76 FR 24889 - Submission for OMB Review; Comment Request; Cancer Biomedical Informatics Grid® (caBIG®) Support...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-05-03

... the Office of Management and Budget (OMB) a request to review and approve the information collection...: The NCI Center for Biomedical Informatics and Information Technology (CBIIT) launched the enterprise...] Enterprise Support Network (ESN), including the caBIG [supreg] Support Service Provider (SSP) Program. The ca...

Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

PubMed Central

Song, Sang-Eun; Cho, Nathan B.; Fischer, Gregory; Hata, Nobuhito; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

2011-01-01

Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained. PMID:21399734

Workspace analysis and design improvement of a carotid flow measurement system.

PubMed

Carbone, G; Nakadate, R; Solis, J; Ceccarelli, M; Takanishi, A; Minagawa, E; Sugawara, M; Niki, K

2010-11-01

Heart and cerebrovascular diseases such as arteriosclerosis and myocardial ischemia dysfunction are currently among the main causes of death in developed countries. Recently, wave intensity (WI), which is an index used to obtain the force of cardiac contraction, has been investigated as a method for early-stage diagnosis of the above-mentioned diseases. Nevertheless, experimental tests have proven that the manual measurements of WI by means of commercial ultrasonic diagnostic systems require too much time and can be affected by the operator's skills. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, the development of a carotid blood flow measurement system has been proposed to support doctors while using ultrasound diagnostic equipment to measure the WI. This robotic system is composed of a serial robot with a wrist having a six-degree-of-freedom (6-DOF) parallel mechanism. The main focus is to obtain a suitable workspace performance of the 6-DOF parallel mechanism wrist. In this paper, a workspace analysis is carried out on a wrist prototype built for the Waseda-Tokyo Women's Medical Aloka Blood Flow Measurement System No.1 Refined (WTA-1R). Then, mechanical design enhancements are proposed and validated to provide a suitable workspace performance both as reachable workspace and dexterity, and a refined prototype WTA-1RII has been built.

Development of kinematic equations and determination of workspace of a 6 DOF end-effector with closed-kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

This report presents results from the research grant entitled Active Control of Robot Manipulators, funded by the Goddard Space Flight Center, under Grant NAG5-780, for the period July 1, 1988 to January 1, 1989. An analysis is presented of a 6 degree-of-freedom robot end-effector built to study telerobotic assembly of NASA hardware in space. Since the end-effector is required to perform high precision motion in a limited workspace, closed-kinematic mechanisms are chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an iterative procedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-effector workspace results in a general procedure for the workspace determination based on link constraints. Computer simulation results are presented.

Phoenix Robotic Arm's Workspace After 90 Sols

NASA Technical Reports Server (NTRS)

2008-01-01

During the first 90 Martian days, or sols, after its May 25, 2008, landing on an arctic plain of Mars, NASA's Phoenix Mars Lander dug several trenches in the workspace reachable with the lander's robotic arm.

The lander's Surface Stereo Imager camera recorded this view of the workspace on Sol 90, early afternoon local Mars time (overnight Aug. 25 to Aug. 26, 2008). The shadow of the the camera itself, atop its mast, is just left of the center of the image and roughly a third of a meter (one foot) wide.

The workspace is on the north side of the lander. The trench just to the right of center is called 'Neverland.'

The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

National Mesothelioma Virtual Bank: a standard based biospecimen and clinical data resource to enhance translational research.

PubMed

Amin, Waqas; Parwani, Anil V; Schmandt, Linda; Mohanty, Sambit K; Farhat, Ghada; Pople, Andrew K; Winters, Sharon B; Whelan, Nancy B; Schneider, Althea M; Milnes, John T; Valdivieso, Federico A; Feldman, Michael; Pass, Harvey I; Dhir, Rajiv; Melamed, Jonathan; Becich, Michael J

2008-08-13

Advances in translational research have led to the need for well characterized biospecimens for research. The National Mesothelioma Virtual Bank is an initiative which collects annotated datasets relevant to human mesothelioma to develop an enterprising biospecimen resource to fulfill researchers' need. The National Mesothelioma Virtual Bank architecture is based on three major components: (a) common data elements (based on College of American Pathologists protocol and National North American Association of Central Cancer Registries standards), (b) clinical and epidemiologic data annotation, and (c) data query tools. These tools work interoperably to standardize the entire process of annotation. The National Mesothelioma Virtual Bank tool is based upon the caTISSUE Clinical Annotation Engine, developed by the University of Pittsburgh in cooperation with the Cancer Biomedical Informatics Grid (caBIG, see http://cabig.nci.nih.gov). This application provides a web-based system for annotating, importing and searching mesothelioma cases. The underlying information model is constructed utilizing Unified Modeling Language class diagrams, hierarchical relationships and Enterprise Architect software. The database provides researchers real-time access to richly annotated specimens and integral information related to mesothelioma. The data disclosed is tightly regulated depending upon users' authorization and depending on the participating institute that is amenable to the local Institutional Review Board and regulation committee reviews. The National Mesothelioma Virtual Bank currently has over 600 annotated cases available for researchers that include paraffin embedded tissues, tissue microarrays, serum and genomic DNA. The National Mesothelioma Virtual Bank is a virtual biospecimen registry with robust translational biomedical informatics support to facilitate basic science, clinical, and translational research. Furthermore, it protects patient privacy by disclosing only de-identified datasets to assure that biospecimens can be made accessible to researchers.

Analysis on the workspace of palletizing robot based on AutoCAD

NASA Astrophysics Data System (ADS)

Li, Jin-quan; Zhang, Rui; Guan, Qi; Cui, Fang; Chen, Kuan

2017-10-01

In this paper, a four-degree-of-freedom articulated palletizing robot is used as the object of research. Based on the analysis of the overall configuration of the robot, the kinematic mathematical model is established by D-H method to figure out the workspace of the robot. In order to meet the needs of design and analysis, using AutoCAD secondary development technology and AutoLisp language to develop AutoCAD-based 2D and 3D workspace simulation interface program of palletizing robot. At last, using AutoCAD plugin, the influence of structural parameters on the shape and position of the working space is analyzed when the structure parameters of the robot are changed separately. This study laid the foundation for the design, control and planning of palletizing robots.

Language, Space, Time: Anthropological Tools and Scientific Exploration on Mars

NASA Technical Reports Server (NTRS)

Wales, Roxana

2005-01-01

This viewgraph presentation reviews the importance of social science disciplines in the scientific exploration of Mars. The importance of language, workspace, and time differences are reviewed. It would appear that the social scientist perspective in developing a completely new workspace, keeping track of new vocabulary and the different time zones (i.e., terrestrial and Martian) was useful.

Experiences with the BSCW Shared Workspace System as the Backbone of a Virtual Learning Environment for Students.

ERIC Educational Resources Information Center

Appelt, Wolfgang; Mambrey, Peter

The GMD (German National Research Center for Information Technology) has developed the BSCW (Basic Support for Cooperative Work) Shared Workspace system within the last four years with the goal of transforming the Web from a primarily passive information repository to an active cooperation medium. The BSCW system is a Web-based groupware tool for…

A role for the anterior insular cortex in the global neuronal workspace model of consciousness.

PubMed

Michel, Matthias

2017-03-01

According to the global neuronal workspace model of consciousness, consciousness results from the global broadcast of information throughout the brain. The global neuronal workspace is mainly constituted by a fronto-parietal network. The anterior insular cortex is part of this global neuronal workspace, but the function of this region has not yet been defined within the global neuronal workspace model of consciousness. In this review, I hypothesize that the anterior insular cortex implements a cross-modal priority map, the function of which is to determine priorities for the processing of information and subsequent entrance in the global neuronal workspace. Copyright © 2017 Elsevier Inc. All rights reserved.

A method for analytically generating three-dimensional isocomfort workspace based on perceived discomfort.

PubMed

Kee, Dohyung

2002-01-01

The purpose of this study was to develop a new method for analytically generating three-dimensional isocomfort workspace for the upper extremities using the robot kinematics. Subjective perceived discomfort scores in varying postures for manipulating four types of controls were used. Fifteen healthy male subjects participated in the experiment. The subjects were asked to hold the given postures manipulating controls for 60 s in the seated position, and to rate their perceived discomfort during the following rest of 60 s using the magnitude estimation. Postures of the upper extremities set by shoulder and elbow motions, types of controls, and left right hand were selected as experimental variables, in which the L32 orthogonal array was adopted. The results showed that shoulder flexion and adduction-abduction, elbow flexion, and types of controls significantly affected perceived discomfort for postures operating controls, but hand used for operating controls did not. Depending upon the types of controls, four regression models predicting perceived discomfort were presented. Using the models, a sweeping algorithm to generate three-dimensional isocomfort workspace was developed, in which the robot kinematics was employed to describe the translational relationships between the upper arm and the lower arm/hand. It is expected that the isocomfort workspace can be used as a valuable design guideline when ergonomically designing three-dimensional workplaces.

Designing, Supporting, and Sustaining an Online Community of Practice: NASA EPO Workspace as an Ongoing Exploration of the Value of Community

NASA Astrophysics Data System (ADS)

Davey, B.; Davis, H. B.

