981-01-01

    The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

  10. Global arms proliferation

    SciTech Connect

    Christiansen, D.

    1991-09-01

    This paper reports that the United States delivered some US $11 billion of military hardware to Iran between 1969 and 1979, in the hopes of helping stabilize a volatile situation in the Middle East. That did not work. When Iran used the weapons against Iraq, the USSR, France, and a number of developing countries helped arm Iraq. It was this vast arsenal that Iraq deployed in its Kuwait-Persian Gulf War venture. Granted, those weapons were augmented by some U.S.-made equipment like TOW antitank missiles and Hawk antiaircraft missiles that were captured in the Iraqi attack on Kuwait. A report issued by the U.S. Office of Technology Assessment (OTA) in June cited that chain of events to demonstrate that the U.S. and other major exporters are gradually losing control of the weapons transferred (to other countries) as well as the technology and industry necessary to produce and support them.

  11. Issues involved with non-characterized control of methanotrophic bacteria

    SciTech Connect

    Stoner, D.L.; Tolle, C.R.; Noah, K.S.; Davis, D.A.; Miller, K.S.; Fife, D.J.

    1998-05-11

    Methane-utilizing bacteria, methanotrophs, have application as biocatalysts in the commodity chemical production, waste treatment and environmental remediation industries. Methanotrophs have the ability to oxidize many chemical compounds into more desired products, such as the production of propylene oxide. Methanotrophs can also degrade toxic compounds such as trichloroethylene. However, there are many physical, chemical and biological problems associated with the continuous oxidation of chemicals. These include, low mass transfer of methane, oxygen and propylene; toxicity of substrates and degradation products, and competition between the growth substrate, i.e., methane and chemical feed stock, e.g., propylene for the biocatalyst. To supervise methanotrophic bioprocesses, an intelligent control system must accommodate any biological limitations, e.g., toxicity, and mitigate the impact of the physical and chemical limitations, e.g., mass transfer of methane and the solubility of propylene. The intelligent control system must have the capability to assess the current conditions and metabolic state of the bacteria; recognize and diagnose instrument faults; and select and maintain sets of parameters that will result in high production and growth.

  12. [On some theoretic issues about planned control of population].

    PubMed

    Zhou, Q

    1981-01-01

    There are basic differences between Marxian and Malthusian population thought: 1) For Marx, population is a social phenomenon--human reproduction belongs to social production and population laws are social laws influenced by the means of production. Marx recognized that human reproduction had both a natural and a social relationship, but Malthus population theory only acknowledges the natural relationship of human reproduction. Malthus believed that if population grows without interference, it will double every 25 years, or geometrically. It is evident Malthus substituted biological possibilities for the objective inevitability of population evolution, and natural population laws for social population laws. 2) Marx believed that social production is the unification of material production and human reproduction. Material production is controlled and necessitates control of human reproduction. For Malthus, the growth of the means of subsistence never catches up with the growth of the population, but Marx said that even though land is limited, the development of production forces is limitless. Marxist theory postulates that man is basically a producer, but that population must be planned because not everyone is a producer (e.g., children and the unskilled). 3) Malthus believed that in capitalistic countries unemployment, famine, and poverty stem from too many births by the laboring class, i.e., population determines the economy. The only solution to population problems is to have fewer children. For Marx, economics determines population problems. PMID:12159326

  13. Arms Control and nonproliferation technologies: Technology options and associated measures for monitoring a Comprehensive Test Ban, Second quarter

    SciTech Connect

    Casey, Leslie A.

    1994-01-01

    This newsletter contains reprinted papers discussing technology options and associated measures for monitoring a Comprehensive Test Ban Treaty (CTBT). These papers were presented to the Conference on Disarmament (CD) in May and June 1994. An interagency Verification Monitoring Task Force developed the papers. The task force included participants from the Arms Control and Disarmament Agency, the Department of Defense, the Department of Energy, the Intelligence Community, the Department of Interior, and the Department of State. The purpose of this edition of Arms Control and Nonproliferation Technologies is to share these papers with the broad base of stakeholders in a CTBT and to facilitate future technology discussions. The papers in the first group discuss possible technology options for monitoring a CTBT in all environments (underground, underwater, atmosphere, and space). These technologies, along with on-site inspections, would facilitate CTBT monitoring by treaty participants. The papers in the second group present possible associated measures, e.g., information exchanges and transparency measures, that would build confidence among states participating in a CTBT.

  14. A new learning strategy for the two-time-scale neural controller with its application to the tracking control of rigid arms

    NASA Technical Reports Server (NTRS)

    Cheng, W.; Wen, J. T.

    1992-01-01

    A novel fast learning rule with fast weight identification is proposed for the two-time-scale neural controller, and a two-stage learning strategy is developed for the proposed neural controller. The results of the stability analysis show that both the tracking error and the fast weight error will be uniformly bounded and converge to a bounded region which depends only on the accuracy of the slow learning if the system is sufficiently excited. The efficiency of the two-stage learning is also demonstrated by a simulation of a two-link arm.

  15. Hybrid Wall Construction and Quality Control Issues in Wyandotte, Michigan

    SciTech Connect

    Lukachko, A.; Grin, A.; Bergey, D.

    2013-12-01

    This report is the second report on the Wyandotte NSP2 project in Wyandotte, MI and documents refinements to the design, construction, and quality control for the High R-value enclosure. The report will be of interest to designers and builders of production housing in Cold Climates. The focus of the second round of research was on using the hybrid insulation approach to develop a reliable methodof achieving consistently low airtightness numbers. There are two primary outcomes from this research. First, the airtightness measurements demonstrate that with a shallow learning curve, even new builders entering the program having little experience with the technology package are able to achieve consistent results that are less than 1.5 ACH50. Second, the process changes implemented to helpsecure these results were straightforward and ended up encouraging better communication between designer, builder, and the City officials supervising the project.

  16. Hybrid Wall Construction and Quality Control Issues in Wyandotte, Michigan

    SciTech Connect

    Lukachko, A.; Grin, A.; Bergey, D.

    2013-12-01

    This report is the second report on the Wyandotte Neighborhood Stabilization Program 2 project in Wyandotte, MI, and documents refinements to the design, construction, and quality control for the high R-value enclosure. The report will be of interest to designers and builders of production housing in Cold Climates. The focus of the second round of research was on using the hybrid insulation approach to develop a reliable method of achieving consistently low airtightness numbers. There are two primary outcomes from this research. First, the airtightness measurements demonstrate that with a shallow learning curve, even new builders entering the program having little experience with the technology package are able to achieve consistent results that are less than 1.5 ACH50. Second, the process changes implemented to help secure these results were straightforward and ended up encouraging better communication between designer, builder, and the city officials supervising the project.

  17. Scanning ARM Cloud Radars. Part II: Data Quality Control and Processing

    SciTech Connect

    Kollias, Pavlos; Jo, Ieng; Borque, Paloma; Tatarevic, Aleksandra; Lamer, Katia; Bharadwaj, Nitin; Widener, Kevin B.; Johnson, Karen L.; Clothiaux, Eugene E.

    2014-03-01

    The Scanning ARM Cloud Radars (SACR’s) are the primary instruments for documenting the four-dimensional structure and evolution of clouds within a 20-30 km radius from the ARM fixed and mobile sites. Here, the post-processing of the calibrated SACR measurements is discussed. First, a feature mask algorithm that objectively determines the presence of significant radar returns is described. The feature mask algorithm is based on the statistical properties of radar receiver noise. It accounts for atmospheric emission and is applicable even for SACR profiles with few or no signal-free range gates. Using the nearest-in-time atmospheric sounding, the SACR radar reflectivities are corrected for gaseous attenuation (water vapor and oxygen) using a line-by-line absorption model. Despite having a high pulse repetition frequency, the SACR has a narrow Nyquist velocity limit and thus Doppler velocity folding is commonly observed. An unfolding algorithm that makes use of a first guess for the true Doppler velocity using horizontal wind measurements from the nearest sounding is described. The retrieval of the horizontal wind profile from the HS-RHI SACR scan observations and/or nearest sounding is described. The retrieved horizontal wind profile can be used to adaptively configure SACR scan strategies that depend on wind direction. Several remaining challenges are discussed, including the removal of insect and second-trip echoes. The described algorithms significantly enhance SACR data quality and constitute an important step towards the utilization of SACR measurements for cloud research.

  18. The relation between Euro-based nuclear weapons and conventional arms control

    SciTech Connect

    Herman, P.T.

    1989-11-01

    The social and economic changes currently underway in the Soviet Union and other member nations of the Warsaw Treaty Organization (WTO) surpass anything that has happened in that geopolitical region since 1945. These changes will influence all aspects of the East-West relationship in ways that cannot be predicted today. There are hopes the result will be an East-West relationship devoid of confrontation. There are fears that instabilities might develop that could lead to armed conflict. The challenge to all nations is to achieve a mutually agreeable future order among nations that is inherently stable. This will require vision and statesmanship on the part of our leaders; it will require understanding and self-discipline on the part of our citizens. Despite occasional periods of tension between member nations of the NATO and WTO, the East-West relationship has been marked by its avoidance of military conflict. Two elements of this relationship have been major contributors to this enduring coexistence. The first has been the existence of two viable alliances: NATO and WTO. These organizations have largely co-opted the national security agendas of their respective member nations and have preempted the option of unilateral pursuit of national objectives through armed conflict in Europe.

  19. Local control stations: Human engineering issues and insights

    SciTech Connect

    Brown, W.S.; Higgins, J.C.; O`Hara, J.M.

    1994-09-01

    The objective of this research project was to evaluate current human engineering at local control stations (LCSs) in nuclear power plants, and to identify good human engineering practices relevant to the design of these operator interfaces. General literature and reports of operating experience were reviewed to determine the extent and type of human engineering deficiencies at LCSs in nuclear power plants. In-plant assessments were made of human engineering at single-function as well as multifunction LCSs. Besides confirming the existence of human engineering deficiencies at LCSs, the in-plant assessments provided information about the human engineering upgrades that have been made at nuclear power plants. Upgrades were typically the result of any of three influences regulatory activity, broad industry initiatives such as INPO, and specific in-plant programs (e.g. activities related to training). It is concluded that the quality of LCSs is quite variable and might be improved if there were greater awareness of good practices and existing human engineering guidance relevant to these operator interfaces, which is available from a variety of sources. To make such human engineering guidance more readily accessible, guidelines were compiled from such sources and included in the report as an appendix.

  20. 'Stranger' child-murder: issues relating to causes and controls.

    PubMed

    Wilson, P R

    1988-02-01

    Most industrialised countries are concerned with a perceived increase in the killing of children and adolescents by strangers. Though reliable statistics are lacking, the growth of serial murder suggests that more young persons may be at risk than ever before. Explanations, either of a psychological or sociological kind, of child murder by strangers are inadequately developed. Despite the tendency to see such killers as psychiatrically ill a number of studies suggest that the majority of offenders do not differ significantly, at least in psychological traits, from non-offenders. Subcultural and other sociological perspectives stressing "social disadvantage" have low levels of exploratory power and do not assist greatly in understanding child killings. Despite sketchy and contradictory evidence on the effects of the media on sexual and violent crime case study material supports the view that pornography, including popular music, may increase the propensity of individuals to commit atrocities. Counter-measures to control stranger child killing lie in more sophisticated law enforcement (profiling and computer links between police forces) long periods of incarceration of the offender and more sophisticated analyses of the crimes.

  1. Design and analysis issues of integrated control systems for high-speed civil transports

    NASA Technical Reports Server (NTRS)

    Mccarty, Craig A.; Feather, John B.; Dykman, John R.; Page, Mark A.; Hodgkinson, John

    1992-01-01

    A study was conducted to identify, rank, and define development plans for the critical guidance and control design and analysis issues as related to economically viable and environmentally acceptable high-speed civil transport. The issues were identified in a multistep process. First, pertinent literature on supersonic cruise aircraft was reviewed, and experts were consulted to establish the fundamental characteristics and problems inherent to supersonic cruise aircraft. Next, the advanced technologies and strategies being pursued for the high-speed civil transport were considered to determine any additional unique control problems the transport may have. Finally, existing technologies and methods were examined to determine their capabilities for the design and analysis of high-speed civil transport control systems and to identify the shortcomings and issues. Three priority levels - mandatory, highly beneficial, and desirable - were established. Within each of these levels, the issues were further ranked. Technology development plans for each issue were defined. Each plan contains a task breakdown and schedule.

  2. Nonproliferation, arms control and disarmament and extended deterrence in the new security environment

    SciTech Connect

    Pilat, Joseph F

    2009-01-01

    With the end of the Cold War, in a dramatically changed security environment, the advances in nonnuclear strategic capabilities along with reduced numbers and roles for nuclear forces has altered the calculus of deterrence and defense, at least for the United States. For many, this opened up a realistic possibility of a nuclear-free world. It soon became clear that the initial post-Cold War hopes were exaggerated. The world did change fundamentally, but it did not become more secure and stable. In place of the old Soviet threat, there has been growing concern about proliferation and terrorism involving nuclear and other weapons of mass destruction (WMD), regional conflicts, global instability and increasingly serious new and emerging threats, including cyber attacks and attacks on satellites. For the United States at least, in this emerging environment, the political rationales for nuclear weapons, from deterrence to reassurance to alliance management, are changing and less central than during the Cold War to the security of the United States, its friends and allies. Nuclear weapons remain important for the US, but for a far more limited set of roles and missions. As the Perry-Schlesinger Commission report reveals, there is a domestic US consensus on nuclear policy and posture at the highest level and for the near term, including the continued role of nuclear arms in deterring WMD use and in reassuring allies. Although the value of nuclear weapons has declined for the United States, the value of these weapons for Russia, China and so-called 'rogue' states is seen to be rising. The nuclear logic of NATO during Cold War - the need for nuclear weapons to counter vastly superior conventional capabilities of the Soviet Union and the Warsaw Pact - is today heard from Russians and even some proliferants. Moreover, these weapons present a way for rogues to achieve regional hegemony and possibly to deter interventions by the United States or others. While the vision of a

  3. Comparing smooth arm movements with the two-thirds power law and the related segmented-control hypothesis.

    PubMed

    Richardson, Magnus J E; Flash, Tamar

    2002-09-15

    The movements of the human arm have been extensively studied for a variety of goal-directed experimental tasks. Analyses of the trajectory and velocity of the arm have led to many hypotheses for the planning strategies that the CNS might use. One family of control hypotheses, including minimum jerk, snap and their generalizations to higher orders, comprises those that favor smooth movements through the optimization of an integral cost function. The predictions of each order of this family are examined for two standard experimental tasks: point-to-point movements and the periodic tracing of figural forms, and compared both with experiment and the two-thirds power law. The aim of the analyses is to generalize previous numerical observations as well as to examine movement segmentation. It is first shown that contrary to recent statements in the literature, the only members of this family of control theories that match reaching movement experiments well are minimum jerk and snap. Then, for the case of periodic drawing, both the ellipse and cloverleaf are examined and the experimentally observed power law is derived from a first-principles approach. The results for the ellipse are particularly general, representing a unification of the two-thirds power law and smoothness hypotheses for ellipses of all reasonable eccentricities. For complex shapes it is shown that velocity profiles derived from the cost-function approach exhibit the same experimental features that were interpreted as segmented control by the CNS. Because the cost function contains no explicit segmented control, this result casts doubt on such an interpretation of the experimental data.

  4. Overhead imaging for verification and peacekeeping: Three studies. Arms Control Verification Studies No. 6

    SciTech Connect

    Banner, A.V.

    1991-01-01

    This paper examines commercially available overhead remote sensing systems and their applications for international security. The paper describes the basic operating characteristics and features of commercially available systems, then uses two case studies to examine potential applications. In the first, imagery acquired during the Soviet withdrawal from Afghanistan in 1988 and 1989 is used to assess whether commercially available satellite imagery would be useful for monitoring large scale withdrawals of conventionally armed forces. In the second case study, imagery of selected sites in Namibia and Angola is used to examine whether such imagery could have supported United Nations peacekeeping operations in those countries. Potential applications of airborne remote sensing systems are also demonstrated using previously acquired imagery to show the kinds of results which could be obtained using commercially available systems.

  5. Scanning ARM Cloud Radars Part II. Data Quality Control and Processing

    SciTech Connect

    Kollias, Pavlos; Jo, Ieng; Borque, Paloma; Tatarevic, Aleksandra; Lamer, Katia; Bharadwaj, Nitin; Widener, Kevin B.; Johnson, Karen; Clothiaux, Eugene E.

    2013-10-04

    The Scanning ARM Cloud Radars (SACR’s) are the primary instruments for documenting the four-dimensional structure and evolution of clouds within a 20-30 km radius from the ARM fixed and mobile sites. Here, the post-processing of the calibrated SACR measurements is discussed. First, a feature mask algorithm that objectively determines the presence of significant radar returns is described. The feature mask algorithm is based on the statistical properties of radar receiver noise. It accounts for atmospheric emission and is applicable even for SACR profiles with few or no signal-free range gates. Using the nearest-in-time atmospheric sounding, the SACR radar reflectivities are corrected for gaseous attenuation (water vapor and oxygen) using a line-by-line absorption model. Despite having a high pulse repetition frequency, the SACR has a narrow Nyquist velocity limit and thus Doppler velocity folding is commonly observed. An unfolding algorithm that makes use of a first guess for the true Doppler velocity using horizontal wind measurements from the nearest sounding is described. The retrieval of the horizontal wind profile from the Hemispherical Sky – Range Height Indicator SACR scan observations and/or nearest sounding is described. The retrieved horizontal wind profile can be used to adaptively configure SACR scan strategies that depend on wind direction. Several remaining challenges are discussed, including the removal of insect and second-trip echoes. The described algorithms significantly enhance SACR data quality and constitute an important step towards the utilization of SACR measurements for cloud research.

