27 CFR 44.258 - To officers of the armed forces for subsequent exportation.

Code of Federal Regulations, 2011 CFR

2011-04-01

... forces for subsequent exportation. 44.258 Section 44.258 Alcohol, Tobacco Products and Firearms ALCOHOL... forces for subsequent exportation. Where cigars are withdrawn from a customs warehouse for delivery to officers of the armed forces of the United States in this country for subsequent shipment to, and use by...

48 CFR 252.204-7008 - Export-Controlled Items.

Code of Federal Regulations, 2011 CFR

2011-10-01

...) Defense items, defined in the Arms Export Control Act, 22 U.S.C. 2778(j)(4)(A), as defense articles, defense services, and related technical data, and further defined in the ITAR, 22 CFR part 120. (2) Items, defined in the EAR as “commodities, software, and technology,” terms that are also defined in the EAR, 15...

48 CFR 252.204-7008 - Export-Controlled Items.

Code of Federal Regulations, 2012 CFR

2012-10-01

...) Defense items, defined in the Arms Export Control Act, 22 U.S.C. 2778(j)(4)(A), as defense articles, defense services, and related technical data, and further defined in the ITAR, 22 CFR part 120. (2) Items, defined in the EAR as “commodities, software, and technology,” terms that are also defined in the EAR, 15...

48 CFR 252.204-7008 - Export-Controlled Items.

Code of Federal Regulations, 2010 CFR

2010-10-01

...) Defense items, defined in the Arms Export Control Act, 22 U.S.C. 2778(j)(4)(A), as defense articles, defense services, and related technical data, and further defined in the ITAR, 22 CFR part 120. (2) Items, defined in the EAR as “commodities, software, and technology,” terms that are also defined in the EAR, 15...

48 CFR 252.225-7048 - Export-Controlled Items.

Code of Federal Regulations, 2013 CFR

2013-10-01

...) “Defense items,” defined in the Arms Export Control Act, 22 U.S.C. 2778(j)(4)(A), as defense articles, defense services, and related technical data, and further defined in the ITAR, 22 CFR Part 120; and (2) “Items,” defined in the EAR as “commodities”, “software”, and “technology,” terms that are also defined...

48 CFR 252.225-7048 - Export-Controlled Items.

Code of Federal Regulations, 2014 CFR

2014-10-01

...) “Defense items,” defined in the Arms Export Control Act, 22 U.S.C. 2778(j)(4)(A), as defense articles, defense services, and related technical data, and further defined in the ITAR, 22 CFR Part 120; and (2) “Items,” defined in the EAR as “commodities”, “software”, and “technology,” terms that are also defined...

78 FR 37518 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2013-06-21

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... Texas, Lee Roy Perez (``Perez'') was convicted of violating Section 38 of the Arms Export Control Act... of knowingly and willfully exporting and causing to be exported and attempting to export and...

Arms Sales: Congressional Review Process

DTIC Science & Technology

2015-12-17

the Arms Export Control Act (AECA), Congress must be formally notified 30 calendar days before the Administration can take the final steps to...Commercially licensed arms sales also must be formally notified to Congress 30 calendar days before the export license is issued if they involve the sale...also be formally notified to Congress for review 30 days prior to the license for export being approved. In the case of proposed licences for such

76 FR 43662 - 36(b)(1) Arms Sales Notification

Federal Register 2010, 2011, 2012, 2013, 2014

2011-07-21

... and control systems with modern technology. The new guidance and control system uses a mixture of... Issuance of Letter of Offer Pursuant to Section 36(b)(1) of the Arms Export Control Act, as amended (i... million TOTAL $86 million * as defined in Section 47(6) of the Arms Export Control Act. (iii) Description...

78 FR 37520 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2013-06-21

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... Molina, Jr. (``Molina'') was convicted of violating Section 38 of the Arms Export Control Act (22 U.S.C... attempting to export and causing to be exported from the United States to Mexico two AK47 semi-automatic...

77 FR 60379 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2012-10-03

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... Andro Jamison (``Jamison'') was convicted of violating Section 38 of the Arms Export Control Act (22 U.S.C. 2778 (2000)) (``AECA''). Specifically, Jamison was convicted of knowingly and willfully exporting...

77 FR 60378 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2012-10-03

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... 38 of the Arms Export Control Act (22 U.S.C. 2778 (2000)) (``AECA''). Specifically, Fermanova was convicted of knowingly and willfully attempting to export from the United States to Russia night sighting...

77 FR 27418 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-10

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... violating Section 38 of the Arms Export Control Act (22 U.S.C. 2778 (2000)) (``AECA''). Specifically, Baniameri was convicted of conspiring to export goods and technology to Iran, in violation of IEEPA...

78 FR 60249 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2013-10-01

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... (``Silcox''), was convicted of violating Section 38 of the Arms Export Control Act (22 U.S.C. 2778 (2006 & Supp. IV 2010)) (``AECA''). Specifically, Silcox was convicted of knowingly and willfully exporting...

32 CFR 250.9 - Notice to accompany the dissemination of export-controlled technical data.

Code of Federal Regulations, 2010 CFR

2010-07-01

... PUBLIC DISCLOSURE § 250.9 Notice to accompany the dissemination of export-controlled technical data. (a... for items controlled by the International Traffic in Arms Regulations (ITAR), or the Department of... not include or involve any license rights. (h) A copy of this notice shall be provided with any...

77 FR 34342 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-11

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... Economic Powers Act (50 U.S.C. 1701 et seq. (2000)) (``IEEPA'') and violating Section 38 of the Arms Export Control Act (22 U.S.C. 2778 (2000)) (``AECA''). Specifically, Wu was convicted of illegally exporting...

77 FR 34340 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-11

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... Nanyang Plaza, No. 57 Hung To Road, Kwum Tong, Kowloon, Hong Kong, Related Persons. A. Denial of Export... Economic Powers Act (50 U.S.C. 1701 et seq. (2000)) (``IEEPA'') and Section 38 of the Arms Export Control...

Reforming U.S. Export Controls Reforms: Advancing U.S. Army Interests

DTIC Science & Technology

2015-12-01

The author wishes to thank several anonymous and peer re- viewers as well as Alex Barnes, Rachel Bauman, Justin Blaszczyk, William Cardon ...is worth noting in that it requires, pursuant to the Arms Export Control Act, that: certification be provided to Congress prior to the granting of...security. Otherwise, approval cannot be granted until 15 days after Congress has re- ceived the certification for the manufacturing license or technical

Physicist falls foul of US export law

NASA Astrophysics Data System (ADS)

Gwynne, Peter

2008-10-01

A retired US plasma physicist is seeking to overturn his conviction last month of offences under the American Arms Export Control Act, which prohibits the export, without a government licence, of technology and data to foreign nationals or nations. A jury in Knoxville, Tennessee, found JReece Roth, 70, guilty of illegally exporting technical information about a military project to develop plasma technology for guiding spyplanes that operate as weapons or surveillance devices.

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.

48 CFR 235.071 - Export-controlled items.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 48 Federal Acquisition Regulations System 3 2010-10-01 2010-10-01 false Export-controlled items..., DEPARTMENT OF DEFENSE SPECIAL CATEGORIES OF CONTRACTING RESEARCH AND DEVELOPMENT CONTRACTING 235.071 Export-controlled items. For requirements regarding access to export-controlled items, see Subpart 204.73. [73 FR...

Perspectives on Arms Control

DTIC Science & Technology

2004-07-01

perspective. He traces the important and integral place of arms control diplomacy to United States traditions, and projects continuing relevance for... The second is commonality surrounding the ongoing arms control process on nuclear weapons and missiles between America and Russia that needs...summits were built around arms control discussions, large delegations met frequently in places like Geneva, and even trivial changes in the arms

3 CFR 13637 - Executive Order 13637 of March 8, 2013. Administration of Reformed Export Controls

Code of Federal Regulations, 2014 CFR

2014-01-01

... in me as President by the Constitution and the laws of the United States of America, including the Arms Export Control Act, as amended (22 U.S.C. 2751 et seq.) (the “Act”), and section 301 of title 3... under section 3 of the Act (22 U.S.C. 2753), with the exception of subsections (a)(1), (b), (c)(3), (c...

78 FR 50047 - 36(b)(1) Arms Sales Notification

Federal Register 2010, 2011, 2012, 2013, 2014

2013-08-16

... DEPARTMENT OF DEFENSE Office of the Secretary [Transmittal Nos. 13-21] 36(b)(1) Arms Sales... Department of Defense is publishing the unclassified text of a section 36(b)(1) arms sales notification. This... Pursuant to Section 36(b) (1) Of the Arms Export Control Act, as amended (i) Prospective Purchaser: Iraq...

Brazilian Arms Production: Partial Dependence

DTIC Science & Technology

1988-09-01

neighbors, before the Great Depression Brazil relied upon the export of primary commodities such as coffee, sugar and cocoa for its hard currency...24 Conclusions 26 Appendix 29 - VII - TABLES A.l. Brazilian arms exports and imports, 1968-86 30 A.2. Destination of...Embracr aircraft delivered outside of Brazil, 1975- 83 31 FIGURE 1. Brazilian arms exports and imports, 1968-86 25 IX - ACKNOWLEDGMENTS

Ramifications of Illegal U.S. Arms Exports

DTIC Science & Technology

1989-03-01

the military goods may not have known and/or cared where their wares would ultimately be delivered. 5. U.S. v. Ken Park , aka Kwan Park, January 1989 The...revealed that Ken Park , acting as the Export Manager of Universal Technology, was involved in illegal export of aircraft parts to South Korea in August...transshipment to Teheran, Iran. On January 13, 1939, Ken Park admitted illegally exporting aircraft parts purchased from HTL. This case not only shows Iran’s

75 FR 54540 - Effects of Foreign Policy-Based Export Controls

Federal Register 2010, 2011, 2012, 2013, 2014

2010-09-08

.... 100719301-0303-02] Effects of Foreign Policy-Based Export Controls AGENCY: Bureau of Industry and Security... foreign policy-based export controls in the Export Administration Regulations to determine whether they... comments on how existing foreign policy-based export controls have affected exporters and the general...

78 FR 45168 - Acquisition Regulations: Export Control

Federal Register 2010, 2011, 2012, 2013, 2014

2013-07-26

... Control AGENCY: Department of Energy. ACTION: Notice of reopening of public comment period. SUMMARY: On... (78 FR 35195) to amend the Department of Energy Acquisition Regulation (DEAR) to add export control... ``DEAR: Export Control and RIN 1991-AB99,'' by any of the following methods: Federal eRulemaking Portal...

78 FR 61743 - Revisions to the Export Administration Regulations: Initial Implementation of Export Control...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-10-03

... ``attachments'' that are ``specially designed'' for a commodity subject to control in this ECCN or a defense... Implementation of Export Control Reform; Correction; Final Rule #0;#0;Federal Register / Vol. 78 , No. 192... Administration Regulations: Initial Implementation of Export Control Reform; Correction AGENCY: Bureau of...

78 FR 37787 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2013-06-24

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... District of Texas, Manuel Mario Pavon (``Pavon'') was convicted of violating Section 38 of the Arms Export... knowingly and willfully exporting and causing to be exported and attempting to export and attempting to...

77 FR 37523 - Proposed Revisions to the Export Administration Regulations: Implementation of Export Control...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-21

... manufacturers to design out and avoid U.S.-origin content and services, and (iii) allowing export control... they are ``dual- use'' items. The CCL controls ``dual use'' (e.g., items designed for both military and...: Implementation of Export Control Reform; Revisions to License Exceptions After Retrospective Regulatory Review...

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.

22 CFR 120.17 - Export.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 22 Foreign Relations 1 2010-04-01 2010-04-01 false Export. 120.17 Section 120.17 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.17 Export. (a) Export means: (1) Sending or taking a defense article out of the United States in any manner, except by...

22 CFR 120.17 - Export.

Code of Federal Regulations, 2014 CFR

2014-04-01

... 22 Foreign Relations 1 2014-04-01 2014-04-01 false Export. 120.17 Section 120.17 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.17 Export. (a) Export means: (1) Sending or taking a defense article out of the United States in any manner, except by...

22 CFR 120.17 - Export.

Code of Federal Regulations, 2012 CFR

2012-04-01

... 22 Foreign Relations 1 2012-04-01 2012-04-01 false Export. 120.17 Section 120.17 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.17 Export. (a) Export means: (1) Sending or taking a defense article out of the United States in any manner, except by...

22 CFR 120.17 - Export.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 22 Foreign Relations 1 2011-04-01 2011-04-01 false Export. 120.17 Section 120.17 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.17 Export. (a) Export means: (1) Sending or taking a defense article out of the United States in any manner, except by...

22 CFR 120.17 - Export.

Code of Federal Regulations, 2013 CFR

2013-04-01

... 22 Foreign Relations 1 2013-04-01 2013-04-01 false Export. 120.17 Section 120.17 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.17 Export. (a) Export means: (1) Sending or taking a defense article out of the United States in any manner, except by...

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.

Arms Control Fellowship

NASA Astrophysics Data System (ADS)

The U.S. Arms Control and Disarmament Agency (ACDA) has announced that it is accepting applications for visiting scholars under the William C. Foster Fellows Program for 1986-1987. This program is designed to give specialists in the physical sciences and other disciplines relevant to ACDA activities an opportunity to participate actively in the arms control and disarmament activities of this agency and to give ACDA the perspective and expertise that such people can offer.

22 CFR 123.22 - Filing, retention, and return of export licenses and filing of export information.

Code of Federal Regulations, 2012 CFR

2012-04-01

... 22 Foreign Relations 1 2012-04-01 2012-04-01 false Filing, retention, and return of export licenses and filing of export information. 123.22 Section 123.22 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS LICENSES FOR THE EXPORT OF DEFENSE ARTICLES § 123.22 Filing, retention...

22 CFR 123.22 - Filing, retention, and return of export licenses and filing of export information.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 22 Foreign Relations 1 2010-04-01 2010-04-01 false Filing, retention, and return of export licenses and filing of export information. 123.22 Section 123.22 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS LICENSES FOR THE EXPORT OF DEFENSE ARTICLES § 123.22 Filing, retention...

22 CFR 123.22 - Filing, retention, and return of export licenses and filing of export information.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 22 Foreign Relations 1 2011-04-01 2011-04-01 false Filing, retention, and return of export licenses and filing of export information. 123.22 Section 123.22 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS LICENSES FOR THE EXPORT OF DEFENSE ARTICLES § 123.22 Filing, retention...

22 CFR 123.22 - Filing, retention, and return of export licenses and filing of export information.

Code of Federal Regulations, 2013 CFR

2013-04-01

... 22 Foreign Relations 1 2013-04-01 2013-04-01 false Filing, retention, and return of export licenses and filing of export information. 123.22 Section 123.22 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS LICENSES FOR THE EXPORT OF DEFENSE ARTICLES § 123.22 Filing, retention...

NAS Panel faults export controls

NASA Astrophysics Data System (ADS)

Katzoff, Judith A.

A study prepared by a top-level panel says that current export controls on militarily sensitive U.S. technology may be “overcorrecting” previous weaknesses in that system, resulting in “a complex and confusing control system” that makes it more difficult for U.S. businesses to compete in international markets. Moreover, this control system has “an increasingly corrosive effect” on U.S. relations with allies. The panel recommended that the United States concentrate more effort on bringing about uniformity in the export control policies of countries belonging to the Coordinating Committee on Multilateral Export Controls (CoCom), i.e., most of the member nations in NATO (the North Atlantic Treaty Organization) and Japan.The 21-member panel was appointed by the Committee on Science, Engineering, and Public Policy (COSEPUP), a joint unit of the National Academy of Sciences (NAS), the National Academy of Engineering (NAE), and the Institute of Medicine (IOM). The panel, composed of administrators, researchers, and former government officials, was chaired by AGU member Lew Allen, Jr., director of the Jet Propulsion Laboratory (Pasadena, Calif.) and former chief of staff of the U.S. Air Force. Their report was supported by NAS funds, by a number of private organizations (including AGU), by the U.S. Departments of Commerce, Defense, Energy, and State, by the National Science Foundation, and by the National Aeronautics and Space Administration.

77 FR 42973 - Export and Reexport Controls to Rwanda and United Nations Sanctions Under the Export...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-07-23

... Control List), Category 0--Nuclear Materials, Facilities, and Equipment [and Miscellaneous Items]--Export... Control List), Category 0--Nuclear Materials, Facilities, and Equipment [and Miscellaneous Items]--Export... Supplement No. 1 to Part 774 (the Commerce Control List), Category 0--Nuclear Materials, Facilities, and...

78 FR 54623 - Effects of Foreign Policy-Based Export Controls

Federal Register 2010, 2011, 2012, 2013, 2014

2013-09-05

... Foreign Policy-Based Export Controls AGENCY: Bureau of Industry and Security, Commerce. ACTION: Request... export controls in the Export Administration Regulations. BIS is requesting public comments to conduct... with industry on the effect of such controls and to report the results of the consultations to Congress...

Why the Lack of Academic Literature on Export Controls?

NASA Technical Reports Server (NTRS)

Kremic, Tibor

2001-01-01

Export controls is currently a relevant and dynamic topic. Given the growth of global operations and the high-tech nature of many products, an increase in awareness and understanding of the impacts of export controls are necessary. A structured approach to export controls has been in existence since 1949. Despite over 50 years of history, surprisingly little academic research and literature exists on the topic. This paper explores the current export control environment and explores possible reasons for the limited academic interest. Five possible reasons are discussed: (1) dynamic nature of the topic; (2) difficulty in ensuring accurate data; (3) Complexity of the problem; (4) relatively small economic impact; and (5) sensitive information. A research approach is recommended that considers these potential obstacles.

Regional Seminars to Address Current Nuclear Export Control Issues

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

Killinger, Mark H.

2002-07-01

The control of nuclear-related exports, a critical component of the nonproliferation regime, is facing several opportunities and challenges. As countries sign and ratify the International Atomic Energy Agency's (IAEA) safeguards Additional Protocol (AP), they will begin to report far more export information, including exports of a list of items similar to the Nuclear Supplier Group's Trigger List that existed when the AP was developed in the mid-1990s. This positive development contrasts with challenges such as globalization, transshipments, and tracking of end-uses. Pacific Northwest National Laboratory is proposing that the US Department of Energy (DOE) develop regional seminars that address thesemore » types of issues related to export/import controls. The DOE seminars would be designed to supplement regional seminars sponsored by the IAEA and member states on topics related to the Additional Protocol (referred to as "IAEA seminars"). The topic of nuclear export/import controls is not thoroughly addressed in the IAEA seminars. The proposed DOE seminars would therefore have two objectives: familiarizing countries with the export/import provisions of the Additional Protocol, and addressing challenges such as those noted above. The seminars would be directed particularly at countries that have not ratified the AP, and at regions where export-related problems are particularly prevalent. The intent is to encourage governments to implement more effective nuclear export control systems that meet the challenges of the 21st century.« less

Weapons for the world/update: the U. S. corporate role in International Arms Transfers. [Booklet

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

Lydenberg, S.

1977-01-01

The substantial growth of American arms exports in recent years has prompted the Council on Economic Priorities to study the role played by U.S. corporations in the sale of U.S. military equipment, training, and services throughout the world. Major findings of this Report include: U.S. arms sales and exports to foreign countries have risen dramatically from $2.9 billion in 1967, to $5 billion in 1971, to $10 to 12 billion annually from 1974 through 1976. Since 1973 a major shift has taken place in the nature of U.S. arms transfers from arms aid under the Military Assistance Program to armsmore » sales under the Foreign Military Sales program. The 10 U.S. corporations (Northrop, McDonnell Douglas, Grumman, Litton, General Electric, Raytheon, FMC, Hughes, Lockheed, and Textron) most extensively involved in U.S. arms exports in 1976 (profiled in this Report) received approximately 30% of their total military business from foreign arms sales. Congress has increased its active participation in U.S. arms-transfer policy through legislation passed in 1975 and 1976. This legislation has extended Congress' control over the Foreign Military Sales program in particular.« less

37 CFR 5.18 - Arms, ammunition, and implements of war.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 37 Patents, Trademarks, and Copyrights 1 2011-07-01 2011-07-01 false Arms, ammunition, and... APPLICATIONS IN FOREIGN COUNTRIES Licenses for Foreign Exporting and Filing § 5.18 Arms, ammunition, and implements of war. (a) The exportation of technical data relating to arms, ammunition, and implements of war...

37 CFR 5.18 - Arms, ammunition, and implements of war.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 37 Patents, Trademarks, and Copyrights 1 2014-07-01 2014-07-01 false Arms, ammunition, and... APPLICATIONS IN FOREIGN COUNTRIES Licenses for Foreign Exporting and Filing § 5.18 Arms, ammunition, and implements of war. (a) The exportation of technical data relating to arms, ammunition, and implements of war...

37 CFR 5.18 - Arms, ammunition, and implements of war.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 37 Patents, Trademarks, and Copyrights 1 2012-07-01 2012-07-01 false Arms, ammunition, and... APPLICATIONS IN FOREIGN COUNTRIES Licenses for Foreign Exporting and Filing § 5.18 Arms, ammunition, and implements of war. (a) The exportation of technical data relating to arms, ammunition, and implements of war...

37 CFR 5.18 - Arms, ammunition, and implements of war.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 37 Patents, Trademarks, and Copyrights 1 2013-07-01 2013-07-01 false Arms, ammunition, and... APPLICATIONS IN FOREIGN COUNTRIES Licenses for Foreign Exporting and Filing § 5.18 Arms, ammunition, and implements of war. (a) The exportation of technical data relating to arms, ammunition, and implements of war...

75 FR 28848 - Lifting of Policy of Denial of Munitions Export Licenses and Other Approvals Destined for Tula...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-05-24

...The Department of State is lifting the policy of denial for Tula Instrument Design Bureau pursuant to section 38 of the Arms Export Control Act (AECA) and section 126.7 of the International Traffic in Arms Regulations (ITAR).

77 FR 68742 - 36(b)(1) Arms Sales Notification

Federal Register 2010, 2011, 2012, 2013, 2014

2012-11-16

... Engagement Control Systems, 30 Antenna Mast Groups, 44 M902 Launching Stations, 246 PATRIOT MIM-104E Guidance... Fire Units, 11 AN/MPQ-65 Radar Sets, 11 AN/ MSQ-132 Engagement Control Systems, 30 Antenna Mast Groups... Letter of Offer Pursuant to Section 36(b)(1) of the Arms Export Control Act, as amended (i) Prospective...

3 CFR - Continuation of Emergency Regarding Export Control Regulations

Code of Federal Regulations, 2012 CFR

2012-01-01

... 3 The President 1 2012-01-01 2012-01-01 false Continuation of Emergency Regarding Export Control Regulations Presidential Documents Other Presidential Documents Notice of August 12, 2011 Continuation of Emergency Regarding Export Control Regulations On August 17, 2001, consistent with the authority provided to...

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.

Dual-Arm Generalized Compliant Motion With Shared Control

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1994-01-01

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

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

Design of a multi-arm randomized clinical trial with no control arm.