2015-12-01

Increasingly, geographically diverse organizations, like NASA's Science Mission Directorate Education and Public Outreach personnel (SMD EPO), are looking for ways to facilitate group interactions in meaningful ways while limiting costs. Towards this end, of particular interest, and showing great potential are communities of practice. Communities of practice represent relationships in real-time between and among people sharing a common practice. They facilitate the sharing of information, building collective knowledge, and growing of the principles of practice. In 2010-11, SMD EPO established a website to support EPO professionals, facilitate headquarters reporting, and foster a community of practice. The purpose of this evaluation is to examine the design and use of the workspace and the value created for both individual community members and SMD EPO, the sponsoring organization. The online workspace was launched in 2010-11 for the members of NASA's SMDEPO community. The online workspace was designed to help facilitate the efficient sharing of information, be a central repository for resources, help facilitate and support knowledge creation, and ultimately lead to the development of an online community of practice. This study examines the role of the online workspace component of a community in the work of a community of practice. Much has been studied revealing the importance of communities of practice to organizations, project success, and knowledge management and some of these same successes hold true for virtual communities of practice. Additionally, we look at the outcomes of housting the online community for these past years in respect to knowledge building and personal and organizational value, the affects on professional dvelopment opportunities, how community members have benefited, and how the workspace has evolved to better serve the community.

Model Predictive Control Based Motion Drive Algorithm for a Driving Simulator

NASA Astrophysics Data System (ADS)

Rehmatullah, Faizan

In this research, we develop a model predictive control based motion drive algorithm for the driving simulator at Toronto Rehabilitation Institute. Motion drive algorithms exploit the limitations of the human vestibular system to formulate a perception of motion within the constrained workspace of a simulator. In the absence of visual cues, the human perception system is unable to distinguish between acceleration and the force of gravity. The motion drive algorithm determines control inputs to displace the simulator platform, and by using the resulting inertial forces and angular rates, creates the perception of motion. By using model predictive control, we can optimize the use of simulator workspace for every maneuver while simulating the vehicle perception. With the ability to handle nonlinear constraints, the model predictive control allows us to incorporate workspace limitations.

A neuronal model of a global workspace in effortful cognitive tasks.

PubMed

Dehaene, S; Kerszberg, M; Changeux, J P

1998-11-24

A minimal hypothesis is proposed concerning the brain processes underlying effortful tasks. It distinguishes two main computational spaces: a unique global workspace composed of distributed and heavily interconnected neurons with long-range axons, and a set of specialized and modular perceptual, motor, memory, evaluative, and attentional processors. Workspace neurons are mobilized in effortful tasks for which the specialized processors do not suffice. They selectively mobilize or suppress, through descending connections, the contribution of specific processor neurons. In the course of task performance, workspace neurons become spontaneously coactivated, forming discrete though variable spatio-temporal patterns subject to modulation by vigilance signals and to selection by reward signals. A computer simulation of the Stroop task shows workspace activation to increase during acquisition of a novel task, effortful execution, and after errors. We outline predictions for spatio-temporal activation patterns during brain imaging, particularly about the contribution of dorsolateral prefrontal cortex and anterior cingulate to the workspace.

EPA Grants.gov Workspace Training for Grant Applicants and Recipients

EPA Pesticide Factsheets

Beginning January 1, 2018 all grant applicants must use Workspace to submit applications through Grants.gov. EPA’s Office of Grants and Debarment is hosting a Grants.gov-led session that will provide training and a demonstration on Workspace.

Underwater manipulator's kinematic analysis for sustainable and energy efficient water hydraulics system

NASA Astrophysics Data System (ADS)

Hassan, Siti Nor Habibah; Yusof, Ahmad Anas; Tuan, Tee Boon; Saadun, Mohd Noor Asril; Ibrahim, Mohd Qadafie; Nik, Wan Mohd Norsani Wan

2015-05-01

In promoting energy saving and sustainability, this paper presents research development of water hydraulics manipulator test rig for underwater application. Kinematic analysis of the manipulator has been studied in order to identify the workspace of the fabricated manipulator. The workspace is important as it will define the working area suitable to be developed on the test rig, in order to study the effectiveness of using water hydraulics system for underwater manipulation application. Underwater manipulator that has the ability to utilize the surrounding sea water itself as the power and energy carrier should have better advantages over sustainability and performance.

A User Assessment of Workspaces in Selected Music Education Computer Laboratories.

ERIC Educational Resources Information Center

Badolato, Michael Jeremy

A study of 120 students selected from the user populations of four music education computer laboratories was conducted to determine the applicability of current ergonomic and environmental design guidelines in satisfying the needs of users of educational computing workspaces. Eleven categories of workspace factors were organized into a…

Collaborative Inquiry and the Shared Workspace of Professional Learning Communities

ERIC Educational Resources Information Center

Carpenter, Daniel

2017-01-01

Purpose: The purpose of this paper is to explore educator collaborative inquiry in the shared workspace in professional learning communities (PLCs). Specifically, this investigation was part of an ongoing investigation of well-established PLC collaborative interactions and self-directed learning of educators as part of the shared workspace as a…

CPG-inspired workspace trajectory generation and adaptive locomotion control for quadruped robots.

PubMed

Liu, Chengju; Chen, Qijun; Wang, Danwei

2011-06-01

This paper deals with the locomotion control of quadruped robots inspired by the biological concept of central pattern generator (CPG). A control architecture is proposed with a 3-D workspace trajectory generator and a motion engine. The workspace trajectory generator generates adaptive workspace trajectories based on CPGs, and the motion engine realizes joint motion imputes. The proposed architecture is able to generate adaptive workspace trajectories online by tuning the parameters of the CPG network to adapt to various terrains. With feedback information, a quadruped robot can walk through various terrains with adaptive joint control signals. A quadruped platform AIBO is used to validate the proposed locomotion control system. The experimental results confirm the effectiveness of the proposed control architecture. A comparison by experiments shows the superiority of the proposed method against the traditional CPG-joint-space control method.

Higher-order continuation for the determination of robot workspace boundaries

NASA Astrophysics Data System (ADS)

Hentz, Gauthier; Charpentier, Isabelle; Renaud, Pierre

2016-02-01

In the medical and surgical fields, robotics may be of great interest for safer and more accurate procedures. Space constraints for a robotic assistant are however strict. Therefore, roboticists study non-conventional mechanisms with advantageous size/workspace ratios. The determination of mechanism workspace, and primarily its boundaries, is thus of major importance. This Note builds on boundary equation definition, continuation and automatic differentiation to propose a general, accurate, fast and automated method for the determination of mechanism workspace. The method is illustrated with a planar RRR mechanism and a three-dimensional Orthoglide parallel mechanism.

Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization.

PubMed

Bryson, Joshua T; Jin, Xin; Agrawal, Sunil K

2016-08-01

The design of cable-driven manipulators is complicated by the unidirectional nature of the cables, which results in extra actuators and limited workspaces. Furthermore, the particular arrangement of the cables and the geometry of the robot pose have a significant effect on the cable tension required to effect a desired joint torque. For a sufficiently complex robot, the identification of a satisfactory cable architecture can be difficult and can result in multiply redundant actuators and performance limitations based on workspace size and cable tensions. This work leverages previous research into the workspace analysis of cable systems combined with stochastic optimization to develop a generalized methodology for designing optimized cable routings for a given robot and desired task. A cable-driven robot leg performing a walking-gait motion is used as a motivating example to illustrate the methodology application. The components of the methodology are described, and the process is applied to the example problem. An optimal cable routing is identified, which provides the necessary controllable workspace to perform the desired task and enables the robot to perform that task with minimal cable tensions. A robot leg is constructed according to this routing and used to validate the theoretical model and to demonstrate the effectiveness of the resulting cable architecture.

Quantitative relationships between occupant satisfaction and satisfaction aspects of indoor environmental quality and building design.

PubMed

Frontczak, M; Schiavon, S; Goins, J; Arens, E; Zhang, H; Wargocki, P

2012-04-01

The article examines which subjectively evaluated indoor environmental parameters and building features mostly affect occupants' satisfaction in mainly US office buildings. The study analyzed data from a web-based survey administered to 52,980 occupants in 351 office buildings over 10 years by the Center for the Built Environment. The survey uses 7-point ordered scale questions pertaining to satisfaction with indoor environmental parameters, workspace, and building features. The average building occupant was satisfied with his/her workspace and building. Proportional odds ordinal logistic regression shows that satisfaction with all 15 parameters listed in the survey contributed significantly to overall workspace satisfaction. The most important parameters were satisfaction with amount of space (odds ratio OR 1.57, 95% CI: 1.55-1.59), noise level (OR 1.27, 95% CI: 1.25-1.29), and visual privacy (OR 1.26, 95% CI: 1.24-1.28). Satisfaction with amount of space was ranked to be most important for workspace satisfaction, regardless of age group (below 30, 31-50 or over 50 years old), gender, type of office (single or shared offices, or cubicles), distance of workspace from a window (within 4.6 m or further), or satisfaction level with workspace (satisfied or dissatisfied). Satisfaction with amount of space was not related to the gross amount of space available per person. To maximize workspace satisfaction, designer should invest in aspects that increase satisfaction with amount of space and storage, noise level, and visual privacy. Office workers will be most satisfied with their workspace and building when located close to a window in a private office. This may affect job satisfaction, work performance, and personal and company productivity. © 2011 John Wiley & Sons A/S.