  6. Telerobotic control issues related to real task applications in the space environment

    NASA Technical Reports Server (NTRS)

    Zimmerman, Wayne

    1990-01-01

    Recent findings concerning the definition of the expected control environment associated with the Space Station are examined. The range of expected near-term and far-term task applications for robotic systems is provided, and the essential control issues related to the application environment are derived. In addition, an approximate control envelope for teleoperated and autonomous robotic systems is established.

  7. An intelligent control system for rocket engines - Need, vision, and issues

    NASA Technical Reports Server (NTRS)

    Lorenzo, Carl F.; Merrill, Walter C.

    1991-01-01

    Several components of intelligence are defined. Within the context of these definitions an intelligent control system for rocket engines is described. The description includes a framework for development of an intelligent control system, including diagnostics, coordination, and direct control. Some current results and issues are presented.

  8. Impact of Two Adolescent Pregnancy Prevention Interventions on Risky Sexual Behavior: A Three-Arm Cluster Randomized Control Trial

    PubMed Central

    Cunningham, Michael R.; van Zyl, Michiel A.; Antle, Becky F.; Langley, Cheri N.

    2016-01-01

    Objectives. To test the efficacy of Reducing the Risk (RTR) and Love Notes (LN) on reducing risky sexual behavior among youths yet to experience or cause a pregnancy. Methods. The four dependent variables were ever had sex, condom use, birth control use, and number of sexual partners at 3- and 6-month follow-up in a 3-arm cluster randomized controlled trial of 1448 impoverished youths, aged 14 to 19 years, in 23 community-based organizations in Louisville, Kentucky, from September 2011 through March 2014. Results. At 3 and 6 months, compared with the control condition, youths in RTR reported fewer sexual partners and greater use of birth control. At 6 months, LN participants reported greater use of birth control and condoms, fewer sexual partners, and were less likely to have ever had sex compared with the control condition. Conclusions. We provided additional evidence for the continued efficacy of RTR and the first rigorous study of LN, which embeds sex education into a larger curriculum on healthy relationships and violence prevention. PMID:27689500

  9. Equilibrium point control of a monkey arm simulator by a fast learning tree structured artificial neural network.

    PubMed

    Dornay, M; Sanger, T D

    1993-01-01

    A planar 17 muscle model of the monkey's arm based on realistic biomechanical measurements was simulated on a Symbolics Lisp Machine. The simulator implements the equilibrium point hypothesis for the control of arm movements. Given initial and final desired positions, it generates a minimum-jerk desired trajectory of the hand and uses the backdriving algorithm to determine an appropriate sequence of motor commands to the muscles (Flash 1987; Mussa-Ivaldi et al. 1991; Dornay 1991b). These motor commands specify a temporal sequence of stable (attractive) equilibrium positions which lead to the desired hand movement. A strong disadvantage of the simulator is that it has no memory of previous computations. Determining the desired trajectory using the minimum-jerk model is instantaneous, but the laborious backdriving algorithm is slow, and can take up to one hour for some trajectories. The complexity of the required computations makes it a poor model for biological motor control. We propose a computationally simpler and more biologically plausible method for control which achieves the benefits of the backdriving algorithm. A fast learning, tree-structured network (Sanger 1991c) was trained to remember the knowledge obtained by the backdriving algorithm. The neural network learned the nonlinear mapping from a 2-dimensional cartesian planar hand position (x,y) to a 17-dimensional motor command space (u1, . . ., u17). Learning 20 training trajectories, each composed of 26 sample points [[x,y], [u1, . . ., u17] took only 20 min on a Sun-4 Sparc workstation. After the learning stage, new, untrained test trajectories as well as the original trajectories of the hand were given to the neural network as input. The network calculated the required motor commands for these movements. The resulting movements were close to the desired ones for both the training and test cases. PMID:8324058

  10. Control Issues.

    ERIC Educational Resources Information Center

    Olsen, Florence

    2003-01-01

    Discusses how the potential effectiveness of Palladium, Microsoft's new approach to computer security, is worrying academics, who say it could allow publishers to dam the free flow of online information. (EV)

  11. Control of reach extent with the paretic and nonparetic arms after unilateral sensorimotor stroke: kinematic differences based on side of brain damage.

    PubMed

    Stewart, Jill Campbell; Gordon, James; Winstein, Carolee J

    2014-07-01

    Scaling of reach kinematics to targets that vary in distance is indicative of the use of planning and feedback-based adjustments. The control of reach extent, however, has not been reported for the paretic arm after stroke. The purpose of this study was to determine whether individuals post-stroke utilized planning (scaling acceleration magnitude) and feedback-based adjustments (scaling acceleration duration) to reach to targets that varied in distance. Individuals with mild-to-moderate motor impairment after stroke and nondisabled adults reached with both arms to targets presented at three distances (8, 16, 24 cm). Kinematic data were used to determine scaling of peak acceleration magnitude and duration to target distance and compared between arms (control, nonparetic, paretic). Despite differences in the magnitude of movement variables, individuals post-stroke utilized both planning and feedback-based adjustments to meet the demands of the task with the nonparetic and paretic arms in a similar manner as controls. However, there was variability in the use of planning with the paretic arm, some individuals utilized planning while others did not. After right brain damage, differences in reach control related to the specialized role this hemisphere plays in endpoint control were found in both arms; no hemisphere-specific changes were found after left brain damage (LBD). The appearance of hemispheric-specific effects after right but not LBD were not due to age, degree of motor impairment, or time post-stroke, but, instead, may be related to relative differences in visual-motor processing ability, lesion characteristics, or interhemispheric inhibition changes between groups.

  12. Hybrid gaze/EEG brain computer interface for robot arm control on a pick and place task.

    PubMed

    Haofei Wang; Xujiong Dong; Zhaokang Chen; Shi, Bertram E

    2015-08-01

    We describe a hybrid brain computer interface that integrates gaze information from an eye tracker with brain activity information measured by electroencephalography (EEG). Users explicitly control the end effector of a robot arm to move in one of four directions using motor imagery to perform a pick and place task. Measurements of the natural eye gaze behavior of subjects is used to infer the instantaneous intent of the users based on the past gaze trajectory. This information is integrated with the output of the EEG classifier and contextual information about the environment probabilistically using Bayesian inference. Our experiments demonstrate that subjects can achieve 100% task completion within three minutes and that the integration of EEG and gaze information significantly improves performance over either cue in isolation.

  13. Counterproliferation strategy: The influence of technology, budget, and arms control on theater missile defenses. Strategic research project

    SciTech Connect

    Parlier, G.H.

    1996-05-20

    This paper describes the historical evolution of the theater missile threat during World War II and the Persian Gulf War, and analyzes current technological challenges, budgetary pressures, and arms control restraints which constrain the development and deployment of effective theater missile defenses. The impact of these trends on strategic concepts as outlined in the National Military Strategy and their implications for attaining national policy objectives is assessed. A systems approach is used to described analyze, and evaluate the effectiveness of emerging counterproliferation strategy within the framework of an ends-ways-means strategy formulation paradigm. I conclude that current trends will lead to a self-deterring strategy: resources are inadequate to support the ways we intend to achieve our national objectives. Recommendations are made to eliminate unacceptable risk and enhance the concept of `extended conventional deterrence` consistent with U.S. national values and security interests for our role in a new world order.

  14. Control of multi-joint arm movements for the manipulation of touch in keystroke by expert pianists

    PubMed Central

    2010-01-01

    Background Production of a variety of finger-key touches in the piano is essential for expressive musical performance. However, it remains unknown how expert pianists control multi-joint finger and arm movements for manipulating the touch. The present study investigated differences in kinematics and kinetics of the upper-limb movements while expert pianists were depressing a key with two different touches: pressed and struck. The former starts key-depression with the finger-tip contacting the key, whereas the latter involves preparatory arm-lift before striking the key. To determine the effect of individual muscular torque (MUS) as well as non-muscular torques on joint acceleration, we performed a series of inverse and forward dynamics computations. Results The pressed touch showed smaller elbow extension velocity, and larger shoulder and finger flexion velocities during key-depression compared with the struck touch. The former touch also showed smaller elbow extension acceleration directly attributed to the shoulder MUS. In contrast, the shoulder flexion acceleration induced by elbow and wrist MUS was greater for the pressed touch than the struck touch. Towards the goal of producing the target finger-key contact dynamics, the pressed and struck touches effectively took advantage of the distal-to-proximal and proximal-to-distal inter-segmental dynamics, respectively. Furthermore, a psychoacoustic experiment confirmed that a tone elicited by the pressed touch was perceived softer than that by the struck touch. Conclusion The present findings suggest that manipulation of tone timbre depends on control of inter-segmental dynamics in piano keystroke. PMID:20630085

  15. Developing Effluent Analysis Technologies to Support Nonproliferation Initiatives, Arms Control and Nonproliferation Technologies, Third quarter 1995

    SciTech Connect

    Schubert, S A; Staehle, G; Alonzo, G M

    1995-01-01

    This issue provides an overview of the Effluent Research Program of the DOE Office of Research and Development, highlighting a number of representative projects within this program in support of nonproliferation initiatives. Technologies reported include portable instruments for on-site inspections, standoff detectors, fieldable, real-time instruments, field collection techniques, and ultrasensitive laboratory techniques.

  16. Nonspecific Arm Pain

    PubMed Central

    Moradi, Ali; Ebrahimzadeh, Mohammad H; Ring, David

    2013-01-01

    Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness. PMID:25207288

  17. Preface: Special Issue on Catalytic Control of Lean-Burn Engine Exhaust Emissions

    SciTech Connect

    Yezerets, Aleksey; Peden, Charles HF; Szanyi, Janos; Nova, Isabella; Epling, Bill

    2012-04-30

    This issue of Catalysis Today includes original research articles based on select presentations from the Mobile Emissions Control Symposium at the 22nd North American Catalysis Society (NACS) Meeting held in Detroit in June 2011, with a particular focus on catalyzed diesel emissions control. The Symposium was dedicated to the memory of Dr. Haren Gandhi, a visionary technology leader and a passionate environmental advocate.

  18. Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

    NASA Technical Reports Server (NTRS)

    Hennessey, Michael P.; Huang, Paul C.; Bunnell, Charles T.

    1989-01-01

    An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

  19. Forces and moments generated by the human arm: Variability and control

    PubMed Central

    Xu, Y; Terekhov, AV; Latash, ML; Zatsiorsky, VM

    2012-01-01

    This is an exploratory study of the accurate endpoint force vector production by the human arm in isometric conditions. We formulated three common-sense hypotheses and falsified them in the experiment. The subjects (n=10) exerted static forces on the handle in eight directions in a horizontal plane for 25 seconds. The forces were of 4 magnitude levels (10 %, 20%, 30% and 40% of individual MVC). The torsion moment on the handle (grasp moment) was not specified in the instruction. The two force components and the grasp moment were recorded, and the shoulder, elbow, and wrist joint torques were computed. The following main facts were observed: (a) While the grasp moment was not prescribed by the instruction, it was always produced. The moment magnitude and direction depended on the instructed force magnitude and direction. (b) The within-trial angular variability of the exerted force vector (angular precision) did not depend on the target force magnitude (a small negative correlation was observed). (c) Across the target force directions, the variability of the exerted force magnitude and directional variability exhibited opposite trends: In the directions where the variability of force magnitude was maximal, the directional variability was minimal and vice versa. (d) The time profiles of joint torques in the trials were always positively correlated, even for the force directions where flexion torque was produced at one joint and extension torque was produced at the other joint. (e) The correlations between the grasp moment and the wrist torque were negative across the tasks and positive within the individual trials. (f) In static serial kinematic chains, the pattern of the joint torques distribution could not be explained by an optimization cost function additive with respect to the torques. Plans for several future experiments have been suggested. PMID:23080084

  20. Forces and moments generated by the human arm: variability and control.

    PubMed

    Xu, Y; Terekhov, A V; Latash, M L; Zatsiorsky, V M

    2012-11-01

    This is an exploratory study of the accurate endpoint force vector production by the human arm in isometric conditions. We formulated three common-sense hypotheses and falsified them in the experiment. The subjects (n = 10) exerted static forces on the handle in eight directions in a horizontal plane for 25 s. The forces were of 4 magnitude levels (10, 20, 30 and 40 % of individual maximal voluntary contractions). The torsion moment on the handle (grasp moment) was not specified in the instruction. The two force components and the grasp moment were recorded, and the shoulder, elbow, and wrist joint torques were computed. The following main facts were observed: (a) While the grasp moment was not prescribed by the instruction, it was always produced. The moment magnitude and direction depended on the instructed force magnitude and direction. (b) The within-trial angular variability of the exerted force vector (angular precision) did not depend on the target force magnitude (a small negative correlation was observed). (c) Across the target force directions, the variability of the exerted force magnitude and directional variability exhibited opposite trends: In the directions where the variability of force magnitude was maximal, the directional variability was minimal and vice versa. (d) The time profiles of joint torques in the trials were always positively correlated, even for the force directions where flexion torque was produced at one joint and extension torque was produced at the other joint. (e) The correlations between the grasp moment and the wrist torque were negative across the tasks and positive within the individual trials. (f) In static serial kinematic chains, the pattern of the joint torques distribution could not be explained by an optimization cost function additive with respect to the torques. Plans for several future experiments have been suggested. PMID:23080084

  1. Change in agitation in Alzheimer's disease in the placebo arm of a 9-week controlled trial

    PubMed Central

    Drye, Lea T.; Porsteinsson, Anton P.; Pollock, Bruce G.; Devanand, D.P.; Frangakis, Constantine; Ismail, Zahinoor; Marano, Christopher; Meinert, Curtis L.; Mintzer, Jacobo E.; Munro, Cynthia A.; Pelton, Gregory; Rabins, Peter V.; Schneider, Lon S.; Shade, David M.; Weintraub, Daniel; Newell, Jeffery; Yesavage, Jerome; Lyketsos, Constantine G.

    2015-01-01

    Background Placebo responses raise significant challenges for design of clinical trials. We report changes in agitation outcomes in the placebo arm of a recent trial of citalopram for agitation in Alzheimer's disease (AD). Methods In the Citalopram for Agitation in Alzheimer's Disease (Cit AD) study, all participants and caregivers received a psychosocial intervention and 92 were assigned to placebo for 9 weeks. Outcomes included Neurobehavioral Rating Scale agitation subscale (NBRS-A), modified Alzheimer Disease Cooperative Study-Clinical Global Impression of Change (CGIC), Cohen-Mansfield Agitation Inventory (CMAI), the Neuropsychiatric Inventory (NPI) Agitation/Aggression domain (NPI A/A) and Total (NPI-Total) and ADLs. Continuous outcomes were analyzed with mixed-effects modeling and dichotomous outcomes with logistic regression. Results Agitation outcomes improved over 9 weeks: NBRS-A mean (SD) decreased from 7.8 (3.0) at baseline to 5.4 (3.2), CMAI from 28.7 (6.7) to 26.7 (7.4), NPI A/A from 8.0 (2.4) to 4.9 (3.8), and NPI-Total from 37.3 (17.7) to 28.4 (22.1). The proportion of CGI-C agitation responders ranged from 21 to 29% and was significantly different from zero. MMSE improved from 14.4 (6.9) to 15.7 (7.2) and ADLs similarly improved. Most of the improvement was observed by 3 weeks and was sustained through 9 weeks. The major predictor of improvement in each agitation measure was a higher baseline score in that measure. Conclusions We observed significant placebo response which may be due to regression to the mean, response to a psychosocial intervention, natural course of symptoms, or nonspecific benefits of participation in a trial. PMID:26305876

  2. Airborne Multisensor Pod System, Arms control and nonproliferation technologies: Second quarter 1995

    SciTech Connect

    Alonzo, G M; Sanford, N M

    1995-01-01

    This issue focuses on the Airborne Multisensor Pod System (AMPS) which is a collaboration of many of the DOE national laboratories to provide a scientific environment to research multiple sensors and the new information that can be derived from them. The bulk of the research has been directed at nonproliferation applications, but it has also proven useful in environmental monitoring and assessment, and land/water management. The contents of this issue are: using AMPS technology to detect proliferation and monitor resources; combining multisensor data to monitor facilities and natural resources; planning a AMPS mission; SAR pod produces images day or night, rain or shine; MSI pod combines data from multiple sensors; ESI pod will analyze emissions and effluents; and accessing AMPS information on the Internet.

  3. Dual Arm Work Module Development and Appplications

    SciTech Connect

    Noakes, M.W.