PubMed

Magaret, Amalia; Angus, Derek C; Adhikari, Neill K J; Banura, Patrick; Kissoon, Niranjan; Lawler, James V; Jacob, Shevin T

2016-01-01

Clinical trial designs that include multiple treatments are currently limited to those that perform pairwise comparisons of each investigational treatment to a single control. However, there are settings, such as the recent Ebola outbreak, in which no treatment has been demonstrated to be effective; and therefore, no standard of care exists which would serve as an appropriate control. For illustrative purposes, we focused on the care of patients presenting in austere settings with critically ill 'sepsis-like' syndromes. Our approach involves a novel algorithm for comparing mortality among arms without requiring a single fixed control. The algorithm allows poorly-performing arms to be dropped during interim analyses. Consequently, the study may be completed earlier than planned. We used simulation to determine operating characteristics for the trial and to estimate the required sample size. We present a potential study design targeting a minimal effect size of a 23% relative reduction in mortality between any pair of arms. Using estimated power and spurious significance rates from the simulated scenarios, we show that such a trial would require 2550 participants. Over a range of scenarios, our study has 80 to 99% power to select the optimal treatment. Using a fixed control design, if the control arm is least efficacious, 640 subjects would be enrolled into the least efficacious arm, while our algorithm would enroll between 170 and 430. This simulation method can be easily extended to other settings or other binary outcomes. Early dropping of arms is efficient and ethical when conducting clinical trials with multiple arms. Copyright © 2015 Elsevier Inc. All rights reserved.

76 FR 35275 - Export Control Reform Initiative: Strategic Trade Authorization License Exception

Federal Register 2010, 2011, 2012, 2013, 2014

2011-06-16

.... The Export Control Reform Initiative is designed to enhance U.S. national security and strengthen the... Security 15 CFR Parts 732, 738, 740, et al. Export Control Reform Initiative: Strategic Trade Authorization... Parts 732, 738, 740, 743, and 774 [Docket No. 100923470-1230-03] RIN 0694-AF03 Export Control Reform...

22 CFR 120.30 - The Automated Export System (AES).

Code of Federal Regulations, 2012 CFR

2012-04-01

... 22 Foreign Relations 1 2012-04-01 2012-04-01 false The Automated Export System (AES). 120.30 Section 120.30 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.30 The Automated Export System (AES). The Automated Export System (AES) is the Department of...

22 CFR 120.30 - The Automated Export System (AES).

Code of Federal Regulations, 2014 CFR

2014-04-01

... 22 Foreign Relations 1 2014-04-01 2014-04-01 false The Automated Export System (AES). 120.30 Section 120.30 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.30 The Automated Export System (AES). The Automated Export System (AES) is the Department of...

22 CFR 120.30 - The Automated Export System (AES).

Code of Federal Regulations, 2011 CFR

2011-04-01

... 22 Foreign Relations 1 2011-04-01 2011-04-01 false The Automated Export System (AES). 120.30 Section 120.30 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.30 The Automated Export System (AES). The Automated Export System (AES) is the Department of...

22 CFR 120.30 - The Automated Export System (AES).

Code of Federal Regulations, 2013 CFR

2013-04-01

... 22 Foreign Relations 1 2013-04-01 2013-04-01 false The Automated Export System (AES). 120.30 Section 120.30 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.30 The Automated Export System (AES). The Automated Export System (AES) is the Department of...

Influence of export control policy on the competitiveness of machine tool producing organizations

NASA Astrophysics Data System (ADS)

Ahrstrom, Jeffrey D.

The possible influence of export control policies on producers of export controlled machine tools is examined in this quantitative study. International market competitiveness theories hold that market controlling policies such as export control regulations may influence an organization's ability to compete (Burris, 2010). Differences in domestic application of export control policy on machine tool exports may impose throttling effects on the competitiveness of participating firms (Freedenberg, 2010). Commodity shipments from Japan, Germany, and the United States to the Russian market will be examined using descriptive statistics; gravity modeling of these specific markets provides a foundation for comparison to actual shipment data; and industry participant responses to a user developed survey will provide additional data for analysis using a Kruskal-Wallis one-way analysis of variance. There is scarce academic research data on the topic of export control effects within the machine tool industry. Research results may be of interest to industry leadership in market participation decisions, advocacy arguments, and strategic planning. Industry advocates and export policy decision makers could find data of interest in supporting positions for or against modifications of export control policies.

Global Research in an Age of Export Controls

ERIC Educational Resources Information Center

Monastersky, Richard

2008-01-01

When a jury convicted a Tennessee professor this month of illegally exporting information to foreign countries via his graduate students and a trip to China, it sent a message to colleges that they need to scrupulously monitor their faculty members' research and their compliance with the often confusing universe of export-control regulations. In…

78 FR 35195 - Acquisition Regulations: Export Control

Federal Register 2010, 2011, 2012, 2013, 2014

2013-06-12

... Control AGENCY: Department of Energy. ACTION: Notice of proposed rulemaking. SUMMARY: The Department of... control requirements applicable to the performance of DOE contracts. DATES: Written comments on this... comments, identified by ``DEAR: Export Control and RIN 1991-AB99,'' by any of the following methods...

U.S. government export control reform initiative - what's going on?

NASA Astrophysics Data System (ADS)

Cook, J.; Cook, K.

While there is still more work to be done, taken together, these reforms will focus our resources on the threats that matter most, and help us work more effectively with our allies in the field. They'll bring transparency and coherence to a field of regulation which has long been lacking both. And by enhancing the competitiveness of our manufacturing and technology sectors, they'll help us not just increase exports and create jobs, but strengthen our national security as well.” - President Obama, Department of Commerce Annual Export Controls Update Conference, August 30, 2010. This paper will provide background information and discuss the need for export control reform. It will lay out the schedule for the Export Control Reform Initiative as well as provide an update on the current status of the ECR Initiative, including advances made in Phases I and II. It will provide insight into the proposed changes to the USML and the CCL and will discuss the proposed IT system modernization and the Export Enforcement Coordination Center (E2C2).

77 FR 70151 - 36(b)(1) Arms Sales Notification

Federal Register 2010, 2011, 2012, 2013, 2014

2012-11-23

... defined in Section 47(6) of the Arms Export Control Act. (iii) Description and Quantity or Quantities of.... The sensitivity is primarily in the software programs that instruct the system how to operate in the... Only Memory (ROM) maps, which do not provide the software program itself. The overall hardware is...

78 FR 22850 - 36(b)(1) Arms Sales Notification

Federal Register 2010, 2011, 2012, 2013, 2014

2013-04-17

... million * As defined in Section 47(6) of the Arms Export Control Act. (iii) Description and Quantity or... software continues to be modified via a pre-planned product improvement (P3I) program in order to improve its counter- countermeasure capabilities. No software source code or algorithms will be released. The...

Export Controls and Nonproliferation Policy

DTIC Science & Technology

1994-05-01

Export Control Classification Numbers ( ECCNs ). The ECCNs do not correspond one-for-one to single commodity technology, or software items: in some...cases an ECCN covers only a single, narrowly defined item, but in many cases multiple related items fall under the same ECCN . The reason for control of...each ECCN category may be single or multiple (e.g., for both National Security and Nuclear Proliferation) but the reason(s) listed may in fact apply

Prospect for future South-Korea arms control

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

Kim, Y.

1992-04-22

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

Dual arm coordination and control

NASA Technical Reports Server (NTRS)

Hayati, Samad; Tso, Kam; Lee, Thomas

1989-01-01

A generalized master/slave technique and experimental results for coordinated control of two arms rigidly grasping an object is described. An interactive program has been developed to allow a user the flexibility to select appropriate control modes for a given experiment. This interface allows for control gain adjustments. The results of several experiments performed on this system to demonstrate its capabilities such as transporting an object with or without induced internal forces and movement of a constrained object are offered. The system is further developed to achieve a so-called shared control mode in which an operator specifies the free motion trajectory for a point on the object of manipulation via a joystick while the autonomous control system is used for coordination and control of the arms.

Robust coordinated control of a dual-arm space robot

NASA Astrophysics Data System (ADS)

Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

2017-09-01

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

American export control, technology spillover and innovation of Chinese pharmaceutical Industry.

PubMed

Hui, Jiang

2017-05-01

This paper was aimed to analyze whether the U.S. strict export control to China affects the technological innovation of Chinese pharmaceutical industry. This paper selected the data of technological innovation and the expenditure of high and new technology adoption in China's pharmaceutical industry from 1995 to 2014, created panel regression model to study the impact of export controls on technology spillovers and the impact of technology spillovers on innovation capacity. The results show that US export control has a significant impact on technology spillovers, but foreign technology spillovers have no significant impact on the innovation of Chinese pharmaceutical industry. Although the US export control prevented foreign technology spillovers to China, but indirectly stimulated the domestic technology spillovers to pharmaceutical manufacturing industry in China. Statistical analysis show that the correlation coefficient between innovation capacity and expenditure for high technology adoption is not significant, but the expenditure of purchasing domestic technical is essential to pharmaceutical innovation. This study shows that US export control indirectly, not directly, affected the technological innovation of China's pharmaceutical industry, affected the allocation of innovative resources, but failed to prevent the technological progress and competitiveness improvement of Chinese pharmaceutical industry.

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.

Threat Control through Arms Control. Report to Congress 1994

DTIC Science & Technology

1994-07-13

reduction, chemical weapons’ elimination, or any of the other growing arms control and nonproliferation challenges America faces, ACDA is an essential...nuclear missile reduction, chemical weapons elimination, or any of. the other growing arms control and nonproliferation challenges America faces... challenging . Nonprolif eration agreements are our first line of defense against the creation of a far more unstable and hazardous world than we have ever

22 CFR 123.1 - Requirement for export or temporary import licenses.

Code of Federal Regulations, 2014 CFR

2014-04-01

... licenses. 123.1 Section 123.1 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS LICENSES FOR THE EXPORT AND TEMPORARY IMPORT OF DEFENSE ARTICLES § 123.1 Requirement for export or temporary import licenses. (a) Any person who intends to export or to import temporarily a defense article...

Neural control of rhythmic arm cycling after stroke

PubMed Central

Loadman, Pamela M.; Hundza, Sandra R.

2012-01-01

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

Summary of compliant and multi-arm control at NASA. Langley Research Center

NASA Technical Reports Server (NTRS)

Harrison, Fenton W.

1992-01-01

The topics are presented in viewgraph form and include the: single arm system, single arm axis system, single arm control systems, single arm hand controller axis system, single arm position axis system, single arm vision axis system, single arm force axis system, multi-arm system, multi-arm axis system, and the dual arm hand control axis system with control signals.

Hydrology and landscape structure control subalpine catchment carbon export

Treesearch

Vincent Jerald Pacific

2009-01-01

Carbon export from high elevation ecosystems is a critical component of the global carbon cycle. Ecosystems in northern latitudes have become the focus of much research due to their potential as large sinks of carbon in the atmosphere. However, there exists limited understanding of the controls of carbon export from complex mountain catchments due to strong spatial and...

27 CFR 28.243 - Shipment to armed services.

Code of Federal Regulations, 2010 CFR

2010-04-01

....243 Shipment to armed services. On removal of distilled spirits, wines, or beer for export to the armed services of the United States, the shipment shall be consigned to the commanding officer or supply... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Shipment to armed services...

78 FR 76114 - 36(b)(1) Arms Sales Notification

Federal Register 2010, 2011, 2012, 2013, 2014

2013-12-16

... Proposed Issuance of Letter of Offer Pursuant to Section 36(b)(1) of the Arms Export Control Act, as... Articles or Services under Consideration for Purchase: 14 CH-47D Model Aircraft to include T55-GA-714A Turbine Engines, 2 per aircraft (14 ac x 2 = 28 engines) 5 T55-GA-714A Turbine Engines to be used as...

Hybrid position/force control of multi-arm cooperating robots

NASA Technical Reports Server (NTRS)

Hayati, Samad

1986-01-01

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

Role of ER Export Signals in Controlling Surface Potassium Channel Numbers

NASA Astrophysics Data System (ADS)

Ma, Dzwokai; Zerangue, Noa; Lin, Yu-Fung; Collins, Anthony; Yu, Mei; Jan, Yuh Nung; Yeh Jan, Lily

2001-01-01

Little is known about the identity of endoplasmic reticulum (ER) export signals and how they are used to regulate the number of proteins on the cell surface. Here, we describe two ER export signals that profoundly altered the steady-state distribution of potassium channels and were required for channel localization to the plasma membrane. When transferred to other potassium channels or a G protein-coupled receptor, these ER export signals increased the number of functional proteins on the cell surface. Thus, ER export of membrane proteins is not necessarily limited by folding or assembly, but may be under the control of specific export signals.

77 FR 37346 - Export Control Reform Transition Plan

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-21

... review the appropriate Export Control Classification Number (ECCN) to determine the classification of their item. Licensees who are unsure of the proper ECCN designation may request a Commodity...

New nonlinear control algorithms for multiple robot arms

NASA Technical Reports Server (NTRS)

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

1988-01-01

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By 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, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

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

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

Lehman, R.F. II

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 havemore » 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.« less

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

PubMed

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

1996-11-15

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

76 FR 76097 - Amendment to the International Traffic in Arms Regulations: Establishment of U.S. Munitions List...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-06

...As part of the President's Export Control Reform effort, the Department of State proposes to amend the International Traffic in Arms Regulations (ITAR) to establish Category XIX of the U.S. Munitions List (USML) to describe gas turbine engines and associated equipment warranting control on the USML.

Systems Approach to Arms Control Verification

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

Allen, K; Neimeyer, I; Listner, C

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 twomore » 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.« less

Conflict, famine and the arms trade.

PubMed

Judd, F

1995-01-01

Armed conflict has had horrendous humanitarian effects, causing 22 million deaths, over 80 per cent of them civilian, since 1945 and resulting today in 19 million refugees and 24 million displaced persons. War results in economic collapse, and high levels of military spending decrease regional stability. Benefits to the producers are limited or negative and developed countries should diversify away from arms production. There is a need for greater awareness in the developed countries, an end to the secrecy besetting the arms trade, and restructuring of the industry. A Code of Conduct governing arms exports is proposed.

22 CFR 120.42 - Subject to the Export Administration Regulations (EAR).

Code of Federal Regulations, 2014 CFR

2014-04-01

... 22 Foreign Relations 1 2014-04-01 2014-04-01 false Subject to the Export Administration Regulations (EAR). 120.42 Section 120.42 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS § 120.42 Subject to the Export Administration Regulations (EAR). Items...

Strategic stalemate: Nuclear weapons and arms control in American politics

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

Krepon, M.

1984-01-01

This book presents a concise analysis of the American debate over arms control measures from the atmospheric test ban treaty of 1963 to the present. The author demonstrates the continuity of positions held by the participants throughout. There are two ''camps:'' those who stress security through military means and those who believe above all in arms control or disarmament. The camps in turn, contain ''operationalists,'' who pursue arms control but with differing emphases, and ''ideologues,'' who reject arms control in favor of superiority, at one end of the spectrum, or in favor of disarmament, at the other end.

A Proven Method for Meeting Export Control Objectives in Postal and Shipping Sectors

DTIC Science & Technology

2015-02-01

Mellon University for the operation of the Software Engineering Institute, a federally funded research and development center sponsored by the United...Export Control at USPS 5 3.3 Objectives for Improving Export Screening at USPS 6 4 Development of the New Screening Process 7 4.1 “Walking the Model...Export Screening Development Process 10 Figure 2: Induction and Processing of International Mail 10 Figure 3: The Export Screening Process 11

Control of octopus arm extension by a peripheral motor program.

PubMed

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

2001-09-07

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

Position And Force Control For Multiple-Arm Robots

NASA Technical Reports Server (NTRS)

Hayati, Samad A.

1988-01-01

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

Global carbon export from the terrestrial biosphere controlled by erosion.

PubMed

Galy, Valier; Peucker-Ehrenbrink, Bernhard; Eglinton, Timothy

2015-05-14

Riverine export of particulate organic carbon (POC) to the ocean affects the atmospheric carbon inventory over a broad range of timescales. On geological timescales, the balance between sequestration of POC from the terrestrial biosphere and oxidation of rock-derived (petrogenic) organic carbon sets the magnitude of the atmospheric carbon and oxygen reservoirs. Over shorter timescales, variations in the rate of exchange between carbon reservoirs, such as soils and marine sediments, also modulate atmospheric carbon dioxide levels. The respective fluxes of biospheric and petrogenic organic carbon are poorly constrained, however, and mechanisms controlling POC export have remained elusive, limiting our ability to predict POC fluxes quantitatively as a result of climatic or tectonic changes. Here we estimate biospheric and petrogenic POC fluxes for a suite of river systems representative of the natural variability in catchment properties. We show that export yields of both biospheric and petrogenic POC are positively related to the yield of suspended sediment, revealing that POC export is mostly controlled by physical erosion. Using a global compilation of gauged suspended sediment flux, we derive separate estimates of global biospheric and petrogenic POC fluxes of 157(+74)(-50) and 43(+61)(-25) megatonnes of carbon per year, respectively. We find that biospheric POC export is primarily controlled by the capacity of rivers to mobilize and transport POC, and is largely insensitive to the magnitude of terrestrial primary production. Globally, physical erosion rates affect the rate of biospheric POC burial in marine sediments more strongly than carbon sequestration through silicate weathering. We conclude that burial of biospheric POC in marine sediments becomes the dominant long-term atmospheric carbon dioxide sink under enhanced physical erosion.

FACE computer simulation. [Flexible Arm Controls Experiment

NASA Technical Reports Server (NTRS)

Sadeh, Willy Z.; Szmyd, Jeffrey A.

1990-01-01

A computer simulation of the FACE (Flexible Arm Controls Experiment) was conducted to assess its design for use in the Space Shuttle. The FACE is supposed to be a 14-ft long articulate structure with 4 degrees of freedom, consisting of shoulder pitch and yaw, elbow pitch, and wrist pitch. Kinematics of the FACE was simulated to obtain data on arm operation, function, workspace and interaction. Payload capture ability was modeled. The simulation indicates the capability for detailed kinematic simulation and payload capture ability analysis, and the feasibility of real-time simulation was determined. In addition, the potential for interactive real-time training through integration of the simulation with various interface controllers was revealed. At this stage, the flexibility of the arm was not yet considered.

Arms production in Japan: The military applications of civilian technology

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

Drifte, R.

1986-01-01

The author examines both the domestic and international environments encouraging Japan's leaders not only to strengthen the country's defense, but to do so more independently. Until recently, the arms industry has been nurtured by U.S. weapons technology, but growing dependence on electronics dramatically increases Japan's contribution to modern weapons systems. The electronics revolution is creating more and more dual-purpose products, undermining the Japanese cabinet policy of prohibiting arms export. The discovery of wider applications for Japanese manufacturers' most advanced civilian technology is a strong motivation for entering the arms arena. The book illustrates that Japan's entry into the field ismore » a dynamic example of the success of Japanese industry as it enters new technological areas. The author discusses: Development and the Present Situation of Japan's Arms Production Capability; Research and Development; The Shipbuilding Industry; The Aircraft Industry; The Space and Missile Industry; and Arms Exports with conclusions.« less

3 CFR - Continuation of the National Emergency With Respect to Export Control Regulations

Code of Federal Regulations, 2013 CFR

2013-01-01

... 3 The President 1 2013-01-01 2013-01-01 false Continuation of the National Emergency With Respect to Export Control Regulations Presidential Documents Other Presidential Documents Notice of August 15, 2012 Continuation of the National Emergency With Respect to Export Control Regulations On August 17...

mRNA quality control is bypassed for immediate export of stress-responsive transcripts.

PubMed

Zander, Gesa; Hackmann, Alexandra; Bender, Lysann; Becker, Daniel; Lingner, Thomas; Salinas, Gabriela; Krebber, Heike

2016-12-12

Cells grow well only in a narrow range of physiological conditions. Surviving extreme conditions requires the instantaneous expression of chaperones that help to overcome stressful situations. To ensure the preferential synthesis of these heat-shock proteins, cells inhibit transcription, pre-mRNA processing and nuclear export of non-heat-shock transcripts, while stress-specific mRNAs are exclusively exported and translated. How cells manage the selective retention of regular transcripts and the simultaneous rapid export of heat-shock mRNAs is largely unknown. In Saccharomyces cerevisiae, the shuttling RNA adaptor proteins Npl3, Gbp2, Hrb1 and Nab2 are loaded co-transcriptionally onto growing pre-mRNAs. For nuclear export, they recruit the export-receptor heterodimer Mex67-Mtr2 (TAP-p15 in humans). Here we show that cellular stress induces the dissociation of Mex67 and its adaptor proteins from regular mRNAs to prevent general mRNA export. At the same time, heat-shock mRNAs are rapidly exported in association with Mex67, without the need for adapters. The immediate co-transcriptional loading of Mex67 onto heat-shock mRNAs involves Hsf1, a heat-shock transcription factor that binds to heat-shock-promoter elements in stress-responsive genes. An important difference between the export modes is that adaptor-protein-bound mRNAs undergo quality control, whereas stress-specific transcripts do not. In fact, regular mRNAs are converted into uncontrolled stress-responsive transcripts if expressed under the control of a heat-shock promoter, suggesting that whether an mRNA undergoes quality control is encrypted therein. Under normal conditions, Mex67 adaptor proteins are recruited for RNA surveillance, with only quality-controlled mRNAs allowed to associate with Mex67 and leave the nucleus. Thus, at the cost of error-free mRNA formation, heat-shock mRNAs are exported and translated without delay, allowing cells to survive extreme situations.

75 FR 7548 - Amendments to the Select Agents Controls in Export Control Classification Number (ECCN) 1C360 on...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-02-22

...-91434-01] RIN 0694-AE67 Amendments to the Select Agents Controls in Export Control Classification Number... controls on certain select agents identified in Export Control Classification Number (ECCN) 1C360 on the...) list of select agents and toxins. The changes made by APHIS were part of a biennial review and...

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

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

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 keymore » 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

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.

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.

Agencies Should Assess Vulnerabilities and Improve Guidance for Protecting Export-Controlled Information at Companies

DTIC Science & Technology

2006-12-01

Supplement DOD Department of Defense DOL Department of Labor DTSA Defense Technology Security Administration EAR Export Administration Regulations...and outreach to companies on the export regulations. DOD: The Defense Technology Security Administration ( DTSA ) represents DOD on export control...and technologies, which DOD oversees. DTSA serves an advisory role in State’s and Commerce’s export license review processes and offers technical

The adequacy of current import and export controls on sealed radioactive sources.

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

Longley, Susan W.; Cochran, John Russell; Price, Laura L.

2003-10-01

Millions of sealed radioactive sources (SRSs) are being used for a wide variety of beneficial purposes throughout the world. Security experts are now concerned that these beneficial SRSs could be used in a radiological dispersion device to terrorize and disrupt society. The greatest safety and security threat is from those highly radioactive Category 1 and 2 SRSs. Without adequate controls, it may be relatively easy to legally purchase a Category 1 or 2 SRS on the international market under false pretenses. Additionally, during transfer, SRSs are particularly susceptible to theft since the sources are in a shielded and mobile configuration,more » transportation routes are predictable, and shipments may not be adequately guarded. To determine if government controls on SRS are adequate, this study was commissioned to review the current SRS import and export controls of six countries. Canada, the Russian Federation, and South Africa were selected as the exporting countries, and Egypt, the Philippines, and the United States were selected as importing countries. A detailed review of the controls in each country is presented. The authors found that Canada and Russia are major exporters, and are exporting highly radioactive SRSs without first determining if the recipient is authorized by the receiving country to own and use the SRSs. Available evidence was used to estimate that on average there are tens to possibly hundreds of intercountry transfers of highly radioactive SRSs each day. Based on these and other findings, this reports recommends stronger controls on the export and import of highly radioactive SRSs.« less

Intelligence and arms control - a marriage of convenience

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

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, formermore » 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.« less

A Conceptual Working Paper on Arms Control Verification,

DTIC Science & Technology

1981-08-01

AD-AlIO 748 OPIRATIONAL RESEARCH AND ANALYSIS ESTABLISMENT OTTA-ETC F/S 5/4 -A CONCEPTUAL WORKING PAP" ON ARMS CONTROL VERItFCATION.(U) AUG 81 F R... researched for the paper comes from ORAE Report No. R73, Compendium of Arms Control Verification Proposals, submitted simultaneously to the Committee on...nuclear activities within the territory" of the non -nuclear weapon state, or carried out under its control anywhere. Parties also undertake not to

19 CFR 162.61 - Importing and exporting controlled substances.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 19 Customs Duties 2 2010-04-01 2010-04-01 false Importing and exporting controlled substances. 162.61 Section 162.61 Customs Duties U.S. CUSTOMS AND BORDER PROTECTION, DEPARTMENT OF HOMELAND SECURITY; DEPARTMENT OF THE TREASURY (CONTINUED) INSPECTION, SEARCH, AND SEIZURE Controlled Substances, Narcotics, and...