Shadow netWorkspace: An Open Source Intranet for Learning Communities

ERIC Educational Resources Information Center

Laffey, James M.; Musser, Dale

2006-01-01

Shadow netWorkspace (SNS) is a web application system that allows a school or any type of community to establish an intranet with network workspaces for all members and groups. The goal of SNS has been to make it easy for schools and other educational organizations to provide network services in support of implementing a learning community. SNS is…

[The relation of workspace and installation space of epicyclic kinematics with six degrees of freedom].

PubMed

Pott, Peter P; Schwarz, Markus L R

2007-10-01

The kinematics of a robotic device significantly determines its installation space when it comes to technical realisation. With regard to the deployment of robotic manipulators in surgery, manipulators with a preferably small installation space are needed. This study describes six versions of novel epicyclic kinematics with six degrees of freedom (DOF). At first, the kinematics functionality was analysed using Gruebler's formula. Subsequently, the quantitative determination of the relation of workspace and installation space was performed using Matlab algorithms. To qualitatively describe the shape of the workspace, the Matlab visualisation features were utilised. For comparison, the well-known Hexapod was used. The assessed kinematics had 6-DOF-functionality. It became apparent that one version of the epicyclic kinematics having two 3-DOF disk systems mounted in a parallel way featured a particularly good relation of workspace and installation space. Compared to the Hexapod, this is approximately four times better. The shape of the workspaces of all epicyclic kinematics assessed was convex and compact. It could be shown that a novel epicyclic kinematics has a notably advantageous relation of workspace and installation space. Apparently, it seems to be well suited for the deployment in robotic machines for surgical procedures.

Strategy for the lowering and the assessment of exposure to nanoparticles at workspace - Case of study concerning the potential emission of nanoparticles of Lead in an epitaxy laboratory

NASA Astrophysics Data System (ADS)

Artous, Sébastien; Zimmermann, Eric; Douissard, Paul-Antoine; Locatelli, Dominique; Motellier, Sylvie; Derrough, Samir

2015-05-01

The implementation in many products of manufactured nanoparticles is growing fast and raises new questions. For this purpose, the CEA - NanoSafety Platform is developing various research topics for health and safety, environment and nanoparticles exposure in professional activities. The containment optimisation for the exposition lowering, then the exposure assessment to nanoparticles is a strategy for safety improvement at workplace and workspace. The lowering step consists in an optimisation of dynamic and static containment at workplace and/or workspace. Generally, the exposure risk due to the presence of nanoparticles substances does not allow modifying the parameters of containment at workplace and/or workspace. Therefore, gaseous or nanoparticulate tracers are used to evaluate performances of containment. Using a tracer allows to modify safely the parameters of the dynamic containment (ventilation, flow, speed) and to study several configurations of static containment. Moreover, a tracer allows simulating accidental or incidental situation. As a result, a safety procedure can be written more easily in order to manage this type of situation. The step of measurement and characterization of aerosols can therefore be used to assess the exposition at workplace and workspace. The case of study, aim of this paper, concerns the potential emission of Lead nanoparticles at the exhaust of a furnace in an epitaxy laboratory. The use of Helium tracer to evaluate the performance of containment is firstly studied. Secondly, the exposure assessment is characterised in accordance with the French guide “recommendations for characterizing potential emissions and exposure to aerosols released from nanomaterials in workplace operations”. Thirdly the aerosols are sampled, on several places, using collection membranes to try to detect traces of Lead in air.

Human image tracking technique applied to remote collaborative environments

NASA Astrophysics Data System (ADS)

Nagashima, Yoshio; Suzuki, Gen

1993-10-01

To support various kinds of collaborations over long distances by using visual telecommunication, it is necessary to transmit visual information related to the participants and topical materials. When people collaborate in the same workspace, they use visual cues such as facial expressions and eye movement. The realization of coexistence in a collaborative workspace requires the support of these visual cues. Therefore, it is important that the facial images be large enough to be useful. During collaborations, especially dynamic collaborative activities such as equipment operation or lectures, the participants often move within the workspace. When the people move frequently or over a wide area, the necessity for automatic human tracking increases. Using the movement area of the human being or the resolution of the extracted area, we have developed a memory tracking method and a camera tracking method for automatic human tracking. Experimental results using a real-time tracking system show that the extracted area fairly moves according to the movement of the human head.

BAMS2 Workspace: a comprehensive and versatile neuroinformatic platform for collating and processing neuroanatomical connections

PubMed Central

Bota, Mihail; Talpalaru, Ştefan; Hintiryan, Houri; Dong, Hong-Wei; Swanson, Larry W.

2014-01-01

We present in this paper a novel neuroinformatic platform, the BAMS2 Workspace (http://brancusi1.usc.edu), designed for storing and processing information about gray matter region axonal connections. This de novo constructed module allows registered users to directly collate their data by using a simple and versatile visual interface. It also allows construction and analysis of sets of connections associated with gray matter region nomenclatures from any designated species. The Workspace includes a set of tools allowing the display of data in matrix and networks formats, and the uploading of processed information in visual, PDF, CSV, and Excel formats. Finally, the Workspace can be accessed anonymously by third party systems to create individualized connectivity networks. All features of the BAMS2 Workspace are described in detail, and are demonstrated with connectivity reports collated in BAMS and associated with the rat sensory-motor cortex, medial frontal cortex, and amygdalar regions. PMID:24668342

False Color Terrain Model of Phoenix Workspace

NASA Technical Reports Server (NTRS)

2008-01-01

This is a terrain model of Phoenix's Robotic Arm workspace. It has been color coded by depth with a lander model for context. The model has been derived using images from the depth perception feature from Phoenix's Surface Stereo Imager (SSI). Red indicates low-lying areas that appear to be troughs. Blue indicates higher areas that appear to be polygons.

The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

Planning maximally smooth hand movements constrained to nonplanar workspaces.

PubMed

Liebermann, Dario G; Krasovsky, Tal; Berman, Sigal

2008-11-01

The article characterizes hand paths and speed profiles for movements performed in a nonplanar, 2-dimensional workspace (a hemisphere of constant curvature). The authors assessed endpoint kinematics (i.e., paths and speeds) under the minimum-jerk model assumptions and calculated minimal amplitude paths (geodesics) and the corresponding speed profiles. The authors also calculated hand speeds using the 2/3 power law. They then compared modeled results with the empirical observations. In all, 10 participants moved their hands forward and backward from a common starting position toward 3 targets located within a hemispheric workspace of small or large curvature. Comparisons of modeled observed differences using 2-way RM-ANOVAs showed that movement direction had no clear influence on hand kinetics (p < .05). Workspace curvature affected the hand paths, which seldom followed geodesic lines. Constraining the paths to different curvatures did not affect the hand speed profiles. Minimum-jerk speed profiles closely matched the observations and were superior to those predicted by 2/3 power law (p < .001). The authors conclude that speed and path cannot be unambiguously linked under the minimum-jerk assumption when individuals move the hand in a nonplanar 2-dimensional workspace. In such a case, the hands do not follow geodesic paths, but they preserve the speed profile, regardless of the geometric features of the workspace.

Workspace Program for Complex-Number Arithmetic

NASA Technical Reports Server (NTRS)

Patrick, M. C.; Howell, Leonard W., Jr.

1986-01-01

COMPLEX is workspace program designed to empower APL with complexnumber capabilities. Complex-variable methods provide analytical tools invaluable for applications in mathematics, science, and engineering. COMPLEX written in APL.

Task oriented nonlinear control laws for telerobotic assembly operations

NASA Technical Reports Server (NTRS)

Walker, R. A.; Ward, L. S.; Elia, C. F.

1987-01-01

The goal of this research is to achieve very intelligent telerobotic controllers which are capable of receiving high-level commands from the human operator and implementing them in an adaptive manner in the object/task/manipulator workspace. Initiatives by the authors at Integrated Systems, Inc. to identify and develop the key technologies necessary to create such a flexible, highly programmable, telerobotic controller are presented. The focus of the discussion is on the modeling of insertion tasks in three dimensions and nonlinear implicit force feedback control laws which incorporate tool/workspace constraints. Preliminary experiments with dual arm beam assembly in 2-D are presented.

Nurse managers don't get the corner office.