    1999-04-25

    The dual arm work module (DAWM) was developed at Oak Ridge National Laboratory (ORNL) by the Robotics Technology Development Program (RTDP) as a development test bed to study issues related to dual arm manipulation, including platform cotilguration, controls, automation, operations, and tooling. The original platform was based on two Schilling Titan II manipulators mounted to a 5-degree-of- freedom (DOF) base fabricated by RedZone Robotics, Inc. The 5-DOF articulation provided a center torso rotation, linear actuation to change the separation between the arms, and arm base rotation joints to provide "elbows up," elbows down," or "elbows out" orientation. A series of tests were conducted on operations, tooling, and task space scene analysis (TSSA)-driven robotics for overhead transporter- mounted and crane hook-deployed scenarios. A concept was developed for DAWM deployment from a large remote work vehicle, but the project was redirected to support dismantlement of the Chicago Pile #5 (CP-5) reactor at Argonne National Laboratory in fiscal year (FY) 1997. Support of CP-5 required a change in focus of the dual arm technology from that of a development test bed to a system focussed for a specific end user. ORNL teamed with the Idaho National Environmental ,Engineering Laboratory, Sandia National Laboratory, and the Savannah River Technology Center to deliver a crane-deployed derivative of the DAWM, designated the dual arm work platform (DAWP). RTDP staff supported DAWP at CP-5 for one FY; Argonne staff continued operation through to dismantlement of the reactor internals. Lessons learned from this interaction were extensive. Beginning in FY 1999, dual arm development activities are again being pursued in the context of those lessons learned. This paper describes the progression of philosophy of the DAWM from initial test bed to lessons learned through interaction at CP-5 and to the present investigation of telerobotic assist of teleoperation and TSSA- driven robotics.

  4. Flexible Arm Splints in the Control of a Lesch-Nyhan Victim's Finger Biting and a Profoundly Retarded Client's Finger Sucking.

    ERIC Educational Resources Information Center

    Ball, Thomas S.; And Others

    1985-01-01

    Flexible arm splints permitting the control of hand-to-mouth contacts without restricting range of motion effectively suppressed the self-injurious finger biting of a child with Lesch-Nyhan disease and a profoundly retarded adult's stereotypic finger sucking. They offered an easily applied and much less restrictive alternative to soft-tie and…

  5. High-speed civil transport flight- and propulsion-control technological issues

    NASA Technical Reports Server (NTRS)

    Ray, J. K.; Carlin, C. M.; Lambregts, A. A.

    1992-01-01

    Technology advances required in the flight and propulsion control system disciplines to develop a high speed civil transport (HSCT) are identified. The mission and requirements of the transport and major flight and propulsion control technology issues are discussed. Each issue is ranked and, for each issue, a plan for technology readiness is given. Certain features are unique and dominate control system design. These features include the high temperature environment, large flexible aircraft, control-configured empennage, minimizing control margins, and high availability and excellent maintainability. The failure to resolve most high-priority issues can prevent the transport from achieving its goals. The flow-time for hardware may require stimulus, since market forces may be insufficient to ensure timely production. Flight and propulsion control technology will contribute to takeoff gross weight reduction. Similar technology advances are necessary also to ensure flight safety for the transport. The certification basis of the HSCT must be negotiated between airplane manufacturers and government regulators. Efficient, quality design of the transport will require an integrated set of design tools that support the entire engineering design team.

  6. Issue in pollution control: interplant cost differences and economies of scale.

    USGS Publications Warehouse

    Pittman, R.W.

    1981-01-01

    Seeks evidence concerning the issues of the relative efficiencies of different institutional arrangements for pollution control and the implications of control requirements for economies of scale and barriers to entry. Data is derived from the estimation of a production function for 30 pulp and paper mills in Wisconsin and Michigan. Concludes that the systematic differences in marginal treatment costs for different mills are evidence of serious inefficiencies resulting from the current (US) system of pollution control regulation. The positive association of pollution control intensity with economies of scale suggests that any pollution control regime has some negative allocational effects in this industry (and presumably others). -K.Turner

  7. 49 CFR 1544.221 - Carriage of prisoners under the control of armed law enforcement officers.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... ensure that the prisoner is restrained from full use of his or her hands by an appropriate device that... aircraft operator may provide a prisoner under the control of a law enforcement officer— (1) With food...

  8. Coordinated control of a dual-arm dexterous robot using full immersion telepresence and virtual reality

    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-board crew and effectively transfers them to a slave robot. A dual alarm dexterous robot operating under telepresence control has been developed and initial evaluations of the system performing candidate EVA, IVA and planetary geological tasks were conducted. The results of our evaluation showed that telepresence control is very effective in transferring the operator's skills to the slave robot. However, the results also showed that, due to the kinematic and dynamics inconsistencies between the operator and the robot, a limited amount of intelligent automation is also required to carry out some to the tasks. Therefore, several enhancements have been made to the original system to increase the automated capabilities of the control system without losing the benefits of telepresence.

  9. Nonlinear modeling and identification of the electro-hydraulic control system of an excavator arm using BONL model

    NASA Astrophysics Data System (ADS)

    Yan, Jun; Li, Bo; Guo, Gang; Zeng, Yonghua; Zhang, Meijun

    2013-11-01

    Electro-hydraulic control systems are nonlinear in nature and their mathematic models have unknown parameters. Existing research of modeling and identification of the electro-hydraulic control system is mainly based on theoretical state space model, and the parameters identification is hard due to its demand on internal states measurement. Moreover, there are also some hard-to-model nonlinearities in theoretical model, which needs to be overcome. Modeling and identification of the electro-hydraulic control system of an excavator arm based on block-oriented nonlinear(BONL) models is investigated. The nonlinear state space model of the system is built first, and field tests are carried out to reveal the nonlinear characteristics of the system. Based on the physic insight into the system, three BONL models are adopted to describe the highly nonlinear system. The Hammerstein model is composed of a two-segment polynomial nonlinearity followed by a linear dynamic subsystem. The Hammerstein-Wiener(H-W) model is represented by the Hammerstein model in cascade with another single polynomial nonlinearity. A novel Pseudo-Hammerstein-Wiener(P-H-W) model is developed by replacing the single polynomial of the H-W model by a non-smooth backlash function. The key term separation principle is applied to simplify the BONL models into linear-in-parameters structures. Then, a modified recursive least square algorithm(MRLSA) with iterative estimation of internal variables is developed to identify the all the parameters simultaneously. The identification results demonstrate that the BONL models with two-segment polynomial nonlinearities are able to capture the system behavior, and the P-H-W model has the best prediction accuracy. Comparison experiments show that the velocity prediction error of the P-H-W model is reduced by 14%, 30% and 75% to the H-W model, Hammerstein model, and extended auto-regressive (ARX) model, respectively. This research is helpful in controller design, system

  10. Design issues for a reinforcement-based self-learning fuzzy controller

    NASA Technical Reports Server (NTRS)

    Yen, John; Wang, Haojin; Dauherity, Walter

    1993-01-01

    Fuzzy logic controllers have some often cited advantages over conventional techniques such as PID control: easy implementation, its accommodation to natural language, the ability to cover wider range of operating conditions and others. One major obstacle that hinders its broader application is the lack of a systematic way to develop and modify its rules and as result the creation and modification of fuzzy rules often depends on try-error or pure experimentation. One of the proposed approaches to address this issue is self-learning fuzzy logic controllers (SFLC) that use reinforcement learning techniques to learn the desirability of states and to adjust the consequent part of fuzzy control rules accordingly. Due to the different dynamics of the controlled processes, the performance of self-learning fuzzy controller is highly contingent on the design. The design issue has not received sufficient attention. The issues related to the design of a SFLC for the application to chemical process are discussed and its performance is compared with that of PID and self-tuning fuzzy logic controller.

  11. The Atomic Papers: A citizen's guide to selected books and articles on the bomb, the arms race, nuclear power, the peace movement, and related issues

    SciTech Connect

    Burns, G.

    1984-01-01

    The Atomic Papers annotates over 800 books published since 1945 and approximately 300 periodical articles since 1980 on every facet of the nuclear dilemma: the development and effects of the bomb, the arms race, nuclear proliferation, and the peace movement. Work on both sides of the nuclear power controversy also receives substantial attention. All references are to English-language material, and nearly half are to work published since 1980. The concluding chapter, ''The Art of Fission,'' describes over one hundred novels and stories with nuclear themes published since 1945--and, in a few cases, before that date.

  12. Active muscle response using feedback control of a finite element human arm model.

    PubMed

    Östh, Jonas; Brolin, Karin; Happee, Riender

    2012-01-01

    Mathematical human body models (HBMs) are important research tools that are used to study the human response in car crash situations. Development of automotive safety systems requires the implementation of active muscle response in HBM, as novel safety systems also interact with vehicle occupants in the pre-crash phase. In this study, active muscle response was implemented using feedback control of a nonlinear muscle model in the right upper extremity of a finite element (FE) HBM. Hill-type line muscle elements were added, and the active and passive properties were assessed. Volunteer tests with low impact loading resulting in elbow flexion motions were performed. Simulations of posture maintenance in a gravity field and the volunteer tests were successfully conducted. It was concluded that feedback control of a nonlinear musculoskeletal model can be used to obtain posture maintenance and human-like reflexive responses in an FE HBM.

  13. Robust motion tracking control of robotic arms based on the generalized energy accumulation principle

    NASA Technical Reports Server (NTRS)

    Song, Y. D.; Anderson, J. N.; Homaifar, A.; Lai, H. Y.

    1992-01-01

    Consider a rigid-link robot with the dynamic model tau = H(q;p)q''+C(q,q',p)q'+G(q;p)+Nu(t) where Nu(.) denotes a bounded external disturbance. The objective addressed herein is to find a control strategy that exhibits the following features: (1) simple to implement, (2) easy to code for program, and (3) robust to possible time-varying uncertainties.

  14. Temperature control and calibration issues in the growth, processing and characterization of electronic materials

    NASA Technical Reports Server (NTRS)

    Wilson, B. A.

    1989-01-01

    The temperature control and calibration issues encountered in the growth, processing, and characterization of electronic materials are summarized. The primary problem area is identified as temperature control during epitaxial materials growth. While qualitative thermal measurements are feasible and reproducibility is often achievable within a given system, absolute calibration is essentially impossible in many cases, precluding the possibility of portability from one system to another. The procedures utilized for thermal measurements during epitaxial growth are described, and their limitations discussed.

  15. 41 CFR 109-27.5104-5 - Control and issue of stock.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 41 Public Contracts and Property Management 3 2011-01-01 2011-01-01 false Control and issue of stock. 109-27.5104-5 Section 109-27.5104-5 Public Contracts and Property Management Federal Property Management Regulations System (Continued) DEPARTMENT OF ENERGY PROPERTY MANAGEMENT REGULATIONS SUPPLY...

  16. 41 CFR 109-27.5104-5 - Control and issue of stock.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 41 Public Contracts and Property Management 3 2010-07-01 2010-07-01 false Control and issue of stock. 109-27.5104-5 Section 109-27.5104-5 Public Contracts and Property Management Federal Property Management Regulations System (Continued) DEPARTMENT OF ENERGY PROPERTY MANAGEMENT REGULATIONS SUPPLY...

  17. Ethical Issues Relative to Autonomy and Personal Control in Independent and Cognitively Impaired Elders.

    ERIC Educational Resources Information Center

    Rice, Virginia Hill; And Others

    1997-01-01

    Discusses ethical issues surrounding health care for independent elders, those in long-term care, and those with cognitive impairments, as well as death, dying, euthanasia, and assisted suicide. Suggests that nurses should focus on older adults' choice, autonomy, and personal control. (SK)

  18. 41 CFR 109-27.5104-5 - Control and issue of stock.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 41 Public Contracts and Property Management 3 2012-01-01 2012-01-01 false Control and issue of stock. 109-27.5104-5 Section 109-27.5104-5 Public Contracts and Property Management Federal Property Management Regulations System (Continued) DEPARTMENT OF ENERGY PROPERTY MANAGEMENT REGULATIONS SUPPLY...

  19. 41 CFR 109-27.5104-5 - Control and issue of stock.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 41 Public Contracts and Property Management 3 2013-07-01 2013-07-01 false Control and issue of stock. 109-27.5104-5 Section 109-27.5104-5 Public Contracts and Property Management Federal Property Management Regulations System (Continued) DEPARTMENT OF ENERGY PROPERTY MANAGEMENT REGULATIONS SUPPLY...

  20. 41 CFR 109-27.5104-5 - Control and issue of stock.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 41 Public Contracts and Property Management 3 2014-01-01 2014-01-01 false Control and issue of stock. 109-27.5104-5 Section 109-27.5104-5 Public Contracts and Property Management Federal Property Management Regulations System (Continued) DEPARTMENT OF ENERGY PROPERTY MANAGEMENT REGULATIONS SUPPLY...

  1. Quality Assurance in UK Higher Education: Issues of Trust, Control, Professional Autonomy and Accountability

    ERIC Educational Resources Information Center

    Hoecht, Andreas

    2006-01-01

    This article explores the issues of trust, control, professional autonomy and accountability in higher education quality assurance in the UK. The main part of this article is conceptual, but it includes results from semi-structured interviews with academic staff that were conducted at two "new university" business schools. Both institutions are…

  2. Hybrid Neuroprosthesis for the Upper Limb: Combining Brain-Controlled Neuromuscular Stimulation with a Multi-Joint Arm Exoskeleton.

    PubMed

    Grimm, Florian; Walter, Armin; Spüler, Martin; Naros, Georgios; Rosenstiel, Wolfgang; Gharabaghi, Alireza

    2016-01-01

    Brain-machine interface-controlled (BMI) neurofeedback training aims to modulate cortical physiology and is applied during neurorehabilitation to increase the responsiveness of the brain to subsequent physiotherapy. In a parallel line of research, robotic exoskeletons are used in goal-oriented rehabilitation exercises for patients with severe motor impairment to extend their range of motion (ROM) and the intensity of training. Furthermore, neuromuscular electrical stimulation (NMES) is applied in neurologically impaired patients to restore muscle strength by closing the sensorimotor loop. In this proof-of-principle study, we explored an integrated approach for providing assistance as needed to amplify the task-related ROM and the movement-related brain modulation during rehabilitation exercises of severely impaired patients. For this purpose, we combined these three approaches (BMI, NMES, and exoskeleton) in an integrated neuroprosthesis and studied the feasibility of this device in seven severely affected chronic stroke patients who performed wrist flexion and extension exercises while receiving feedback via a virtual environment. They were assisted by a gravity-compensating, seven degree-of-freedom exoskeleton which was attached to the paretic arm. NMES was applied to the wrist extensor and flexor muscles during the exercises and was controlled by a hybrid BMI based on both sensorimotor cortical desynchronization (ERD) and electromyography (EMG) activity. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. The hybrid BMI controlled the stimulation significantly better than the offline analyzed ERD (p = 0.028) or EMG (p = 0.021) modality alone. Neuromuscular stimulation could be well integrated into the exoskeleton-based training and amplified both the task-related ROM (p = 0.009) and the movement-related brain modulation (p = 0.019). Combining a hybrid BMI with neuromuscular stimulation

  3. Hybrid Neuroprosthesis for the Upper Limb: Combining Brain-Controlled Neuromuscular Stimulation with a Multi-Joint Arm Exoskeleton

    PubMed Central

    Grimm, Florian; Walter, Armin; Spüler, Martin; Naros, Georgios; Rosenstiel, Wolfgang; Gharabaghi, Alireza

    2016-01-01

    Brain-machine interface-controlled (BMI) neurofeedback training aims to modulate cortical physiology and is applied during neurorehabilitation to increase the responsiveness of the brain to subsequent physiotherapy. In a parallel line of research, robotic exoskeletons are used in goal-oriented rehabilitation exercises for patients with severe motor impairment to extend their range of motion (ROM) and the intensity of training. Furthermore, neuromuscular electrical stimulation (NMES) is applied in neurologically impaired patients to restore muscle strength by closing the sensorimotor loop. In this proof-of-principle study, we explored an integrated approach for providing assistance as needed to amplify the task-related ROM and the movement-related brain modulation during rehabilitation exercises of severely impaired patients. For this purpose, we combined these three approaches (BMI, NMES, and exoskeleton) in an integrated neuroprosthesis and studied the feasibility of this device in seven severely affected chronic stroke patients who performed wrist flexion and extension exercises while receiving feedback via a virtual environment. They were assisted by a gravity-compensating, seven degree-of-freedom exoskeleton which was attached to the paretic arm. NMES was applied to the wrist extensor and flexor muscles during the exercises and was controlled by a hybrid BMI based on both sensorimotor cortical desynchronization (ERD) and electromyography (EMG) activity. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. The hybrid BMI controlled the stimulation significantly better than the offline analyzed ERD (p = 0.028) or EMG (p = 0.021) modality alone. Neuromuscular stimulation could be well integrated into the exoskeleton-based training and amplified both the task-related ROM (p = 0.009) and the movement-related brain modulation (p = 0.019). Combining a hybrid BMI with neuromuscular stimulation

  4. Hybrid Neuroprosthesis for the Upper Limb: Combining Brain-Controlled Neuromuscular Stimulation with a Multi-Joint Arm Exoskeleton.