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.

3 CFR - Continuation of the National Emergency With Respect to Export Control Regulations

Code of Federal Regulations, 2014 CFR

2014-01-01

... 3 The President 1 2014-01-01 2014-01-01 false Continuation of the National Emergency With Respect to Export Control Regulations Presidential Documents Other Presidential Documents Notice of August 8, 2013 Continuation of the National Emergency With Respect to Export Control Regulations On August 17, 2001, consistent with the authority provided t...

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.

Worldwide Report, Arms Control.

DTIC Science & Technology

1985-06-13

283086 JPRS-TAC-85-0 12 13 June 1985 Worldwide Report ARMS CONTROL 19980729 131 — . „_ | ^^CQWArpmr Approved fa pnbfi* nümam...retained. Headlines, editorial reports , and material enclosed in brackets [] are supplied by JPRS. Processing indicators such as [Text] or...JPRS number, title, date and author, if applicable, of publication be cited. Current JPRS publications are announced in Government Reports

New Horizons and New Strategies in Arms Control

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

Brown, J. editor

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 inmore » 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.« less

Low road to arms control

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

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.

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

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

PubMed

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

2012-09-15

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

Neurobiology: motor control of flexible octopus arms.

PubMed

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

2005-02-10

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

77 FR 76864 - Amendment to the International Traffic in Arms Regulations: Afghanistan and Change to Policy on...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-12-31

... Belarus, Cuba, Eritrea, Iran, North Korea, Syria, and Venezuela. This policy also applies to countries... International Traffic in Arms Regulations: Afghanistan and Change to Policy on Prohibited Exports AGENCY.... Goforth, Director, Office of Defense Trade Controls Policy, U.S. Department of State, telephone (202) 663...

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…

Arm coordination in octopus crawling involves unique motor control strategies.

PubMed

Levy, Guy; Flash, Tamar; Hochner, Binyamin

2015-05-04

To cope with the exceptional computational complexity that is involved in the control of its hyper-redundant arms [1], the octopus has adopted unique motor control strategies in which the central brain activates rather autonomous motor programs in the elaborated peripheral nervous system of the arms [2, 3]. How octopuses coordinate their eight long and flexible arms in locomotion is still unknown. Here, we present the first detailed kinematic analysis of octopus arm coordination in crawling. The results are surprising in several respects: (1) despite its bilaterally symmetrical body, the octopus can crawl in any direction relative to its body orientation; (2) body and crawling orientation are monotonically and independently controlled; and (3) contrasting known animal locomotion, octopus crawling lacks any apparent rhythmical patterns in limb coordination, suggesting a unique non-rhythmical output of the octopus central controller. We show that this uncommon maneuverability is derived from the radial symmetry of the arms around the body and the simple pushing-by-elongation mechanism by which the arms create the crawling thrust. These two together enable a mechanism whereby the central controller chooses in a moment-to-moment fashion which arms to recruit for pushing the body in an instantaneous direction. Our findings suggest that the soft molluscan body has affected in an embodied way [4, 5] the emergence of the adaptive motor behavior of the octopus. Copyright © 2015 Elsevier Ltd. All rights reserved.

JPRS Report, Arms Control

DTIC Science & Technology

1989-11-13

manufacturing or using beam facilities. Radiation signs and necessary protection security interlocking mechanisms, alarm systems, or signals must be...JPRS-TAC-89-037 13 NOVEMBER 1989 JPRS tit Arms Control 715 159 REPRODUCED BY US DEPARTMENT OF COMMERCE NATIONAL TECHNICAL INFORMATION SERVICE...Xue Ren; J1EFANGJUN BAO 20 Oct] 4 Li Peng Signs Radiation Protection Decree [XINHUA 1 Nov] 5 Nuclear Technology Applied to Nonmilitary Use

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.

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.

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

Code of Federal Regulations, 2013 CFR

2013-04-01

... the North Atlantic Treaty Organization (NATO), or Australia, Israel, Japan, New Zealand, or the Republic of Korea that does not authorize a new sales territory; or (2) A license for export to a country that is a member country of NATO, or Australia, Israel, Japan, New Zealand, or the Republic of Korea...

Control of Sediment Export From The Forest Road Prism

Treesearch

Johnny M. Grace

2002-01-01

The effectiveness of four road turn-out ditch treatments (vegetation, rip-rap, sediment fences, and settling basins) in reducing sediment export to the forest floor was evaluated. These four runoff control method are commonly prescribed to control forest road runoff and sediments. The study utilized runoff samplers, runoff diversion walls, sediment filter bags, and...

32 CFR 250.9 - Notice to accompany the dissemination of export-controlled technical data.

Code of Federal Regulations, 2011 CFR

2011-07-01

... Commerce for items controlled by the Export Administration Regulations (EAR), may constitute a violation of..., the penalty for unlawful export of items or information controlled under the EAR is a fine of up to $1... resulting from manufacture or use for any purpose of any product, article, system, or material involving...

32 CFR 250.9 - Notice to accompany the dissemination of export-controlled technical data.

Code of Federal Regulations, 2012 CFR

2012-07-01

... Commerce for items controlled by the Export Administration Regulations (EAR), may constitute a violation of..., the penalty for unlawful export of items or information controlled under the EAR is a fine of up to $1... resulting from manufacture or use for any purpose of any product, article, system, or material involving...

32 CFR 250.9 - Notice to accompany the dissemination of export-controlled technical data.

Code of Federal Regulations, 2013 CFR

2013-07-01

... Commerce for items controlled by the Export Administration Regulations (EAR), may constitute a violation of..., the penalty for unlawful export of items or information controlled under the EAR is a fine of up to $1... resulting from manufacture or use for any purpose of any product, article, system, or material involving...

32 CFR 250.9 - Notice to accompany the dissemination of export-controlled technical data.

Code of Federal Regulations, 2014 CFR

2014-07-01

... Commerce for items controlled by the Export Administration Regulations (EAR), may constitute a violation of..., the penalty for unlawful export of items or information controlled under the EAR is a fine of up to $1... resulting from manufacture or use for any purpose of any product, article, system, or material involving...

37 CFR 5.18 - Arms, ammunition, and implements of war.

Code of Federal Regulations, 2010 CFR

2010-07-01

... implements of war. 5.18 Section 5.18 Patents, Trademarks, and Copyrights UNITED STATES PATENT AND TRADEMARK... implements of war. (a) The exportation of technical data relating to arms, ammunition, and implements of war... parts 120 through 130); the articles designated as arms, ammunitions, and implements of war are...

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.

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.

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

NASA Technical Reports Server (NTRS)

Barker, L. K.

1983-01-01

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

Factors controlling the long-term temporal and spatial patterns of nitrate-nitrogen export in a dairy farming watershed.

PubMed

Jiang, Rui; Wang, Chun-ying; Hatano, Ryusuke; Kuramochi, Kanta; Hayakawa, Atsushi; Woli, Krishna P

2015-04-01

It is difficult to investigate the factors that control the riverine nitrate-nitrogen (NO3--N) export in a watershed which gains or losses groundwater. To control the NO3--N contamination in these watersheds, it is necessary to investigate the factors that are related to the export of NO3--N that is only produced by the watershed itself. This study was conducted in the Shibetsu watershed located in eastern Hokkaido, Japan, which gains external groundwater contribution (EXT) and 34% of the annual NO3--N loading occurs through EXT. The riverine NO3--N exports from 1980 to 2009 were simulated by the SWAT model, and the factors controlling the temporal and spatial patterns of NO3--N exports were investigated without considering the EXT. The results show that hydrological events control NO3--N export at the seasonal scale, while the hydrological and biogeochemical processes are likely to control NO3--N export at the annual scale. There was an integrated effect among the land use, topography, and soil type related to denitrification process, that regulated the spatial patterns of NO3--N export. The spatial distribution of NO3--N export from hydrologic response units (HRUs) identified the agricultural areas with surplus N that are vulnerable to nitrate contamination. A new standard for the N fertilizer application rate including manure application should be given to control riverine NO3--N export. This study demonstrates that applying the SWAT model is an appropriate method to determine the temporal and spatial patterns of NO3--N export from the watershed which includes EXT and to identify the crucial pollution areas within a watershed in which the management practices can be improved to more effectively control NO3--N export to water bodies.

78 FR 61873 - Revisions to the Export Administration Regulations (EAR) To Make the Commerce Control List (CCL...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-10-04

...This final rule implements changes that were proposed on November 29, 2012 in a proposed rule entitled Revisions to the Export Administration Regulations (EAR) To Make the Commerce Control List (CCL) Clearer. The changes in the November 29 proposed rule were informed by public comments received in response to an advance notice of proposed rulemaking entitled Commerce Control List: Revising Descriptions of Items and Foreign Availability published as part of the President's Export Control Reform (ECR) Initiative on December 9, 2010. This final rule implements changes that can be made to the CCL without requiring changes to multilateral export control regime guidelines or lists. This final rule also makes conforming changes and minor clarifications as a result of the publication of two final rules implementing the Export Control Reform Initiative: the April 16, 2013 final rule entitled Revisions to the Export Administration Regulations: Initial Implementation of Export Control Reform; and the July 8, 2013 final rule entitled Revisions to the Export Administration Regulations: Military Vehicles; Vessels of War; Submersible Vessels, Oceanographic Equipment; Related Items; and Auxiliary and Miscellaneous Items that the President Determines No Longer Warrant Control under the United States Munitions List. Lastly, this final rule is making revisions to the EAR as a result of public comments received in response to the November 29 proposed rule and to a notice of inquiry (NOI) entitled Request for Public Comments on Shipping Tolerances for Export Licenses Issued by the Bureau of Industry and Security (BIS), that BIS published on July 5, 2012.

Arms Control and National Security.

ERIC Educational Resources Information Center

Graham, Daniel O.

1985-01-01

From the Soviet perspective arms control agreements merely hold the United States in check while the Soviets, who don't feel bound by such agreements, obtain military advantages. The United States must move quickly to redress the strategic military balance that now favors the Soviets. We must emphasize areas like space. (RM)

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

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.

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

PubMed Central

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

2011-01-01

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

75 FR 36481 - Encryption Export Controls: Revision of License Exception ENC and Mass Market Eligibility...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-06-25

... Eligibility for Most Encryption Technology, to Non-``Government End-Users'' Outside Country Group D:1 or E:1.... Encryption Export Controls: Revision of License Exception ENC and Mass Market Eligibility, Submission... Export Controls: Revision of License Exception ENC and Mass Market Eligibility, Submission Procedures...

Robot-Arm Dynamic Control by Computer

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

Arms control and The President's Strategic Defense Initiative

NASA Astrophysics Data System (ADS)

Bon, J. J.

1985-04-01

The President's Strategic Defense Initiative (SDI) provides the hope for eliminating the threat from ballistic missiles. This study evaluates the impact of SDI on existing and future arms control agreements. Because new or modified space-related treaties are a probable result of the SDI, this study concludes that the best single strategy for arms control negotiations is to preserve overall US interests and maintain open technological options vice severely limiting any space technology that might some day become part of a space-based defensive system.

Arms control and the 1990 NPT review conference: Workshop summary

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

Pilat, J.F.

1990-07-01

The Center for National Security Studies of the Los Alamos National Laboratory and the Department of Energy's Office of Arms Control held a workshop on Arms Control and the 1990 NPT Review Conference'' on December 5--6, 1989, at Los Alamos. The fundamental objective of the Treaty on the Nonproliferation of Nuclear Weapons (NPT) is to prevent the spread of nuclear weapons to states that do not possess them; however, another of the NPT objectives is to encourage arms control efforts in the nuclear and nonnuclear arenas. Accordingly, under Article VI, each of the Parties to the Treaty undertakes to pursuemore » negotiations in good faith on effective measures relating to cessation of the nuclear arms race at an early date to nuclear disarmament, and on a treaty on general and complete disarmament under strict and effective international control.'' This paper discusses ideas put forward at the Review Conference.« less

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

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

Gillen, David S.

exploration of the data can aid an analyst with arms control and nonproliferation verification activities. Using a dataset from PIERS (PIERS 2014), we will show how container shipment imports and exports can aid an analyst in understanding the shipping patterns between two countries. We will also use T.Rex to examine a collection of research publications from the IAEA International Nuclear Information System (IAEA 2014) to discover collaborations of concern. We hope this paper will encourage the use of visual analytics structured data analytics in the field of nonproliferation and arms control verification. Our paper outlines some of the challenges that exist before broad adoption of these kinds of tools can occur and offers next steps to overcome these challenges.« less

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…

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

PubMed

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

2005-08-01

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

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.

The use of robots for arms control treaty verification

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

Michalowski, S.J.

1991-01-01

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

Arms Control, Disarmament, and Peace Newsletters.

ERIC Educational Resources Information Center

Atkins, Stephen

1986-01-01

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

The future of U.S.-Russia nuclear arms control

NASA Astrophysics Data System (ADS)

Pifer, Steven

2017-11-01

Nuclear arms control has long made contributions to U.S.-Soviet and U.S.-Russian security, but the current regime is at risk. The 1987 Intermediate-range Nuclear Forces Treaty may be headed for collapse. Both the United States and Russia are modernizing their strategic forces, and the fate of the 2010 New Strategic Arms Reduction Treaty is unclear. In the unlikely case that the sides are prepared to go beyond New START, there are ways to address further reductions and related issues. A collapse of the arms control regime, on the other hand, would mean the end of constraints on U.S. and Russian nuclear forces, a significant loss of transparency, and potential costs to U.S. security.

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

PubMed

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

2017-01-01

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

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.

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.

77 FR 71213 - Revisions to the Export Administration Regulations (EAR) To Make the Commerce Control List (CCL...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-11-29

...On December 9, 2010, the Bureau of Industry and Security (BIS) published an advance notice of proposed rulemaking entitled Commerce Control List: Revising Descriptions of Items and Foreign Availability as part of the President's Export Control Reform (ECR) Initiative. The December 9, 2010 notice sought, among other things, public comments on how descriptions of items controlled on the Commerce Control List (CCL) could be made clearer. This proposed rule would implement changes identified by BIS and the public that would make the CCL clearer. This rule would only implement changes that can be made to the CCL without requiring changes to multilateral export control regime guidelines or lists. However, BIS has identified changes that would require a decision of a multilateral regime to implement. For those changes, the U.S. Government is developing regime change proposals for consideration by members of those multilateral export control regimes. BIS will implement those changes in separate rulemakings, if approved by the respective multilateral export control regimes.

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.

Compendium of Arms Control Verification Proposals.

DTIC Science & Technology

1982-03-01

proposals. This appears to be the case for virtually all kinds of prospective arms control topics from general and complete disarmament to control of specific... virtually anywhere. Unrestricted access would be particularly necessary in the case of states which previously had nuclear weapons. Practically speaking...been transferred out of the area, it would be harder to check on remaining stocks without some intrusive inspection and it would be virtually impossible

A self-assembled nanoscale robotic arm controlled by electric fields

NASA Astrophysics Data System (ADS)

Kopperger, Enzo; List, Jonathan; Madhira, Sushi; Rothfischer, Florian; Lamb, Don C.; Simmel, Friedrich C.

2018-01-01

The use of dynamic, self-assembled DNA nanostructures in the context of nanorobotics requires fast and reliable actuation mechanisms. We therefore created a 55-nanometer–by–55-nanometer DNA-based molecular platform with an integrated robotic arm of length 25 nanometers, which can be extended to more than 400 nanometers and actuated with externally applied electrical fields. Precise, computer-controlled switching of the arm between arbitrary positions on the platform can be achieved within milliseconds, as demonstrated with single-pair Förster resonance energy transfer experiments and fluorescence microscopy. The arm can be used for electrically driven transport of molecules or nanoparticles over tens of nanometers, which is useful for the control of photonic and plasmonic processes. Application of piconewton forces by the robot arm is demonstrated in force-induced DNA duplex melting experiments.

Model and Analytic Processes for Export License Assessments

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

Thompson, Sandra E.; Whitney, Paul D.; Weimar, Mark R.

2011-09-29

This paper represents the Department of Energy Office of Nonproliferation Research and Development (NA-22) Simulations, Algorithms and Modeling (SAM) Program's first effort to identify and frame analytical methods and tools to aid export control professionals in effectively predicting proliferation intent; a complex, multi-step and multi-agency process. The report focuses on analytical modeling methodologies that alone, or combined, may improve the proliferation export control license approval process. It is a follow-up to an earlier paper describing information sources and environments related to international nuclear technology transfer. This report describes the decision criteria used to evaluate modeling techniques and tools to determinemore » which approaches will be investigated during the final 2 years of the project. The report also details the motivation for why new modeling techniques and tools are needed. The analytical modeling methodologies will enable analysts to evaluate the information environment for relevance to detecting proliferation intent, with specific focus on assessing risks associated with transferring dual-use technologies. Dual-use technologies can be used in both weapons and commercial enterprises. A decision-framework was developed to evaluate which of the different analytical modeling methodologies would be most appropriate conditional on the uniqueness of the approach, data availability, laboratory capabilities, relevance to NA-22 and Office of Arms Control and Nonproliferation (NA-24) research needs and the impact if successful. Modeling methodologies were divided into whether they could help micro-level assessments (e.g., help improve individual license assessments) or macro-level assessment. Macro-level assessment focuses on suppliers, technology, consumers, economies, and proliferation context. Macro-level assessment technologies scored higher in the area of uniqueness because less work has been done at the macro level. An

31 CFR 592.201 - Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

Code of Federal Regulations, 2011 CFR

2011-07-01

... of any rough diamond; permitted importation or exportation of any rough diamond. 592.201 Section 592... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY ROUGH DIAMONDS CONTROL REGULATIONS Prohibitions § 592.201 Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

31 CFR 592.201 - Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

Code of Federal Regulations, 2012 CFR

2012-07-01

... of any rough diamond; permitted importation or exportation of any rough diamond. 592.201 Section 592... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY ROUGH DIAMONDS CONTROL REGULATIONS Prohibitions § 592.201 Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

31 CFR 592.201 - Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

Code of Federal Regulations, 2013 CFR

2013-07-01

... of any rough diamond; permitted importation or exportation of any rough diamond. 592.201 Section 592... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY ROUGH DIAMONDS CONTROL REGULATIONS Prohibitions § 592.201 Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

31 CFR 592.201 - Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

Code of Federal Regulations, 2014 CFR

2014-07-01

... of any rough diamond; permitted importation or exportation of any rough diamond. 592.201 Section 592... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY ROUGH DIAMONDS CONTROL REGULATIONS Prohibitions § 592.201 Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

JPL Export Compliance Program

NASA Technical Reports Server (NTRS)

Momjian, E.; Lam, C.

2000-01-01

The transfer of commodities, software, or technlogies to foreign persons is subject to U.S. export control laws and regulations. These export controls are applicable, regardless of whether the transfer occurs in the U.S. or outside of the U.S.

21 CFR 1312.22 - Application for export permit.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 21 Food and Drugs 9 2010-04-01 2010-04-01 false Application for export permit. 1312.22 Section... EXPORTATION OF CONTROLLED SUBSTANCES Exportation of Controlled Substances § 1312.22 Application for export permit. (a) An application for a permit to export controlled substances shall be made on DEA Form 161...

Russia and the Current State of Arms Control

DTIC Science & Technology

2012-09-01

Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law , no person shall be subject to a...for the Further Reduction and Limitation of Strategic Offensive Arms (START III) addressed well-covered ground from past arms control efforts and...composed of political, military, business , faith, and civic leaders in late 2008. That group mount- ed an international campaign for the elimination of

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

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

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 tomore » 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.« less

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.

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

NASA Astrophysics Data System (ADS)

Xiao, Lifeng; Peng, Jinbao

2017-03-01

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

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.

A Proven Method for Meeting Export Control Objectives in Postal and Shipping Sectors

DTIC Science & Technology

2015-02-01

months, the USPIS team developed and implemented an export screening standard operating procedure, implemented new and updated processes and systems ...support and protect the U.S. Postal Service and its employees, infrastructure, and customers; enforce the laws that defend the nation’s mail system ...the incidence of mail shipments violating export control laws, regulations, and standards . • Evaluate current processes and systems and identify

Association of hand and arm disinfection with asthma control in US nurses.

PubMed

Dumas, Orianne; Varraso, Raphäelle; Boggs, Krislyn M; Descatha, Alexis; Henneberger, Paul K; Quinot, Catherine; Speizer, Frank E; Zock, Jan-Paul; Le Moual, Nicole; Camargo, Carlos A

2018-05-01

To investigate the association between occupational exposure to disinfectants/antiseptics used for hand hygiene and asthma control in nurses. In 2014, we invited female nurses with asthma drawn from the Nurses' Health Study II to complete two supplemental questionnaires on their occupation and asthma (cross-sectional study, response rate: 80%). Among 4055 nurses (mean age: 59 years) with physician-diagnosed asthma and asthma medication use in the past year, we examined asthma control, as defined by the Asthma Control Test (ACT). Nurses were asked about the daily frequency of hand hygiene tasks: 'wash/scrub hands with disinfectants/hand sanitizers' (hand hygiene) and 'wash/scrub arms with disinfecting products' (surrogate of surgical hand/arm antisepsis). Analyses were adjusted for age, race, ethnicity, smoking status and body mass index. Nurses with partly controlled asthma (ACT: 20-24, 50%) and poorly controlled asthma (ACT ≤19, 18%) were compared with nurses with controlled asthma (ACT=25, 32%). In separate models, both hand and arm hygiene were associated with poorly controlled asthma. After mutual adjustment, only arm hygiene was associated with poorly controlled asthma: OR (95% CI) for <1 time/day, 1.38 (1.06 to 1.80); ≥1 time/day, 1.96 (1.52 to 2.51), versus never. We observed a consistent dose-response relationship between frequency of arm hygiene tasks (never to >10 times/day) and poor asthma control. Associations persisted after further adjustment for surfaces/instruments disinfection tasks. Frequency of hand/arm hygiene tasks in nurses was associated with poor asthma control. The results suggest an adverse effect of products used for surgical hand/arm antisepsis. This potential new occupational risk factor for asthma warrants further study. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2018. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

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.

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).

75 FR 50679 - Continuation of Emergency Regarding Export Control Regulations

Federal Register 2010, 2011, 2012, 2013, 2014

2010-08-16

... Part III The President Notice of August 12, 2010--Continuation of Emergency Regarding Export Control Regulations #0; #0; #0; Presidential Documents #0; #0; #0;#0;Federal Register / Vol. 75, No. 157 / Monday, August 16, 2010 / Presidential Documents#0;#0; #0; #0;Title 3-- #0;The President [[Page 50681...

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.

Export Controls and the Tensions between Academic Freedom and National Security

ERIC Educational Resources Information Center

Evans, Samuel A. W.; Valdivia, Walter D.

2012-01-01

In the U.S.A., advocates of academic freedom--the ability to pursue research unencumbered by government controls--have long found sparring partners in government officials who regulate technology trade. From concern over classified research in the 1950s, to the expansion of export controls to cover trade in information in the 1970s, to current…

21 CFR 1312.23 - Issuance of export permit.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 21 Food and Drugs 9 2010-04-01 2010-04-01 false Issuance of export permit. 1312.23 Section 1312.23... CONTROLLED SUBSTANCES Exportation of Controlled Substances § 1312.23 Issuance of export permit. (a) The... regulation in § 1312.30 of this part be exported only pursuant to the issuance of an export permit. The...