PubMed

Paliadelis, Penny

2013-03-01

To provide an original perspective on the power and status of first-line nurse managers by observing their working environment. The role of first-line nurse managers includes clinical, administrative and managerial components, with their responsibilities not always reflected in their level of organizational power. The business literature suggests that an appropriately resourced workspace is not merely functional, it also confers power and status. Twenty Australian rural nurse managers' workspaces were observed, as part of a larger qualitative study that explored their role and organizational power using semi-structured interviews. The observational data consisted of detailed researcher notes that were analysed thematically. The nurse managers' workspaces were suboptimal and did not provide sufficient physical space or resources for the participants' to manage tasks effectively. These results were considered using Kanter's theory of organizational power. The findings support those reported in the business literature that inadequate physical workspaces are counterproductive in terms of both functionality and organizational power. Suggestions are made regarding the workspace needs of first-line nurse managers, based on a closer alignment between the work environment and their role responsibilities. These findings have implications for decisions regarding organizational support of first-line nurse managers. © 2012 Blackwell Publishing Ltd.

TeamWATCH: Visualizing development activities using a 3-D city metaphor to improve conflict detection and team awareness

PubMed Central

Ye, Xin

2018-01-01

The awareness of others’ activities has been widely recognized as essential in facilitating coordination in a team among Computer-Supported Cooperative Work communities. Several field studies of software developers in large software companies such as Microsoft have shown that coworker and artifact awareness are the most common information needs for software developers; however, they are also two of the seven most frequently unsatisfied information needs. To address this problem, we built a workspace awareness tool named TeamWATCH to visualize developer activities using a 3-D city metaphor. In this paper, we discuss the importance of awareness in software development, review existing workspace awareness tools, present the design and implementation of TeamWATCH, and evaluate how it could help detect and resolve conflicts earlier and better maintain group awareness via a controlled experiment. The experimental results showed that the subjects using TeamWATCH performed significantly better with respect to early conflict detection and resolution. PMID:29558519

Selective interference with image retention and generation: evidence for the workspace model.

PubMed

van der Meulen, Marian; Logie, Robert H; Della Sala, Sergio

2009-08-01

We address three types of model of the relationship between working memory (WM) and long-term memory (LTM): (a) the gateway model, in which WM acts as a gateway between perceptual input and LTM; (b) the unitary model, in which WM is seen as the currently activated areas of LTM; and (c) the workspace model, in which perceptual input activates LTM, and WM acts as a separate workspace for processing and temporary retention of these activated traces. Predictions of these models were tested, focusing on visuospatial working memory and using dual-task methodology to combine two main tasks (visual short-term retention and image generation) with two interference tasks (irrelevant pictures and spatial tapping). The pictures selectively disrupted performance on the generation task, whereas the tapping selectively interfered with the retention task. Results are consistent with the predictions of the workspace model.

Workspace Safe Operation of a Force- or Impedance-Controlled Robot

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Strawser, Philip A. (Inventor); Yamokoski, John D. (Inventor)

2013-01-01

A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

Towards a New Learning: The "Scholar" Social Knowledge Workspace, in Theory and Practice

ERIC Educational Resources Information Center

Cope, Bill; Kalantzis, Mary

2013-01-01

This article describes the thinking behind the development of "Scholar," a "social knowledge" technology developed as part of a series of research and development projects at the University of Illinois. Seven pedagogical openings are identified in this article, possibilities for the creation of innovative learning environments…

Biomimetic shoulder complex based on 3-PSS/S spherical parallel mechanism

NASA Astrophysics Data System (ADS)

Hou, Yulei; Hu, Xinzhe; Zeng, Daxing; Zhou, Yulin

2015-01-01

The application of the parallel mechanism is still limited in the humanoid robot fields, and the existing parallel humanoid robot joint has not yet been reflected the characteristics of the parallel mechanism completely, also failed to solve the problem, such as small workspace, effectively. From the structural and functional bionic point of view, a three degrees of freedom(DOFs) spherical parallel mechanism for the shoulder complex of the humanoid robot is presented. According to the structure and kinetic characteristics analysis of the human shoulder complex, 3-PSS/S(P for prismatic pair, S for spherical pair) is chosen as the original configuration for the shouder complex. Using genetic algorithm, the optimization of the 3-PSS/S spherical parallel mechanism is performed, and the orientation workspace of the prototype mechanism is enlarged obviously. Combining the practical structure characteristics of the human shouder complex, an offset output mode, which means the output rod of the mechanism turn to any direction at the point a certain distance from the rotation center of the mechanism, is put forward, which provide possibility for the consistent of the workspace of the mechanism and the actual motion space of the human body shoulder joint. The relationship of the attitude angles between different coordinate system is derived, which establishs the foundation for the motion descriptions under different conditions and control development. The 3-PSS/S spherical parallel mechanism is proposed for the shoulder complex, and the consistence of the workspace of the mechanism and the human shoulder complex is realized by the stuctural parameter optimization and the offset output design.

Exerciser for rehabilitation of the Arm (ERA): Development and unique features of a 3D end-effector robot.

PubMed

Milot, Marie-Helene; Hamel, Mathieu; Provost, Philippe-Olivier; Bernier-Ouellet, Julien; Dupuis, Maxime; Letourneau, Dominic; Briere, Simon; Michaud, Francois

2016-08-01

Stroke is one of the leading causes of disability worldwide. Consequently, many stroke survivors exhibit difficulties undergoing voluntary movement in their affected upper limb, compromising their functional performance and level of independence. To minimize the negative impact of stroke disabilities, exercises are recognized as a key element in post-stroke rehabilitation. In order to provide the practice of exercises in a uniform and controlled manner as well as increasing the efficiency of therapists' interventions, robotic training has been found, and continues to prove itself, as an innovative intervention for post-stroke rehabilitation. However, the complexity as well as the limited degrees of freedom and workspace of currently commercially available robots can limit their use in clinical settings. Up to now, user-friendly robots covering a sufficiently large workspace for training of the upper limb in its full range of motion are lacking. This paper presents the design and implementation of ERA, an upper-limb 3-DOF force-controlled exerciser robot, which presents a workspace covering the entire range of motion of the upper limb. The ERA robot provides 3D reaching movements in a haptic virtual environment. A description of the hardware and software components of the ERA robot is also presented along with a demonstration of its capabilities in one of the three operational modes that were developed.

False Color Terrain Model of Phoenix Workspace

NASA Image and Video Library

2008-05-28

This is a terrain model of Phoenix Robotic Arm workspace. It has been color coded by depth with a lander model for context. The model has been derived using images from the depth perception feature from Phoenix Surface Stereo Imager SSI.

Optical Potential Field Mapping System

NASA Technical Reports Server (NTRS)

Reid, Max B. (Inventor)

1996-01-01

The present invention relates to an optical system for creating a potential field map of a bounded two dimensional region containing a goal location and an arbitrary number of obstacles. The potential field mapping system has an imaging device and a processor. Two image writing modes are used by the imaging device, electron deposition and electron depletion. Patterns written in electron deposition mode appear black and expand. Patterns written in electron depletion mode are sharp and appear white. The generated image represents a robot's workspace. The imaging device under processor control then writes a goal location in the work-space using the electron deposition mode. The black image of the goal expands in the workspace. The processor stores the generated images, and uses them to generate a feedback pattern. The feedback pattern is written in the workspace by the imaging device in the electron deposition mode to enhance the expansion of the original goal pattern. After the feedback pattern is written, an obstacle pattern is written by the imaging device in the electron depletion mode to represent the obstacles in the robot's workspace. The processor compares a stored image to a previously stored image to determine a change therebetween. When no change occurs, the processor averages the stored images to produce the potential field map.

The interplay of attention and consciousness in visual search, attentional blink and working memory consolidation

PubMed Central

Raffone, Antonino; Srinivasan, Narayanan; van Leeuwen, Cees

2014-01-01

Despite the acknowledged relationship between consciousness and attention, theories of the two have mostly been developed separately. Moreover, these theories have independently attempted to explain phenomena in which both are likely to interact, such as the attentional blink (AB) and working memory (WM) consolidation. Here, we make an effort to bridge the gap between, on the one hand, a theory of consciousness based on the notion of global workspace (GW) and, on the other, a synthesis of theories of visual attention. We offer a theory of attention and consciousness (TAC) that provides a unified neurocognitive account of several phenomena associated with visual search, AB and WM consolidation. TAC assumes multiple processing stages between early visual representation and conscious access, and extends the dynamics of the global neuronal workspace model to a visual attentional workspace (VAW). The VAW is controlled by executive routers, higher-order representations of executive operations in the GW, without the need for explicit saliency or priority maps. TAC leads to newly proposed mechanisms for illusory conjunctions, AB, inattentional blindness and WM capacity, and suggests neural correlates of phenomenal consciousness. Finally, the theory reconciles the all-or-none and graded perspectives on conscious representation. PMID:24639586

The interplay of attention and consciousness in visual search, attentional blink and working memory consolidation.