    PubMed

    Grimm, Florian; Walter, Armin; Spüler, Martin; Naros, Georgios; Rosenstiel, Wolfgang; Gharabaghi, Alireza

    2016-01-01

    Brain-machine interface-controlled (BMI) neurofeedback training aims to modulate cortical physiology and is applied during neurorehabilitation to increase the responsiveness of the brain to subsequent physiotherapy. In a parallel line of research, robotic exoskeletons are used in goal-oriented rehabilitation exercises for patients with severe motor impairment to extend their range of motion (ROM) and the intensity of training. Furthermore, neuromuscular electrical stimulation (NMES) is applied in neurologically impaired patients to restore muscle strength by closing the sensorimotor loop. In this proof-of-principle study, we explored an integrated approach for providing assistance as needed to amplify the task-related ROM and the movement-related brain modulation during rehabilitation exercises of severely impaired patients. For this purpose, we combined these three approaches (BMI, NMES, and exoskeleton) in an integrated neuroprosthesis and studied the feasibility of this device in seven severely affected chronic stroke patients who performed wrist flexion and extension exercises while receiving feedback via a virtual environment. They were assisted by a gravity-compensating, seven degree-of-freedom exoskeleton which was attached to the paretic arm. NMES was applied to the wrist extensor and flexor muscles during the exercises and was controlled by a hybrid BMI based on both sensorimotor cortical desynchronization (ERD) and electromyography (EMG) activity. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. The hybrid BMI controlled the stimulation significantly better than the offline analyzed ERD (p = 0.028) or EMG (p = 0.021) modality alone. Neuromuscular stimulation could be well integrated into the exoskeleton-based training and amplified both the task-related ROM (p = 0.009) and the movement-related brain modulation (p = 0.019). Combining a hybrid BMI with neuromuscular stimulation

  5. First-in-Man Demonstration of Fully Implanted Myoelectric Sensors for Control of an Advanced Electromechanical Arm by Transradial Amputees

    PubMed Central

    Pasquina, Paul F.; Evangelista, Melissa; Carvalho, Antonio J.; Lockhart, Joseph; Griffin, Sarah; Nanos, George; McKay, Patricia; Hansen, Morten; Ipsen, Derek; Vandersea, James; Butkus, Josef; Miller, Matthew; Murphy, Ian; Hankin, David

    2014-01-01

    Background Advanced motorized prosthetic devices are currently controlled by EMG signals generated by residual muscles and recorded by surface electrodes on the skin. These surface recordings are often inconsistent and unreliable, leading to high prosthetic abandonment rates for individuals with upper limb amputation. Surface electrodes are limited because of poor skin contact, socket rotation, residual limb sweating, and their ability to only record signals from superficial muscles, whose function frequently does not relate to the intended prosthetic function. More sophisticated prosthetic devices require a stable and reliable interface between the user and robotic hand to improve upper limb prosthetic function. New Method Implantable Myoelectric Sensors (IMES®) are small electrodes intended to detect and wirelessly transmit EMG signals to an electromechanical prosthetic hand via an electromagnetic coil built into the prosthetic socket. This system is designed to simultaneously capture EMG signals from multiple residual limb muscles, allowing the natural control of multiple degrees of freedom simultaneously. Results We report the status of the first FDA-approved clinical trial of the IMES® System. This study is currently in progress, limiting reporting to only preliminary results. Comparison with Existing Methods Our first subject has reported the ability to accomplish a greater variety and complexity of tasks in his everyday life compared to what could be achieved with his previous myoelectric prosthesis. Conclusion The interim results of this study indicate the feasibility of utilizing IMES® technology to reliably sense and wirelessly transmit EMG signals from residual muscles to intuitively control a three degree-of-freedom prosthetic arm. PMID:25102286

  6. Parametric motion control of robotic arms: A biologically based approach using neural networks

    NASA Technical Reports Server (NTRS)

    Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.

    1993-01-01

    A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

  7. [Arm Motor Function Recovery during Rehabilitation with the Use of Hand Exoskeleton Controlled by Brain-Computer Interface: a Patient with Severe Brain Damage].

    PubMed

    Biryukova, E V; Pavlova, O G; Kurganskaya, M E; Bobrov, P D; Turbina, L G; Frolov, A A; Davydov, V I; Sil'tchenko, A V; Mokienko, O A

    2016-01-01

    We studied the dynamics of motor function recovery in a patient with severe brain damage in the course of neurorehabilitation using hand exoskeleton controlled by brain-computer interface. For estimating the motor function of paretic arm, we used the biomechanical analysis of movements registered during the course of rehabilitation. After 15 weekly sessions of hand exoskeleton control, the following results were obtained: a) the velocity profile of goal-directed movements of paretic hand became bell-shaped, b) the patient began to extend and abduct the hand which was flexed and adducted in the beginning of rehabilitation, and c) the patient began to supinate the forearm which was pronated in the beginning of rehabilitation. The first result is an evidence of the general improvement of the quality of motor control, while the second and third results prove that the spasticity of paretic arm has decreased. PMID:27188144

  8. [Arm Motor Function Recovery during Rehabilitation with the Use of Hand Exoskeleton Controlled by Brain-Computer Interface: a Patient with Severe Brain Damage].

    PubMed

    Biryukova, E V; Pavlova, O G; Kurganskaya, M E; Bobrov, P D; Turbina, L G; Frolov, A A; Davydov, V I; Sil'tchenko, A V; Mokienko, O A

    2016-01-01

    We studied the dynamics of motor function recovery in a patient with severe brain damage in the course of neurorehabilitation using hand exoskeleton controlled by brain-computer interface. For estimating the motor function of paretic arm, we used the biomechanical analysis of movements registered during the course of rehabilitation. After 15 weekly sessions of hand exoskeleton control, the following results were obtained: a) the velocity profile of goal-directed movements of paretic hand became bell-shaped, b) the patient began to extend and abduct the hand which was flexed and adducted in the beginning of rehabilitation, and c) the patient began to supinate the forearm which was pronated in the beginning of rehabilitation. The first result is an evidence of the general improvement of the quality of motor control, while the second and third results prove that the spasticity of paretic arm has decreased.

  9. Nonsurgical Korean Integrative Treatments for Symptomatic Lumbar Spinal Stenosis: A Three-Armed Randomized Controlled Pilot Trial Protocol.

    PubMed

    Kim, Kiok; Shin, Kyung-Min; Lee, Jun-Hwan; Seo, Bok-Nam; Jung, So-Young; Youn, Yousuk; Lee, Sang Ho; Kim, Jaehong; Qu, Wenchun; Kim, Tae-Hun

    2016-01-01

    This is a study protocol for a pilot three-armed randomized controlled trial on nonsurgical integrative Korean medicinal treatment for symptomatic lumbar spinal stenosis (LSS). Thirty-six participants who have been diagnosed with (LSS) and recommended for spinal surgery by neurosurgeons or orthopedics and have had spinal symptoms such as severe low back pain and neurological claudication regardless of at least three months of conservative treatments will be recruited. Participants will be randomly assigned to be one of the three intervention groups, including the Mokhuri treatment program group 1 or 2 or usual care group. All treatments will be administered in inpatient units over a period of 4 weeks. The primary outcomes are 0 to 100 Visual Analogue Scales for low back pain and leg pain and the secondary outcomes are Oswestry Disability Index; EQ-5D; Roland-Morris Disability Questionnaire; Oxford Claudication Score; physical function test, including treadmill test, walking duration, and distance assessment for free leg pain; radiologic testing; and adverse events which will be assessed during the 4-week treatment period as well as after 3 and 6 months of follow-up. Then, we will assess the feasibility of the clinical trial design as well as a nonsurgical integrative treatment program. This trial is registered with CRIS registration number: KCT0001218. PMID:26941823

  10. From conflict to cooperation: The on-site inspection agency as a model for international arms control organizations. Master's thesis

    SciTech Connect

    Traurig, R.E.

    1993-12-01

    An international system is necessary in a multi-polar world. The problem for today is learning how to develop cooperation, not just assume it. Most striking was the level of cooperation involved in the area of nuclear weapons. The United States and the Soviet Union signing of the Intermediate-Range Nuclear Forces Treaty in 1987 ushered in an unprecedented acceptance of intrusive verification measures. The puzzle surrounding this historic event is how the two sides managed to move from conflict to cooperation, from a zero-sum game to positive gains for both sides. Solving this puzzle may provide lessons that can be applied today to organizations such as the International Atomic Energy Agency and the United Nations Special Commission on Iraq. Solving this puzzle will also help students of international relations to better understand how nations learn to cooperate. The search foR a new strategy in the post-Cold War era shows that reality is more complicated in a multi-polar environment. The simpler assumptions that explained the antagonistic situation no longer apply. An attempt must be made to find and develop those structures which may foster overall cooperation. Nations can learn to work together in an area vital to national security, arms control, by working together. Nations can learn by doing if the structure of the organization does not hinder the process. Sustained cooperation, therefore, can be a product and precondition of the organization through the structure of a given treaty.

  11. Identification of Communication and Coordination Issues in the US Air Traffic Control System

    NASA Technical Reports Server (NTRS)

    Davison, Hayley J.; Hansman, R. John

    2001-01-01

    Today's air traffic control system is approaching the point of saturation, as evidenced by increasing delays across the National Airspace System (NAS). There exists an opportunity to enhance NAS efficiency and reduce delays by improving strategic communication throughout the ATC system. Although several measures have been taken to improve communication (e.g., Collaborative Decision Making tools), communication issues between ATC facilities remain. It is hypothesized that by identifying the key issues plaguing inter-facility strategic communication, steps can be taken to enhance these communications, and therefore ATC system efficiency. In this report, a series of site visits were performed at Boston and New York ATC facilities as well as at the Air Traffic Control System Command Center. The results from these site visits were used to determine the current communication and coordination structure of Traffic Management Coordinators, who hold a pivotal role in inter-facility communications. Several themes emerged from the study, including: ambiguity of organizational structure in the current ATC system, awkward coordination between ATC facilities, information flow issues, organizational culture issues, and negotiation behaviors used to cope with organizational culture issues.

  12. Evaluation of an advanced process control solution to detect wafer positioning issues within the hot and cold plate modules of a lithography track

    NASA Astrophysics Data System (ADS)

    Guillaume, Olivier; Bouchardy, Marc; Armellin, Louis-Pierre

    2006-03-01

    To run the various steps of the process, multiple robot arm transfers within the Hot and Cold Plate modules which directly influence the critical dimension of the production wafers were performed on the lithography track. Wafer positioning inside these modules was found to be one of the key parameters to obtain the best critical dimensional uniformity across the wafer. With the currently realized track monitoring and conventional Statistical Process Control (SPC), potential process drifts or errors within these modules can only be detected from wafers measured during the post process control of product parameters. To catch all potential non-conformal production wafers directly at the tool, minimize equipment downtime and identify the root cause of maintenance issues, the real-time control of tool and process parameters is required. This paper presents the results of the evaluation of an Advanced Process Control (APC) solution used to detect in real-time mode any wafer positioning issues within the Hot and Cold Plate modules of a lithography track based on the monitoring of the plate temperature profile during wafer processing. After an explanation of the methodology used to collect the data from the tool, an initial phase of analysis of the temperature profile of the different Hot Plate modules was carried out. The monitoring of the temperature range was identified as the key parameter for the detection of wafer positioning issues where the temperature profile depends on the number of resistive heating elements, temperature settings and process conditions of the Hot Plate. The wafer tilt was simulated to compare the temperature profile to standard process conditions and in turn determine the detection capability. For the Cold Plate module, it was necessary to know the time between the end of the hot step and the start of the following cold step in order to detect a real tilt issue.

  13. Target switching in curved human arm movements is predicted by changing a single control parameter.

    PubMed

    Hoffmann, Heiko

    2011-01-01

    Straight-line movements have been studied extensively in the human motor-control literature, but little is known about how to generate curved movements and how to adjust them in a dynamic environment. The present work studied, for the first time to my knowledge, how humans adjust curved hand movements to a target that switches location. Subjects (n = 8) sat in front of a drawing tablet and looked at a screen. They moved a cursor on a curved trajectory (spiral or oval shaped) toward a goal point. In half of the trials, this goal switched 200 ms after movement onset to either one of two alternative positions, and subjects smoothly adjusted their movements to the new goal. To explain this adjustment, we compared three computational models: a superposition of curved and minimum-jerk movements (Flash and Henis in J Cogn Neurosci 3(3):220-230, 1991), Vector Planning (Gordon et al. in Exp Brain Res 99(1):97-111, 1994) adapted to curved movements (Rescale), and a nonlinear dynamical system, which could generate arbitrarily curved smooth movements and had a point attractor at the goal. For each model, we predicted the trajectory adjustment to the target switch by changing only the goal position in the model. As result, the dynamical model could explain the observed switch behavior significantly better than the two alternative models (spiral: P = 0.0002 vs. Flash, P = 0.002 vs. Rescale; oval: P = 0.04 vs. Flash; P values obtained from Wilcoxon test on R (2) values). We conclude that generalizing arbitrary hand trajectories to new targets may be explained by switching a single control command, without the need to re-plan or re-optimize the whole movement or superimpose movements.

  14. New technologies and the arms race

    SciTech Connect

    Schaerf, C.; Reid, B.H.; Carlton, D.

    1989-01-01

    This volume contains the proceedings of the International Conference on Technology, the Arms Race and Arms Control. Topics covered include: Cosmic space and the role of Europe and Non-military justification for investments in military technologies.

  15. A compact roller-gear pitch-yaw joint module: Design and control issues

    NASA Technical Reports Server (NTRS)

    Dohring, Mark E.; Anderson, William J.; Newman, Wyatt S.; Rohn, Douglas A.

    1993-01-01

    Robotic systems have been proposed as a means of accomplishing assembly and maintenance tasks in space. The desirable characteristics of these systems include compact size, low mass, high load capacity, and programmable compliance to improve assembly performance. In addition, the mechanical system must transmit power in such a way as to allow high performance control of the system. Efficiency, linearity, low backlash, low torque ripple, and low friction are all desirable characteristics. This work presents a pitch-yaw joint module designed and built to address these issues. Its effectiveness as a two degree-of-freedom manipulator using natural admittance control, a method of force control, is demonstrated.

  16. Controlling under-actuated robot arms using a high speed dynamics process

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

    The invention controls an under-actuated manipulator by first obtaining predetermined active joint accelerations of the active joints and the passive joint friction forces of the passive joints, then computing articulated body qualities for each of the joints from the current positions of the links, and finally computing from the articulated body qualities and from the active joint accelerations and the passive joint forces, active joint forces of the active joints. Ultimately, the invention transmits servo commands to the active joint forces thus computed to the respective ones of the joint servos. The computation of the active joint forces is accomplished using a recursive dynamics algorithm. In this computation, an inward recursion is first carried out for each link, beginning with the outermost link in order to compute the residual link force of each link from the active joint acceleration if the corresponding joint is active, or from the known passive joint force if the corresponding joint is passive. Then, an outward recursion is carried out for each link in which the active joint force is computed from the residual link force if the corresponding joint is active or the passive joint acceleration is computed from the residual link force if the corresponding joint is passive.

  17. Pilates vs. Balance Training in Health Community-Dwelling Seniors: a 3-arm, Randomized Controlled Trial.

    PubMed

    Donath, L; Roth, R; Hürlimann, C; Zahner, L; Faude, O

    2016-03-01

    The study examined effects of traditional balance vs. mat-based Pilates training on balance and trunk strength in healthy community dwellers. Forty-eight seniors were either stratified to a balance training group (BAL, n=16, 69.1 (SD 5.8) y), Pilates training group (PIL, n=17, 70.8 (6.5) y) or control group (CON, n=15, 69.2 (6.1) y). BAL performed traditional balance training, while PIL conducted mat-based Pilates-exercises (8 weeks, 2 sessions/week 66 min each). Balance performance (single limb stance and perturbed kneeling, Y-Balance test), dynamic and isometric trunk flexion and extension were assessed during pre- and post-testing. According to the magnitude-based inference approach, substantial positive effects in favor of BAL compared to CON were found for the Y-balance score (right leg, effect size (d)=0.68; left leg, d=0.56), trunk extension (d=0.68) and single leg stance (right leg, d=0.61; left leg, d=0.38). Dynamic (d=0.32) and isometric (d=0.15) trunk flexion revealed unclear effects. For the Y-balance score (right leg, d=0.48, left leg, d=0.75) and single leg stance (right leg, +d=0.61%; left leg, d=0.67), interestingly, BAL substantially exceeded PIL. PIL vs. CON revealed unclear effects for most parameters (0.05

  18. Key Regulatory Issues for Digital Instrumentation and Control Systems at Nuclear Power Plants

    SciTech Connect

    Korsah, Kofi; Wood, Richard Thomas

    2008-01-01

    To help reduce the uncertainty associated with application of digital instrumentation and controls (I&C) technology in nuclear power plants, the Nuclear Regulatory Commission (NRC) has issued six Interim Staff Guidance (ISG) documents that address the current regulatory positions on what are considered the significant digital I&C issues. These six documents address the following topics: Cyber Security, Diversity and Defense-in-Depth, Risk Informed Digital I&C Regulation, Communication issues, Human Factors and the Digital I&C Licensing Process (currently issued as Draft). After allowing for further refinement based on additional technical insight gathered by NRC staff through near-term research and detailed review of relevant experience, it is expected that updated positions ultimately will be incorporated into regulatory guides and staff review procedures. This paper presents an overview of the guidance provided by the NRC-issued ISGs on key technology considerations (i.e., the first five documents above) for safety-related digital I&C systems.

  19. Arms control is everyone`s business: The United States and the United Nations at the mid-point of the 1990`s

    SciTech Connect

    Lehman, R.F. II

    1993-03-01

    This presentation encourages current efforts in arms control, non- proliferation, and peacekeeping. Verification is heralded as a confidence building method to bring about more openness in international relations. It is purported that openness has already enhanced democratic forces around the world. The insistence on strict compliance with the decisions of the United Nations Security Council is a show of support for international law. It is recommended that international norms on human rights, non-proliferation, and non-aggression be strengthened.