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

... DEPARTMENT OF STATE [Public Notice 8387] Announcement of the 2013 Innovation in Arms Control... Information Technology Tools and Concepts Can Support Future Arms Control Inspections? The 2013 Innovation in Arms Control Challenge will engage the public to develop tools and processes for 21st century arms...

Comparison of tongue interface with keyboard for control of an assistive robotic arm.

PubMed

Struijk, Lotte N S Andreasen; Lontis, Romulus

2017-07-01

This paper demonstrates how an assistive 6 DoF robotic arm with a gripper can be controlled manually using a tongue interface. The proposed method suggests that it possible for a user to manipulate the surroundings with his or her tongue using the inductive tongue control system as deployed in this study. The sensors of an inductive tongue-computer interface were mapped to the Cartesian control of an assistive robotic arm. The resulting control system was tested manually in order to compare manual control of the robot using a standard keyboard and using the tongue interface. Two healthy subjects controlled the robotic arm to precisely move a bottle of water from one location to another. The results shows that the tongue interface was able to fully control the robotic arm in a similar manner as the standard keyboard resulting in the same number of successful manipulations and an average increase in task duration of up to 30% as compared with the standard keyboard.

75 FR 52625 - Amendment to the International Traffic in Arms Regulations: Export Exemption for Technical Data

Federal Register 2010, 2011, 2012, 2013, 2014

2010-08-27

... the provisions of the Department of Defense National Industrial Security Program Operating Manual, an... Department of Defense National Industrial Security Program Operating Manual (unless such requirements are in..., Arms Control and International Security, Department of State. [FR Doc. 2010-21450 Filed 8-26-10; 8:45...

Issues for Future Nuclear Arms Control

NASA Astrophysics Data System (ADS)

Davis, Jay

2011-04-01

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

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.

Rewards-driven control of robot arm by decoding EEG signals.

PubMed

Tanwani, Ajay Kumar; del R Millan, Jose; Billard, Aude

2014-01-01

Decoding the user intention from non-invasive EEG signals is a challenging problem. In this paper, we study the feasibility of predicting the goal for controlling the robot arm in self-paced reaching movements, i.e., spontaneous movements that do not require an external cue. Our proposed system continuously estimates the goal throughout a trial starting before the movement onset by online classification and generates optimal trajectories for driving the robot arm to the estimated goal. Experiments using EEG signals of one healthy subject (right arm) yield smooth reaching movements of the simulated 7 degrees of freedom KUKA robot arm in planar center-out reaching task with approximately 80% accuracy of reaching the actual goal.

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

NASA Astrophysics Data System (ADS)

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

2016-12-01

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

Export Control Requirements for Tritium Processing Design and R&D

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

Hollis, William Kirk; Maynard, Sarah-Jane Wadsworth

This document will address requirements of export control associated with tritium plant design and processes. Los Alamos National Laboratory has been working in the area of tritium plant system design and research and development (R&D) since the early 1970’s at the Tritium Systems Test Assembly (TSTA). This work has continued to the current date with projects associated with the ITER project and other Office of Science Fusion Energy Science (OS-FES) funded programs. ITER is currently the highest funding area for the DOE OS-FES. Although export control issues have been integrated into these projects in the past a general guidance documentmore » has not been available for reference in this area. To address concerns with currently funded tritium plant programs and assist future projects for FES, this document will identify the key reference documents and specific sections within related to tritium research. Guidance as to the application of these sections will be discussed with specific detail to publications and work with foreign nationals.« less

Export Control Requirements for Tritium Processing Design and R&D

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

Hollis, William Kirk; Maynard, Sarah-Jane Wadsworth

2015-10-30

This document will address requirements of export control associated with tritium plant design and processes. Los Alamos National Laboratory has been working in the area of tritium plant system design and research and development (R&D) since the early 1970’s at the Tritium Systems Test Assembly (TSTA). This work has continued to the current date with projects associated with the ITER project and other Office of Science Fusion Energy Science (OS-FES) funded programs. ITER is currently the highest funding area for the DOE OS-FES. Although export control issues have been integrated into these projects in the past a general guidance documentmore » has not been available for reference in this area. To address concerns with currently funded tritium plant programs and assist future projects for FES, this document will identify the key reference documents and specific sections within related to tritium research. Guidance as to the application of these sections will be discussed with specific detail to publications and work with foreign nationals.« less

75 FR 69573 - Export Enforcement Coordination Center

Federal Register 2010, 2011, 2012, 2013, 2014

2010-11-15

... Export Enforcement Coordination Center By the authority vested in me as President by the Constitution and... enforcement of United States export control laws and enhanced intelligence exchange in support of such enforcement efforts, it is hereby ordered as follows: Section 1. Policy. Export controls are critical to...

15 CFR 732.5 - Steps regarding Shipper's Export Declaration or Automated Export System record, Destination...

Code of Federal Regulations, 2011 CFR

2011-01-01

... than anti-terrorism (AT). The only exception to this requirement would be the return of unwanted... be entered on the invoice and on the bill of lading, air waybill, or other export control document... THE EAR § 732.5 Steps regarding Shipper's Export Declaration or Automated Export System record...

15 CFR 732.5 - Steps regarding Shipper's Export Declaration or Automated Export System record, Destination...

Code of Federal Regulations, 2013 CFR

2013-01-01

... than anti-terrorism (AT). The only exception to this requirement would be the return of unwanted... be entered on the invoice and on the bill of lading, air waybill, or other export control document... THE EAR § 732.5 Steps regarding Shipper's Export Declaration or Automated Export System record...

15 CFR 732.5 - Steps regarding Shipper's Export Declaration or Automated Export System record, Destination...

Code of Federal Regulations, 2012 CFR

2012-01-01

... than anti-terrorism (AT). The only exception to this requirement would be the return of unwanted... be entered on the invoice and on the bill of lading, air waybill, or other export control document... THE EAR § 732.5 Steps regarding Shipper's Export Declaration or Automated Export System record...

15 CFR 732.5 - Steps regarding Shipper's Export Declaration or Automated Export System record, Destination...

Code of Federal Regulations, 2014 CFR

2014-01-01

... than anti-terrorism (AT). The only exception to this requirement would be the return of unwanted... be entered on the invoice and on the bill of lading, air waybill, or other export control document... THE EAR § 732.5 Steps regarding Shipper's Export Declaration or Automated Export System record...

48 CFR 204.7302 - General.

Code of Federal Regulations, 2011 CFR

2011-10-01

... DEFENSE GENERAL ADMINISTRATIVE MATTERS Export-Controlled Items 204.7302 General. Certain types of items are subject to export controls in accordance with the Arms Export Control Act (22 U.S.C. 2751, et seq.), the International Traffic in Arms Regulations (22 CFR parts 120-130), the Export Administration Act of...

48 CFR 204.7302 - General.

Code of Federal Regulations, 2010 CFR

2010-10-01

... DEFENSE GENERAL ADMINISTRATIVE MATTERS Export-Controlled Items 204.7302 General. Certain types of items are subject to export controls in accordance with the Arms Export Control Act (22 U.S.C. 2751, et seq.), the International Traffic in Arms Regulations (22 CFR parts 120-130), the Export Administration Act of...

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.

Gorbachev’s Arms Control Strategy.

DTIC Science & Technology

1987-01-22

on- site inspection for verifying nuclear tests as well as for dismantling missiles on Soviet territory. Clearlv Gorbachev wants an arms , -4- control...bring its seismological test equipment to what he called the "holy of holies", the area adjoining the Soviet proving ground near Semipalatinsk to offer...prenotification and observation of military exercises including on- site inspection on Soviet territory. But on the big issues--- nuclear testing , strategic weapons

22 CFR 125.1 - Exports subject to this part.

Code of Federal Regulations, 2010 CFR

2010-04-01

... EXPORT OF TECHNICAL DATA AND CLASSIFIED DEFENSE ARTICLES § 125.1 Exports subject to this part. (a) The controls of this part apply to the export of technical data and the export of classified defense articles... to the controls of this subchapter. (b) A license for the export of technical data and the exemptions...

3 CFR - Eligibility of the Gulf Cooperation Council To Receive Defense Articles and Defense Services...

Code of Federal Regulations, 2014 CFR

2014-01-01

... Receive Defense Articles and Defense Services Under the Foreign Assistance Act of 1961 and the Arms Export... Services Under the Foreign Assistance Act of 1961 and the Arms Export Control Act Memorandum for the...) of the Arms Export Control Act, I hereby find that the furnishing of defense articles and defense...

Worldwide Report, Arms Control

DTIC Science & Technology

1985-12-19

disarmament shows that the decisive factor in Soviet-U.S. relations remains the sphere of security, the core of which is the organically linked ...actiye in the United States for whom the very prospect of preconditions for curbing the arms race is patently not to their linking . Certain quarters in...distorting the essence of the issue of the organic link between preventing the mili- tarization of space and the reduction of nuclear arms on earth

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

PubMed Central

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

2010-01-01

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

Naval Arms Control: A Post-Cold War Reappraisal

DTIC Science & Technology

1991-06-01

94 A . BACKGRO UN D ......................................................................................... 94 B. WHY ...control, but that an appropriate time may come to exist in the future. For reasons why naval arms control may make more sense in the future, but not...34. Current Research on Peace And Violence. Tampere Peace Research Institute, Tampere Finland, Vol XIII, No. 2, 1990, pp. 65-86. For reasons why naval

Structural and Functional Analysis of the Interaction Between the Nucleoporin Nup98 and the mRNA Export Facto Rae1

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

Y Ren; H Seo; G Blobel

The export of mRNAs is a multistep process, involving the packaging of mRNAs into messenger ribonucleoprotein particles (mRNPs), their transport through nuclear pore complexes, and mRNP remodeling events prior to translation. Ribonucleic acid export 1 (Rae1) and Nup98 are evolutionarily conserved mRNA export factors that are targeted by the vesicular stomatitis virus matrix protein to inhibit host cell nuclear export. Here, we present the crystal structure of human Rae1 in complex with the Gle2-binding sequence (GLEBS) of Nup98 at 1.65 {angstrom} resolution. Rae1 forms a seven-bladed {beta}-propeller with several extensive surface loops. The Nup98 GLEBS motif forms an {approx}50-{angstrom}-long hairpinmore » that binds with its C-terminal arm to an essentially invariant hydrophobic surface that extends over the entire top face of the Rae1 {beta}-propeller. The C-terminal arm of the GLEBS hairpin is necessary and sufficient for Rae1 binding, and we identify a tandem glutamate element in this arm as critical for complex formation. The Rae1 {center_dot} Nup98{sup GLEBS} surface features an additional conserved patch with a positive electrostatic potential, and we demonstrate that the complex possesses single-stranded RNA-binding capability. Together, these data suggest that the Rae1 {center_dot} Nup98 complex directly binds to the mRNP at several stages of the mRNA export pathway.« less

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

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

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.more » 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

Optimization and evaluation of a proportional derivative controller for planar arm movement.

PubMed

Jagodnik, Kathleen M; van den Bogert, Antonie J

2010-04-19

In most clinical applications of functional electrical stimulation (FES), the timing and amplitude of electrical stimuli have been controlled by open-loop pattern generators. The control of upper extremity reaching movements, however, will require feedback control to achieve the required precision. Here we present three controllers using proportional derivative (PD) feedback to stimulate six arm muscles, using two joint angle sensors. Controllers were first optimized and then evaluated on a computational arm model that includes musculoskeletal dynamics. Feedback gains were optimized by minimizing a weighted sum of position errors and muscle forces. Generalizability of the controllers was evaluated by performing movements for which the controller was not optimized, and robustness was tested via model simulations with randomly weakened muscles. Robustness was further evaluated by adding joint friction and doubling the arm mass. After optimization with a properly weighted cost function, all PD controllers performed fast, accurate, and robust reaching movements in simulation. Oscillatory behavior was seen after improper tuning. Performance improved slightly as the complexity of the feedback gain matrix increased. Copyright 2009 Elsevier Ltd. All rights reserved.

Optimization and evaluation of a proportional derivative controller for planar arm movement

PubMed Central

Jagodnik, Kathleen M.; van den Bogert, Antonie J.

2013-01-01

In most clinical applications of functional electrical stimulation (FES), the timing and amplitude of electrical stimuli have been controlled by open-loop pattern generators. The control of upper extremity reaching movements, however, will require feedback control to achieve the required precision. Here we present three controllers using proportional derivative (PD) feedback to stimulate six arm muscles, using two joint angle sensors. Controllers were first optimized and then evaluated on a computational arm model that includes musculoskeletal dynamics. Feedback gains were optimized by minimizing a weighted sum of position errors and muscle forces. Generalizability of the controllers was evaluated by performing movements for which the controller was not optimized, and robustness was tested via model simulations with randomly weakened muscles. Robustness was further evaluated by adding joint friction and doubling the arm mass. After optimization with a properly weighted cost function, all PD controllers performed fast, accurate, and robust reaching movements in simulation. Oscillatory behavior was seen after improper tuning. Performance improved slightly as the complexity of the feedback gain matrix increased. PMID:20097345

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

PubMed

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

2011-05-01

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

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.

3 CFR - Eligibility of the Maldives to Receive Defense Articles and Defense Services Under the Foreign...

Code of Federal Regulations, 2010 CFR

2010-01-01

... Articles and Defense Services Under the Foreign Assistance Act of 1961, as Amended, and the Arms Export... Services Under the Foreign Assistance Act of 1961, as Amended, and the Arms Export Control Act, as Amended... section 3(a)(1) of the Arms Export Control Act, as amended, I hereby find that the furnishing of defense...

76 FR 76072 - Revisions to the Export Administration Regulations (EAR): Control of Gas Turbine Engines and...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-06

... WAML numbering approach, BIS believes that it would be more efficient to list all 600 series controls... ``specially designed'' for articles in the relevant 600 series ECCN and corresponding USML category. ECCN... export of a 600 series item is eligible for License Exception STA if, at the time of export, reexport or...

77 FR 60377 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2012-10-03

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... causing to be violated the United States trade restriction with Iran by exporting and attempting to export... Foreign Assets Control for such an export. Avanessian was also convicted of one count of conspiracy (18 U...

Hydrologic and biogeochemical controls on phosphorus export from western Lake Erie tributaries

USDA-ARS?s Scientific Manuscript database

Understanding the processes controlling phosphorus (P) export from agricultural watersheds is essential for predicting and mitigating adverse environmental impacts. In this study, discharge, dissolved reactive phosphorus load, and total phosphorus load time series data (1975-2014) from two Lake Erie...

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.

75 FR 33989 - Export Administration Regulations: Technical Corrections

Federal Register 2010, 2011, 2012, 2013, 2014

2010-06-16

... 0694-AE69 Export Administration Regulations: Technical Corrections AGENCY: Bureau of Industry and... section of Export Control Classification Number 2B001 and the other is in the Technical Note on Adjusted... language regarding certain performance criteria of turning machines covered by Export Control...

Load balancing and closed chain multiple arm control

NASA Technical Reports Server (NTRS)

Kreutz, Kenneth; Lokshin, Anatole

1988-01-01

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

Formalization of the Access Control on ARM-Android Platform with the B Method

NASA Astrophysics Data System (ADS)

Ren, Lu; Wang, Wei; Zhu, Xiaodong; Man, Yujia; Yin, Qing

2018-01-01

ARM-Android is a widespread mobile platform with multi-layer access control mechanisms, security-critical in the system. Many access control vulnerabilities still exist due to the course-grained policy and numerous engineering defects, which have been widely studied. However, few researches focus on the mechanism formalization, including the Android permission framework, kernel process management and hardware isolation. This paper first develops a comprehensive formal access control model on the ARM-Android platform using the B method, from the Android middleware to hardware layer. All the model specifications are type checked and proved to be well-defined, with 75%of proof obligations demonstrated automatically. The results show that the proposed B model is feasible to specify and verify access control schemes in the ARM-Android system, and capable of implementing a practical control module.

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

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

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.

Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

NASA Astrophysics Data System (ADS)

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

2017-08-01

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

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.

22 CFR 125.1 - Exports subject to this part.

Code of Federal Regulations, 2011 CFR

2011-04-01

... EXPORT OF TECHNICAL DATA AND CLASSIFIED DEFENSE ARTICLES § 125.1 Exports subject to this part. (a) The controls of this part apply to the export of technical data and the export of classified defense articles... defense articles if the technical data is determined by the Directorate of Defense Trade Controls to be...

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

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

Di Capua, M S

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, ismore » a setback to US-China progress on arms control.« less

Implications of Integrated Computational Materials Engineering with Respect to Export Control

DTIC Science & Technology

2013-09-01

domain. The university also advises its staff to ask for any ECCN that may be associated with a procured software package in order to understand the...industry? • Models can transform input data, which can be of various export control levels, and provide new, transformed data. If EAR ECCN 9E991 data is

The Prospects for Naval Arms Control: A Bad Idea Whose Time Has Come?

DTIC Science & Technology

1990-06-30

two parts, X (No. IV, 1989), pp. 58-66 and X (No. V 1989), pp. 72-76; Richard Fieldhouse and Shunji Taoka, Superpowers at Sea, SIPRI (Oxford: Oxford...Fieldhouse, "The Case for Naval Arms Control," Arms Control Today, 20 (February 1990), pp. 9-15. Richard Fieldhouse and Shunji Taoka, Superpowers at Sea

Computer interface for mechanical arm

NASA Technical Reports Server (NTRS)

Derocher, W. L.; Zermuehlen, R. O.

1978-01-01

Man/machine interface commands computer-controlled mechanical arm. Remotely-controlled arm has six degrees of freedom and is controlled through "supervisory-control" mode, in which all motions of arm follow set of preprogramed sequences. For simplicity, few prescribed commands are required to accomplish entire operation. Applications include operating computer-controlled arm to handle radioactive of explosive materials or commanding arm to perform functions in hostile environments. Modified version using displays may be applied in medicine.

15 CFR 30.3 - Electronic Export Information filer requirements, parties to export transactions, and...

Code of Federal Regulations, 2013 CFR

2013-01-01

.../units of measure. (ix) Value. (x) Export Control Classification Number (ECCN) or sufficient technical information to determine the ECCN. (xi) All licensing information necessary to file the EEI for commodities... export. (xi) Foreign port of unloading. (xii) Shipping weight. (xiii) ECCN. (xiv) License or license...

15 CFR 30.3 - Electronic Export Information filer requirements, parties to export transactions, and...

Code of Federal Regulations, 2010 CFR

2010-01-01

.../units of measure. (ix) Value. (x) Export Control Classification Number (ECCN) or sufficient technical information to determine the ECCN. (xi) All licensing information necessary to file the EEI for commodities... export. (xi) Foreign port of unloading. (xii) Shipping weight. (xiii) ECCN. (xiv) License or license...

15 CFR 30.3 - Electronic Export Information filer requirements, parties to export transactions, and...

Code of Federal Regulations, 2012 CFR

2012-01-01

.../units of measure. (ix) Value. (x) Export Control Classification Number (ECCN) or sufficient technical information to determine the ECCN. (xi) All licensing information necessary to file the EEI for commodities... export. (xi) Foreign port of unloading. (xii) Shipping weight. (xiii) ECCN. (xiv) License or license...

15 CFR 30.3 - Electronic Export Information filer requirements, parties to export transactions, and...

Code of Federal Regulations, 2014 CFR

2014-01-01

.../units of measure. (ix) Value. (x) Export Control Classification Number (ECCN) or sufficient technical information to determine the ECCN. (xi) All licensing information necessary to file the EEI for commodities... export. (xi) Foreign port of unloading. (xii) Shipping weight. (xiii) ECCN. (xiv) License or license...

15 CFR 30.3 - Electronic Export Information filer requirements, parties to export transactions, and...

Code of Federal Regulations, 2011 CFR

2011-01-01

.../units of measure. (ix) Value. (x) Export Control Classification Number (ECCN) or sufficient technical information to determine the ECCN. (xi) All licensing information necessary to file the EEI for commodities... export. (xi) Foreign port of unloading. (xii) Shipping weight. (xiii) ECCN. (xiv) License or license...

77 FR 29564 - Revisions to the Export Administration Regulations: Auxiliary and Miscellaneous Items That No...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-18

...The Bureau of Industry and Security (BIS) publishes this action to propose how auxiliary and miscellaneous military equipment and related articles the President determines no longer warrant control under Category XIII (Auxiliary Military Equipment) of the United States Munitions List (USML) would be controlled under the Commerce Control List (CCL) in new Export Control Classification Numbers (ECCNs) 0A617, 0B617, 0C617, 0D617, and 0E617 as part of the proposed new ``600 series'' of ECCNs. This rule proposes also to integrate into those five new ECCNs items within the scope of Wassenaar Arrangement Munitions List (WAML) Category 17 that would be removed from the USML, or that are not specifically identified on the USML or CCL but that are currently subject to USML jurisdiction. Finally, this rule proposes to control some items now classified under ECCNs 0A018, 0A918 and 0E018 under new ECCNs 0A617 and 0E617. This action would consolidate the above- mentioned auxiliary and miscellaneous military equipment and related articles on the CCL in the proposed new ``600 series.'' This rule is one of a planned series proposing how various types of articles that the President determines, as part of the Administration's Export Control Reform Initiative, no longer warrant control on the USML under the International Traffic in Arms Regulations (ITAR), would be controlled on the CCL in accordance with the requirements of the Export Administration Regulations (EAR). This proposed rule is being published in conjunction with a proposed rule from the Department of State, Directorate of Defense Trade Controls, which would amend the list of articles controlled by USML Category XIII.

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

NASA Technical Reports Server (NTRS)

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

1986-01-01

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

Bap31 enhances the ER export and quality control of human class I MHC molecules

PubMed Central

Ladasky, John J.; Boyle, Sarah; Seth, Malini; Li, Hewang; Pentcheva, Tsvetelina; Abe, Fumiyoshi; Steinberg, Steven J.; Edidin, Michael

2006-01-01

The assembly of class I MHC molecules and their export from the endoplasmic reticulum is governed by chaperones and accessory proteins. We present evidence that the putative cargo receptor protein Bap31 participates in the transport and the quality control of human class I molecules. Transfection of the human adenocarcinoma cell line HeLa with YFP-Bap31 chimeras increased surface levels of class I in a dose-dependent manner, by as much as 3.7-fold. The increase in surface class I resulted from an increase in the rate of export of newly-synthesized class I molecules to the cell surface and from an increase in the stability of the exported molecules. We propose that Bap31 performs quality control on class I molecules in two distinct phases: first, by exporting peptide-loaded class I molecules to the ERGIC and second, by retrieving class I molecules which have lost peptides in the acidic post-ER environment. This function of Bap31 is conditional or redundant, since we find that Bap31 deficiency does not reduce surface class I levels. Overexpression of the Bap31 homolog, Bap29, decreases surface class levels in HeLa, indicating that it does not substitute for Bap31. PMID:17056546

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

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

DOE Data Explorer

Torn, Margaret [Lawrence Berkeley National Laboratory

2016-01-01

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

22 CFR 126.10 - Disclosure of information.

Code of Federal Regulations, 2011 CFR

2011-04-01

....10 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS GENERAL POLICIES... Trade Controls. (b) Determinations required by law. Section 38(e) of the Arms Export Control Act (22 U.S... of certain persons, in accordance with Section 38 of the Arms Export Control Act. The requirements...