PubMed

Raffone, Antonino; Srinivasan, Narayanan; van Leeuwen, Cees

2014-05-05

Despite the acknowledged relationship between consciousness and attention, theories of the two have mostly been developed separately. Moreover, these theories have independently attempted to explain phenomena in which both are likely to interact, such as the attentional blink (AB) and working memory (WM) consolidation. Here, we make an effort to bridge the gap between, on the one hand, a theory of consciousness based on the notion of global workspace (GW) and, on the other, a synthesis of theories of visual attention. We offer a theory of attention and consciousness (TAC) that provides a unified neurocognitive account of several phenomena associated with visual search, AB and WM consolidation. TAC assumes multiple processing stages between early visual representation and conscious access, and extends the dynamics of the global neuronal workspace model to a visual attentional workspace (VAW). The VAW is controlled by executive routers, higher-order representations of executive operations in the GW, without the need for explicit saliency or priority maps. TAC leads to newly proposed mechanisms for illusory conjunctions, AB, inattentional blindness and WM capacity, and suggests neural correlates of phenomenal consciousness. Finally, the theory reconciles the all-or-none and graded perspectives on conscious representation.

Kinematic synthesis of bevel-gear-type robotic wrist mechanisms

NASA Astrophysics Data System (ADS)

Lin, Chen-Chou

Bevel-gear-type robotic wrist mechanisms are commonly used in industry. The reasons for their popularity are that they are compact, light-weight, and relatively inexpensive. However, there are singularities in their workspace, which substantially degrade their manipulative performance. The objective of this research is to develop an atlas of three-degree-of-freedom bevel-gear-type wrist mechanisms, and through dimensional synthesis to improve their kinematic performance. The dissertation contains two major parts: the first is structural analysis and synthesis, the other is kinematic analysis and dimensional synthesis. To synthesize the kinematic structures of bevel-gear-type wrist mechanisms, the kinematic structures are separated from their functional considerations. All kinematic structures which satisfy the mobility condition are enumerated in an unbiased, systematic manner. Then the bevel-gear-type wrist mechanisms are identified by applying the functional requirements. Structural analysis shows that a three-degree-of-freedom wrist mechanism usually consists of non-fractionated, two degree-of-freedom epicyclic gear train jointed with the base link. Therefore, the structural synthesis can be simplified into a problem of examining the atlas of non-fractionated, two-degree-of-freedom epicyclic gear trains. The resulting bevel-gear-type wrist mechanism has been categorized and evaluated. It is shown that three-degree-of-freedom, four-jointed wrist mechanisms are promising for further improving the kinematic performance. It is found that a spherical planetary gear train is necessarily imbedded in a three-degree-of-freedom, four-jointed wrist mechanism. Therefore, to study the workspace and singularity problems of three-degree-of-freedom four-jointed spherical wrist mechanisms, we have to study the trajectories of spherical planetary gear trains. The parametric equations of the trajectories and some useful geometric properties for the analysis and synthesis of workplace are derived. The workspace boundary equations can be derived via both geometric consideration and Jacobian analysis. The workspace is divided by inner and outer boundaries into regions of accessibility of zero, two, and four. The design criteria of full workspace and a maximum four-root region are established.

Flexible workspace design and ergonomics training: impacts on the psychosocial work environment, musculoskeletal health, and work effectiveness among knowledge workers.

PubMed

Robertson, Michelle M; Huang, Yueng-Hsiang; O'Neill, Michael J; Schleifer, Lawrence M

2008-07-01

A macroergonomics intervention consisting of flexible workspace design and ergonomics training was conducted to examine the effects on psychosocial work environment, musculoskeletal health, and work effectiveness in a computer-based office setting. Knowledge workers were assigned to one of four conditions: flexible workspace (n=121), ergonomics training (n=92), flexible workspace+ergonomics training (n=31), and a no-intervention control (n=45). Outcome measures were collected 2 months prior to the intervention and 3 and 6 months post-intervention. Overall, the study results indicated positive, significant effects on the outcome variables for the two intervention groups compared to the control group, including work-related musculoskeletal discomfort, job control, environmental satisfaction, sense of community, ergonomic climate, communication and collaboration, and business process efficiency (time and costs). However, attrition of workers in the ergonomics training condition precluded an evaluation of the effects of this intervention. This study suggests that a macroergonomics intervention is effective among knowledge workers in office settings.

The Role of A Facilitated Online Workspace Component of A Community of Practice: Knowledge Building and Value Creation for NASA

NASA Astrophysics Data System (ADS)

Davey, B.

2014-12-01

This study examined the role of an online workspace component of a community in the work of a community of practice. Much has been studied revealing the importance of communities of practice to organizations, project success, and knowledge management and some of these same successes hold true for virtual communities of practice. Study participants were 75 Education and Public Outreach community members of NASA's Science Mission Directorate Earth Forum. In this mixed methods study, online workspace metrics were used to track participation and a survey completed by 21 members was used to quantify participation. For a more detailed analysis, 15 community members (5 highly active users, 5 average users, and 5 infrequent users) selected based on survey responses, were interviewed. Finally, survey data was gathered from 7 online facilitators to understand their role in the community. Data collected from these 21 community members and 5 facilitating members suggest that highly active users (logging into the workspace daily), were more likely to have transformative experiences, co-create knowledge, feel ownership of community knowledge, have extended opportunities for community exchange, and find new forms of evaluation. Average users shared some similar characteristics with both the highly active members and infrequent users, representing a group in transition as they become more engaged and active in the online workspace. Inactive users viewed the workspace as having little value, being difficult to navigate, being mainly for gaining basic information about events and community news, and as another demand on their time. Results show the online workspace component of the Earth Science Education and Outreach Forum is playing an important and emerging role for this community by supporting knowledge building and knowledge sharing, and growing in value for those that utilizing it more frequently. The evidence suggests that with increased participation or "usage" comes increased value to the participant and the organization. This research illustrates the possible change in mindset held by participating community members when it comes to the nature of co-location. Additionally, it may be of particular importance in exploring changes in the community members' feelings of connection and belonging.

The Canadian ISTAR Information-Centric Collaborative Workspace Concept. Paper 3: The Info-Centric Collaborative Workspace from a Systems Perspective

DTIC Science & Technology

2004-09-01

sympatico.caGuy ThériaultGeneral Dynamics Canada Ltd Charlie.jamieson@lmco.comCharlie JamiesonLockheed Martin Canada D.lacroix@oerlikon.caDenis LacroixOerlikon Contraves Inc Bill.wright@oculusinfo.comBill WrightOculus

Communities of Practice Transition Online - Lessons learned from NASA's EPO Online Workspace

NASA Astrophysics Data System (ADS)

Davey, B.

2012-12-01

The Earth Forum Education and Public Outreach (EP/O) community has long interacted to better their practice as a community as well as individually. Working together to share knowledge and grow, they function as a community of practice. In 2009, NASA designed and implemented an online workspace in hopes of promoting the communities continued interactions. This study examines the role of an online workspace component of a community in the work of a community of practice. Much has been studied revealing the importance of communities of practice to organizations, project success, and knowledge management and some of these same successes hold true for virtual communities of practice. Study participants were 75 Education and Public Outreach community members of NASA's Science Mission Directorate Earth Forum. In this mixed methods study, online workspace metrics were used to track participation and a survey completed by 21 members was used to quantify participation. For a more detailed analysis, 15 community members (five highly active users, five average users, and five infrequent users) selected based on survey responses, were interviewed. Finally, survey data was gathered from seven online facilitators to understand their role in the community. Data collected from these 21 community members and five facilitating members suggest that highly active users (logging into the workspace daily), were more likely to have transformative experiences, co-create knowledge, feel ownership of community knowledge, have extended opportunities for community exchange, and find new forms of evaluation. Average users shared some similar characteristics with both the highly active members and infrequent users, representing a group in transition as they become more engaged and active in the online workspace. Inactive users viewed the workspace as having little value, being difficult to navigate, being mainly for gaining basic information about events and community news, and as another demand on their time. Results show the online workspace component of the Earth Science Education and Outreach Forum is playing an important and emerging role for this community by supporting knowledge building and knowledge sharing, and growing in value for those that utilizing it more frequently. The evidence suggests that with increased participation or "usage" comes increased value to the participant and the organization. This research illustrates the possible change in mindset held by participating community members when it comes to the nature of co-location. Additionally, it may be of particular importance in exploring changes in the community members' feelings of connection and belonging.

Development of a 3D workspace shoulder assessment tool incorporating electromyography and an inertial measurement unit-a preliminary study.