  20. Effects of Computer-Aided Interlimb Force Coupling Training on Paretic Hand and Arm Motor Control following Chronic Stroke: A Randomized Controlled Trial

    PubMed Central

    Lin, Chueh-Ho; Chou, Li-Wei; Luo, Hong-Ji; Tsai, Po-Yi; Lieu, Fu-Kong; Chiang, Shang-Lin; Sung, Wen-Hsu

    2015-01-01

    Objective We investigated the training effects of interlimb force coupling training on paretic upper extremity outcomes in patients with chronic stroke and analyzed the relationship between motor recovery of the paretic hand, arm and functional performances on paretic upper limb. Design A randomized controlled trial with outcome assessment at baseline and after 4 weeks of intervention. Setting Taipei Veterans General Hospital, National Yang-Ming University. Participants Thirty-three subjects with chronic stroke were recruited and randomly assigned to training (n = 16) and control groups (n = 17). Interventions The computer-aided interlimb force coupling training task with visual feedback included different grip force generation methods on both hands. Main Outcome Measures The Barthel Index (BI), the upper extremity motor control Fugl-Meyer Assessment (FMA-UE), the Motor Assessment Score (MAS), and the Wolf Motor Function Test (WMFT). All assessments were executed by a blinded evaluator, and data management and statistical analysis were also conducted by a blinded researcher. Results The training group demonstrated greater improvement on the FMA-UE (p<.001), WMFT (p<.001), MAS (p = .004) and BI (p = .037) than the control group after 4 weeks of intervention. In addition, a moderate correlation was found between the improvement of scores for hand scales of the FMA and other portions of the FMA UE (r = .528, p = .018) or MAS (r = .596, p = .015) in the training group. Conclusion Computer-aided interlimb force coupling training improves the motor recovery of a paretic hand, and facilitates motor control and enhances functional performance in the paretic upper extremity of people with chronic stroke. Trial Registration ClinicalTrials.gov NCT02247674. PMID:26193492

  1. Control strategies for a telerobot

    NASA Technical Reports Server (NTRS)

    Ohara, John; Stasi, Bill

    1989-01-01

    One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

  2. The efficacy of SMART Arm training early after stroke for stroke survivors with severe upper limb disability: a protocol for a randomised controlled trial

    PubMed Central

    2013-01-01

    Background Recovery of upper limb function after stroke is poor. The acute to subacute phase after stroke is the optimal time window to promote the recovery of upper limb function. The dose and content of training provided conventionally during this phase is however, unlikely to be adequate to drive functional recovery, especially in the presence of severe motor disability. The current study concerns an approach to address this shortcoming, through evaluation of the SMART Arm, a non-robotic device that enables intensive and repetitive practice of reaching by stroke survivors with severe upper limb disability, with the aim of improving upper limb function. The outcomes of SMART Arm training with or without outcome-triggered electrical stimulation (OT-stim) to augment movement and usual therapy will be compared to usual therapy alone. Methods/Design A prospective, assessor-blinded parallel, three-group randomised controlled trial is being conducted. Seventy-five participants with a first-ever unilateral stroke less than 4 months previously, who present with severe arm disability (three or fewer out of a possible six points on the Motor Assessment Scale [MAS] Item 6), will be recruited from inpatient rehabilitation facilities. Participants will be randomly allocated to one of three dose-matched groups: SMART Arm training with OT-stim and usual therapy; SMART Arm training without OT-stim and usual therapy; or usual therapy alone. All participants will receive 20 hours of upper limb training over four weeks. Blinded assessors will conduct four assessments: pre intervention (0-weeks), post intervention (4-weeks), 26 weeks and 52 weeks follow-up. The primary outcome measure is MAS item 6. All analyses will be based on an intention-to-treat principle. Discussion By enabling intensive and repetitive practice of a functional upper limb task during inpatient rehabilitation, SMART Arm training with or without OT-stim in combination with usual therapy, has the potential to

  3. Health and environmental sanitation in India: Issues for prioritizing control strategies.

    PubMed

    Kumar, Ganesh S; Kar, Sitanshu Sekhar; Jain, Animesh

    2011-09-01

    Environmental sanitation is a major public health issue in India. Recent interventional studies on environmental sanitation in India highlighted the importance of prioritizing control strategies. Research related to the appropriate cost-effective intervention strategies and their implementation in Indian context is a big challenge. This paper discusses various intervention strategies related to environmental sanitation in India and emphasizes to prioritize it according to the need of country. PMID:22412284

  4. Smog chamber experiments to test oxidant related control strategy issues. Final report 1978-81

    SciTech Connect

    Kamens, R.M.; Jeffries, H.E.; Sexton, K.G.; Gerhardt, A.A.

    1982-03-01

    Outdoor smog chamber experiments were performed to address various issues relating to ozone (O3) production and oxidant control strategies. Temperature effects on single hydrocarbon-NOx systems were studied. Propylene-NOx systems were modeled with particular attention to peroxynitric acid chemistry. Mechanisms were developed to model the O3 reactions with the two major isoprene daughter products, methylvinylketone and methacrolein. Chamber systems with isoprene and O3 were also modeled.

  5. Health and environmental sanitation in India: Issues for prioritizing control strategies

    PubMed Central

    Kumar, Ganesh S; Kar, Sitanshu Sekhar; Jain, Animesh

    2011-01-01

    Environmental sanitation is a major public health issue in India. Recent interventional studies on environmental sanitation in India highlighted the importance of prioritizing control strategies. Research related to the appropriate cost-effective intervention strategies and their implementation in Indian context is a big challenge. This paper discusses various intervention strategies related to environmental sanitation in India and emphasizes to prioritize it according to the need of country. PMID:22412284

  6. Modelling and control issues of dynamically substructured systems: adaptive forward prediction taken as an example

    PubMed Central

    Tu, Jia-Ying; Hsiao, Wei-De; Chen, Chih-Ying

    2014-01-01

    Testing techniques of dynamically substructured systems dissects an entire engineering system into parts. Components can be tested via numerical simulation or physical experiments and run synchronously. Additional actuator systems, which interface numerical and physical parts, are required within the physical substructure. A high-quality controller, which is designed to cancel unwanted dynamics introduced by the actuators, is important in order to synchronize the numerical and physical outputs and ensure successful tests. An adaptive forward prediction (AFP) algorithm based on delay compensation concepts has been proposed to deal with substructuring control issues. Although the settling performance and numerical conditions of the AFP controller are improved using new direct-compensation and singular value decomposition methods, the experimental results show that a linear dynamics-based controller still outperforms the AFP controller. Based on experimental observations, the least-squares fitting technique, effectiveness of the AFP compensation and differences between delay and ordinary differential equations are discussed herein, in order to reflect the fundamental issues of actuator modelling in relevant literature and, more specifically, to show that the actuator and numerical substructure are heterogeneous dynamic components and should not be collectively modelled as a homogeneous delay differential equation. PMID:25104902

  7. Quality assurance and control issues for HF radar wave and current measurements

    NASA Astrophysics Data System (ADS)

    Wyatt, Lucy

    2015-04-01

    HF radars are now widely used to provide surface current measurements over wide areas of the coastal ocean for scientific and operational applications. In general data quality is acceptable for these applications but there remain issues that impact on the quantity and quality of the data. These include problems with calibration and interference which impact on both phased array (e.g. WERA, Pisces) and direction-finding (e.g. SeaSonde) radars. These same issues and others (e.g. signal-to-noise, in-cell current variability, antenna sidelobes) also impact on the quality and quantity of wave data that can be obtained. These issues will be discussed in this paper, illustrated with examples from deployments of WERA, Pisces and SeaSonde radars in the UK, Europe, USA and Australia. These issues involve both quality assurance (making sure the radars perform to spec and the software is fully operational) and in quality control (identifying problems with the data due to radar hardware or software performance issues and flagging these in the provided data streams). Recommendations for the former, and current practice (of the author and within the Australian Coastal Ocean Radar Network, ACORN*) for the latter, will be discussed. The quality control processes for wave measurement are not yet as well developed as those for currents and data from some deployments can be rather noisy. Some new methods, currently under development by SeaView Sensing Ltd and being tested with ACORN data, will be described and results presented. *ACORN is a facility of the Australian Integrated Marine Observing System, IMOS. IMOS is a national collaborative research infrastructure, supported by Australian Government. It is led by University of Tasmania in partnership with the Australian marine and climate science community.

  8. Recruitment issues in a randomized controlled exercise trial targeting wheelchair users.

    PubMed

    Nary, Dorothy E; Froehlich-Grobe, Katherine; Aaronson, Lauren

    2011-03-01

    This paper describes recruitment challenges and lessons learned in conducting a randomized controlled exercise trial in the absence of direct access to a clinical population. One-hundred thirty-five wheelchair users were enrolled in a home and community-based intervention to promote exercise adoption and maintenance. Over 44 months of recruitment, 355 individuals inquired about the study and 323 completed the screening process. Nearly half were determined ineligible (150/323, 46.4%), typically due to having restricted arm movement, cognitive impairment, or medical conditions that are contraindicated for unsupervised exercise. Respondents cited paid media advertisements and recruitment materials placed in health care providers' offices most frequently as being how they learned about the study. RCT participant recruitment, particularly in the absence of direct access to a clinical population, required far more time and resources than anticipated to achieve sufficient enrollment. Nurturing relations with key gatekeepers, creating a visible public profile, and maintaining ongoing recruitment activities were essential to success.

  9. Brain-computer interface-based robotic end effector system for wrist and hand rehabilitation: results of a three-armed randomized controlled trial for chronic stroke

    PubMed Central

    Ang, Kai Keng; Guan, Cuntai; Phua, Kok Soon; Wang, Chuanchu; Zhou, Longjiang; Tang, Ka Yin; Ephraim Joseph, Gopal J.; Kuah, Christopher Wee Keong; Chua, Karen Sui Geok

    2014-01-01

    The objective of this study was to investigate the efficacy of an Electroencephalography (EEG)-based Motor Imagery (MI) Brain-Computer Interface (BCI) coupled with a Haptic Knob (HK) robot for arm rehabilitation in stroke patients. In this three-arm, single-blind, randomized controlled trial; 21 chronic hemiplegic stroke patients (Fugl-Meyer Motor Assessment (FMMA) score 10–50), recruited after pre-screening for MI BCI ability, were randomly allocated to BCI-HK, HK or Standard Arm Therapy (SAT) groups. All groups received 18 sessions of intervention over 6 weeks, 3 sessions per week, 90 min per session. The BCI-HK group received 1 h of BCI coupled with HK intervention, and the HK group received 1 h of HK intervention per session. Both BCI-HK and HK groups received 120 trials of robot-assisted hand grasping and knob manipulation followed by 30 min of therapist-assisted arm mobilization. The SAT group received 1.5 h of therapist-assisted arm mobilization and forearm pronation-supination movements incorporating wrist control and grasp-release functions. In all, 14 males, 7 females, mean age 54.2 years, mean stroke duration 385.1 days, with baseline FMMA score 27.0 were recruited. The primary outcome measure was upper extremity FMMA scores measured mid-intervention at week 3, end-intervention at week 6, and follow-up at weeks 12 and 24. Seven, 8 and 7 subjects underwent BCI-HK, HK and SAT interventions respectively. FMMA score improved in all groups, but no intergroup differences were found at any time points. Significantly larger motor gains were observed in the BCI-HK group compared to the SAT group at weeks 3, 12, and 24, but motor gains in the HK group did not differ from the SAT group at any time point. In conclusion, BCI-HK is effective, safe, and may have the potential for enhancing motor recovery in chronic stroke when combined with therapist-assisted arm mobilization. PMID:25120465

  10. Maintained physical activity and physiotherapy in the management of distal upper limb pain – a protocol for a randomised controlled trial (the arm pain trial)

    PubMed Central

    2014-01-01

    Background Distal upper limb pain (pain affecting the elbow, forearm, wrist, or hand) can be non-specific, or can arise from specific musculoskeletal disorders. It is clinically important and costly, the best approach to clinical management is unclear. Physiotherapy is the standard treatment and, while awaiting treatment, advice is often given to rest and avoid strenuous activities, but there is no evidence base to support these strategies. This paper describes the protocol of a randomised controlled trial to determine, among patients awaiting physiotherapy for distal arm pain, (a) whether advice to remain active and maintain usual activities results in a long-term reduction in arm pain and disability, compared with advice to rest; and (b) whether immediate physiotherapy results in a long-term reduction in arm pain and disability, compared with physiotherapy delivered after a seven week waiting list period. Methods/Design Between January 2012 and January 2014, new referrals to 14 out-patient physiotherapy departments were screened for potential eligibility. Eligible and consenting patients were randomly allocated to one of the following three groups in equal numbers: 1) advice to remain active, 2) advice to rest, 3) immediate physiotherapy. Patients were and followed up at 6, 13, and 26 weeks post-randomisation by self-complete postal questionnaire and, at six weeks, patients who had not received physiotherapy were offered it at this time. The primary outcome is the proportion of patients free of disability at 26 weeks, as determined by the modified DASH (Disabilities of the Arm, Shoulder and Hand) questionnaire. We hypothesise (a) that advice to maintain usual activities while awaiting physiotherapy will be superior than advice to rest the arm; and (b) that fast-track physiotherapy will be superior to normal (waiting list) physiotherapy. These hypotheses will be examined using an intention-to-treat analysis. Discussion Results from this trial will contribute to

  11. Brain-computer interface-based robotic end effector system for wrist and hand rehabilitation: results of a three-armed randomized controlled trial for chronic stroke.

    PubMed

    Ang, Kai Keng; Guan, Cuntai; Phua, Kok Soon; Wang, Chuanchu; Zhou, Longjiang; Tang, Ka Yin; Ephraim Joseph, Gopal J; Kuah, Christopher Wee Keong; Chua, Karen Sui Geok

    2014-01-01

    The objective of this study was to investigate the efficacy of an Electroencephalography (EEG)-based Motor Imagery (MI) Brain-Computer Interface (BCI) coupled with a Haptic Knob (HK) robot for arm rehabilitation in stroke patients. In this three-arm, single-blind, randomized controlled trial; 21 chronic hemiplegic stroke patients (Fugl-Meyer Motor Assessment (FMMA) score 10-50), recruited after pre-screening for MI BCI ability, were randomly allocated to BCI-HK, HK or Standard Arm Therapy (SAT) groups. All groups received 18 sessions of intervention over 6 weeks, 3 sessions per week, 90 min per session. The BCI-HK group received 1 h of BCI coupled with HK intervention, and the HK group received 1 h of HK intervention per session. Both BCI-HK and HK groups received 120 trials of robot-assisted hand grasping and knob manipulation followed by 30 min of therapist-assisted arm mobilization. The SAT group received 1.5 h of therapist-assisted arm mobilization and forearm pronation-supination movements incorporating wrist control and grasp-release functions. In all, 14 males, 7 females, mean age 54.2 years, mean stroke duration 385.1 days, with baseline FMMA score 27.0 were recruited. The primary outcome measure was upper extremity FMMA scores measured mid-intervention at week 3, end-intervention at week 6, and follow-up at weeks 12 and 24. Seven, 8 and 7 subjects underwent BCI-HK, HK and SAT interventions respectively. FMMA score improved in all groups, but no intergroup differences were found at any time points. Significantly larger motor gains were observed in the BCI-HK group compared to the SAT group at weeks 3, 12, and 24, but motor gains in the HK group did not differ from the SAT group at any time point. In conclusion, BCI-HK is effective, safe, and may have the potential for enhancing motor recovery in chronic stroke when combined with therapist-assisted arm mobilization.

  12. Special audit report on the Department of Energy`s Arms and military-type equipment

    SciTech Connect

    Layton, J.C.

    1996-02-01

    Based on the activities associated with the recent recovery of the eight armored personnel carriers, a review was conducted of the Department`s controls over arms and military-type equipment in its possession. The objects were to determine whether (1) the quantity of arms and military-type equipment on hand was justified by mission needs, (2) inventory listings of arms were accurate, (3) property disposals were properly controlled and executed, and (4) loans and borrowed equipment were appropriate and accounted for accurately. The purpose of this report is to summarize the most significant issues identified and point out where the Department needs stronger controls over its inventory of arms and military-type property.

  13. Information Sharing in the Process Control Systems Forum Assessing Liability Issues

    SciTech Connect

    Ray Fink

    2005-10-01

    The Process Control Systems Forum (http://www.pcsforum.org) is an open, collaborative, voluntary forum established by the Department of Homeland Security. The purpose of the Forum is to accelerate the development of technology that will enhance the security, safety, and reliability of process control systems (PCS) and supervisory control and data acquisition (SCADA) systems. It is intended as a venue for technologists from user sectors, vendors, and academia. The Forum is not a standards body. Within the Forum, there is a variety of working groups and interest groups that are focused on specific subject areas. One such Interest Group is addressing how to create a ''safe zone'' for critical information sharing. This Interest Group is concerned with topics such as: trade-offs between maintaining security and sharing best practices; secure mechanisms for sharing of critical information; legal issues associated with sharing information; institutional impediments to sharing best practices and relevant incidents; finding a meaningful manner of exchange for sharing process control security events, incidents, audit logs, etc.; and creating a database of relevant industrial cyber events. The purpose of this white paper is to address liability issues that might arise from sharing of critical information such as recommended ''best practices''. There is a concern that by publishing ''best practices'' or similar information, the Forum or its members might be inadvertently assuming some liability. The following scenarios illustrate the concerns about potential liability.

  14. Arm Tremor, Tardive Dyskinesia, and Mental Retardation.

    ERIC Educational Resources Information Center

    van Emmerik, R. E. A.; And Others

    1993-01-01

    The arm tremor of adults (n=32) diagnosed as having mental retardation and/or tardive dyskinesia was examined through an analysis of the acceleration properties of several arm postures. The degree of arm acceleration was increased in all subjects compared to a control group without mental retardation. Effects of neuroleptic medication were noted.…

  15. Effects of Action Observational Training Plus Brain-Computer Interface-Based Functional Electrical Stimulation on Paretic Arm Motor Recovery in Patient with Stroke: A Randomized Controlled Trial.