An Approach to Naval Arms Control

DTIC Science & Technology

1989-07-01

commentary pro and con on the control of SLCM’s has 9 I: been uttered by people not known to be expert on maritime strategy and the roles of navies in crisis ... transcultural misunderstanding is indeed deep and widespread (e.g., witness the surprise on the part of America’s leading television pundits that China’s...force on behalf of (U.S definition of) international order in situations short of war; 0 alliance cohesion; 37 i * crisis , arms race, and political

Reporting of interventions and "standard of care" control arms in pediatric clinical trials: a quantitative analysis.

PubMed

Yu, Ashley M; Balasubramanaiam, Bannuya; Offringa, Martin; Kelly, Lauren E

2018-06-13

In pediatric medicine, the usual treatment received by children ("standard of care") varies across centers. Evaluations of new treatments often compare to the existing "standard of care" to determine if a treatment is more effective, has a better safety profile, or costs less. The objective of our study was to evaluate intervention and "standard of care" control arms reported in published pediatric clinical trials. Pediatric clinical trials, published in 2014, reporting the use of a "standard of care" control arm were included. Duplicate assessment of reporting completeness was done using the 12-item TIDieR (Template for Intervention Description and Replication) checklist for both the "standard of care" control arms and intervention arms within the same published study. Following screening, 214 pediatric trials in diverse therapeutic areas were included. Several different terms were used to describe "standard of care." There was a significant difference between the mean reported TIDieR checklist items of "standard of care" control arms (5.81 (SD 2.13) and intervention arms (8.45 (SD 1.39, p < 0.0001). Reporting of intervention and "standard of care" control arms in pediatric clinical trials should be improved as current "standard of care" reporting deficiencies limit reproducibility of research and may ultimately contribute to research waste.

40 CFR 799.19 - Chemical imports and exports.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 40 Protection of Environment 32 2011-07-01 2011-07-01 false Chemical imports and exports. 799.19... CONTROL ACT (CONTINUED) IDENTIFICATION OF SPECIFIC CHEMICAL SUBSTANCE AND MIXTURE TESTING REQUIREMENTS General Provisions § 799.19 Chemical imports and exports. Persons who export or who intend to export...

40 CFR 799.19 - Chemical imports and exports.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 40 Protection of Environment 33 2012-07-01 2012-07-01 false Chemical imports and exports. 799.19... CONTROL ACT (CONTINUED) IDENTIFICATION OF SPECIFIC CHEMICAL SUBSTANCE AND MIXTURE TESTING REQUIREMENTS General Provisions § 799.19 Chemical imports and exports. Persons who export or who intend to export...

40 CFR 799.19 - Chemical imports and exports.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 40 Protection of Environment 33 2013-07-01 2013-07-01 false Chemical imports and exports. 799.19... CONTROL ACT (CONTINUED) IDENTIFICATION OF SPECIFIC CHEMICAL SUBSTANCE AND MIXTURE TESTING REQUIREMENTS General Provisions § 799.19 Chemical imports and exports. Persons who export or who intend to export...

40 CFR 799.19 - Chemical imports and exports.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 40 Protection of Environment 32 2014-07-01 2014-07-01 false Chemical imports and exports. 799.19... CONTROL ACT (CONTINUED) IDENTIFICATION OF SPECIFIC CHEMICAL SUBSTANCE AND MIXTURE TESTING REQUIREMENTS General Provisions § 799.19 Chemical imports and exports. Persons who export or who intend to export...

Impacts of U.S. Export Control Policies on Science and Technology Activities and Competitiveness

DTIC Science & Technology

2009-02-25

coffee table. However, under the current export control regime, the stand was considered ‘ITAR hardware’ and we were required to have two security...should survive without an effective method for pruning items from the control lists when they no longer serve a significant definable national

Contact control for advanced applications of light weight arms

NASA Technical Reports Server (NTRS)

Book, Wayne J.; Kwon, Dong-Soo

1991-01-01

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

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.

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.

Nonlinear adaptive control of an elastic robotic arm

NASA Technical Reports Server (NTRS)

Singh, S. N.

1986-01-01

An approach to control of a class of nonlinear flexible robotic systems is presented. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. An adaptive torquer control law is derived for controlling the joint angles. This controller includes a dynamic system in the feedback path, requires only joint angle and rate for feedback, and asymptotically decomposes the elastic dynamics into two subsystems representing the transverse vibrations of the elastic link in two orthogonal planes. To damp out the elastic vibration, a force control law using modal feedback is synthesized. The combination of the torque and force control laws accomplishes joint angle control and elastic mode stabilization.

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

PubMed

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

2013-04-01

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

Recovery in the Severely Impaired Arm Post-stroke after Mirror Therapy - a Randomized Controlled Study.

PubMed

Chan, Wing Chiu; Au-Yeung, Stephanie Suk Yin

2018-03-09

This study aimed to examine the effectiveness of mirror therapy (MT) on recovery in the severely impaired arm after stroke. Using single-blind randomized controlled design, patients with severely impaired arm within 1-month post-stroke were assigned to received MT (n=20) or control therapy (CT) (n=21), 30min. twice daily for 4 weeks in addition to conventional rehabilitation. During MT and CT, subjects practiced similar structured exercises in both arms, except that mirror reflection of the unaffected arm was the visual feedback for MT, but mirror was absent for CT so that subjects could watch both arms in exercise. Fugl-Meyer Assessment (FMA) and Wolf Motor Function Test (WMFT) were the outcome measurements. After the intervention, both MT and CT groups had significant arm recovery similarly in FMA (p=0.867), WMFT-Time (p=0.947) and WMFT-Functional Ability Scale (p=0.676). MT or CT which involved exercises concurrently for the paretic and unaffected arms during subacute stroke promoted similar motor recovery in the severely impaired arm.

48 CFR 1852.225-70 - Export Licenses.

Code of Federal Regulations, 2010 CFR

2010-10-01

... writing, that the Contracting Officer authorizes it to export ITAR-controlled technical data (including... licenses or other approvals, if required, for exports of hardware, technical data, and software, or for the provision of technical assistance. (b) The Contractor shall be responsible for obtaining export licenses, if...

26 CFR 1.970-1 - Export trade corporations.

Code of Federal Regulations, 2014 CFR

2014-04-01

... 26 Internal Revenue 10 2014-04-01 2013-04-01 true Export trade corporations. 1.970-1 Section 1.970... (CONTINUED) INCOME TAXES (CONTINUED) Export Trade Corporations § 1.970-1 Export trade corporations. (a) In general. Sections 970 through 972 provide in general that if a controlled foreign corporation is an export...

26 CFR 1.970-1 - Export trade corporations.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 26 Internal Revenue 10 2011-04-01 2011-04-01 false Export trade corporations. 1.970-1 Section 1... (CONTINUED) INCOME TAXES (CONTINUED) Export Trade Corporations § 1.970-1 Export trade corporations. (a) In general. Sections 970 through 972 provide in general that if a controlled foreign corporation is an export...

26 CFR 1.970-1 - Export trade corporations.

Code of Federal Regulations, 2012 CFR

2012-04-01

... 26 Internal Revenue 10 2012-04-01 2012-04-01 false Export trade corporations. 1.970-1 Section 1... (CONTINUED) INCOME TAXES (CONTINUED) Export Trade Corporations § 1.970-1 Export trade corporations. (a) In general. Sections 970 through 972 provide in general that if a controlled foreign corporation is an export...

26 CFR 1.970-1 - Export trade corporations.

Code of Federal Regulations, 2013 CFR

2013-04-01

... 26 Internal Revenue 10 2013-04-01 2013-04-01 false Export trade corporations. 1.970-1 Section 1... (CONTINUED) INCOME TAXES (CONTINUED) Export Trade Corporations § 1.970-1 Export trade corporations. (a) In general. Sections 970 through 972 provide in general that if a controlled foreign corporation is an export...

26 CFR 1.970-1 - Export trade corporations.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 26 Internal Revenue 10 2010-04-01 2010-04-01 false Export trade corporations. 1.970-1 Section 1... (CONTINUED) INCOME TAXES Export Trade Corporations § 1.970-1 Export trade corporations. (a) In general. Sections 970 through 972 provide in general that if a controlled foreign corporation is an export trade...

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

PubMed Central

Kuiken, Todd A.

2011-01-01

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

15 CFR 30.16 - Export Administration Regulations.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 15 Commerce and Foreign Trade 1 2010-01-01 2010-01-01 false Export Administration Regulations. 30... OF THE CENSUS, DEPARTMENT OF COMMERCE FOREIGN TRADE REGULATIONS Export Control and Licensing Requirements § 30.16 Export Administration Regulations. The EAR issued by the U.S. Department of Commerce, BIS...

78 FR 60248 - Order Denying Export Privileges

Federal Register 2010, 2011, 2012, 2013, 2014

2013-10-01

... DEPARTMENT OF COMMERCE Bureau of Industry and Security Order Denying Export Privileges In the... commit an offense against the United States, that is, to willfully export from the United States to Belarus export-controlled items, including but not limited to L-3 x200xp Handheld Thermal Imaging Cameras...

Real-time robustness evaluation of regression based myoelectric control against arm position change and donning/doffing.

PubMed

Hwang, Han-Jeong; Hahne, Janne Mathias; Müller, Klaus-Robert

2017-01-01

There are some practical factors, such as arm position change and donning/doffing, which prevent robust myoelectric control. The objective of this study is to precisely characterize the impacts of the two representative factors on myoelectric controllability in practical control situations, thereby providing useful references that can be potentially used to find better solutions for clinically reliable myoelectric control. To this end, a real-time target acquisition task was performed by fourteen subjects including one individual with congenital upper-limb deficiency, where the impacts of arm position change, donning/doffing and a combination of both factors on control performance was systematically evaluated. The changes in online performance were examined with seven different performance metrics to comprehensively evaluate various aspects of myoelectric controllability. As a result, arm position change significantly affects offline prediction accuracy, but not online control performance due to real-time feedback, thereby showing no significant correlation between offline and online performance. Donning/doffing was still problematic in online control conditions. It was further observed that no benefit was attained when using a control model trained with multiple position data in terms of arm position change, and the degree of electrode shift caused by donning/doffing was not severely associated with the degree of performance loss under practical conditions (around 1 cm electrode shift). Since this study is the first to concurrently investigate the impacts of arm position change and donning/doffing in practical myoelectric control situations, all findings of this study provide new insights into robust myoelectric control with respect to arm position change and donning/doffing.

Real-time robustness evaluation of regression based myoelectric control against arm position change and donning/doffing

PubMed Central

Hahne, Janne Mathias; Müller, Klaus-Robert

2017-01-01

There are some practical factors, such as arm position change and donning/doffing, which prevent robust myoelectric control. The objective of this study is to precisely characterize the impacts of the two representative factors on myoelectric controllability in practical control situations, thereby providing useful references that can be potentially used to find better solutions for clinically reliable myoelectric control. To this end, a real-time target acquisition task was performed by fourteen subjects including one individual with congenital upper-limb deficiency, where the impacts of arm position change, donning/doffing and a combination of both factors on control performance was systematically evaluated. The changes in online performance were examined with seven different performance metrics to comprehensively evaluate various aspects of myoelectric controllability. As a result, arm position change significantly affects offline prediction accuracy, but not online control performance due to real-time feedback, thereby showing no significant correlation between offline and online performance. Donning/doffing was still problematic in online control conditions. It was further observed that no benefit was attained when using a control model trained with multiple position data in terms of arm position change, and the degree of electrode shift caused by donning/doffing was not severely associated with the degree of performance loss under practical conditions (around 1 cm electrode shift). Since this study is the first to concurrently investigate the impacts of arm position change and donning/doffing in practical myoelectric control situations, all findings of this study provide new insights into robust myoelectric control with respect to arm position change and donning/doffing. PMID:29095846

40 CFR 82.11 - Exports of class I controlled substances to Article 5 Parties.

Code of Federal Regulations, 2011 CFR

2011-07-01

... substances to Article 5 Parties. 82.11 Section 82.11 Protection of Environment ENVIRONMENTAL PROTECTION... Controls § 82.11 Exports of class I controlled substances to Article 5 Parties. (a) If apportioned Article... substances) to foreign states listed in appendix E to this subpart (Article 5 countries). (1) A person must...

Inhibition of mRNA export in vertebrate cells by nuclear export signal conjugates

PubMed Central

Pasquinelli, Amy E.; Powers, Maureen A.; Lund, Elsebet; Forbes, Douglass; Dahlberg, James E.

1997-01-01

Leucine-rich nuclear export signals (NESs) are recognized by the NES receptor exportin 1 and are central to the export of multiple shuttling proteins and RNAs. The export of messenger RNA in vertebrates was, however, thought to occur by a different pathway, because inhibition by injection of a synthetic Rev NES conjugate could not be demonstrated. Here we find that peptide conjugates composed of the NES of either protein kinase A inhibitor protein (PKI) or the HIV-1 Rev protein, when coupled to human serum albumin, are potent inhibitors of mRNA and small nuclear RNA export. These results provide direct evidence that mRNA export in vertebrates depends on interactions between an NES and its cognate NES receptors. PKI NES conjugates are significantly more efficient at inhibiting RNA export than are REV NES conjugates, indicating that different NESs may have different abilities to promote protein and RNA export. Surprisingly, an expected control conjugate containing the mutant Rev NES sequence M10 strongly inhibited the export of intronless dihydrofolate reductase mRNA. Nuclear injection of NES peptide conjugates led to mislocalization to the nucleus of 10–20% of the cytoplasmic Ran GTPase-binding protein (RanBP1) indicating that RanBP1 shuttles between the nucleus and the cytoplasm via an NES pathway. These results demonstrate that in vertebrates the export of mRNA, like that of small nuclear RNA, 5S rRNA, and transport factors such as RanBP1, employs NES-mediated molecular machinery. PMID:9405623

Control of a 7-DOF Robotic Arm System With an SSVEP-Based BCI.

PubMed

Chen, Xiaogang; Zhao, Bing; Wang, Yijun; Xu, Shengpu; Gao, Xiaorong

2018-04-12

Although robot technology has been successfully used to empower people who suffer from motor disabilities to increase their interaction with their physical environment, it remains a challenge for individuals with severe motor impairment, who do not have the motor control ability to move robots or prosthetic devices by manual control. In this study, to mitigate this issue, a noninvasive brain-computer interface (BCI)-based robotic arm control system using gaze based steady-state visual evoked potential (SSVEP) was designed and implemented using a portable wireless electroencephalogram (EEG) system. A 15-target SSVEP-based BCI using a filter bank canonical correlation analysis (FBCCA) method allowed users to directly control the robotic arm without system calibration. The online results from 12 healthy subjects indicated that a command for the proposed brain-controlled robot system could be selected from 15 possible choices in 4[Formula: see text]s (i.e. 2[Formula: see text]s for visual stimulation and 2[Formula: see text]s for gaze shifting) with an average accuracy of 92.78%, resulting in a 15 commands/min transfer rate. Furthermore, all subjects (even naive users) were able to successfully complete the entire move-grasp-lift task without user training. These results demonstrated an SSVEP-based BCI could provide accurate and efficient high-level control of a robotic arm, showing the feasibility of a BCI-based robotic arm control system for hand-assistance.

Tracking illicit small arms trafficking: implementation of Intentional Firearm Microstamping (IFM) to small arms and light weapons imports and exports

NASA Astrophysics Data System (ADS)

Lizotte, Todd E.; Ohar, Orest P.

2009-09-01

The illicit trafficking in small arms is an international problem with grave consequences to those who live in less developed nations. To stop any form of trafficking it is important to ensure the ability to track weapons to their sources, there must be a common international system for the marking and tracing of weapons. Under current international law, states may adopt various different weapons marking systems, complicating the identification of the country-of-origin of a weapon [1]. However, these marking technologies are only good for those firearms that are recovered or captured. By instituting Intentional Firearm Microstamping (IFM) a technology that provides a link to a serial or production build number, by embossing the IFM code on to the cartridge that is fired and ejected at the scene. IFM will provide critical forensic intelligence in regions of conflict by helping to identify patterns, trafficking routes and ultimately shut down illicit arms sources and markets that fuel the violence associated with regional genocide, terrorism and/or insurgency groups within warzones. Intentional Firearm Microstamping (IFM) technology will provide a rapid and accurate cartridge-to-firearm identification process, enabling law enforcement both national and international to quickly pursue international arms dealers and other illicit firearm markets. Intentional Firearm Microstamping (IFM) is a patented technology and trace solution where intentional tooling marks are formed or micromachined onto firearms interior surfaces that come into contact or impact the surfaces of cartridge casings. The IFM tooling marks can take the form of alphanumeric codes or encoded geometric codes, such as a barcode. As the firearm is discharged the intentional tooling marks transfer a code to the cartridge casing before it is ejected out of the firearm. When recovered at the scene of an incident, the intentional firearm microstamped cartridge can indentify a specific firearm, without the need

Export Control Guide: Loose Parts Monitoring Systems for Nuclear Power Plants

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

Langenberg, Donald W.

2012-12-01

This report describes a typical LPMS, emphasizing its application to the RCS of a modern NPP. The report also examines the versatility of AE monitoring technology by describing several nuclear applications other than loose parts monitoring, as well as some non-nuclear applications. In addition, LPMS implementation requirements are outlined, and LPMS suppliers are identified. Finally, U.S. export controls applicable to LPMSs are discussed.

77 FR 25932 - Revisions to the Export Administration Regulations (EAR): Control of Energetic Materials and...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-02

... the fact that they apply to the same group of destinations as missile technology controls (i.e., both... Requirements section of ECCN 1E101, consistent with the ``technology'' controls of the Nuclear Suppliers Group.... 120105018-2011-01] RIN 0694-AF53 Revisions to the Export Administration Regulations (EAR): Control of...

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia.

PubMed

Andreasen Struijk, Lotte N S; Egsgaard, Line Lindhardt; Lontis, Romulus; Gaihede, Michael; Bentsen, Bo

2017-11-06

For an individual with tetraplegia assistive robotic arms provide a potentially invaluable opportunity for rehabilitation. However, there is a lack of available control methods to allow these individuals to fully control the assistive arms. Here we show that it is possible for an individual with tetraplegia to use the tongue to fully control all 14 movements of an assistive robotic arm in a three dimensional space using a wireless intraoral control system, thus allowing for numerous activities of daily living. We developed a tongue-based robotic control method incorporating a multi-sensor inductive tongue interface. One abled-bodied individual and one individual with tetraplegia performed a proof of concept study by controlling the robot with their tongue using direct actuator control and endpoint control, respectively. After 30 min of training, the able-bodied experimental participant tongue controlled the assistive robot to pick up a roll of tape in 80% of the attempts. Further, the individual with tetraplegia succeeded in fully tongue controlling the assistive robot to reach for and touch a roll of tape in 100% of the attempts and to pick up the roll in 50% of the attempts. Furthermore, she controlled the robot to grasp a bottle of water and pour its contents into a cup; her first functional action in 19 years. To our knowledge, this is the first time that an individual with tetraplegia has been able to fully control an assistive robotic arm using a wireless intraoral tongue interface. The tongue interface used to control the robot is currently available for control of computers and of powered wheelchairs, and the robot employed in this study is also commercially available. Therefore, the presented results may translate into available solutions within reasonable time.

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.

Unilateral versus bilateral robot-assisted rehabilitation on arm-trunk control and functions post stroke: a randomized controlled trial.

PubMed

Wu, Ching-Yi; Yang, Chieh-Ling; Chen, Ming-de; Lin, Keh-Chung; Wu, Li-Ling

2013-04-12

Although the effects of robot-assisted arm training after stroke are promising, the relative effects of unilateral (URT) vs. bilateral (BRT) robot-assisted arm training remain uncertain. This study compared the effects of URT vs. BRT on upper extremity (UE) control, trunk compensation, and function in patients with chronic stroke. This was a single-blinded, randomized controlled trial. The intervention was implemented at 4 hospitals. Fifty-three patients with stroke were randomly assigned to URT, BRT, or control treatment (CT). Each group received UE training for 90 to 105 min/day, 5 days/week, for 4 weeks. The kinematic variables for arm motor control and trunk compensation included normalized movement time, normalized movement units, and the arm-trunk contribution slope in unilateral and bilateral tasks. Motor function and daily function were measured by the Wolf Motor Function Test (WMFT), Motor Activity Log (MAL), and ABILHAND Questionnaire. The BRT and CT groups elicited significantly larger slope values (i.e., less trunk compensation) at the start of bilateral reaching than the URT group. URT led to significantly better effects on WMFT-Time than BRT. Differences in arm control kinematics and performance on the MAL and ABILHAND among the 3 groups were not significant. BRT and URT resulted in differential improvements in specific UE/trunk performance in patients with stroke. BRT elicited larger benefits than URT on reducing compensatory trunk movements at the beginning of reaching. In contrast, URT produced better improvements in UE temporal efficiency. These relative effects on movement kinematics, however, did not translate into differential benefits in daily functions. ClinicalTrials.gov: NCT00917605.

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.

22 CFR 123.5 - Temporary export licenses.

Code of Federal Regulations, 2011 CFR

2011-04-01

... DEFENSE ARTICLES § 123.5 Temporary export licenses. (a) The Directorate of Defense Trade Controls may issue a license for the temporary export of unclassified defense articles (DSP-73). Such licenses are... license or other written approval must be obtained from the Directorate of Defense Trade Controls if the...

22 CFR 123.5 - Temporary export licenses.

Code of Federal Regulations, 2013 CFR

2013-04-01

... DEFENSE ARTICLES § 123.5 Temporary export licenses. (a) The Directorate of Defense Trade Controls may issue a license for the temporary export of unclassified defense articles (DSP-73). Such licenses are... license or other written approval must be obtained from the Directorate of Defense Trade Controls if the...

40 CFR 205.5-3 - Export exemptions.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 40 Protection of Environment 24 2010-07-01 2010-07-01 false Export exemptions. 205.5-3 Section 205... TRANSPORTATION EQUIPMENT NOISE EMISSION CONTROLS General Provisions § 205.5-3 Export exemptions. (a) A new product intended solely for export, and so labeled or marked on the outside of the container and on the...

19 CFR 18.45 - Supervision of exportation.

Code of Federal Regulations, 2013 CFR

2013-04-01

... 19 Customs Duties 1 2013-04-01 2013-04-01 false Supervision of exportation. 18.45 Section 18.45 Customs Duties U.S. CUSTOMS AND BORDER PROTECTION, DEPARTMENT OF HOMELAND SECURITY; DEPARTMENT OF THE... Control Exported Under Cover of A Tir Carnet § 18.45 Supervision of exportation. The provisions of §§ 18...

19 CFR 18.45 - Supervision of exportation.

Code of Federal Regulations, 2012 CFR

2012-04-01

... 19 Customs Duties 1 2012-04-01 2012-04-01 false Supervision of exportation. 18.45 Section 18.45 Customs Duties U.S. CUSTOMS AND BORDER PROTECTION, DEPARTMENT OF HOMELAND SECURITY; DEPARTMENT OF THE... Control Exported Under Cover of A Tir Carnet § 18.45 Supervision of exportation. The provisions of §§ 18...

19 CFR 18.45 - Supervision of exportation.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 19 Customs Duties 1 2011-04-01 2011-04-01 false Supervision of exportation. 18.45 Section 18.45 Customs Duties U.S. CUSTOMS AND BORDER PROTECTION, DEPARTMENT OF HOMELAND SECURITY; DEPARTMENT OF THE... Control Exported Under Cover of A Tir Carnet § 18.45 Supervision of exportation. The provisions of §§ 18...

19 CFR 18.45 - Supervision of exportation.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 19 Customs Duties 1 2010-04-01 2010-04-01 false Supervision of exportation. 18.45 Section 18.45 Customs Duties U.S. CUSTOMS AND BORDER PROTECTION, DEPARTMENT OF HOMELAND SECURITY; DEPARTMENT OF THE... Control Exported Under Cover of A Tir Carnet § 18.45 Supervision of exportation. The provisions of §§ 18...