PubMed

Aslani, Navid; Noroozi, Siamak; Davenport, Philip; Hartley, Richard; Dupac, Mihai; Sewell, Philip

2018-06-01

Traditional shoulder range of movement (ROM) measurement tools suffer from inaccuracy or from long experimental setup times. Recently, it has been demonstrated that relatively low-cost wearable inertial measurement unit (IMU) sensors can overcome many of the limitations of traditional motion tracking systems. The aim of this study is to develop and evaluate a single IMU combined with an electromyography (EMG) sensor to monitor the 3D reachable workspace with simultaneous measurement of deltoid muscle activity across the shoulder ROM. Six volunteer subjects with healthy shoulders and one participant with a 'frozen' shoulder were recruited to the study. Arm movement in 3D space was plotted in spherical coordinates while the relative EMG intensity of any arm position is presented graphically. The results showed that there was an average ROM surface area of 27291 ± 538 deg 2 among all six healthy individuals and a ROM surface area of 13571 ± 308 deg 2 for the subject with frozen shoulder. All three sections of the deltoid show greater EMG activity at higher elevation angles. Using such tools enables individuals, surgeons and physiotherapists to measure the maximum envelope of motion in conjunction with muscle activity in order to provide an objective assessment of shoulder performance in the voluntary 3D workspace. Graphical abstract The aim of this study is to develop and evaluate a single IMU combined with an electromyography (EMG) sensor to monitor the 3D reachable workspace with simultaneous measurement of deltoid muscle activity across the shoulder ROM. The assessment tool consists of an IMU sensor, an EMG sensor, a microcontroller and a Bluetooth module. The assessment tool was attached to subjects arm. Individuals were instructed to move their arms with the elbow fully extended. They were then asked to provide the maximal voluntary elevation envelope of the arm in 3D space in multiple attempts starting from a small movement envelope going to the biggest possible in four consecutive circuits. The results showed that there was an average ROM surface area of 27291 ± 538 deg2 among all six healthy individuals and a ROM surface area of 13571 ± 308 deg2 for the subject with frozen shoulder. All three sections of the deltoid show greater EMG activity at higher elevation angles. Using such tools enables individuals, surgeons and physiotherapists to measure the maximum envelope of motion in conjunction with muscle activity in order to provide an objective assessment of shoulder performance in the voluntary 3D workspace.

UNIX programmer`s environment and configuration control

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

Arnold, T.R.; Wyatt, P.W.

1993-12-31

A package of UNIX utilities has been developed which unities the advantages of the public domain utility ``imake`` and a configuration control system. The ``imake`` utility is portable It allows a user to make Makefiles on a wide variety of platforms without worrying about the machine-dependent idiosyncracies of the UNIX utility ``make.`` Makefiles are a labor-saving device for compiling and linking complicated programs, and ``imake`` is a labor-saving device for making Makefiles, as well as other useful software (like a program`s internal dependencies on included files). This ``Environment,`` which has been developed around ``imake,`` allows a programmer to manage amore » complicated project consisting of multiple executables which may each link with multiple user-created libraries. The configuration control aspect consists of a directory hierarchy (a baseline) which is mirrored in a developer`s workspace. The workspace includes a minimum of files copied from the baseline; it employs soft links into the baseline wherever possible. The utilities are a multi-tiered suite of Bourne shells to copy or check out sources, check them back in, import new sources (sources which are not in the baseline) and link them appropriately, create new low-level directories and link them, compare with the baseline, update Makefiles with minimal effort, and handle dependencies. The directory hierarchy utilizes a single source repository, which is mirrored in the baseline and in a workspace for a several platform architectures. The system was originally written to support C code on Sun-4`s and RS6000`s. It has now been extended to support FORTRAN as well as C on SGI and Cray YMP platforms as well as Sun-4`s and RS6000`s.« less

Innovative Learning Solutions in New Communities: Opportunities and Challenges to Teachers' Conceptions of Workspace

ERIC Educational Resources Information Center

Costley, Debra

2007-01-01

This article explores the possibilities and opportunities created by large-scale property developers for new ways of learning and working in master-planned communities. The discussion is based on the findings from research of one developer's innovative solutions to learning in newly developed communities and specifically draws on data from one…

Analysis of Java Client/Server and Web Programming Tools for Development of Educational Systems.

ERIC Educational Resources Information Center

Muldner, Tomasz

This paper provides an analysis of old and new programming tools for development of client/server programs, particularly World Wide Web-based programs. The focus is on development of educational systems that use interactive shared workspaces to provide portable and expandable solutions. The paper begins with a short description of relevant terms.…

The Secure Medical Research Workspace: An IT Infrastructure to Enable Secure Research on Clinical Data

PubMed Central

Owen, Phillips; Mostafa, Javed; Lamm, Brent; Wang, Xiaoshu; Schmitt, Charles P.; Ahalt, Stanley C.

2013-01-01

Abstract Clinical data have tremendous value for translational research, but only if security and privacy concerns can be addressed satisfactorily. A collaboration of clinical and informatics teams, including RENCI, NC TraCS, UNC's School of Information and Library Science, Information Technology Service's Research Computing and other partners at the University of North Carolina at Chapel Hill have developed a system called the Secure Medical Research Workspace (SMRW) that enables researchers to use clinical data securely for research. SMRW significantly minimizes the risk presented when using identified clinical data, thereby protecting patients, researchers, and institutions associated with the data. The SMRW is built on a novel combination of virtualization and data leakage protection and can be combined with other protection methodologies and scaled to production levels. PMID:23751029

Ergonomic evaluation of the environment: a case study in a control room of the hydroelectric sector.

PubMed

Falcão, Christianne Soares; Soares, Marcelo Marcio

2012-01-01

Representative systematic evaluation studies of the workspace and the extent to which that space is suitable for performing tasks have been developed by professionals engaged on finding evidence as to the importance of users and designers being joint participants in drawing up projects. In this context, this paper sets out to evaluate the environment of a control room in the hydroelectric sector, based on a multidisciplinary method which integrates ergonomics, architecture and environmental psychology so as to assess the influence of space on the user, and thus to identify the user's level of satisfaction with it. It was observed that some adaptation strategies of the space for activities were not implemented satisfactorily, resulting in the need for further studies on making workspaces suitable.

Design of a biologically inspired lower limb exoskeleton for human gait rehabilitation.

PubMed

Lyu, Mingxing; Chen, Weihai; Ding, Xilun; Wang, Jianhua; Bai, Shaoping; Ren, Huichao

2016-10-01

This paper proposes a novel bionic model of the human leg according to the theory of physiology. Based on this model, we present a biologically inspired 3-degree of freedom (DOF) lower limb exoskeleton for human gait rehabilitation, showing that the lower limb exoskeleton is fully compatible with the human knee joint. The exoskeleton has a hybrid serial-parallel kinematic structure consisting of a 1-DOF hip joint module and a 2-DOF knee joint module in the sagittal plane. A planar 2-DOF parallel mechanism is introduced in the design to fully accommodate the motion of the human knee joint, which features not only rotation but also relative sliding. Therefore, the design is consistent with the requirements of bionics. The forward and inverse kinematic analysis is studied and the workspace of the exoskeleton is analyzed. The structural parameters are optimized to obtain a larger workspace. The results using MATLAB-ADAMS co-simulation are shown in this paper to demonstrate the feasibility of our design. A prototype of the exoskeleton is also developed and an experiment performed to verify the kinematic analysis. Compared with existing lower limb exoskeletons, the designed mechanism has a large workspace, while allowing knee joint rotation and small amount of sliding.

Design of a biologically inspired lower limb exoskeleton for human gait rehabilitation

NASA Astrophysics Data System (ADS)

Lyu, Mingxing; Chen, Weihai; Ding, Xilun; Wang, Jianhua; Bai, Shaoping; Ren, Huichao

2016-10-01

This paper proposes a novel bionic model of the human leg according to the theory of physiology. Based on this model, we present a biologically inspired 3-degree of freedom (DOF) lower limb exoskeleton for human gait rehabilitation, showing that the lower limb exoskeleton is fully compatible with the human knee joint. The exoskeleton has a hybrid serial-parallel kinematic structure consisting of a 1-DOF hip joint module and a 2-DOF knee joint module in the sagittal plane. A planar 2-DOF parallel mechanism is introduced in the design to fully accommodate the motion of the human knee joint, which features not only rotation but also relative sliding. Therefore, the design is consistent with the requirements of bionics. The forward and inverse kinematic analysis is studied and the workspace of the exoskeleton is analyzed. The structural parameters are optimized to obtain a larger workspace. The results using MATLAB-ADAMS co-simulation are shown in this paper to demonstrate the feasibility of our design. A prototype of the exoskeleton is also developed and an experiment performed to verify the kinematic analysis. Compared with existing lower limb exoskeletons, the designed mechanism has a large workspace, while allowing knee joint rotation and small amount of sliding.

Intellectual and Physical Shared Workspace: Professional Learning Communities and the Collaborative Culture

ERIC Educational Resources Information Center

Carpenter, Daniel

2018-01-01

Purpose: The purpose of this paper is to explore shared workspace and professional learning community (PLC) interactions in schools. The collaborative culture and PLCs were parts of the school culture. The collaborative culture of each school was designed to ensure teachers share intellectual and physical contributions in learning to investigate…

Investigating Uses and Perceptions of an Online Collaborative Workspace for the Dissertation Process

ERIC Educational Resources Information Center

Rockinson-Szapkiw, Amanda J.

2012-01-01

The intent of this study was to investigate 93 doctoral candidates' perceptions and use of an online collaboration workspace and content management server, Microsoft Office SharePoint, for dissertation process. All candidates were enrolled in an Ed.D. programme in the United States. Descriptive statistics demonstrate that candidates frequently use…

Assessment of controls layout of Indian tractors.