    PubMed

    Kim, TaeHoon; Kim, SeongSik; Lee, ByoungHee

    2016-03-01

    The purpose of this study was to investigate whether action observational training (AOT) plus brain-computer interface-based functional electrical stimulation (BCI-FES) has a positive influence on motor recovery of paretic upper extremity in patients with stroke. This was a hospital-based, randomized controlled trial with a blinded assessor. Thirty patients with a first-time stroke were randomly allocated to one of two groups: the BCI-FES group (n = 15) and the control group (n = 15). The BCI-FES group administered to AOT plus BCI-FES on the paretic upper extremity five times per week during 4 weeks while both groups received conventional therapy. The primary outcomes were the Fugl-Meyer Assessment of the Upper Extremity, Motor Activity Log (MAL), Modified Barthel Index and range of motion of paretic arm. A blinded assessor evaluated the outcomes at baseline and 4 weeks. All baseline outcomes did not differ significantly between the two groups. After 4 weeks, the Fugl-Meyer Assessment of the Upper Extremity sub-items (total, shoulder and wrist), MAL (MAL-Activity of Use and Quality of Movement), Modified Barthel Index and wrist flexion range of motion were significantly higher in the BCI-FES group (p < 0.05). AOT plus BCI-based FES is effective in paretic arm rehabilitation by improving the upper extremity performance. The motor improvements suggest that AOT plus BCI-based FES can be used as a therapeutic tool for stroke rehabilitation. The limitations of the study are that subjects had a certain limited level of upper arm function, and the sample size was comparatively small; hence, it is recommended that future large-scale trials should consider stratified and lager populations according to upper arm function.

  16. Brain-machine interface to control a prosthetic arm with monkey ECoGs during periodic movements.

    PubMed

    Morishita, Soichiro; Sato, Keita; Watanabe, Hidenori; Nishimura, Yukio; Isa, Tadashi; Kato, Ryu; Nakamura, Tatsuhiro; Yokoi, Hiroshi

    2014-01-01

    Brain-machine interfaces (BMIs) are promising technologies for rehabilitation of upper limb functions in patients with severe paralysis. We previously developed a BMI prosthetic arm for a monkey implanted with electrocorticography (ECoG) electrodes, and trained it in a reaching task. The stability of the BMI prevented incorrect movements due to misclassification of ECoG patterns. As a trade-off for the stability, however, the latency (the time gap between the monkey's actual motion and the prosthetic arm movement) was about 200 ms. Therefore, in this study, we aimed to improve the response time of the BMI prosthetic arm. We focused on the generation of a trigger event by decoding muscle activity in order to predict integrated electromyograms (iEMGs) from the ECoGs. We verified the achievability of our method by conducting a performance test of the proposed method with actual achieved iEMGs instead of predicted iEMGs. Our results confirmed that the proposed method with predicted iEMGs eliminated the time delay. In addition, we found that motor intention is better reflected by muscle activity estimated from brain activity rather than actual muscle activity. Therefore, we propose that using predicted iEMGs to guide prosthetic arm movement results in minimal delay and excellent performance. PMID:25565947

  17. Tubulin polyglutamylation regulates flagellar motility by controlling a specific inner-arm dynein that interacts with the dynein regulatory complex.

    PubMed

    Kubo, Tomohiro; Yagi, Toshiki; Kamiya, Ritsu

    2012-12-01

    The tpg1 mutant of Chlamydomonas lacks the tubulin polyglutamylase TTLL9 and is deficient in flagellar tubulin polyglutamylation. It exhibits slow swimming, whereas the double mutant with oda2 (a slow-swimming mutant that lacks outer-arm dynein) is completely nonmotile. Thus, tubulin polyglutamylation must be important for the functioning of inner-arm dynein(s). In this study, we show that the tpg1 mutation only slightly affects the motility of mutants that lack dynein "e," one of the seven species of major inner-arm dyneins, whereas it greatly reduces the motility of mutants lacking other inner-arm dynein species. This suggests that dynein e is the main target of motility regulation by tubulin polyglutamylation. Furthermore, the motility of various mutants in the background of the tpg1 mutation raises the possibility that tubulin polyglutamylation also affects the dynein regulatory complex, a dynein e-associated key regulator of flagellar motility, which possibly constitutes the interdoublet (nexin) link. Tubulin polyglutamylation thus may play a central role in the regulation of ciliary and flagellar motility. © 2012 Wiley Periodicals, Inc.

  18. Data feedback and behavioural change intervention to improve primary care prescribing safety (EFIPPS): multicentre, three arm, cluster randomised controlled trial

    PubMed Central

    Kavanagh, Kimberley; Robertson, Chris; Barnett, Karen; Treweek, Shaun; Petrie, Dennis; Ritchie, Lewis; Bennie, Marion

    2016-01-01

    Objective To evaluate the effectiveness of feedback on safety of prescribing compared with moderately enhanced usual care. Design Three arm, highly pragmatic cluster randomised trial. Setting and participants 262/278 (94%) primary care practices in three Scottish health boards. Interventions Practices were randomised to: “usual care,” consisting of emailed educational material with support for searching to identify patients (88 practices at baseline, 86 analysed); usual care plus feedback on practice’s high risk prescribing sent quarterly on five occasions (87 practices, 86 analysed); or usual care plus the same feedback incorporating a behavioural change component (87 practices, 86 analysed). Main outcome measures The primary outcome was a patient level composite of six prescribing measures relating to high risk use of antipsychotics, non-steroidal anti-inflammatories, and antiplatelets. Secondary outcomes were the six individual measures. The primary analysis compared high risk prescribing in the two feedback arms against usual care at 15 months. Secondary analyses examined immediate change and change in trend of high risk prescribing associated with implementation of the intervention within each arm. Results In the primary analysis, high risk prescribing as measured by the primary outcome fell from 6.0% (3332/55 896) to 5.1% (2845/55 872) in the usual care arm, compared with 5.9% (3341/56 194) to 4.6% (2587/56 478) in the feedback only arm (odds ratio 0.88 (95% confidence interval 0.80 to 0.96) compared with usual care; P=0.007) and 6.2% (3634/58 569) to 4.6% (2686/58 582) in the feedback plus behavioural change component arm (0.86 (0.78 to 0.95); P=0.002). In the pre-specified secondary analysis of change in trend within each arm, the usual care educational intervention had no effect on the existing declining trend in high risk prescribing. Both types of feedback were associated with significantly more rapid decline in high risk

  19. Contrasting Perspectives Of Junior versus Senior NASA ISS Flight Controllers On Leadership And Cultural Issues

    NASA Technical Reports Server (NTRS)

    Clement, James L.; Boyd, J. E.; Saylor, S.; Kanas, N.

    2007-01-01

    NASA flight controllers have always worked in a very demanding environment, but the International Space Station (ISS) poses even more challenges than prior missions. A recent NASA/Ames survey by Parke and Orasanu of NASA/Johnson flight controllers uncovered concerns about communications problems between American personnel and their international counterparts. To better understand these problems, we interviewed 14 senior and 12 junior ISS flight controllers at NASA/Johnson about leadership and cultural challenges they face and strategies for addressing these challenges. The qualitative interview data were coded and tabulated. Here we present quantitative analyses testing for differences between junior and senior controllers. Based on nonparametric statistical tests comparing responses across groups, the senior controllers were significantly more aware of the impact of working in dispersed teams, the context of constant change, and the upcoming multilateral challenges, while junior controllers were more aware of language and cultural issues. We consider our findings in light of other studies of controllers and other known differences between senior and junior controllers. For example, the fact that senior controllers had their formative early experience controlling pre-ISS short-duration Shuttle missions seems to have both positive and negative aspects, which are supported by our data. Our findings may also reflect gender differences, but we cannot unconfound this effect in our data because all the senior respondents were males. Many of the junior-senior differences are not only due to elapsed time on the job, but also due to a cohort effect. The findings of this study should be used for training curricula tailored differently for junior and senior controllers.

  20. Design considerations to improve cognitive ergonomic issues of unmanned vehicle interfaces utilizing video game controllers.

    PubMed

    Oppold, P; Rupp, M; Mouloua, M; Hancock, P A; Martin, J

    2012-01-01

    Unmanned (UAVs, UCAVs, and UGVs) systems still have major human factors and ergonomic challenges related to the effective design of their control interface systems, crucial to their efficient operation, maintenance, and safety. Unmanned system interfaces with a human centered approach promote intuitive interfaces that are easier to learn, and reduce human errors and other cognitive ergonomic issues with interface design. Automation has shifted workload from physical to cognitive, thus control interfaces for unmanned systems need to reduce mental workload on the operators and facilitate the interaction between vehicle and operator. Two-handed video game controllers provide wide usability within the overall population, prior exposure for new operators, and a variety of interface complexity levels to match the complexity level of the task and reduce cognitive load. This paper categorizes and provides taxonomy for 121 haptic interfaces from the entertainment industry that can be utilized as control interfaces for unmanned systems. Five categories of controllers were based on the complexity of the buttons, control pads, joysticks, and switches on the controller. This allows the selection of the level of complexity needed for a specific task without creating an entirely new design or utilizing an overly complex design. PMID:22317628

  1. Design considerations to improve cognitive ergonomic issues of unmanned vehicle interfaces utilizing video game controllers.

    PubMed

    Oppold, P; Rupp, M; Mouloua, M; Hancock, P A; Martin, J

    2012-01-01

    Unmanned (UAVs, UCAVs, and UGVs) systems still have major human factors and ergonomic challenges related to the effective design of their control interface systems, crucial to their efficient operation, maintenance, and safety. Unmanned system interfaces with a human centered approach promote intuitive interfaces that are easier to learn, and reduce human errors and other cognitive ergonomic issues with interface design. Automation has shifted workload from physical to cognitive, thus control interfaces for unmanned systems need to reduce mental workload on the operators and facilitate the interaction between vehicle and operator. Two-handed video game controllers provide wide usability within the overall population, prior exposure for new operators, and a variety of interface complexity levels to match the complexity level of the task and reduce cognitive load. This paper categorizes and provides taxonomy for 121 haptic interfaces from the entertainment industry that can be utilized as control interfaces for unmanned systems. Five categories of controllers were based on the complexity of the buttons, control pads, joysticks, and switches on the controller. This allows the selection of the level of complexity needed for a specific task without creating an entirely new design or utilizing an overly complex design.

  2. Machine-based, self-guided home therapy for individuals with severe arm impairment after stroke: a randomized controlled trial

    PubMed Central

    Zondervan, DK; Augsburger, R; Bodenhoefer, B; Friedman, N; Reinkensmeyer, DJ; Cramer, SC

    2015-01-01

    Background Few therapeutic options exist for the millions of persons living with severe arm impairment after stroke to increase their dose of arm rehabilitation. This study compared self-guided, high-repetition home therapy with a mechanical device (the Resonating Arm Exerciser - RAE) to conventional therapy in patients with chronic stroke, and explored RAE use for patients with subacute stroke. Methods Sixteen participants with severe upper extremity impairment (mean Fugl-Meyer (FM) score = 21.4 ± 8.8 out of 66) > 6 months post stroke were randomized to three-weeks of exercise with RAE or conventional exercises. Primary outcome measure was FM score one month post-therapy. Secondary outcome measures included MAL, Visual Analog Pain scale, and Ashworth spasticity scale. After a one-month break, individuals in the conventional group also received a three-week course of RAE therapy. Results The change in FM score was significant in both the RAE and conventional groups after training (2.6 ± 1.4 and 3.4 ± 2.4, p = 0.008 and 0.016, respectively). These improvements were not significant at one-month. Exercise with RAE led to significantly greater improvements in distal FM score than conventional therapy at the one-month follow-up (p = 0.02). In a separate cohort of patients with subacute stroke, RAE was found feasible for exercise. Discussion In subjects with severe arm impairment after chronic stroke, home-based training with RAE was feasible and significantly reduced impairment without increasing pain or spasticity. Gains with RAE were comparable to those found with conventional training, and also included distal arm improvement. PMID:25273359

  3. Design issues for the active control system of the California Extremely Large Telescope (CELT)

    NASA Astrophysics Data System (ADS)

    Chanan, Gary A.; Nelson, Jerry E.; Ohara, Catherine M.; Sirko, Edwin

    2000-08-01

    We explore the issues in the control and alignment of the primary mirror of the proposed 30 meter California Extremely Large Telescope and other very large telescopes with segmented primaries (consisting of 1000 or more segments). We show that as the number of segments increases, the noise in the telescope active control system (ACS) increases, roughly as (root)n. This likely means that, for a thousand segment telescope like CELT, Keck-style capacitive sensors will not be able to adequately monitor the lowest spatial frequency degrees of freedom of the primary mirror, and will therefore have to be supplemented by a Shack-Hartmann-type wavefront sensor. However, in the case of segment phasing, which is governed by a `control matrix' similar to that of the ACS, the corresponding noise is virtually independent of n. It follows that reasonably straightforward extensions of current techniques should be adequate to phase the extremely large telescopes of the future.

  4. Electroacupuncture to treat painful diabetic neuropathy: study protocol for a three-armed, randomized, controlled pilot trial

    PubMed Central

    2013-01-01

    Background The purpose of this study is to conduct a basic analysis of the effectiveness and safety of electroacupuncture in the treatment of painful diabetic neuropathy (PDN) as compared to placebo and usual care and to evaluate the feasibility of large-scale clinical research. Methods/design This study is a protocol for a three-armed, randomized, patient-assessor-blinded (to the type of treatment), controlled pilot trial. Forty-five participants with a ≥ six month history of PDN and a mean weekly pain score of ≥ 4 on the 11-point Pain Intensity Numerical Rating Scale (PI-NRS) will be assigned to the electroacupuncture group (n = 15), sham group (n = 15) or usual care group (n = 15). The participants assigned to the electroacupuncture group will receive electroacupuncture (remaining for 30 minutes with a mixed current of 2 Hz/120 Hz and 80% of the bearable intensity) at 12 standard acupuncture points (bilateral ST36, GB39, SP9, SP6, LR3 and GB41) twice per week for eight weeks (a total of 16 sessions) as well as the usual care. The participants in the sham group will receive sham electroacupuncture (no electrical current will be passed to the needle, but the light will be seen, and the sound of the pulse generator will be heard by the participants) at non-acupuncture points as well as the usual care. The participants in the usual care group will not receive electroacupuncture treatment during the study period and will receive only the usual care. The follow-up will be in the 5th, 9th and 17th weeks after random allocation. The PI-NRS score assessed at the ninth week will be the primary outcome measurement used in this study. The Short-Form McGill Pain Questionnaire (SF-MPQ), a sleep disturbance score (11-point Likert scale), the Short-Form 36v2 Health Survey (SF-36), the Beck Depression Inventory (BDI) and the Patient Global Impression of Change (PGIC) will be used as outcome variables to evaluate the effectiveness of the acupuncture. Safety will be assessed

  5. Homeopathy for Depression - DEP-HOM: study protocol for a randomized, partially double-blind, placebo controlled, four armed study

    PubMed Central

    2011-01-01

    Background Homeopathy is often sought by patients with depression. In classical homeopathy, the treatment consists of two main elements: the case history and the prescription of an individually selected homeopathic remedy. Previous data suggest that individualized homeopathic Q-potencies were not inferior to the antidepressant fluoxetine in a sample of patients with moderate to severe depression. However, the question remains whether individualized homeopathic Q-potencies and/or the type of the homeopathic case history have a specific therapeutical effect in acute depression as this has not yet been investigated. The study aims to assess the two components of individualized homeopathic treatment for acute depression, i.e., to investigate the specific effect of individualized Q-potencies versus placebo and to investigate the effect of different approaches to the homeopathic case history. Methods/Design A randomized, partially double-blind, placebo-controlled, four-armed trial using a 2 × 2 factorial design with a six-week study duration per patient will be performed. 228 patients diagnosed with major depression (moderate episode) by a psychiatrist will be included. The primary endpoint is the total score on the 17-item Hamilton Depression Rating Scale after six weeks. Secondary end points are: Hamilton Depression Rating Scale total score after two and four weeks; response and remission rates, Beck Depression inventory total score, quality of life and safety at two, four and six weeks. Statistical analyses will be by intention-to-treat. The main endpoint will be analysed by a two-factorial analysis of covariance. Within this model generalized estimation equations will be used to estimate differences between verum and placebo, and between both types of case history. Discussion For the first time this study evaluates both the specific effect of homeopathic medicines and of a homeopathic case taking in patients with depression. It is an attempt to deal with the

  6. Mystery Spiral Arms Explained?

    NASA Astrophysics Data System (ADS)

    2007-04-01

    Using a quartet of space observatories, University of Maryland astronomers may have cracked a 45-year mystery surrounding two ghostly spiral arms in the galaxy M106. The Maryland team, led by Yuxuan Yang, took advantage of the unique capabilities of NASA's Chandra X-ray Observatory, NASA's Spitzer Space Telescope, the European Space Agency's XMM-Newton X-ray observatory, and data obtained almost a decade ago with NASA's Hubble Space Telescope. NGC X-ray Image NGC 4258 X-ray Image M106 (also known as NGC 4258) is a stately spiral galaxy 23.5 million light-years away in the constellation Canes Venatici. In visible-light images, two prominent arms emanate from the bright nucleus and spiral outward. These arms are dominated by young, bright stars, which light up the gas within the arms. "But in radio and X-ray images, two additional spiral arms dominate the picture, appearing as ghostly apparitions between the main arms," says team member Andrew Wilson of the University of Maryland. These so-called "anomalous arms" consist mostly of gas. "The nature of these anomalous arms is a long-standing puzzle in astronomy," says Yang. "They have been a mystery since they were first discovered in the early 1960s." By analyzing data from XMM-Newton, Spitzer, and Chandra, Yang, Bo Li, Wilson, and Christopher Reynolds, all at the University of Maryland at College Park, have confirmed earlier suspicions that the ghostly arms represent regions of gas that are being violently heated by shock waves. Previously, some astronomers had suggested that the anomalous arms are jets of particles being ejected by a supermassive black hole in M106's nucleus. But radio observations by the National Radio Astronomy Observatory's Very Long Baseline Array, and the Very Large Array in New Mexico, later identified another pair of jets originating in the core. "It is highly unlikely that an active galactic nucleus could have more than one pair of jets," says Yang. In 2001, Wilson, Yang, and Gerald Cecil

  7. Editorial and Introduction of the Special Issue for the Ninth International Conference on Greenhouse Gas Control Technologies in the International Journal of Greenhouse Gas Control

    SciTech Connect

    Dooley, James J.; Benson, Sally M.; Karimjee, Anhar; Rubin, Edward S.