19 CFR 18.45 - Supervision of exportation.

Code of Federal Regulations, 2014 CFR

2014-04-01

... 19 Customs Duties 1 2014-04-01 2014-04-01 false Supervision of exportation. 18.45 Section 18.45 Customs Duties U.S. CUSTOMS AND BORDER PROTECTION, DEPARTMENT OF HOMELAND SECURITY; DEPARTMENT OF THE... Control Exported Under Cover of A Tir Carnet § 18.45 Supervision of exportation. The provisions of §§ 18...

Content and structure of knowledge base used for virtual control of android arm motion in specified environment

NASA Astrophysics Data System (ADS)

Pritykin, F. N.; Nebritov, V. I.

2018-01-01

The paper presents the configuration of knowledge base necessary for intelligent control of android arm mechanism motion with different positions of certain forbidden regions taken into account. The present structure of the knowledge base characterizes the past experience of arm motion synthesis in the vector of velocities with due regard for the known obstacles. This structure also specifies its intrinsic properties. Knowledge base generation is based on the study of the arm mechanism instantaneous states implementations. Computational experiments connected with the virtual control of android arm motion with known forbidden regions using the developed knowledge base are introduced. Using the developed knowledge base to control virtually the arm motion reduces the time of test assignments calculation. The results of the research can be used in developing control systems of autonomous android robots in the known in advance environment.

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

PubMed Central

Pienciak-Siewert, Alison; Horan, Dylan P.

2016-01-01

Classical theories of motor learning hypothesize that adaptation is driven by sensorimotor error; this is supported by studies of arm and eye movements that have shown that trial-to-trial adaptation increases with error. Studies of postural control have shown that anticipatory postural adjustments increase with the magnitude of a perturbation. However, differences in adaptation have been observed between the two modalities, possibly due to either the inherent instability or sensory uncertainty in standing posture. Therefore, we hypothesized that trial-to-trial adaptation in posture should be driven by error, similar to what is observed in arm reaching, but the nature of the relationship between error and adaptation may differ. Here we investigated trial-to-trial adaptation of arm reaching and postural control concurrently; subjects made reaching movements in a novel dynamic environment of varying strengths, while standing and holding the handle of a force-generating robotic arm. We found that error and adaptation increased with perturbation strength in both arm and posture. Furthermore, in both modalities, adaptation showed a significant correlation with error magnitude. Our results indicate that adaptation scales proportionally with error in the arm and near proportionally in posture. In posture only, adaptation was not sensitive to small error sizes, which were similar in size to errors experienced in unperturbed baseline movements due to inherent variability. This finding may be explained as an effect of uncertainty about the source of small errors. Our findings suggest that in rehabilitation, postural error size should be considered relative to the magnitude of inherent movement variability. PMID:27683888

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

PubMed

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

2016-12-01

Classical theories of motor learning hypothesize that adaptation is driven by sensorimotor error; this is supported by studies of arm and eye movements that have shown that trial-to-trial adaptation increases with error. Studies of postural control have shown that anticipatory postural adjustments increase with the magnitude of a perturbation. However, differences in adaptation have been observed between the two modalities, possibly due to either the inherent instability or sensory uncertainty in standing posture. Therefore, we hypothesized that trial-to-trial adaptation in posture should be driven by error, similar to what is observed in arm reaching, but the nature of the relationship between error and adaptation may differ. Here we investigated trial-to-trial adaptation of arm reaching and postural control concurrently; subjects made reaching movements in a novel dynamic environment of varying strengths, while standing and holding the handle of a force-generating robotic arm. We found that error and adaptation increased with perturbation strength in both arm and posture. Furthermore, in both modalities, adaptation showed a significant correlation with error magnitude. Our results indicate that adaptation scales proportionally with error in the arm and near proportionally in posture. In posture only, adaptation was not sensitive to small error sizes, which were similar in size to errors experienced in unperturbed baseline movements due to inherent variability. This finding may be explained as an effect of uncertainty about the source of small errors. Our findings suggest that in rehabilitation, postural error size should be considered relative to the magnitude of inherent movement variability. Copyright © 2016 the American Physiological Society.

75 FR 33682 - Export Administration Regulations; Technical Amendments

Federal Register 2010, 2011, 2012, 2013, 2014

2010-06-15

...-01] RIN 0694-AE93 Export Administration Regulations; Technical Amendments AGENCY: Bureau of Industry... Bureau of Industry and Security (BIS) makes a technical amendment to the Export Administration... review of final decisions and orders issued in BIS export control administrative enforcement proceedings...

22 CFR 123.5 - Temporary export licenses.

Code of Federal Regulations, 2014 CFR

2014-04-01

... AND TEMPORARY IMPORT OF DEFENSE ARTICLES § 123.5 Temporary export licenses. (a) The Directorate of Defense Trade Controls may issue a license for the temporary export of unclassified defense articles (DSP... Defense Trade Controls if the article is to remain outside the United States beyond the period for which...

22 CFR 126.6 - Foreign-owned military aircraft and naval vessels, and the Foreign Military Sales program.

Code of Federal Regulations, 2011 CFR

2011-04-01

... INTERNATIONAL TRAFFIC IN ARMS REGULATIONS GENERAL POLICIES AND PROVISIONS § 126.6 Foreign-owned military... pursuant to the Arms Export Control Act or the Foreign Assistance Act of 1961, as amended, and (2) The... the Arms Export Control Act pursuant to an Letter of Offer and Acceptance (LOA) authorizing such...

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

PubMed Central

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

2010-01-01

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

15 CFR 758.1 - The Shipper's Export Declaration (SED) or Automated Export System (AES) record.

Code of Federal Regulations, 2013 CFR

2013-01-01

... entered on the loading document (e.g., Cargo Declaration, manifest, bill of lading, (master) air waybill... for all items being exported under the NLR provisions that have a reason for control other than anti-terrorism (AT). The designator “TSPA” may be used, but is not required, when the export consists of...

15 CFR 758.1 - The Shipper's Export Declaration (SED) or Automated Export System (AES) record.

Code of Federal Regulations, 2012 CFR

2012-01-01

... entered on the loading document (e.g., Cargo Declaration, manifest, bill of lading, (master) air waybill... for all items being exported under the NLR provisions that have a reason for control other than anti-terrorism (AT). The designator “TSPA” may be used, but is not required, when the export consists of...

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

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements

NASA Astrophysics Data System (ADS)

Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

2017-02-01

Objective. Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Approach. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Main results. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  <6°. An upper cervical SCI patient, empowered by the exoskeleton, successfully carried a ball to a goal in all 10 trials. Significance. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of

A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements.

PubMed

Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

2017-02-01

Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  <6°. An upper cervical SCI patient, empowered by the exoskeleton, successfully carried a ball to a goal in all 10 trials. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of daily actions.

Voluntary control of arm movement in athetotic patients

PubMed Central

Neilson, Peter D.

1974-01-01

Visual tracking tests have been employed to provide a quantitative description of voluntary control of arm movement in a group of patients suffering from athetoid cerebral palsy. Voluntary control was impaired in all patients in a characteristic manner. Maximum velocity and acceleration of arm movement were reduced to about 30-50% of their values in normal subjects and the time lag of the response to a visual stimulus was two or three times greater than in normals. Tracking transmission characteristics indicated a degree of underdamping which was not presnet in normal or spastic patients. This underdamping could be responsible for a low frequency (0·3-0·6 Hz) transient oscillation in elbow-angle movements associated with sudden voluntary movement. The maximum frequency at which patients could produce a coherent tracking response was only 50% of that in normal subjects and the relationship between the electromyogram and muscle contraction indicated that the mechanical load on the biceps muscle was abnormal, possibly due to increased stiffness of joint movement caused by involuntary activity in agonist and antagonist muscles acting across the joint. Images PMID:4362243

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.

3 CFR - Eligibility of the Economic Community of Central African States To Receive Defense Articles and...

Code of Federal Regulations, 2010 CFR

2010-01-01

..., as Amended, and the Arms Export Control Act, as Amended Presidential Documents Other Presidential... Assistance Act of 1961, as Amended, and the Arms Export Control Act, as Amended Memorandum for the Secretary..., including section 503(a) of the Foreign Assistance Act of 1961, as amended, and section 3(a)(1) of the Arms...

14 CFR 1274.942 - Export licenses.

Code of Federal Regulations, 2010 CFR

2010-01-01

... writing, that the Agreement Officer authorize it to export ITAR-controlled technical data (including... appropriate licenses or other approvals, if required, for exports of hardware, technical data, and software, or for the provision of technical assistance. (b) The Recipient shall be responsible for obtaining...

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.

15 CFR 744.9 - Restrictions on certain exports and reexports of cameras controlled by ECCN 6A003.b.4.b.

Code of Federal Regulations, 2010 CFR

2010-01-01

... reexports of cameras controlled by ECCN 6A003.b.4.b. 744.9 Section 744.9 Commerce and Foreign Trade... on certain exports and reexports of cameras controlled by ECCN 6A003.b.4.b. (a) General prohibitions... license is required to export or reexport to any destination other than Canada cameras described in ECCN...

15 CFR 744.9 - Restrictions on certain exports and reexports of cameras controlled by ECCN 6A003.b.4.b.

Code of Federal Regulations, 2012 CFR

2012-01-01

... reexports of cameras controlled by ECCN 6A003.b.4.b. 744.9 Section 744.9 Commerce and Foreign Trade... on certain exports and reexports of cameras controlled by ECCN 6A003.b.4.b. (a) General prohibitions... license is required to export or reexport to any destination other than Canada cameras described in ECCN...

15 CFR 744.9 - Restrictions on certain exports and reexports of cameras controlled by ECCN 6A003.b.4.b.

Code of Federal Regulations, 2011 CFR

2011-01-01

... reexports of cameras controlled by ECCN 6A003.b.4.b. 744.9 Section 744.9 Commerce and Foreign Trade... on certain exports and reexports of cameras controlled by ECCN 6A003.b.4.b. (a) General prohibitions... license is required to export or reexport to any destination other than Canada cameras described in ECCN...

Arms Control and Disarmament, Volume 8, Number 2, Spring 1972. A Quarterly Bibliography with Abstracts and Annotations

DTIC Science & Technology

Contents: Preface; The international political environment; The strategic environment; Institutions and means for the maintenance of peace; Arms control--general discussion; Arms control--specific problems and measures; Author index ; Subject index.

75 FR 47548 - President's Export Council Subcommittee on Export Administration; Notice of Recruitment of...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-08-06

... selected from firms producing a broad range of goods, software, and technologies presently controlled for... their services. The PECSEA is seeking private-sector members with senior export control expertise and...

22 CFR 120.1 - General authorities, receipt of licenses, and ineligibility.

Code of Federal Regulations, 2014 CFR

2014-04-01

... ineligibility. 120.1 Section 120.1 Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS...) Section 38 of the Arms Export Control Act (22 U.S.C. 2778), as amended, authorizes the President to... well as other relevant authorities in the Arms Export Control Act (22 U.S.C. 2751 et seq.). By virtue...

Milestones in Strategic Arms Control, 1945 2000: United States Air Force Roles and Outcomes

DTIC Science & Technology

2002-09-01

J. Robert Oppenheimer (wartime director of Los Alamos who now was at the University of California at Berkeley). Oppenheimer was the principal author...Foundations for strategic arms control, 1945 –1968 -- Strategic arms limitations, 1969–1980 -- The Reagan years , 1981–1988 -- Strategic arms reductions, 1989...The Air Force Plans for Peace, 1943 – 1945 (Baltimore, Md.: Johns Hopkins University Press, 1970), 16. 15. Copies of the tasking memo and the report

14 CFR 1274.942 - Export licenses.

Code of Federal Regulations, 2011 CFR

2011-01-01

... appropriate licenses or other approvals, if required, for exports of hardware, technical data, and software... installation], where the foreign person will have access to export-controlled technical data or software. (c... software) pursuant to the exemption at 22 CFR 125.4(b)(3). The Agreement Officer or designated...

Scale and legacy controls on catchment nutrient export regimes

NASA Astrophysics Data System (ADS)

Howden, N. J. K.; Burt, T.; Worrall, F.

2017-12-01

Nutrient dynamics in river catchments are complex: water and chemical fluxes are highly variable in low-order streams, but this variability declines as fluxes move through higher-order reaches. This poses a major challenge for process understanding as much effort is focussed on long-term monitoring of the main river channel (a high-order reach), and therefore the data available to support process understanding are predominantly derived from sites where much of the transient response of nutrient export is masked by the effect of averaging over both space and time. This may be further exacerbated at all scales by the accumulation of legacy nutrient sources in soils, aquifers and pore waters, where historical activities have led to nutrient accumulation where the catchment system is transport limited. Therefore it is of particular interest to investigate how the variability of nutrient export changes both with catchment scale (from low to high-order catchment streams) and with the presence of legacy sources, such that the context of infrequent monitoring on high-order streams can be better understood. This is not only a question of characterising nutrient export regimes per se, but also developing a more thorough understanding of how the concepts of scale and legacy may modify the statistical characteristics of observed responses across scales in both space and time. In this paper, we use synthetic data series and develop a model approach to consider how space and timescales combine with impacts of legacy sources to influence observed variability in catchment export. We find that: increasing space and timescales tend to reduce the observed variance in nutrient exports, due to an increase in travel times and greater mixing, and therefore averaging, of sources; increasing the influence of legacy sources inflates the variance, with the level of inflation dictated by the residence time of the respective sources.

US arms control obligations under the Non-Proliferation Treaty

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

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 tomore » 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.« less

AKT3 controls mitochondrial biogenesis and autophagy via regulation of the major nuclear export protein CRM-1

PubMed Central

Corum, Daniel G.; Tsichlis, Philip N.; Muise-Helmericks, Robin C.

2014-01-01

Our previous work has shown that Akt3 is required for mitochondrial biogenesis in primary human endothelial cells (ECs) and in Akt3-null mice; Akt3 affects subcellular localization of peroxisome proliferator-activated receptor γ coactivator-1 (PGC-1α), the master regulator of mitochondrial biogenesis. The purpose of this study is to determine the mechanism by which Akt3 controls the subcellular distribution of PGC-1α and to explore the effect on mitochondrial biogenesis and turnover during angiogenesis. Here we use standard biochemical analyses and Akt3-knockdown strategies to show that Akt3 controls the stabilization of chromosome maintenance region-1 (CRM-1), the major nuclear export receptor. Site-directed mutagenesis and association analyses show that PGC-1α nuclear export is CRM-1 dependent. Akt3 knockdown and CRM-1 overexpression cause 3-fold reductions in PGC-1α target gene expression, compared to control levels. Akt3 inhibition causes autophagy, as measured by autophagosome formation, in a CRM-1-dependent, Akt1/mTOR-independent pathway. In vivo, Akt3-null and heterozygous mice show dose-dependent decreases in angiogenesis compared to wild-type littermates (∼5- and 2.5-fold decreases, respectively), as assessed by Matrigel plug assays. This correlates with an ∼1.5-fold decrease in mitochondrial Cox IV expression. Our studies suggest that Akt3 is a regulator of mitochondrial dynamics in the vasculature via regulation of CRM-1-dependent nuclear export.—Corum, D. G., Tsichlis, P. N., Muise-Helmericks, R. C. AKT3 controls mitochondrial biogenesis and autophagy via regulation of the major nuclear export protein CRM-1. PMID:24081905

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.

Influences of arm proprioception and degrees of freedom on postural control with light touch feedback.

PubMed

Rabin, Ely; DiZio, Paul; Ventura, Joel; Lackner, James R

2008-02-01

Lightly touching a stable surface with one fingertip strongly stabilizes standing posture. The three main features of this phenomenon are fingertip contact forces maintained at levels too low to provide mechanical support, attenuation of postural sway relative to conditions without fingertip touch, and center of pressure (CP) lags changes in fingertip shear forces by approximately 250 ms. In the experiments presented here, we tested whether accurate arm proprioception and also whether the precision fingertip contact afforded by the arm's many degrees of freedom are necessary for postural stabilization by finger contact. In our first experiment, we perturbed arm proprioception and control with biceps brachii vibration (120-Hz, 2-mm amplitude). This degraded postural control, resulting in greater postural sway amplitudes. In a second study, we immobilized the touching arm with a splint. This prevented precision fingertip contact but had no effect on postural sway amplitude. In both experiments, the correlation and latency of fingertip contact forces to postural sway were unaffected. We conclude that postural control is executed based on information about arm orientation as well as tactile feedback from light touch, although precision fingertip contact is not essential. The consistent correlation and timing of CP movement and fingertip forces across conditions in which postural sway amplitude and fingertip contact are differentially disrupted suggests posture and the fingertip are controlled in parallel with feedback from the fingertip in this task.

Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

PubMed Central

Zeng, Hong; Wang, Yanxin; Wu, Changcheng; Song, Aiguo; Liu, Jia; Ji, Peng; Xu, Baoguo; Zhu, Lifeng; Li, Huijun; Wen, Pengcheng

2017-01-01

Brain-machine interface (BMI) can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR) guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG) signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback) over the open-loop system (with visual inspection only) have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes. PMID:29163123

15 CFR 754.5 - Horses for export by sea.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 15 Commerce and Foreign Trade 2 2011-01-01 2011-01-01 false Horses for export by sea. 754.5... CONTROLS § 754.5 Horses for export by sea. (a) License requirement. As indicated by the letters “SS” in the... No. 1 to part 774 of the EAR) a license is required for the export of horses exported by sea to all...

15 CFR 754.5 - Horses for export by sea.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 15 Commerce and Foreign Trade 2 2012-01-01 2012-01-01 false Horses for export by sea. 754.5... CONTROLS § 754.5 Horses for export by sea. (a) License requirement. As indicated by the letters “SS” in the... No. 1 to part 774 of the EAR) a license is required for the export of horses exported by sea to all...

15 CFR 754.5 - Horses for export by sea.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 15 Commerce and Foreign Trade 2 2014-01-01 2014-01-01 false Horses for export by sea. 754.5... CONTROLS § 754.5 Horses for export by sea. (a) License requirement. As indicated by the letters “SS” in the... No. 1 to part 774 of the EAR) a license is required for the export of horses exported by sea to all...

15 CFR 754.5 - Horses for export by sea.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 15 Commerce and Foreign Trade 2 2010-01-01 2010-01-01 false Horses for export by sea. 754.5... CONTROLS § 754.5 Horses for export by sea. (a) License requirement. As indicated by the letters “SS” in the... No. 1 to part 774 of the EAR) a license is required for the export of horses exported by sea to all...

15 CFR 754.5 - Horses for export by sea.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 15 Commerce and Foreign Trade 2 2013-01-01 2013-01-01 false Horses for export by sea. 754.5... CONTROLS § 754.5 Horses for export by sea. (a) License requirement. As indicated by the letters “SS” in the... No. 1 to part 774 of the EAR) a license is required for the export of horses exported by sea to all...

The Export Administration Act: Evolution, Provisions, and Debate

DTIC Science & Technology

2009-07-15

an export control classification number ( ECCN ) based on the above categories and functional group. Each ECCN is accompanied by a description of the...item and the reason for control. Currently, there are about 500 ECCN listings. In addition to discrete items on the CCL, nearly all U.S.-origin...establishment of new military end-use controls on 20 product categories consisting of 31 export control classification numbers ( ECCN ). Currently, these

77 FR 16670 - Amendment to the International Traffic in Arms Regulations: Sri Lanka

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-22

... International Traffic in Arms Regulations: Sri Lanka AGENCY: Department of State. ACTION: Final rule. SUMMARY... exception to the license denial policy toward Sri Lanka. This change allows for exports to Sri Lanka for... . ATTN: Regulatory Change, Part 126, Sri Lanka. SUPPLEMENTARY INFORMATION: Section 126.1(n) is amended to...

Physiological Responses to Arm Activity in Individuals With Chronic Obstructive Pulmonary Disease Compared With Healthy Controls: A SYSTEMATIC REVIEW.

PubMed

Lima, Vanessa Pereira; Iamonti, Vinicius C; Velloso, Marcelo; Janaudis-Ferreira, Tania

The mechanisms underlying physiological limitations during arm activity in individuals with chronic obstructive pulmonary disease (COPD) are unknown. The objective of this systematic review was to describe cardiorespiratory responses, symptoms, chest wall kinematics, muscle activity, and lung volumes during arm activity in individuals with COPD relative to the responses of healthy controls. Original research articles that compared cardiorespiratory responses, symptoms, muscle activity, chest wall kinematics, and lung function during arm activity between individuals with COPD and healthy controls were identified after searches of 5 electronic databases and reference lists of pertinent articles. Two reviewers performed the electronic and manual searches with 1 screening title and abstracts. Two investigators screened the full texts to determine eligibility for inclusion. One reviewer performed the data extraction and tabulation using a standardized form with a second reviewer double-checking the data extracted. Of the 54 full-text articles assessed for eligibility, 6 met the inclusion criteria. Reduced cardiorespiratory responses during peak arm exercise in individuals with COPD compared with healthy controls were evident. Compared with healthy controls, individuals with COPD had increased dyspnea and hyperinflation during peak arm exercise. Increased effort of the trapezius muscle during arm activities was also found in persons with COPD compared with healthy controls. There is limited evidence describing physiological responses during arm activity in individuals with COPD. Findings of this systematic review suggest that individuals with COPD have decreased cardiorespiratory responses during peak arm exercise compared with controls but increased dyspnea, hyperinflation, and arm muscle effort.

Landscape controls on dissolved organic carbon export from watersheds of the British Columbia outer-coast

NASA Astrophysics Data System (ADS)

Giesbrecht, I.; Tank, S. E.; Frazer, G. W.; Gonzalez Arriola, S.; Korver, M.; Floyd, B. C.; Oliver, A. A.; Lertzman, K. P.

2016-12-01

Global models suggest that the Pacific Coastal Temperate Rainforest of North America (PCTR) exports significant quantities of dissolved organic carbon (DOC) to the coastal ocean. This aquatic flux from land to sea has implications for marine ecosystems and regional carbon budgets. However, DOC concentrations and flux estimates vary substantially across watersheds and drivers of spatial variation are poorly described for this region. For an outer-coast area of the PCTR, with among the highest per unit area DOC yields in the world (Oliver et al. in prep.), we describe and model landscape controls on DOC exports to the coastal ocean. In 2015 we collected three rounds of synoptic samples on Calvert Island, observing a nine-fold variation in DOC concentration (3.8 - 34.3 mg/L) across 59 watersheds that range in size from 0.26 to 21.12 km2 and reach a maximum elevation of 1012 m. We use standard ecosystem maps (Province of BC), LiDAR and other remote sensing data to measure watershed attributes. We use freshwater cation concentrations to explore geochemical signals of bedrock and surficial deposits that may be poorly represented by available geospatial data. We examine the role of topography, climate, waterbodies, geology and the local ecosystem mosaic in controlling DOC concentration and flux. An improved model of spatial controls on freshwater DOC export from the outer-coast of the PCTR will inform regional carbon modeling efforts and enhance our understanding of ecosystem processes at the coastal margin.

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.

Evolution of robotic arms.

PubMed

Moran, Michael E

2007-01-01

The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

Electrohydraulic Synchronizing Servo Control of a Robotic Arm

NASA Astrophysics Data System (ADS)

Li, S.; Ruan, J.; Pei, X.; Yu, Z. Q.; Zhu, F. M.

2006-10-01

The large robotic arm is usually driven by the electrodraulic synchronizing control system. The electrodraulic synchronizing system is designed with the digital valve to eliminate the effect of the nonlinearities, such as hysteresis, saturation, definite resolution. The working principle of the electrodraulic synchronizing control system is introduced and the mathematical model is established through construction of flow rate equation, continuity equation, force equilibrium equation, etc. To obtain the high accuracy, the PID control is introduced in the system. Simulation analysis shows that the dynamic performance of the synchronizing system is good, and its steady state error is very small. To validate the results, the experimental set-up of the synchronizing system is built. The experiment makes it clear that the control system has high accuracy. The synchronizing system can be applied widely in practice.