PubMed

Kumar, Adarsh; Bhaskar, Gaikwad; Singh, J K

2009-01-01

Tractors in low-income countries are used both for farm and non-farm activities. Most of the tractors being manufactured in India are products of collaboration with other countries. The design of tractors manufactured in India has not changed much in the past five decades especially from an ergonomics point of view, because of economic considerations. This paper describes a tractor control layout assessment with respect to the Indian population and compares the location of controls with workspace envelopes and the IS12343 standard for commonly used tractors on Indian farms. Controls like steering, foot clutch, foot brake, foot accelerator are located in areas defined by IS12343 standard in some tractors but these are not placed in the workspace envelopes of the Indian population. This results in a mismatch between the workspace envelope and location of controls as defined by the standard. The controls need a complete change in their layout to be in the workspace envelopes, as this cannot be achieved by providing seat movement in the horizontal and vertical directions in the present tractor design.

Describing a Robot's Workspace Using a Sequence of Views from a Moving Camera.

PubMed

Hong, T H; Shneier, M O

1985-06-01

This correspondence describes a method of building and maintaining a spatial respresentation for the workspace of a robot, using a sensor that moves about in the world. From the known camera position at which an image is obtained, and two-dimensional silhouettes of the image, a series of cones is projected to describe the possible positions of the objects in the space. When an object is seen from several viewpoints, the intersections of the cones constrain the position and size of the object. After several views have been processed, the representation of the object begins to resemble its true shape. At all times, the spatial representation contains the best guess at the true situation in the world with uncertainties in position and shape explicitly represented. An octree is used as the data structure for the representation. It not only provides a relatively compact representation, but also allows fast access to information and enables large parts of the workspace to be ignored. The purpose of constructing this representation is not so much to recognize objects as to describe the volumes in the workspace that are occupied and those that are empty. This enables trajectory planning to be carried out, and also provides a means of spatially indexing objects without needing to represent the objects at an extremely fine resolution. The spatial representation is one part of a more complex representation of the workspace used by the sensory system of a robot manipulator in understanding its environment.

Investigating Learning Space for Research Workspaces in Higher Education in Malaysia

ERIC Educational Resources Information Center

Yusof, Norhafezah; Hashim, Rosna Awang; Kian, Chan Kok

2016-01-01

Purpose: The purpose of this paper is to investigate learning space for research workspaces in Higher Education Institutions (HEIs) in Malaysia based on the evaluations by experts and university research workers on a practical model for creating an effective research learning space. It examines expert analyses of the notion of a suitable research…

Knowledge Is Something We Do: Knowing and Learning in Globally Networked Communities.

ERIC Educational Resources Information Center

Farell, Lesley; Holkner, Bernard

Workspaces are sites of contention over what is knowledge and who can say so; work-related education has never been a neutral arbiter. In a context in which workspaces routinely bring together physical place and cyber place in communication networks, traditional struggles over knowledge and knowing are affected by communications technologies (CT)…

49. TILE PACKING AREA AND APPRENTICE WORKSPACE, SECOND FLOOR, SOUTH ...

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

49. TILE PACKING AREA AND APPRENTICE WORKSPACE, SECOND FLOOR, SOUTH END OF EAST WING. THE SKYLIGHT, ADDED IN 1976. COVERS A ROOF OPENING LEFT FOR THE CHIMNEY OF A POSSIBLE THIRD BISCUIT KILN. - Moravian Pottery & Tile Works, Southwest side of State Route 313 (Swamp Road), Northwest of East Court Street, Doylestown, Bucks County, PA

Accuracy Improvement of Multi-Axis Systems Based on Laser Correction of Volumetric Geometric Errors

NASA Astrophysics Data System (ADS)

Teleshevsky, V. I.; Sokolov, V. A.; Pimushkin, Ya I.

2018-04-01

The article describes a volumetric geometric errors correction method for CNC- controlled multi-axis systems (machine-tools, CMMs etc.). The Kalman’s concept of “Control and Observation” is used. A versatile multi-function laser interferometer is used as Observer in order to measure machine’s error functions. A systematic error map of machine’s workspace is produced based on error functions measurements. The error map results into error correction strategy. The article proposes a new method of error correction strategy forming. The method is based on error distribution within machine’s workspace and a CNC-program postprocessor. The postprocessor provides minimal error values within maximal workspace zone. The results are confirmed by error correction of precision CNC machine-tools.

Informatics in radiology: an information model of the DICOM standard.

PubMed

Kahn, Charles E; Langlotz, Curtis P; Channin, David S; Rubin, Daniel L

2011-01-01

The Digital Imaging and Communications in Medicine (DICOM) Standard is a key foundational technology for radiology. However, its complexity creates challenges for information system developers because the current DICOM specification requires human interpretation and is subject to nonstandard implementation. To address this problem, a formally sound and computationally accessible information model of the DICOM Standard was created. The DICOM Standard was modeled as an ontology, a machine-accessible and human-interpretable representation that may be viewed and manipulated by information-modeling tools. The DICOM Ontology includes a real-world model and a DICOM entity model. The real-world model describes patients, studies, images, and other features of medical imaging. The DICOM entity model describes connections between real-world entities and the classes that model the corresponding DICOM information entities. The DICOM Ontology was created to support the Cancer Biomedical Informatics Grid (caBIG) initiative, and it may be extended to encompass the entire DICOM Standard and serve as a foundation of medical imaging systems for research and patient care. RSNA, 2010

A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system.

PubMed

Lee, Hyunyoung; Cheon, Byungsik; Hwang, Minho; Kang, Donghoon; Kwon, Dong-Soo

2018-02-01

In robotic surgical systems, commercial master devices have limitations owing to insufficient workspace and lack of intuitiveness. To overcome these limitations, a remote-center-of-motion (RCM) master manipulator was proposed. The feasibility of the proposed RCM structure was evaluated through kinematic analysis using a conventional serial structure. Two performance comparison experiments (peg transfer task and objective transfer task) were conducted for the developed master and Phantom Omni. The kinematic analysis results showed that compared with the serial structure, the proposed RCM structure has better performance in terms of design efficiency (19%) and workspace quality (59.08%). Further, in comparison with Phantom Omni, the developed master significantly increased task efficiency and significantly decreased workload in both experiments. The comparatively better performance in terms of intuitiveness, design efficiency, and operability of the proposed master for a robotic system for minimally invasive surgery was confirmed through kinematic and experimental analysis. Copyright © 2017 John Wiley & Sons, Ltd.

Developing a Taxonomy of Characteristics and Features of Collaboration Tools for Teams in Distributed Environments

DTIC Science & Technology

2007-09-01

Motion URL: http://www.blackberry.com/products/blackberry/index.shtml Software Name: Bricolage Company: Bricolage URL: http://www.bricolage.cc...Workflow Customizable control over editorial content. Bricolage Bricolage Feature Description Software Company Workflow Allows development...content for Nuxeo Collaborative Portal projects. Nuxeo Workspace Add, edit, delete, content through web interface. Bricolage Bricolage

A roadmap for caGrid, an enterprise Grid architecture for biomedical research.

PubMed

Saltz, Joel; Hastings, Shannon; Langella, Stephen; Oster, Scott; Kurc, Tahsin; Payne, Philip; Ferreira, Renato; Plale, Beth; Goble, Carole; Ervin, David; Sharma, Ashish; Pan, Tony; Permar, Justin; Brezany, Peter; Siebenlist, Frank; Madduri, Ravi; Foster, Ian; Shanbhag, Krishnakant; Mead, Charlie; Chue Hong, Neil

2008-01-01

caGrid is a middleware system which combines the Grid computing, the service oriented architecture, and the model driven architecture paradigms to support development of interoperable data and analytical resources and federation of such resources in a Grid environment. The functionality provided by caGrid is an essential and integral component of the cancer Biomedical Informatics Grid (caBIG) program. This program is established by the National Cancer Institute as a nationwide effort to develop enabling informatics technologies for collaborative, multi-institutional biomedical research with the overarching goal of accelerating translational cancer research. Although the main application domain for caGrid is cancer research, the infrastructure provides a generic framework that can be employed in other biomedical research and healthcare domains. The development of caGrid is an ongoing effort, adding new functionality and improvements based on feedback and use cases from the community. This paper provides an overview of potential future architecture and tooling directions and areas of improvement for caGrid and caGrid-like systems. This summary is based on discussions at a roadmap workshop held in February with participants from biomedical research, Grid computing, and high performance computing communities.

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

NASA Technical Reports Server (NTRS)

Mutambara, Arthur G. O.; Litt, Jonathan

1998-01-01

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Transition of the functional brain network related to increasing cognitive demands.

PubMed

Finc, Karolina; Bonna, Kamil; Lewandowska, Monika; Wolak, Tomasz; Nikadon, Jan; Dreszer, Joanna; Duch, Włodzisław; Kühn, Simone

2017-04-22

Network neuroscience provides tools that can easily be used to verify main assumptions of the global workspace theory (GWT), such as the existence of highly segregated information processing during effortless tasks performance, engagement of multiple distributed networks during effortful tasks and the critical role of long-range connections in workspace formation. A number of studies support the assumptions of GWT by showing the reorganization of the whole-brain functional network during cognitive task performance; however, the involvement of specific large scale networks in the formation of workspace is still not well-understood. (1) to examine changes in the whole-brain functional network under increased cognitive demands of working memory during an n-back task, and their relationship with behavioral outcomes; and (2) to provide a comprehensive description of local changes that may be involved in the formation of the global workspace, using hub detection and network-based statistic. Our results show that network modularity decreased with increasing cognitive demands, and this change allowed us to predict behavioral performance. The number of connector hubs increased, whereas the number of provincial hubs decreased when the task became more demanding. We also found that the default mode network (DMN) increased its connectivity to other networks while decreasing connectivity between its own regions. These results, apart from replicating previous findings, provide a valuable insight into the mechanisms of the formation of the global workspace, highlighting the role of the DMN in the processes of network integration. Hum Brain Mapp, 2017. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

Mathematically gifted adolescents mobilize enhanced workspace configuration of theta cortical network during deductive reasoning.