    2010-03-01

    Short one page editorial to introduce the +30 peer reviewed papers contained within the Special Issue for the Ninth International Conference on Greenhouse Gas Control Technologies in the International Journal of Greenhouse Gas Control

  8. Anomalous Arms

    NASA Technical Reports Server (NTRS)

    2007-01-01

    In this composite image of spiral galaxy M106 (NGC 4258), optical data from the Digitized Sky Survey is shown as yellow, radio data from the Very Large Array appears as purple, X-ray data from Chandra is coded blue, and infrared data from the Spitzer Space Telescope appears red. Two anomalous arms, which aren't visible at optical wavelengths, appear as purple and blue emission.

  9. Teaching Nuclear Issues. Occasional Paper No. 10.

    ERIC Educational Resources Information Center

    Hicks, David W.

    The nuclear debate is one of critical importance and should be explored as part of the school curriculum. The psychology of denying the issue of nuclear arms and the psychological effects of the arms race on children is examined in this paper. A number of topics that might be included in discussion of nuclear issues are the arms race, politics,…

  10. Teaching Undergraduates about Nuclear Arms and Strategy.

    ERIC Educational Resources Information Center

    Harrison, Michael J.

    1985-01-01

    Nuclear arms education is being addressed in many academic disciplines and can be approached from many viewpoints. Rationale, ethical issues, instructional strategies, European views, and course materials are considered. A syllabus and references are also included for a course titled "Physics of Nuclear Arms and Nuclear War." (DH)

  11. Adaptive control of drug dosage regimens: basic foundations, relevant issues, and clinical examples.

    PubMed

    Jelliffe, R W; Maire, P; Sattler, F; Gomis, P; Tahani, B

    1994-06-01

    In this paper we examine several of the fundamental foundations and relevant clinical issues in adaptive control of drug dosage regimens for patients. Truly individualized therapy with drugs having narrow margins of safety first requires a practical pharmacokinetic/dynamic model of the behavior of a drug. Past experience with a drug is stored in the form of a population model. Next, using the information in such a model and its relationship to the incidence of adverse reactions, a specific, explicit therapeutic goal must be selected by the responsible clinician, based on the patient's need for the drug and the risk of adverse reactions felt to be justified by each patient's need, small, moderate, or great. Individualized drug therapy thus begins with the selection of individualized therapeutic goals (low, moderate, or high) for each patient. Using subsequent feedback from the patient's serum drug levels, and using Bayesian fitting, the model is then linked to each patient as a patient-specific model. Control of the model by the dosage regimen increasingly controls the patient, to better obtain the desired explicit therapeutic goals. This process is essentially similar to that of a flight control or missile guidance system.

  12. Closed-loop control of functional electrical stimulation-assisted arm-free standing in individuals with spinal cord injury: a feasibility study.

    PubMed

    Vette, Albert H; Masani, Kei; Kim, Joon-Young; Popovic, Milos R

    2009-01-01

    Objectives.  The purpose of the present study was to show that the design of a neuroprosthesis for unsupported (arm-free) standing is feasible. We review findings suggesting that a closed-loop controlled functional electrical stimulation (FES) system should be able to facilitate arm-free quiet standing in individuals with spinal cord injury (SCI). Particularly, this manuscript identifies: 1) a control strategy that accurately mimics the strategy healthy individuals apply to regulate the ankle joint position during quiet standing and 2) the degrees of freedom (DOF) of the redundant, closed-chain dynamic system of bipedal stance that have to be regulated to facilitate stable standing. Methods and Results.  First, we utilized a single DOF model of quiet standing (inverted pendulum) to analytically identify a proportional and derivative (PD) feedback controller that regulates the ankle torque in a physiologic manner despite a long sensory-motor time delay. Second, these theoretic results were experimentally validated by implementing the proposed PD controller to stabilize an individual with SCI during quiet standing. Third, a realistic, three-dimensional dynamic model of quiet standing with 12 DOF was used to determine the optimal combination of the minimum number of DOF that need to be regulated with the PD controller to ensure stability during quiet standing. Finally, perturbation simulations confirmed that the kinematics of this system are similar to those of healthy individuals during perturbed standing. Conclusions.  The presented results suggest that stable standing can be achieved in individuals with SCI by controlling only six DOF in the lower limbs using FES, and that a PD controller actuating these DOF can stabilize the system despite a long sensory-motor time delay. Our finding that not all DOF in the lower limbs need to be regulated is particularly relevant for individuals with complete SCI, because some of their muscles may be denervated or difficult

  13. Stability and control issues associated with lightly loaded rotors autorotating in high advance ratio flight

    NASA Astrophysics Data System (ADS)

    Rigsby, James Michael

    Interest in high speed rotorcraft has directed attention toward the slowed-rotor, high advance ratio compound autogyro concept as evidenced by the current DARPA Heliplane project. The behavior of partially unloaded rotors, autorotating at high advance ratio is not well understood and numerous technical issues must be resolved before the vehicle can be realized. Autorotation in helicopters usually indicates an emergency loss of power. For the concept vehicle autorotation is the normal working state of the rotor. The necessity for a reduction in rotor speed with increasing flight speed results in high advance ratio operation where the retreating side of the rotor is dominated by the reverse flow region. Further, rotor speed changes also affect the rotor dynamics and the associated hub moments generated by cyclic flapping. The result is rotor characteristics that vary widely depending on advance ratio. In the present work, rotor behavior is characterized in terms of issues relevant to the control system conceptual design and the rotor impact on the intrinsic vehicle flight dynamics characteristics. A series of trim, stability, and control analyses, based on features inherent in the concept vehicle, are performed. Trends are identified through parametric variation of rotor operating conditions, augmented by inclusion of the sensitivities to blade mass and blade stiffness properties. In this research, non-linear models, including the rotor speed degree of freedom, were created and analyzed with FLIGHTLAB(TM) rotorcraft modeling software. Performance analysis for rotors trimmed to autorotate with zero average hub pitching and rolling moments indicates reduced rotor thrust is achieved primarily through rotor speed reduction at lower shaft incidence angle, and imposing hub moment trim constraints results in a thrust increment sign reversal with collective pitch angle above advance ratio mu ˜ 1.0. Swashplate control perturbations from trim indicate an increase in control

  14. Effect of gravity-like torque on goal-directed arm movements in microgravity.

    PubMed

    Bringoux, L; Blouin, J; Coyle, T; Ruget, H; Mouchnino, L

    2012-05-01

    Gravitational force level is well-known to influence arm motor control. Specifically, hyper- or microgravity environments drastically change pointing accuracy and kinematics, particularly during initial exposure. These modifications are thought to partly reflect impairment in arm position sense. Here we investigated whether applying normogravitational constraints at joint level during microgravity episodes of parabolic flights could restore movement accuracy equivalent to that observed on Earth. Subjects with eyes closed performed arm reaching movements toward predefined sagittal angular positions in four environment conditions: normogravity, hypergravity, microgravity, and microgravity with elastic bands attached to the arm to mimic gravity-like torque at the shoulder joint. We found that subjects overshot and undershot the target orientations in hypergravity and microgravity, respectively, relative to a normogravity baseline. Strikingly, adding gravity-like torque prior to and during movements performed in microgravity allowed subjects to be as accurate as in normogravity. In the former condition, arm movement kinematics, as notably illustrated by the relative time to peak velocity, were also unchanged relative to normogravity, whereas significant modifications were found in hyper- and microgravity. Overall, these results suggest that arm motor planning and control are tuned with respect to gravitational information issued from joint torque, which presumably enhances arm position sense and activates internal models optimally adapted to the gravitoinertial environment.

  15. Cortical Spiking Network Interfaced with Virtual Musculoskeletal Arm and Robotic Arm.

    PubMed

    Dura-Bernal, Salvador; Zhou, Xianlian; Neymotin, Samuel A; Przekwas, Andrzej; Francis, Joseph T; Lytton, William W

    2015-01-01

    Embedding computational models in the physical world is a critical step towards constraining their behavior and building practical applications. Here we aim to drive a realistic musculoskeletal arm model using a biomimetic cortical spiking model, and make a robot arm reproduce the same trajectories in real time. Our cortical model consisted of a 3-layered cortex, composed of several hundred spiking model-neurons, which display physiologically realistic dynamics. We interconnected the cortical model to a two-joint musculoskeletal model of a human arm, with realistic anatomical and biomechanical properties. The virtual arm received muscle excitations from the neuronal model, and fed back proprioceptive information, forming a closed-loop system. The cortical model was trained using spike timing-dependent reinforcement learning to drive the virtual arm in a 2D reaching task. Limb position was used to simultaneously control a robot arm using an improved network interface. Virtual arm muscle activations responded to motoneuron firing rates, with virtual arm muscles lengths encoded via population coding in the proprioceptive population. After training, the virtual arm performed reaching movements which were smoother and more realistic than those obtained using a simplistic arm model. This system provided access to both spiking network properties and to arm biophysical properties, including muscle forces. The use of a musculoskeletal virtual arm and the improved control system allowed the robot arm to perform movements which were smoother than those reported in our previous paper using a simplistic arm. This work provides a novel approach consisting of bidirectionally connecting a cortical model to a realistic virtual arm, and using the system output to drive a robotic arm in real time. Our techniques are applicable to the future development of brain neuroprosthetic control systems, and may enable enhanced brain-machine interfaces with the possibility for finer control of

  16. Cortical Spiking Network Interfaced with Virtual Musculoskeletal Arm and Robotic Arm

    PubMed Central

    Dura-Bernal, Salvador; Zhou, Xianlian; Neymotin, Samuel A.; Przekwas, Andrzej; Francis, Joseph T.; Lytton, William W.

    2015-01-01

    Embedding computational models in the physical world is a critical step towards constraining their behavior and building practical applications. Here we aim to drive a realistic musculoskeletal arm model using a biomimetic cortical spiking model, and make a robot arm reproduce the same trajectories in real time. Our cortical model consisted of a 3-layered cortex, composed of several hundred spiking model-neurons, which display physiologically realistic dynamics. We interconnected the cortical model to a two-joint musculoskeletal model of a human arm, with realistic anatomical and biomechanical properties. The virtual arm received muscle excitations from the neuronal model, and fed back proprioceptive information, forming a closed-loop system. The cortical model was trained using spike timing-dependent reinforcement learning to drive the virtual arm in a 2D reaching task. Limb position was used to simultaneously control a robot arm using an improved network interface. Virtual arm muscle activations responded to motoneuron firing rates, with virtual arm muscles lengths encoded via population coding in the proprioceptive population. After training, the virtual arm performed reaching movements which were smoother and more realistic than those obtained using a simplistic arm model. This system provided access to both spiking network properties and to arm biophysical properties, including muscle forces. The use of a musculoskeletal virtual arm and the improved control system allowed the robot arm to perform movements which were smoother than those reported in our previous paper using a simplistic arm. This work provides a novel approach consisting of bidirectionally connecting a cortical model to a realistic virtual arm, and using the system output to drive a robotic arm in real time. Our techniques are applicable to the future development of brain neuroprosthetic control systems, and may enable enhanced brain-machine interfaces with the possibility for finer control of

  17. Local Support for Alcohol Control Policies and Perceptions of Neighborhood Issues in Two College Communities

    PubMed Central

    Fairlie, Anne M.; DeJong, William; Wood, Mark D.

    2014-01-01

    Background Although valuable, national opinion surveys on alcohol policy may be less informative for policy development at the local level. Using samples of adult residents in two college communities, the present study: 1) measured public support for local alcohol control policies to stem underage drinking and alcohol over-service in on-premise outlets; 2) assessed residents' opinions regarding neighborhood problems; and 3) identified factors associated with strong policy support. Methods We administered random-sample telephone surveys to residents ages 21 years and older in college communities located in Community 1 (N = 501; mean age = 57.4 years, SD = 14.7) and Community 2 (N = 505; mean age = 56.0 years, SD = 15.2). The response rates were typical of telephone surveys (Community 1: 33.5%; Community 2: 29.9%). We assessed support for 16 alcohol control policies and the occurrence of specific types of neighborhood incidents (e.g., witnessing intoxicated people). We used multiple regression analyses to determine factors associated with policy support. Results Residents in Community 1 reported significantly higher weekly alcohol use, a greater number of witnessed neighborhood incidents, and a higher level of perceived neighborhood problems than did residents in Community 2. Residents in Community 1 perceived local alcohol control policies and their enforcement to be significantly stricter. Overall, policy support was high and did not differ between the communities. In both communities, higher policy support was significantly associated with being female, being older, less weekly alcohol use, and lower perceived strictness of alcohol control policies and enforcement. Conclusions It is important for campus officials and community leaders to be aware of and publicize favorable public opinion when advocating for policy change, especially at the local level. Information on residents' perceptions of the neighborhood issues they face can also inform local policy and

  18. Control mechanisms for a nonlinear model of international relations

    SciTech Connect

    Pentek, A.; Kadtke, J.; Lenhart, S.; Protopopescu, V.

    1997-07-15

    Some issues of control in complex dynamical systems are considered. The authors discuss two control mechanisms, namely: a short range, reactive control based on the chaos control idea and a long-term strategic control based on an optimal control algorithm. They apply these control ideas to simple examples in a discrete nonlinear model of a multi-nation arms race.

  19. Overview of Carbon Dioxide Control Issues During International Space Station/Space Shuttle Joint Docked Operations

    NASA Technical Reports Server (NTRS)

    Matty, Christopher M.

    2010-01-01

    Crewed space vehicles have a common requirement to remove the carbon dioxide (CO2) created by the metabolic processes of the crew. The space shuttle [Space Transportation System (STS)] and International Space Station (ISS) each have systems in place that allow control and removal of CO2 from the habitable cabin environment. During periods in which the space shuttle is docked to the ISS, known as "joint docked operations," the space shuttle and ISS share a common atmosphere environment. During this period, an elevated amount of CO2 is produced through the combined metabolic activity of the STS and ISS crews. This elevated CO2 production, together with the large effective atmosphere created by collective volumes of the docked vehicles, creates a unique set of requirements for CO2 removal. This paper will describe individual CO2 control plans implemented by STS and ISS engineering teams, as well as the integrated plans used when both vehicles are docked. The paper will also discuss some of the issues and anomalies experienced by both engineering teams.

  20. Experimental validation of a reach-and grasp optimization algorithm inspired to human arm-hand control.

    PubMed

    Cordella, F; Zollo, L; Salerno, A; Guglielmelli, E; Siciliano, B

    2011-01-01

    Taking inspiration from neurophysiological studies on synergies in the human grasping action, this paper tries to demonstrate that it is possible to find a general rule for performing a stable, human-like cylindrical grasp with a robotic hand. To this purpose, the theoretical formulation and the experimental validation of a reach-and-grasp algorithm for determining the optimal hand position and the optimal finger configuration for grasping a cylindrical object with known features are presented. The proposed algorithm is based on the minimization of an objective function expressed by the sum of the distances of the hand joints from the object surface. Algorithm effectiveness has preliminarily been tested by means of simulation trials. Experimental trials on a real arm-hand robotic system have then been carried out in order to validate the approach and evaluate algorithm performance.

  1. System For Research On Multiple-Arm Robots

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.; Hayati, Samad; Tso, Kam S.; Hayward, Vincent

    1991-01-01

    Kali system of computer programs and equipment provides environment for research on distributed programming and distributed control of coordinated-multiple-arm robots. Suitable for telerobotics research involving sensing and execution of low level tasks. Software and configuration of hardware designed flexible so system modified easily to test various concepts in control and programming of robots, including multiple-arm control, redundant-arm control, shared control, traded control, force control, force/position hybrid control, design and integration of sensors, teleoperation, task-space description and control, methods of adaptive control, control of flexible arms, and human factors.