Use of Social Media to Target Information-Driven Arms Control and Nonproliferation Verification

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

Kreyling, Sean J.; Williams, Laura S.; Gastelum, Zoe N.

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,more » 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.« less

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

ERIC Educational Resources Information Center

Hopmann, P. Terrence; Walcott, Charles

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

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.

Model-based sensorimotor integration for multi-joint control: development of a virtual arm model.

PubMed

Song, D; Lan, N; Loeb, G E; Gordon, J

2008-06-01

An integrated, sensorimotor virtual arm (VA) model has been developed and validated for simulation studies of control of human arm movements. Realistic anatomical features of shoulder, elbow and forearm joints were captured with a graphic modeling environment, SIMM. The model included 15 musculotendon elements acting at the shoulder, elbow and forearm. Muscle actions on joints were evaluated by SIMM generated moment arms that were matched to experimentally measured profiles. The Virtual Muscle (VM) model contained appropriate admixture of slow and fast twitch fibers with realistic physiological properties for force production. A realistic spindle model was embedded in each VM with inputs of fascicle length, gamma static (gamma(stat)) and dynamic (gamma(dyn)) controls and outputs of primary (I(a)) and secondary (II) afferents. A piecewise linear model of Golgi Tendon Organ (GTO) represented the ensemble sampling (I(b)) of the total muscle force at the tendon. All model components were integrated into a Simulink block using a special software tool. The complete VA model was validated with open-loop simulation at discrete hand positions within the full range of alpha and gamma drives to extrafusal and intrafusal muscle fibers. The model behaviors were consistent with a wide variety of physiological phenomena. Spindle afferents were effectively modulated by fusimotor drives and hand positions of the arm. These simulations validated the VA model as a computational tool for studying arm movement control. The VA model is available to researchers at website http://pt.usc.edu/cel .

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…

Identifying, Visualizing, and Fusing Social Media Data to Support Nonproliferation and Arms Control Treaty Verification: Preliminary Results

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

Gastelum, Zoe N.; Cramer, Nicholas O.; Benz, Jacob M.

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 describemore » 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.« less

Worldwide Report, Arms Control

DTIC Science & Technology

1986-02-28

NACHRICHTEN , 18 Oct 85) 39 Presummit Polish Reporting on SDI Issues (Warsaw RZECZPOSPOLITA, 19-20 Oct 85; Warsaw ZYCIE WARSZAWY, 15 Oct 85) 42...28 February 1986 SDI AND SPACE ARMS MEETING REVEALS SOME SUPPORT FOR EUREKA LINK TO MILITARY Puesseldbrf VDI NACHRICHTEN in German 18 Oct 85 p 10

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.

ARM-based control system for terry rapier loom

NASA Astrophysics Data System (ADS)

Shi, Weimin; Gu, Yeqing; Wu, Zhenyu; Wang, Fan

2007-12-01

In this paper, a novel ARM-based mechatronics control technique applied in terry rapier loom was presented. Electronic weft selection, electronic fluff, electronic let-off and take-up motions system, which consists of position and speedcontrolled servomechanisms, were studied. The control system configuration, operation principle, and mathematical models of electronic drives system were analyzed. The synchronism among all mechanical motions and an improved intelligent control algorithm for the warp let-off tension control was discussed. The result indict that, by applying electronic and embedded control techniques and the individual servomechanisms, the electronic weft selection, electronic let-off device and electronic take-up device in HGA732T terry rapier loom have greatly simplified the initial complicated mechanism, kept the warp tension constant from full to empty beam, set the variable weft density, eliminated the start mark effectively, promoted its flexibility, reliability and properties, and improved the fabric quality.

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.

40 CFR 205.5-3 - Export exemptions.

Code of Federal Regulations, 2011 CFR

2011-07-01

....5-3 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) NOISE ABATEMENT PROGRAMS TRANSPORTATION EQUIPMENT NOISE EMISSION CONTROLS General Provisions § 205.5-3 Export exemptions. (a) A new.... (b) No request for an export exemption is required. (c) For purposes of section 11(d) of the Noise...

Understanding the conventional arms trade

NASA Astrophysics Data System (ADS)

Stohl, Rachel

2017-11-01

The global conventional arms trade is worth tens of billions of dollars every year and is engaged in by every country in the world. Yet, it is often difficult to control the legal trade in conventional arms and there is a thriving illicit market, willing to arm unscrupulous regimes and nefarious non-state actors. This chapter examines the international conventional arms trade, the range of tools that have been used to control it, and challenges to these international regimes.

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Reengineering ribosome export.

PubMed

Lo, Kai-Yin; Johnson, Arlen W

2009-03-01

Large cargoes require multiple receptors for efficient transport through the nuclear pore complex. The 60S ribosomal subunit is one of the bulkiest transport cargoes, and in yeast three different receptors, Crm1, Mex67/Mtr2, and Arx1, collaborate in its export. However, only Crm1, recruited by the adapter Nmd3, appears to be conserved for 60S export in higher eukaryotes. We asked if export of the large subunit requires specific receptors. We made protein fusions between mutant Nmd3 and various export receptors. Surprisingly, fusions of Mex67, the tRNA exportin Los1, Mtr2, Cse1, or Msn5 to Nmd3, lacking its Crm1-dependent nuclear export signal (NES), all functioned in export. Furthermore, these chimeric proteins supported 60S export even in the presence of the Crm1 inhibitor leptomycin B, indicating that export was now independent of Crm1. These results suggest that there is not a requirement for a specific export receptor for the large subunit, as recruitment of any receptor will suffice. Finally we show that the addition of an NES directly to the 60S ribosomal subunit protein Rpl3 promotes export. These results imply remarkable flexibility in the export pathway for the 60S subunit and help explain how different export receptors could have evolved in different eukaryotic lineages.

Reengineering Ribosome Export

PubMed Central

Lo, Kai-Yin

2009-01-01

Large cargoes require multiple receptors for efficient transport through the nuclear pore complex. The 60S ribosomal subunit is one of the bulkiest transport cargoes, and in yeast three different receptors, Crm1, Mex67/Mtr2, and Arx1, collaborate in its export. However, only Crm1, recruited by the adapter Nmd3, appears to be conserved for 60S export in higher eukaryotes. We asked if export of the large subunit requires specific receptors. We made protein fusions between mutant Nmd3 and various export receptors. Surprisingly, fusions of Mex67, the tRNA exportin Los1, Mtr2, Cse1, or Msn5 to Nmd3, lacking its Crm1-dependent nuclear export signal (NES), all functioned in export. Furthermore, these chimeric proteins supported 60S export even in the presence of the Crm1 inhibitor leptomycin B, indicating that export was now independent of Crm1. These results suggest that there is not a requirement for a specific export receptor for the large subunit, as recruitment of any receptor will suffice. Finally we show that the addition of an NES directly to the 60S ribosomal subunit protein Rpl3 promotes export. These results imply remarkable flexibility in the export pathway for the 60S subunit and help explain how different export receptors could have evolved in different eukaryotic lineages. PMID:19144820

22 CFR 120.27 - U.S. criminal statutes.

Code of Federal Regulations, 2014 CFR

2014-04-01

... Foreign Relations DEPARTMENT OF STATE INTERNATIONAL TRAFFIC IN ARMS REGULATIONS PURPOSE AND DEFINITIONS... means: (1) Section 38 of the Arms Export Control Act (22 U.S.C. 2778); (2) Section 11 of the Export... underlying offense involves a defense article, including technical data, or violations related to the Arms...

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.

Space Science and the International Traffic in Arms Regulations: Summary of a Workshop

NASA Technical Reports Server (NTRS)

Finarelli, Margaret G.; Alexander, Joseph K.

2008-01-01

The United States seeks to protect its security and foreign-policy interests, in part, by actively controlling the export of goods, technologies, and services that are or may be useful for military development in other nations. "Export" is defined not simply as the sending abroad of hardware but also as the communication of related technology and know-how to foreigners in the United States and overseas. The U.S. government mechanism for controlling dual-use items--items in commerce that have potential military use is the Export Administration Regulations (EAR) administered by the Department of Commerce; items defined in law as defense articles fall under the jurisdiction of the Department of State and the International Traffic in Arms Regulations (ITAR). Because of the potential military implications of the export of defense articles, the ITAR regime imposes much greater burdens (on both the applicant and the government) than does the EAR regime during the process of applying for, and implementing the provisions of, licenses and technical-assistance agreements. Until the early 1990s export control activity related to all space satellites (commercial and scientific) was handled under ITAR. Between 1992 and 1996 the George H.W. Bush and the Clinton administrations transferred jurisdiction over the licensing of civilian communications satellites to the Commerce Department under EAR. In 1999, however, in response to broad concerns about Chinese attempts to acquire U.S. high technology, the U.S. House of Representatives convened the Select Committee on U.S. National Security and Military/Commercial Concerns with the People s Republic of China, also known as the Cox Committee. One of the many consequences of the Cox Committee's report was Congress's mandate that jurisdiction over export and licensing of satellites and related equipment and services, irrespective of military utility, be transferred from the Department of Commerce to the State Department and that such

48 CFR 1852.225-70 - Export Licenses.

Code of Federal Regulations, 2011 CFR

2011-10-01

... licenses or other approvals, if required, for exports of hardware, technical data, and software, or for the... will have access to export-controlled technical data or software. (c) The Contractor shall be... software) pursuant to the exemption at 22 CFR 125.4(b)(3). The Contracting Officer or designated...

76 FR 23872 - Editorial Corrections to the Export Administration Regulations

Federal Register 2010, 2011, 2012, 2013, 2014

2011-04-29

... No. 100709293-1073-01] RIN 0694-AE96 Editorial Corrections to the Export Administration Regulations... Administration Regulations (EAR). In particular, this rule corrects the country entry for Syria on the Commerce... the Export Administration Regulations (EAR), including several Export Control Classification Number...

Worldwide Report, Arms Control.

DTIC Science & Technology

1985-07-19

on measures of substantially reducing medium -range nuclear arms to agreed-upon levels on the basis of reciprocity and in strict conformity with the ...to the United States to reach agreement on the immediate discontinua- tion by the United States of the deployment of medium -range missiles in Europe... by unilaterally imposing a moratorium on the

Multi-muscle FES force control of the human arm for arbitrary goals.

PubMed

Schearer, Eric M; Liao, Yu-Wei; Perreault, Eric J; Tresch, Matthew C; Memberg, William D; Kirsch, Robert F; Lynch, Kevin M

2014-05-01

We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject's hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint force targets was 11% of the total range of achievable forces. Major sources of error were random error due to trial-to-trial variability and model bias due to nonstationary system properties. Because the muscles working collectively are the actuators of the skeletal system, the quantification of errors in force control guides designs of motion controllers for multi-joint, multi-muscle FES systems that can achieve arbitrary goals.

48 CFR 1825.1103-70 - Export control.

Code of Federal Regulations, 2013 CFR

2013-10-01

... State or the Department of Commerce when it exports hardware, technical data, or software, or provides technical assistance to a foreign destination or “foreign person”, as defined in 22 CFR 120.16, and there... exemption at 22 CFR 125.4(b)(3) may only be used when technical data (including software) is exchanged with...

48 CFR 1825.1103-70 - Export control.

Code of Federal Regulations, 2012 CFR

2012-10-01

... State or the Department of Commerce when it exports hardware, technical data, or software, or provides technical assistance to a foreign destination or “foreign person”, as defined in 22 CFR 120.16, and there... exemption at 22 CFR 125.4(b)(3) may only be used when technical data (including software) is exchanged with...

48 CFR 1825.1103-70 - Export control.

Code of Federal Regulations, 2014 CFR

2014-10-01

... State or the Department of Commerce when it exports hardware, technical data, or software, or provides technical assistance to a foreign destination or “foreign person”, as defined in 22 CFR 120.16, and there... exemption at 22 CFR 125.4(b)(3) may only be used when technical data (including software) is exchanged with...

77 FR 72917 - Editorial Corrections to the Commerce Control List of the Export Administration Regulations

Federal Register 2010, 2011, 2012, 2013, 2014

2012-12-07

... DEPARTMENT OF COMMERCE Bureau of Industry and Security 15 CFR Part 774 [Docket No. 120320200-2296-01] RIN 0694-AF62 Editorial Corrections to the Commerce Control List of the Export Administration Regulations AGENCY: Bureau of Industry and Security, Commerce. ACTION: Final rule. SUMMARY: This final rule...

31 CFR 592.304 - Exporting authority.

Code of Federal Regulations, 2014 CFR

2014-07-01

... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY ROUGH DIAMONDS CONTROL REGULATIONS General Definitions... a Participant from whose territory a shipment of rough diamonds is being exported as having the...

31 CFR 592.304 - Exporting authority.

Code of Federal Regulations, 2011 CFR

2011-07-01

... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY ROUGH DIAMONDS CONTROL REGULATIONS General Definitions... a Participant from whose territory a shipment of rough diamonds is being exported as having the...

31 CFR 592.304 - Exporting authority.

Code of Federal Regulations, 2013 CFR

2013-07-01

... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY ROUGH DIAMONDS CONTROL REGULATIONS General Definitions... a Participant from whose territory a shipment of rough diamonds is being exported as having the...

31 CFR 592.304 - Exporting authority.

Code of Federal Regulations, 2012 CFR

2012-07-01

... FOREIGN ASSETS CONTROL, DEPARTMENT OF THE TREASURY ROUGH DIAMONDS CONTROL REGULATIONS General Definitions... a Participant from whose territory a shipment of rough diamonds is being exported as having the...

Protein export through the bacterial flagellar type III export pathway.

PubMed

Minamino, Tohru

2014-08-01

For construction of the bacterial flagellum, which is responsible for bacterial motility, the flagellar type III export apparatus utilizes both ATP and proton motive force across the cytoplasmic membrane and exports flagellar proteins from the cytoplasm to the distal end of the nascent structure. The export apparatus consists of a membrane-embedded export gate made of FlhA, FlhB, FliO, FliP, FliQ, and FliR and a water-soluble ATPase ring complex consisting of FliH, FliI, and FliJ. FlgN, FliS, and FliT act as substrate-specific chaperones that do not only protect their cognate substrates from degradation and aggregation in the cytoplasm but also efficiently transfer the substrates to the export apparatus. The ATPase ring complex facilitates the initial entry of the substrates into the narrow pore of the export gate. The export gate by itself is a proton-protein antiporter that uses the two components of proton motive force, the electric potential difference and the proton concentration difference, for different steps of the export process. A specific interaction of FlhA with FliJ located in the center of the ATPase ring complex allows the export gate to efficiently use proton motive force to drive protein export. The ATPase ring complex couples ATP binding and hydrolysis to its assembly-disassembly cycle for rapid and efficient protein export cycle. This article is part of a Special Issue entitled: Protein trafficking and secretion in bacteria. Guest Editors: Anastassios Economou and Ross Dalbey. © 2013 Elsevier B.V. All rights reserved.

United States' arms control obligations under the NonProliferation Treaty

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

Not Available

1986-06-27

Article VI of the 1986 Non-Proliferation Treaty obligates the nuclear weapon states party 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 refers to the 1963 Limited Test Ban Treaty ''determination...to achieve the discontinuance of...explosions.'' These provisions are interpreted by many non-nuclear weapon states party to the NPT as an obligation of the nuclear weapon states party to the treaty to pursue a comprehensive test banmore » (CTB). However, a review of the history of the NPT negotiations and US ratification proceedings makes clear that Article VI imposes no legal obligation on the US to pursue a CTB. The United States did not make a one-to-one correspondence between Article VI and any specific arms control measure; to the contrary, the United States argued successfully that such a connection (to any specific measure) would be pernicious to the attempt to achieve agreement on the NPT. This interpretation held through the negotiations and ratification proceedings. However, a majority of NPT signatories assert that Article VI does indeed imply a commitment to a CTB. In the absence of progress on other arms control measures, which would relieve the pressure for a CTB, this interpretation creates a political problem for the US and could threaten the NPT regime in the future. These problems emphasize the need for the United States to more clearly explain 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.« less

Relevance of Global Health Security to the US Export Economy.

PubMed

Cassell, Cynthia H; Bambery, Zoe; Roy, Kakoli; Meltzer, Martin I; Ahmed, Zara; Payne, Rebecca L; Bunnell, Rebecca E

To reduce the health security risk and impact of outbreaks around the world, the US Centers for Disease Control and Prevention and its partners are building capabilities to prevent, detect, and contain outbreaks in 49 global health security priority countries. We examine the extent of economic vulnerability to the US export economy posed by trade disruptions in these 49 countries. Using 2015 US Department of Commerce data, we assessed the value of US exports and the number of US jobs supported by those exports. US exports to the 49 countries exceeded $308 billion and supported more than 1.6 million jobs across all US states in agriculture, manufacturing, mining, oil and gas, services, and other sectors. These exports represented 13.7% of all US export revenue worldwide and 14.3% of all US jobs supported by all US exports. The economic linkages between the United States and these global health security priority countries illustrate the importance of ensuring that countries have the public health capacities needed to control outbreaks at their source before they become pandemics.

Relevance of Global Health Security to the US Export Economy

PubMed Central

Cassell, Cynthia H.; Bambery, Zoe; Roy, Kakoli; Meltzer, Martin I.; Ahmed, Zara; Payne, Rebecca L.

2017-01-01

To reduce the health security risk and impact of outbreaks around the world, the US Centers for Disease Control and Prevention and its partners are building capabilities to prevent, detect, and contain outbreaks in 49 global health security priority countries. We examine the extent of economic vulnerability to the US export economy posed by trade disruptions in these 49 countries. Using 2015 US Department of Commerce data, we assessed the value of US exports and the number of US jobs supported by those exports. US exports to the 49 countries exceeded $308 billion and supported more than 1.6 million jobs across all US states in agriculture, manufacturing, mining, oil and gas, services, and other sectors. These exports represented 13.7% of all US export revenue worldwide and 14.3% of all US jobs supported by all US exports. The economic linkages between the United States and these global health security priority countries illustrate the importance of ensuring that countries have the public health capacities needed to control outbreaks at their source before they become pandemics. PMID:29199867

The Encryption Export Policy Controversy: Searching for Balance in the Information Age

DTIC Science & Technology

2000-01-01

of the American ,Encryption Standard is released in 2002 Source: "Reforming Encryption Export Controls," The Democratic Leadership Council Briefing...34Reforming Encryption Export Controls," The Democratic Leadership Council Briefmg, May 24, 1999; available at <http://www.dlcppi.org/briefing/b990524...denning/crypto/lib2000.html>; accessed on November 27, 1999. "Reforming Encryption Export Controls." The Democratic Leadership Council Briefing, May

India’s Emerging Security Strategy, Missile Defense, and Arms Control

DTIC Science & Technology

2004-06-01

and contemplate a security strategy. Starting in July 1998, a series of negotiations between Foreign Minister Jaswant Singh and US envoy Strobe...arms control.46 The Singh -Talbott discussions eventually led to the reaffirmation of civilian command-and-control and a doctrine of “minimum...Council (NSC), including Prime Minister Vajpayee, Minister of Foreign Affairs Singh , and Minister of Defense Fernandes, and appointed a National Security

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

PubMed

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

2017-01-01

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

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

PubMed Central

Gao, Qiang

2017-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Real-Time Decentralized Neural Control via Backstepping for a Robotic Arm Powered by Industrial Servomotors.

PubMed

Vazquez, Luis A; Jurado, Francisco; Castaneda, Carlos E; Santibanez, Victor

2018-02-01

This paper presents a continuous-time decentralized neural control scheme for trajectory tracking of a two degrees of freedom direct drive vertical robotic arm. A decentralized recurrent high-order neural network (RHONN) structure is proposed to identify online, in a series-parallel configuration and using the filtered error learning law, the dynamics of the plant. Based on the RHONN subsystems, a local neural controller is derived via backstepping approach. The effectiveness of the decentralized neural controller is validated on a robotic arm platform, of our own design and unknown parameters, which uses industrial servomotors to drive the joints.

76 FR 16353 - International Traffic in Arms Regulations: Exemption for Temporary Export of Chemical Agent...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-03-23

... removing certain extraneous language that does not change the meaning of the exemption. DATES: The... need to wear body armor or chemical agent protective gear for personal safety. In August 2009, the ITAR was amended to provide an exemption for the temporary export of body armor covered by 22 CFR 121.1...

76 FR 10004 - President's Export Council; Subcommittee on Export Administration; Notice of Open Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2011-02-23

... Security. 2. Opening remarks by the Chairman. 3. Presentation of papers or comments by the public. 4. Export Control Reform Update. 5. Administrative issues. The open session will be accessible via...

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

Federal Register 2010, 2011, 2012, 2013, 2014

2012-01-17

... Under Secretary for Arms Control and International Security of Authority To Submit Reports Regarding the... by law, I hereby delegate to the Under Secretary for Arms Control and International Security the... Resolution); with the Director of National Intelligence, at the direction of the President, preparing the...

The manned maneuvering unit flight controller arm

NASA Astrophysics Data System (ADS)

Falkner, K. E.

1983-05-01

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.

76 FR 52935 - President's Export Council, Subcommittee on Export Administration; Notice of Open Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-24

... with all countries with which the United States has diplomatic or trading relations and of controlling... and Vice Chair. 2. Export Control Reform Update. 3. Presentation of Papers or Comments by the Public. 4. Review of Field Hearing. 5. Status of 2011 Workplan. 6. Discussion of 2012 Workplan. 7...

76 FR 30647 - President's Export Council; Subcommittee on Export Administration; Notice of Open Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2011-05-26

... foreign policy reasons. Agenda 1. Opening remarks by the Chairman. 2. Opening remarks by the Bureau of.... Export Control Reform Update. The open session will be accessible via teleconference to 20 participants...

ExportAid: database of RNA elements regulating nuclear RNA export in mammals.

PubMed

Giulietti, Matteo; Milantoni, Sara Armida; Armeni, Tatiana; Principato, Giovanni; Piva, Francesco

2015-01-15

Regulation of nuclear mRNA export or retention is carried out by RNA elements but the mechanism is not yet well understood. To understand the mRNA export process, it is important to collect all the involved RNA elements and their trans-acting factors. By hand-curated literature screening we collected, in ExportAid database, experimentally assessed data about RNA elements regulating nuclear export or retention of endogenous, heterologous or artificial RNAs in mammalian cells. This database could help to understand the RNA export language and to study the possible export efficiency alterations owing to mutations or polymorphisms. Currently, ExportAid stores 235 and 96 RNA elements, respectively, increasing and decreasing export efficiency, and 98 neutral assessed sequences. Freely accessible without registration at http://www.introni.it/ExportAid/ExportAid.html. Database and web interface are implemented in Perl, MySQL, Apache and JavaScript with all major browsers supported. © The Author 2014. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

48 CFR 225.7300 - Scope of subpart.

Code of Federal Regulations, 2010 CFR

2010-10-01

... military sales (FMS) under the Arms Export Control Act (22 U.S.C. Chapter 39). Section 22 of the Arms Export Control Act (22 U.S.C. 2762) authorizes DoD to enter into contracts for resale to foreign countries or international organizations. (b) This subpart does not apply to— (1) FMS made from inventories...

78 FR 70916 - President's Export Council Subcommittee on Export Administration; Notice of Open Meeting...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-27

... security and foreign policy reasons. Agenda: 1. Opening remarks by the Chairman. 2. Opening remarks by the Bureau of Industry and Security. 3. Export Control Reform Update. 4. Presentation of papers or comments...