  2. How the media do drugs: quality control and the reporting of drug issues in the UK print media.

    PubMed

    Coomber; Morris; Dunn

    2000-05-01

    Exaggeration, distortion, inaccuracy, sensationalism; each of these labels has been consistently applied to the reporting of drug related issues in the print and other media over the last 40 years and beyond. This research sought to understand what quality control mechanisms are employed by the UK print media in relation to issues related to illicit drugs to ensure accurate, informed and appropriate reporting. It was found that the print media in the UK employ almost no quality control mechanisms to ensure that such reporting takes place and that they predominately rely on the demonstrably insufficient qualities of the 'good reporting' skills that journalists bring to their research and writing. What concerns did exist regarding accuracy related predominately to protecting the publication from being sued for libel and no specific journalistic expertise of drug issues was considered necessary. A discussion of these issues is undertaken followed by the recommendation for the production of a negotiated media guide. PMID:10927199

  3. Seismic protection of frame structures via semi-active control: modeling and implementation issues

    NASA Astrophysics Data System (ADS)

    Gattulli, Vincenzo; Lepidi, Marco; Potenza, Francesco

    2009-12-01

    Theoretical and practical issues concerning the multi-faceted task of mitigating the latero-torsional seismic response of a prototypal frame structure with asymmetric mass distribution are approached. Chevron braces with embedded magnetorheological dampers acting on the interstory drift are used to ensure additional energy dissipation. The semi-active control strategy employed to govern the modification of the damper characteristics via feedback is based on the selection of optimal forces according to a H2/LQG criterion, with respect to which the actual forces are regulated by a clipped-optimal logic. A dynamic observer is used to estimate the state through a non-collocated placement of the acceleration sensors. Several aspects to be addressed throughout the complex process including the design, modelization, and implementation phases of semi-active protection systems are discussed. Finally, experimental results obtained to mitigate the motion induced by ground excitation in a large-scale laboratory prototype, simulating the seismic response of a two-story building, are summarized.

  4. Guest editorial: Introduction to the special issue on modern control for computer games.

    PubMed

    Argyriou, Vasileios; Kotsia, Irene; Zafeiriou, Stefanos; Petrou, Maria

    2013-12-01

    A typical gaming scenario, as developed in the past 20 years, involves a player interacting with a game using a specialized input device, such as a joystic, a mouse, a keyboard, etc. Recent technological advances and new sensors (for example, low cost commodity depth cameras) have enabled the introduction of more elaborated approaches in which the player is now able to interact with the game using his body pose, facial expressions, actions, and even his physiological signals. A new era of games has already started, employing computer vision techniques, brain-computer interfaces systems, haptic and wearable devices. The future lies in games that will be intelligent enough not only to extract the player's commands provided by his speech and gestures but also his behavioral cues, as well as his/her emotional states, and adjust their game plot accordingly in order to ensure more realistic and satisfactory gameplay experience. This special issue on modern control for computer games discusses several interdisciplinary factors that influence a user's input to a game, something directly linked to the gaming experience. These include, but are not limited to, the following: behavioral affective gaming, user satisfaction and perception, motion capture and scene modeling, and complete software frameworks that address several challenges risen in such scenarios.

  5. Arms control and proliferation of weapons of mass destruction: How will they impact US deterrence in the new world order. Research report

    SciTech Connect

    Beckman, R.R.

    1996-04-01

    In the absence of a superpower balance, Weapons of Mass Destruction (WMD) are rapidly proliferating. As U.S. defense resources shrink, options to address the new WMD threat are also shrinking. These dynamics are changing the role of Arms Control (AC) and U.S. deterrent strategy. This paper analyzes the relationship between proliferation of WMD, AC, and the status of U.S. deterrent forces in the new world order. It argues that motives to proliferate are to strong to be overcome by AC, but that AC can play a positive role in improving U.S. and International security. Further it argues that regardless of its efficacy that AC is unavoidable; and that U.S force structure decisions are driven by our perception of the threat, not AC agreements or actions.

  6. A self-management program for employees with complaints of the arm, neck, or shoulder (CANS): study protocol for a randomized controlled trial

    PubMed Central

    2013-01-01

    Background Complaints of the arm, neck, or shoulder (CANS) have a multifactorial origin and cause considerable work problems, including decreased work productivity, sickness absence, and, ultimately, job loss. There is a need for intervention programs for people with CANS. Self-management is an approach used in chronic disease care to improve self-efficacy and wellness behaviors to facilitate participants to make informed choices and carry them out. This study will evaluate the effectiveness of a self-management program (including ehealth) and compare it to usual care among employees with chronic CANS (lasting >3 months). Methods/design This is a randomized controlled trial in which 142 participants will be recruited and randomized (with pre-stratification) to either the intervention group (IG) or control group (CG). The IG will participate in a self-management program consisting of six group sessions and an ehealth module. The CG is allowed to use all usual care available. The primary outcome of the study is the self-reported disability of arm, shoulder, and hand, measured with the Disabilities of the Arm, Shoulder and Hand questionnaire (DASH). Secondary outcomes include: absenteeism, pain in the previous week, quality of life, catastrophizing pain, self-efficacy, workstyle, presenteeism, fatigue, the use of usual care, and limitations experienced on the job. Data are collected at baseline and at 3, 6, and 12 months follow-up. Discussion Following the process of intervention mapping we developed a self-management program to suit and alleviate the problems and needs of employees with CANS. A strength of the study is that our intervention is specifically tailored to match the needs of employees with CANS. The study also has some potential weaknesses (for example, use of co-interventions, combination of group sessions and ehealth, self-reporting of data and possible contamination, Hawthorne effect, and recall or information bias) which are discussed. Trial

  7. Science and Public Policy: Uses and Control of Knowledge. Public Issues Series.

    ERIC Educational Resources Information Center

    Singleton, Laurel R., Ed.

    This booklet is part of a series designed to help students take and defend a position on public issues. This booklet addresses the issues faced by society and individuals due to advances in scientific knowledge. It presents questions, stories, and scenarios for student discussion. Students are instructed to identify three kinds of questions in a…

  8. Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.

    PubMed

    Guo, Qing; Yu, Tian; Jiang, Dan

    2015-11-01

    In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability. PMID:26478475

  9. Leg automaticity is stronger than arm automaticity during simultaneous arm and leg cycling.

    PubMed

    Sakamoto, Masanori; Tazoe, Toshiki; Nakajima, Tsuyoshi; Endoh, Takashi; Komiyama, Tomoyoshi

    2014-04-01

    Recent studies indicate that human locomotion is quadrupedal in nature. An automatic rhythm-generating system is thought to play a crucial role in controlling arm and leg movements. In the present study, we attempted to elucidate differences between intrinsic arm and leg automaticity by investigating cadence variability during simultaneous arm and leg (AL) cycling. Participants performed AL cycling with visual feedback of arm or leg cadence. Participants were asked to focus their attention to match the predetermined cadence; this affects the automaticity of the rhythm-generating system. Leg cadence variability was only mildly affected when the participants intended to precisely adjust either their arm or leg cycling cadence to a predetermined value. In contrast, arm cadence variability significantly increased when the participants adjusted their leg cycling cadence to a predetermined value. These findings suggest that different neural mechanisms underlie the automaticities of arm and leg cycling and that the latter is stronger than the former during AL cycling.

  10. Dose response to vitamin D supplementation in African Americans: results of a 4-arm, randomized, placebo-controlled trial1234

    PubMed Central

    Ng, Kimmie; Scott, Jamil B; Drake, Bettina F; Chan, Andrew T; Hollis, Bruce W; Chandler, Paulette D; Bennett, Gary G; Giovannucci, Edward L; Gonzalez-Suarez, Elizabeth; Meyerhardt, Jeffrey A; Emmons, Karen M; Fuchs, Charles S

    2014-01-01

    Background: Association studies have suggested that lower circulating 25-hydroxyvitamin D [25(OH)D] in African Americans may partially underlie higher rates of cardiovascular disease and cancer in this population. Nonetheless, the relation between vitamin D supplementation and 25(OH)D concentrations in African Americans remains undefined. Objective: Our primary objective was to determine the dose-response relation between vitamin D and plasma 25(OH)D. Design: A total of 328 African Americans in Boston, MA, were enrolled over 3 winters from 2007 to 2010 and randomly assigned to receive a placebo or 1000, 2000, or 4000 IU vitamin D3/d for 3 mo. Subjects completed sociodemographic and dietary questionnaires, and plasma samples were drawn at baseline and 3 and 6 mo. Results: Median plasma 25(OH)D concentrations at baseline were 15.1, 16.2, 13.9, and 15.7 ng/mL for subjects randomly assigned to receive the placebo or 1000, 2000, or 4000 IU/d, respectively (P = 0.63). The median plasma 25(OH)D concentration at 3 mo differed significantly between supplementation arms at 13.7, 29.7, 34.8, and 45.9 ng/mL, respectively (P < 0.001). An estimated 1640 IU vitamin D3/d was needed to raise the plasma 25(OH)D concentration to ≥20 ng/mL in ≥97.5% of participants, whereas a dose of 4000 IU/d was needed to achieve concentrations ≥33 ng/mL in ≥80% of subjects. No significant hypercalcemia was seen in a subset of participants. Conclusions: Within African Americans, an estimated 1640 IU vitamin D3/d was required to achieve concentrations of plasma 25(OH)D recommended by the Institute of Medicine, whereas 4000 IU/d was needed to reach concentrations predicted to reduce cancer and cardiovascular disease risk in prospective observational studies. These results may be helpful for informing future trials of disease prevention. This trial was registered at clinicaltrials.gov as NCT00585637. PMID:24368437

  11. A capacitance-based proximity sensor for whole arm obstacle avoidance

    SciTech Connect

    Novak, J.L.; Feddema, J.T.

    1991-01-01

    This paper addresses the issue of collision avoidance in unknown or partially modeled environments using a capacitive sensor. An eight channel capacitance-based sensor system which can detect obstacles up to 400 mm (16 inches) away has been developed. This sensor can detect both conductive and non-conductive obstacles of arbitrary color and shape. The sensor hardware is reliable and inexpensive, and it may be fabricated using flexible printed circuit boards to provide whole-arm and joint protection for any robot or manipulator. Simple collision avoidance control algorithms have been implemented on a two-link robot arm. The sensor and control system enable the robot arm to avoid a conductive post and a concrete block. 13 refs., 9 figs.

  12. An overview of mining-related environmental and human health issues, Marinduque Island, Philippines: observations from a joint U.S. Geological Survey - Armed Forces Institute of Pathology reconnaissance field evaluation, May 12-19, 2000

    USGS Publications Warehouse

    Plumlee, Geoffrey S.; Morton, Robert A.; Boyle, Terence P.; Medlin, Jack H.; Centeno, Jose A.

    2000-01-01

    This report summarizes results of a visit by the report authors to Marinduque Island, Philippines, in May 2000. The purpose of the visit was to conduct a preliminary examination of environmental problems created by a 1996 tailings spill from the Marcopper open-pit copper mine. The mine was operated from 1969-1996 by Macropper Mining Corperation, under 39.9% ownership, and design and management control of Placer Dome, Inc. Our trip expenses to and from the Philippines were funded by the USGS. In-country expenses were paid by the offices of Congressman Reyes and the Governor of Marinduque, Carmencita O. Reyes. This report includes observations we made based on our relatively short visit to the island, and observations based upon a preliminary review of the literature available on the islanda??s mining-environmental issues. In addition, we have included preliminary interpretations and analytical results of some water, sediment, and mine waste samples collected during our trip. We also highlight the environmental and human health issues we fell are in need of further study and consideration for mitigation or remediation. This report is preliminary and is not intended to be a comprehensive or final review of the islanda??s mining-environmental issues; many areas of further study are clearly neededa?|

  13. Efficacy of a Multi-level Intervention to Reduce Injecting and Sexual Risk Behaviors among HIV-Infected People Who Inject Drugs in Vietnam: A Four-Arm Randomized Controlled Trial

    PubMed Central

    Go, Vivian F.; Frangakis, Constantine; Minh, Nguyen Le; Latkin, Carl; Ha, Tran Viet; Mo, Tran Thi; Sripaipan, Teerada; Davis, Wendy W.; Zelaya, Carla; Vu, Pham The; Celentano, David D.; Quan, Vu Minh

    2015-01-01

    Introduction Injecting drug use is a primary driver of HIV epidemics in many countries. People who inject drugs (PWID) and are HIV infected are often doubly stigmatized and many encounter difficulties reducing risk behaviors. Prevention interventions for HIV-infected PWID that provide enhanced support at the individual, family, and community level to facilitate risk-reduction are needed. Methods 455 HIV-infected PWID and 355 of their HIV negative injecting network members living in 32 sub-districts in Thai Nguyen Province were enrolled. We conducted a two-stage randomization: First, sub-districts were randomized to either a community video screening and house-to-house visits or standard of care educational pamphlets. Second, within each sub-district, participants were randomized to receive either enhanced individual level post-test counseling and group support sessions or standard of care HIV testing and counseling. This resulted in four arms: 1) standard of care; 2) community level intervention; 3) individual level intervention; and 4) community plus individual intervention. Follow-up was conducted at 6, 12, 18, and 24 months. Primary outcomes were self-reported HIV injecting and sexual risk behaviors. Secondary outcomes included HIV incidence among HIV negative network members. Results Fewer participants reported sharing injecting equipment and unprotected sex from baseline to 24 months in all arms (77% to 4% and 24% to 5% respectively). There were no significant differences at the 24-month visit among the 4 arms (Wald = 3.40 (3 df); p = 0.33; Wald = 6.73 (3 df); p = 0.08). There were a total of 4 HIV seroconversions over 24 months with no significant difference between intervention and control arms. Discussion Understanding the mechanisms through which all arms, particularly the control arm, demonstrated both low risk behaviors and low HIV incidence has important implications for policy and prevention programming. Trial Registration ClinicalTrials.gov NCT

  14. Reducing substance involvement in college students: a three-arm parallel-group randomized controlled trial of a computer-based intervention.

    PubMed

    Christoff, Adriana de Oliveira; Boerngen-Lacerda, Roseli

    2015-06-01

    The prevalence of alcohol and other drug use is high among college students. Reducing their consumption will likely be beneficial for society as a whole. Computer and web-based interventions are promising for providing behaviorally based information. The present study compared the efficacy of three interventions (computerized screening and motivational intervention [ASSIST/MBIc], non-computerized screening and motivational intervention [ASSIST/MBIi], and screening only [control]) in college students in Curitiba, Brazil. A convenience sample of 458 students scored moderate and high risk on the ASSIST. They were then randomized into the three arms of the randomized controlled trial (ASSIST/MBIc, ASSIST/MBIi [interview], and assessment-only [control]) and assessed at baseline and 3 months later. The ASSIST involvement scores decreased at follow-up compared with baseline in the three groups, suggesting that any intervention is better than no intervention. For alcohol, the specific involvement scores decreased to a low level of risk in the three groups and the MBIc group showed a positive outcome compared with control, and the scores for each question were reduced in the two intervention groups compared to baseline. For tobacco, involvement scores decreased in the three groups, but they maintained moderate risk. For marijuana, a small positive effect was observed in the ASSIST/MBIi and control groups. The ASSIST/MBIc may be a good alternative to interview interventions because it is easy to administer, students frequently use such computer-based technologies, and individually tailored content can be delivered in the absence of a counselor. PMID:25679364

  15. Alignment issues, correlation techniques and their assessment for a visible light imaging-based 3D printer quality control system

    NASA Astrophysics Data System (ADS)

    Straub, Jeremy

    2016-05-01

    Quality control is critical to manufacturing. Frequently, techniques are used to define object conformity bounds, based on historical quality data. This paper considers techniques for bespoke and small batch jobs that are not statistical model based. These techniques also serve jobs where 100% validation is needed due to the mission or safety critical nature of particular parts. One issue with this type of system is alignment discrepancies between the generated model and the physical part. This paper discusses and evaluates techniques for characterizing and correcting alignment issues between the projected and perceived data sets to prevent errors attributable to misalignment.

  16. Issues of Mitigation Strategies in Augmented System for Next Generation Control Room

    SciTech Connect

    Tuan Q. Tran

    2007-08-01

    Past research on augmented systems has been predominately concerned with measuring and classifying an operator’s functional states. Only recently has the field begun researching mitigation strategies. The purpose of this paper is to add further conceptual understanding to mitigation strategies. Based upon the decision making literature, we pose three issues that mitigation strategies need to resolve: the types of decision strategies an operator uses, the structure of the information that an operator processes, and finally, the cue or pattern of cues that the operator relies on in making decisions. These issues are important to ensure that mitigation strategies are congruent to operator’s decision-making behaviors.

  17. The bane of "inhumane" weapons and overkill: an overview of increasingly lethal arms and the inadequacy of regulatory controls.

    PubMed

    Richardson, Jacques G

    2004-10-01

    Weapons of both defense and offense have grown steadily in their effectiveness--especially since the industrial revolution. The mass destruction of humanity, by parts or in whole, became reality with the advent of toxic agents founded on chemistry and biology or nuclear weapons derived from physics. The military's new non-combat roles, combined with a quest for non-lethal weapons, may change the picture in regard to conventional defense establishments but are unlikely to deter bellicose tyrants or the new terrorists from using the unlimited potential of today's and tomorrow's arsenals. The author addresses the issues that are raised by this developing situation with the intent of seeking those ethics that will enable us to survive in a future and uncertain world.

  18. Improved orthopedic arm joint

    NASA Technical Reports Server (NTRS)

    Dane, D. H.

    1971-01-01

    Joint permits smooth and easy movement of disabled arm and is smaller, lighter and less expensive than previous models. Device is interchangeable and may be used on either arm at the shoulder or at the elbow.

  19. Reversing the arms race

    SciTech Connect

    von Hippel, F. ); Sagdeev, R.Z. )

    1992-01-01

    This paper contains proceedings of Reversing The Arms Race. Topics covered include: Verifying Reductions of Nuclear Warheads; Verifying Limits on Nuclear-Armed Cruise Missiles; and The Technical Basis for Warhead Detection.

  20. Arm Injuries and Disorders

    MedlinePlus

    ... of muscles, joints, tendons and other connective tissue. Injuries to any of these parts of the arm ... a fall or an accident. Types of arm injuries include Tendinitis and bursitis Sprains Dislocations Broken bones ...