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.

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.

77 FR 30500 - President's Export Council; Subcommittee on Export Administration; Notice of Open Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-23

... security and foreign policy reasons. Agenda 1. Opening remarks by the Chairman and Vice Chairman. 2. Export Control Reform Update. 3. Presentation of Papers or Comments by the Public. 4. Working Group Updates. 5...

78 FR 54450 - President's Export Council Subcommittee on Export Administration; Notice of Open Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2013-09-04

... foreign policy reasons. Agenda: 1. Opening remarks by the Chairman. 2. Opening remarks by the Bureau of Industry and Security. 3. Export Control Reform Update. 4. Presentation of papers or comments by the Public...

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.

Searching for nuclear export elements in hepatitis D virus RNA.

PubMed

Freitas, Natália; Cunha, Celso

2013-08-12

To search for the presence of cis elements in hepatitis D virus (HDV) genomic and antigenomic RNA capable of promoting nuclear export. We made use of a well characterized chloramphenicol acetyl-transferase reporter system based on plasmid pDM138. Twenty cDNA fragments corresponding to different HDV genomic and antigenomic RNA sequences were inserted in plasmid pDM138, and used in transfection experiments in Huh7 cells. The relative amounts of HDV RNA in nuclear and cytoplasmic fractions were then determined by real-time polymerase chain reaction and Northern blotting. The secondary structure of the RNA sequences that displayed nuclear export ability was further predicted using a web interface. Finally, the sensitivity to leptomycin B was assessed in order to investigate possible cellular pathways involved in HDV RNA nuclear export. Analysis of genomic RNA sequences did not allow identifying an unequivocal nuclear export element. However, two regions were found to promote the export of reporter mRNAs with efficiency higher than the negative controls albeit lower than the positive control. These regions correspond to nucleotides 266-489 and 584-920, respectively. In addition, when analyzing antigenomic RNA sequences a nuclear export element was found in positions 214-417. Export mediated by the nuclear export element of HDV antigenomic RNA is sensitive to leptomycin B suggesting a possible role of CRM1 in this transport pathway. A cis-acting nuclear export element is present in nucleotides 214-417 of HDV antigenomic RNA.

AKT3 controls mitochondrial biogenesis and autophagy via regulation of the major nuclear export protein CRM-1.

PubMed

Corum, Daniel G; Tsichlis, Philip N; Muise-Helmericks, Robin C

2014-01-01

Our previous work has shown that Akt3 is required for mitochondrial biogenesis in primary human endothelial cells (ECs) and in Akt3-null mice; Akt3 affects subcellular localization of peroxisome proliferator-activated receptor γ coactivator-1 (PGC-1α), the master regulator of mitochondrial biogenesis. The purpose of this study is to determine the mechanism by which Akt3 controls the subcellular distribution of PGC-1α and to explore the effect on mitochondrial biogenesis and turnover during angiogenesis. Here we use standard biochemical analyses and Akt3-knockdown strategies to show that Akt3 controls the stabilization of chromosome maintenance region-1 (CRM-1), the major nuclear export receptor. Site-directed mutagenesis and association analyses show that PGC-1α nuclear export is CRM-1 dependent. Akt3 knockdown and CRM-1 overexpression cause 3-fold reductions in PGC-1α target gene expression, compared to control levels. Akt3 inhibition causes autophagy, as measured by autophagosome formation, in a CRM-1-dependent, Akt1/mTOR-independent pathway. In vivo, Akt3-null and heterozygous mice show dose-dependent decreases in angiogenesis compared to wild-type littermates (~5- and 2.5-fold decreases, respectively), as assessed by Matrigel plug assays. This correlates with an ~1.5-fold decrease in mitochondrial Cox IV expression. Our studies suggest that Akt3 is a regulator of mitochondrial dynamics in the vasculature via regulation of CRM-1-dependent nuclear export.

Hydrological versus biogeochemical controls on catchment nitrate export: a test of the flushing mechanism

NASA Astrophysics Data System (ADS)

Ocampo, Carlos J.; Oldham, Carolyn E.; Sivapalan, Murugesu; Turner, Jeffrey V.

2006-12-01

Deciphering the connection between streamflows and nitrate (NO-3) discharge requires identification of the various water flow pathways within a catchment, and the different time-scales at which hydrological and biogeochemical processes occur. Despite the complexity of the processes involved, many catchments around the world present a characteristic flushing response of NO-3 export. Yet the controls on the flushing response, and how they vary across space and time, are still not clearly understood. In this paper, the flushing response of NO-3 export from a rural catchment in Western Australia was investigated using isotopic (deuterium), chemical (chloride, NO-3), and hydrometric data across different antecedent conditions and time-scales. The catchment streamflow was at all time-scales dominated by a pre-event water source, and the NO-3 discharge was correlated with the magnitude of areas contributing to saturation overland flow. The NO-3 discharge also appeared related to the shallow groundwater dynamics. Thus, the antecedent moisture condition of the catchment at seasonal and interannual time-scales had a major impact on the NO-3 flushing response. In particular, the dynamics of the shallow ephemeral perched aquifer drove a shift from hydrological controls on NO-3 discharge during the early flushing stage to an apparent biogeochemical control on NO-3 discharge during the steady decline stage of the flushing response. This temporally variable control hypothesis provides a new and alternative description of the mechanisms behind the commonly seen flushing response. Copyright

Worldwide Report, Arms Control.

DTIC Science & Technology

1985-11-06

Second Edition p 3 [Commentary by TASS military observer V. Chernyshev: "A Turbid Stream From Washington"] [Text] The more practical steps and...space strike arms and put its "star wars" program into practice . Take, for instance, the foreword to the pamphlet, signed by Defense Secretary C...American empire." According to the American press, the completed "Discovery" flight represented one more practical step in the realization of the so

Worldwide Report, Arms Control

DTIC Science & Technology

1985-08-19

Ignatiev reports: posal on the nuclear arms freeze. Spring at a press conference herd ^^S"^^^^^ fitted that a draft la» on in„educing a »rate...These pseudopeaceloving proposals are nothing more than mimicry and a diversionary maneuver undertaken in the face of the specific and important...their stay in Moscow the delegation members visited the 50-Letiya SSSR Auto- mated Flowing Plant , where they were shown the organization of the

Sample size determinations for group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms.

PubMed

Heo, Moonseong; Litwin, Alain H; Blackstock, Oni; Kim, Namhee; Arnsten, Julia H

2017-02-01

We derived sample size formulae for detecting main effects in group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms. Such designs are necessary when experimental interventions need to be administered to groups of subjects whereas control conditions need to be administered to individual subjects. This type of trial, often referred to as a partially nested or partially clustered design, has been implemented for management of chronic diseases such as diabetes and is beginning to emerge more commonly in wider clinical settings. Depending on the research setting, the level of hierarchy of data structure for the experimental arm can be three or two, whereas that for the control arm is two or one. Such different levels of data hierarchy assume correlation structures of outcomes that are different between arms, regardless of whether research settings require two or three level data structure for the experimental arm. Therefore, the different correlations should be taken into account for statistical modeling and for sample size determinations. To this end, we considered mixed-effects linear models with different correlation structures between experimental and control arms to theoretically derive and empirically validate the sample size formulae with simulation studies.

Stemming the Flow of Improvised Explosive Device Making Materials through Global Export Control Regimes

DTIC Science & Technology

2012-09-01

reflect the official policy or position of the Department of Defense or the U.S. Government. IRB Protocol number ______N/A______. 12a. DISTRIBUTION...Warfare DHS Department of Homeland Security DoD Department of Defense DTMF Dual-Tone Multi-Frequency EOD Explosive Ordnance Disposal EU European...Organization JMTC Joint Multinational Training Command JTF Joint Task Force MANPADS Man Portable Air Defense Systems MERC Multilateral Export Control

76 FR 9550 - President's Export Council: Meeting of the President's Export Council

Federal Register 2010, 2011, 2012, 2013, 2014

2011-02-18

... DEPARTMENT OF COMMERCE International Trade Administration President's Export Council: Meeting of the President's Export Council AGENCY: International Trade Administration, U.S. Department of Commerce.... exports, jobs, and growth. DATES: March 11, 2011 at 9:30 a.m. (ET). ADDRESSES: The President's Export...

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.

Amounts, isotopic character, and ages of organic and inorganic carbon exported from rivers to ocean margins: 2. Assessment of natural and anthropogenic controls

NASA Astrophysics Data System (ADS)

Hossler, Katie; Bauer, James E.

2013-04-01

Riverine exports of carbon (C) and organic matter (OM) are regulated by a variety of natural and anthropogenic factors. Understanding the relationships between these various factors and C and OM exports can help to constrain global C budgets and allow assessment of current and future anthropogenic impacts on both riverine and global C cycles. We quantified the effects of multiple natural and anthropogenic controls on riverine export fluxes and compositions of particulate organic C, dissolved organic C, and dissolved inorganic C for a regional group of eight rivers in the northeastern U.S. Potential controls related to hydrogeomorphology and regional climate, soil order, soil texture, bedrock lithology, land use, and anthropogenic factors were analyzed individually, collectively, and at scales of both local and regional influence. Factors related to hydrogeomorphology and climate, followed in importance by land use and anthropogenic factors, exhibited the strongest impacts on riverine C exports and compositions, particularly at smaller localized scales. The effects of hydrogeomorphology and climate were primarily related to volumetric flow, which resulted in greater exports of terrestrial and total C. Principal anthropogenic factors included impacts of wastewater treatment plants (WWTPs) and river impoundments. The presence of WWTPs as well as anthropogenic use of carbonate-based materials (e.g., limestone) may have substantially increased riverine C exports, particularly fossil C exports, in the study region. The presence of nuclear power plants in the associated watersheds is also discussed because of the potential for anthropogenic 14C inputs and subsequent biasing of aquatic C studies utilizing natural abundance 14C.

Overcoming Robot-Arm Joint Singularities

NASA Technical Reports Server (NTRS)

Barker, L. K.; Houck, J. A.

1986-01-01

Kinematic equations allow arm to pass smoothly through singular region. Report discusses mathematical singularities in equations of robotarm control. Operator commands robot arm to move in direction relative to its own axis system by specifying velocity in that direction. Velocity command then resolved into individual-joint rotational velocities in robot arm to effect motion. However, usual resolved-rate equations become singular when robot arm is straightened.

Nonparetic arm force does not overinhibit the paretic arm in chronic poststroke hemiparesis.

PubMed

Dimyan, Michael A; Perez, Monica A; Auh, Sungyoung; Tarula, Erick; Wilson, Matthew; Cohen, Leonardo G

2014-05-01

To determine whether nonparetic arm force overinhibits the paretic arm in patients with chronic unilateral poststroke hemiparesis. Case-control neurophysiological and behavioral study of patients with chronic stroke. Research institution. Eighty-six referred patients were screened to enroll 9 participants (N=9) with a >6 month history of 1 unilateral ischemic infarct that resulted in arm hemiparesis with residual ability to produce 1Nm of wrist flexion torque and without contraindication to transcranial magnetic stimulation. Eight age- and handedness-matched healthy volunteers without neurologic diagnosis were studied for comparison. Not applicable. Change in interhemispheric inhibition targeting the ipsilesional primary motor cortex (M1) during nonparetic arm force. We hypothesized that interhemispheric inhibition would increase more in healthy controls than in patients with hemiparesis. Healthy age-matched controls had significantly greater increases in inhibition from their active to resting M1 than patients with stroke from their active contralesional to resting ipsilesional M1 in the same scenario (20%±7% vs -1%±4%, F1,12=6.61, P=.025). Patients with greater increases in contralesional to ipsilesional inhibition were better performers on the 9-hole peg test of paretic arm function. Our findings reveal that producing force with the nonparetic arm does not necessarily overinhibit the paretic arm. Though our study is limited in generalizability by the small sample size, we found that greater active contralesional to resting ipsilesional M1 inhibition was related with better recovery in this subset of patients with chronic poststroke. Copyright © 2014 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Interagency Review of Prior Inspector General Recommendations Related to U.S. Export Controls. Volume I

DTIC Science & Technology

2008-09-01

applications that require referral to the Office of Export Enforcement ( OEE ), and sends them simultaneously to OEE and licensing officers in Export...Enforcement ( OEE ) and the Office of Enforcement Analysis (OEA). We also spoke with staff from OEE ’ s Boston field office regarding closed...OExS staff should refer them to the Office of Export Enforcement ( OEE ). However, in the two cases of noncompliance, both exporters had shipped

A pilot study of activity-based therapy in the arm motor recovery post stroke: a randomized controlled trial.

PubMed

Rabadi, Mh; Galgano, M; Lynch, D; Akerman, M; Lesser, M; Volpe, Bt

2008-12-01

To determine the efficacy of activity-based therapies using arm ergometer or robotic or group occupational therapy for motor recovery of the paretic arm in patients with an acute stroke (< or =4 weeks) admitted to an inpatient rehabilitation facility, and to obtain information to plan a large randomized controlled trial. Prospective, randomized controlled study. Stroke unit in a rehabilitation hospital. Thirty patients with an acute stroke (< or =4 weeks) who had arm weakness (Medical Research Council grade 2 or less at the shoulder joint). Occupational therapy (OT) group (control) (n = 10), arm ergometer (n = 10) or robotic (n = 10) therapy group. All patients received standard, inpatient, post-stroke rehabilitation training for 3 hours a day, plus 12 additional 40-minute sessions of the activity-based therapy. The primary outcome measures were discharge scores in the Fugl-Meyer Assessment Scale for upper limb impairment, Motor Status Scale, total Functional Independence Measure (FIM) and FIM-motor and FIM-cognition subscores. The three groups (OT group versus arm ergometer versus robotic) were comparable on clinical demographic measures except the robotic group was significantly older and there were more haemorrhagic stroke patients in the arm ergometer group. After adjusting for age, stroke type and outcome measures at baseline, a similar degree of improvement in the discharge scores was found in all of the primary outcome measures. This study suggests that activity-based therapies using an arm ergometer or robot when used over shortened training periods have the same effect as OT group therapy in decreasing impairment and improving disability in the paretic arm of severely affected stroke patients in the subacute phase.

Arm mechanical efficiency and arm exercise capacity are relatively preserved in chronic obstructive pulmonary disease.

PubMed

Franssen, Frits M E; Wouters, Emiel F M; Baarends, Erica M; Akkermans, Marco A; Schols, Annemie M W J

2002-10-01

Previous studies indicate that energy expenditure related to physical activity is enhanced and that mechanical efficiency of leg exercise is reduced in patients with chronic obstructive pulmonary disease (COPD). However, it is yet unclear whether an inefficient energy expenditure is also present during other activities in COPD. This study was carried out to examine arm efficiency and peak arm exercise performance relative to leg exercise in 33 (23 male) patients with COPD ((mean +/- SEM) age: 61 +/- 2 yr; FEV : 40 +/- 2% of predicted) and 20 sex- and age-matched healthy controls. Body composition, pulmonary function, resting energy expenditure (REE), and peak leg and arm exercise performance were determined. To calculate mechanical efficiency, subjects performed submaximal leg and arm ergometry at 50% of achieved peak loads. During exercise testing, metabolic and ventilatory parameters were measured. In contrast to a reduced leg mechanical efficiency in patients compared with controls (15.6 +/- 0.6% and 22.5 +/- 0.6%, respectively; < 0.001), arm mechanical efficiency was comparable in both groups (COPD: 18.3 +/- 0.9%, controls: 21.0 +/- 1.2%; NS). Arm efficiency was not related to leg efficiency, pulmonary function, work of breathing, or REE. Also, arm exercise capacity was relatively preserved in patients with COPD (ratio arm peak work rate/leg peak work rate in patients: 89% vs 53% in controls; < 0.001). Mechanical efficiency and exercise capacity of the upper and lower limbs are not homogeneously affected in COPD, with a relative preservation of the upper limbs. This may have implications for screening of exercise tolerance and prescription of training interventions in patients with COPD. Future studies need to elucidate the mechanism behind this observation.

75 FR 18029 - Defense Federal Acquisition Regulation Supplement; Export-Controlled Items (DFARS Case 2004-D010)

Federal Register 2010, 2011, 2012, 2013, 2014

2010-04-08

... increased security benefits will be reaped if DoD diligently identifies those portions of fundamental.... Fundamental Research and the Clause at DFARS 252.204-7000, Disclosure of Information Comments: The fundamental..., universities under contracts with DoD can and do have access to export-controlled items in fundamental research...

76 FR 76035 - Amendment to the International Traffic in Arms Regulations: Additional Method of Electronic...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-06

... U.S.C. Chapter 35. List of Subjects in 22 CFR Parts 122 and 129 Arms and munitions, Exports... House (ACH) and Federal Reserve Wire Network (FedWire) are electronic networks used to process financial... electronic payment. Electronic payments must be in U.S. currency and must be payable through a U.S. financial...

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.

Mercury exports from a High-Arctic river basin in Northeast Greenland (74°N) largely controlled by glacial lake outburst floods.

PubMed

Søndergaard, Jens; Tamstorf, Mikkel; Elberling, Bo; Larsen, Martin M; Mylius, Maria Rask; Lund, Magnus; Abermann, Jakob; Rigét, Frank

2015-05-01

Riverine mercury (Hg) export dynamics from the Zackenberg River Basin (ZRB) in Northeast Greenland were studied for the period 2009-2013. Dissolved and sediment-bound Hg was measured regularly in the Zackenberg River throughout the periods with running water (June-October) and coupled to water discharge measurements. Also, a few samples of snow, soil, and permafrost were analysed for Hg. Mean concentrations of dissolved and sediment-bound Hg in the river water (±SD) were 0.39 ± 0.13 and 5.5 ± 1.4 ngL(-1), respectively, and mean concentrations of Hg in the river sediment were 0.033 ± 0.025 mg kg(-1). Temporal variations in river Hg were mainly associated with snowmelt, sudden erosion events, and outburst floods from a glacier-dammed lake in the upper part of the ZRB. Annual Hg exports from the 514 km(2) ZRB varied from 0.71 to >1.57 kg and the majority (86-96%) was associated with sediment-bound Hg. Hg yields from the ZRB varied from 1.4-3.1 gH gk m(-2)yr(-1) and were among the highest yields reported from Arctic river basins. River exports of Hg from ZRB were found to be largely controlled by the frequency, magnitude and timing of the glacial lake outburst floods, which occurred in four of the five years in July-August. Floods accounted for 5 to >10% of the annual water discharge, and up to >31% of the annual Hg export. Also, the winter snowfall and the summer temperatures were found to be important indirect controls on the annual Hg export. The occurrence and timing of glacial lake outburst floods in the ZRB in late summer at the time of maximum soil thaw depth, the location of the glacier in the upper ZRB, and increased thawing of the permafrost in Zackenberg in recent years leading to destabilisation of river banks are considered central factors explaining the high fraction of flood-controlled Hg export in this area. Copyright © 2015 Elsevier B.V. All rights reserved.

Hydrological controls on riverine carbon export in a seasonally wet tropical catchment

NASA Astrophysics Data System (ADS)

Duvert, C.; Hutley, L. B.; Bossa, M.; Bird, M. I.; Munksgaard, N.; Wynn, J. G.; Setterfield, S. A.; Northwood, M.

2017-12-01

Understanding the movement of carbon (C) through the landscape is critical for accurate C accounting. Failure to account for the transport of terrestrially-derived C to aquifers and streams can result in a considerable over-estimation of the C sequestration by the biosphere. Here we report on the magnitude of C export via shallow groundwater and adjacent streams in a savanna-covered seasonally wet tropical catchment of northern Australia. Riverine fluxes of carbon dioxide (CO2), dissolved inorganic carbon (DIC) and dissolved organic carbon (DOC) were measured at a high resolution over a full year to gain insight into the drivers of C export in this system. Water and C stable isotopes were also measured in order to elucidate water sources and dominant flow pathways. Our results suggest that CO2 evasion was the major process contributing to riverine C loss in the catchment (111 kg C ha-1 yr-1). The downstream export of C was dominated by DOC (78 kg C ha-1 yr-1), while DIC accounted for 39 kg C ha-1 yr-1 of the annual export. The bulk of annual DOC export was flushed out during the very first high-flow events, with export decreasing throughout the wet season to pre-flood levels. In contrast, the DIC flux was more important during flow recession, upon activation of deeper flowpaths carrying geologically-derived C. Shallow groundwater measured in boreholes was supersaturated with CO2 (15,000 < pCO2 < 55,000 ppm), whereas in-stream concentrations were an order of magnitude lower, suggesting substantial outgassing of CO2. Our findings outline the key role of point-source groundwater discharge in riverine CO2 evasion, with C largely sourced from seasonally productive savanna vegetation. Given the complexity of this pathway and the magnitude of this flux, new methods are needed to more precisely quantify CO2 evasion.

Impairment-oriented training or Bobath therapy for severe arm paresis after stroke: a single-blind, multicentre randomized controlled trial.

PubMed

Platz, T; Eickhof, C; van Kaick, S; Engel, U; Pinkowski, C; Kalok, S; Pause, M

2005-10-01

To study the effects of augmented exercise therapy time for arm rehabilitation as either Bobath therapy or the impairment-oriented training (Arm BASIS training) in stroke patients with arm severe paresis. Single blind, multicentre randomized control trial. Three inpatient neurorehabilitation centres. Sixty-two anterior circulation ischaemic stroke patients. Random assignment to three group: (A) no augmented exercise therapy time, (B) augmented exercise therapy time as Bobath therapy and (C) augmented exercise therapy time as Arm BASIS training. Fugl-Meyer arm motor score. Secondary measure: Action Research Arm Test (ARA). Ancillary measures: Fugl-Meyer arm sensation and joint motion/pain scores and the Ashworth Scale (elbow flexors). An overall effect of augmented exercise therapy time on Fugl-Meyer scores after four weeks was not corroborated (mean and 95% confidence interval (CI) of change scores: no augmented exercise therapy time (n=20) 8.8, 5.2-12.3; augmented exercise therapy time (n=40) 9.9, 6.8-13.9; p = 0.2657). The group who received the augmented exercise therapy time as Arm BASIS training (n=20) had, however, higher gains than the group receiving the augmented exercise therapy time as Bobath therapy (n=20) (mean and 95% CI of change scores: Bobath 7.2, 2.6-11.8; BASIS 12.6, 8.4-16.8; p = 0.0432). Passive joint motion/pain deteriorated less in the group who received BASIS training (mean and 95% CI of change scores: Bobath -3.2, -5.2 to -1.1; BASIS 0.1, -1.8-2.0; p = 0.0090). ARA, Fugl-Meyer arm sensation, and Ashworth Scale scores were not differentially affected. The augmented exercise therapy time as Arm BASIS training enhanced selective motor control. Type of training was more relevant for recovery of motor control than therapeutic time spent.

U.S. hardwood product exports, hardwood exports to Korea, hardwood resource situation, and the future of U.S. exports to Korea

Treesearch

Philip A. Araman

1991-01-01

The exerpts from this seminar are intended to give an overview of U.S. hardwood exports, hardwood exports to Korea, the hardwood resource situation, and the future of U.S. hardwood exports to Korea. It includes 1) some basic information about total U.S. hardwood exports and products, 2) information on hardwood exports to Korea from the U.S., 3) U.S. hardwood resources...

A Herpesvirus Protein Selectively Inhibits Cellular mRNA Nuclear Export.

PubMed

Gong, Danyang; Kim, Yong Hoon; Xiao, Yuchen; Du, Yushen; Xie, Yafang; Lee, Kevin K; Feng, Jun; Farhat, Nisar; Zhao, Dawei; Shu, Sara; Dai, Xinghong; Chanda, Sumit K; Rana, Tariq M; Krogan, Nevan J; Sun, Ren; Wu, Ting-Ting

2016-11-09