PubMed

Zhang, L; Gan, J Q; Wang, H

2015-03-19

Previous studies have established the importance of the fronto-parietal brain network in the information processing of reasoning. At the level of cortical source analysis, this eletroencepalogram (EEG) study investigates the functional reorganization of the theta-band (4-8Hz) neurocognitive network of mathematically gifted adolescents during deductive reasoning. Depending on the dense increase of long-range phase synchronizations in the reasoning process, math-gifted adolescents show more significant adaptive reorganization and enhanced "workspace" configuration in the theta network as compared with average-ability control subjects. The salient areas are mainly located in the anterior cortical vertices of the fronto-parietal network. Further correlation analyses have shown that the enhanced workspace configuration with respect to the global topological metrics of the theta network in math-gifted subjects is correlated with the intensive frontal midline theta (fm theta) response that is related to strong neural effort for cognitive events. These results suggest that by investing more cognitive resources math-gifted adolescents temporally mobilize an enhanced task-related global neuronal workspace, which is manifested as a highly integrated fronto-parietal information processing network during the reasoning process. Copyright © 2015 IBRO. Published by Elsevier Ltd. All rights reserved.

Fundamentally Distributed Information Processing Integrates the Motor Network into the Mental Workspace during Mental Rotation.

PubMed

Schlegel, Alexander; Konuthula, Dedeepya; Alexander, Prescott; Blackwood, Ethan; Tse, Peter U

2016-08-01

The manipulation of mental representations in the human brain appears to share similarities with the physical manipulation of real-world objects. In particular, some neuroimaging studies have found increased activity in motor regions during mental rotation, suggesting that mental and physical operations may involve overlapping neural populations. Does the motor network contribute information processing to mental rotation? If so, does it play a similar computational role in both mental and manual rotation, and how does it communicate with the wider network of areas involved in the mental workspace? Here we used multivariate methods and fMRI to study 24 participants as they mentally rotated 3-D objects or manually rotated their hands in one of four directions. We find that information processing related to mental rotations is distributed widely among many cortical and subcortical regions, that the motor network becomes tightly integrated into a wider mental workspace network during mental rotation, and that motor network activity during mental rotation only partially resembles that involved in manual rotation. Additionally, these findings provide evidence that the mental workspace is organized as a distributed core network that dynamically recruits specialized subnetworks for specific tasks as needed.

Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing.

PubMed

Case, Jennifer C; White, Edward L; SunSpiral, Vytas; Kramer-Bottiglio, Rebecca

2018-02-01

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currently control each segment individually. For example, a planar cable-driven system is typically controlled by a pair of cables for each segment, which implies two actuators per segment. In this article, we demonstrate how highly coupled crossing cable configurations can reduce both actuator count and actuator torque requirements in a planar continuum manipulator, while maintaining workspace reachability and manipulability. We achieve highly coupled actuation by allowing cables to cross through the manipulator to create new cable configurations. We further derive an analytical model to predict the underactuated manipulator workspace and experimentally verify the model accuracy with a physical system. We use this model to compare crossing cable configurations to the traditional cable configuration using workspace performance metrics. Our work here focuses on a simplified planar robot, both in simulation and in hardware, with the goal of extending this to spiraling-cable configurations on full 3D continuum robots in future work.

Control Of A Serpentine Robot For Inspection Tasks

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Colbaugh, Richard D.; Glass, Kristin L.

1996-01-01

Efficient, robust kinematic control scheme developed to control serpentine robot designed to inspect complex structure. Takes full advantage of multiple redundant degrees of freedom of robot to provide considerable dexterity for maneuvering through workspace cluttered with stationary obstacles at initially unknown positions. Control scheme produces slithering motion.

Big Data Initiatives for Agroecosystems

USDA-ARS?s Scientific Manuscript database

NAL has developed a workspace for research groups associated with the i5k initiative, which aims to sequence the genomes of all insesct species known to be important to worldwide agriculture, food safety, medicine, and energy production; all those used as models in biology; the most abundant in worl...

The impact of physical navigation on spatial organization for sensemaking.

PubMed

Andrews, Christopher; North, Chris

2013-12-01

Spatial organization has been proposed as a compelling approach to externalizing the sensemaking process. However, there are two ways in which space can be provided to the user: by creating a physical workspace that the user can interact with directly, such as can be provided by a large, high-resolution display, or through the use of a virtual workspace that the user navigates using virtual navigation techniques such as zoom and pan. In this study we explicitly examined the use of spatial sensemaking techniques within these two environments. The results demonstrate that these two approaches to providing sensemaking space are not equivalent, and that the greater embodiment afforded by the physical workspace changes how the space is perceived and used, leading to increased externalization of the sensemaking process.

Dimensional synthesis of a 3-DOF parallel manipulator with full circle rotation

NASA Astrophysics Data System (ADS)

Ni, Yanbing; Wu, Nan; Zhong, Xueyong; Zhang, Biao

2015-07-01

Parallel robots are widely used in the academic and industrial fields. In spite of the numerous achievements in the design and dimensional synthesis of the low-mobility parallel robots, few research efforts are directed towards the asymmetric 3-DOF parallel robots whose end-effector can realize 2 translational and 1 rotational(2T1R) motion. In order to develop a manipulator with the capability of full circle rotation to enlarge the workspace, a new 2T1R parallel mechanism is proposed. The modeling approach and kinematic analysis of this proposed mechanism are investigated. Using the method of vector analysis, the inverse kinematic equations are established. This is followed by a vigorous proof that this mechanism attains an annular workspace through its circular rotation and 2 dimensional translations. Taking the first order perturbation of the kinematic equations, the error Jacobian matrix which represents the mapping relationship between the error sources of geometric parameters and the end-effector position errors is derived. With consideration of the constraint conditions of pressure angles and feasible workspace, the dimensional synthesis is conducted with a goal to minimize the global comprehensive performance index. The dimension parameters making the mechanism to have optimal error mapping and kinematic performance are obtained through the optimization algorithm. All these research achievements lay the foundation for the prototype building of such kind of parallel robots.

Tools for Scientist Engagement in E/PO: NASA SMD Community Workspace and Online Resources

NASA Astrophysics Data System (ADS)

Dalton, H.; Shipp, S. S.; Grier, J.; Gross, N. A.; Buxner, S.; Bartolone, L.; Peticolas, L. M.; Woroner, M.; Schwerin, T. G.

2014-12-01

The Science Mission Directorate (SMD) Science Education and Public Outreach (E/PO) Forums are here to help you get involved in E/PO! The Forums have been developing several online resources to support scientists who are - or who are interested in becoming - involved in E/PO. These include NASA Wavelength, EarthSpace, and the SMD E/PO online community workspace. NASA Wavelength is the one-stop shop of all peer-reviewed NASA education resources to find materials you - or your audiences - can use. Browse by audience (pre-K through 12, higher education, and informal education) or topic, or choose to search for something specific by keyword and audience. http://nasawavelength.org. EarthSpace, an online clearinghouse of Earth and space materials for use in the higher education classroom, is driven by a powerful search engine that allows you to browse the collection of resources by science topic, audience, type of material or key terms. All materials are peer-reviewed before posting, and because all submissions receive a digital object identifier (doi), submitted materials can be listed as publications. http://www.lpi.usra.edu/earthspace. The SMD E/PO online community workspace contains many resources for scientists. These include one-page guides on how to get involved, tips on how to make the most of your time spent on E/PO, and sample activities, as well as news on funding, policy, and what's happening in the E/PO community. The workspace also provides scientists and the public pathways to find opportunities for participation in E/PO, to learn about SMD E/PO projects and their impacts, to connect with SMD E/PO practitioners, and to explore resources to improve professional E/PO practice, including literature reviews, information about the Next Generation Science Standards, and best practices in evaluation and engaging diverse audiences. http://smdepo.org.

Architecture, Design, and Development of an HTML/JavaScript Web-Based Group Support System.

ERIC Educational Resources Information Center

Romano, Nicholas C., Jr.; Nunamaker, Jay F., Jr.; Briggs, Robert O.; Vogel, Douglas R.

1998-01-01

Examines the need for virtual workspaces and describes the architecture, design, and development of GroupSystems for the World Wide Web (GSWeb), an HTML/JavaScript Web-based Group Support System (GSS). GSWeb, an application interface similar to a Graphical User Interface (GUI), is currently used by teams around the world and relies on user…

Literalia: Towards Developing Intercultural Maturity Online

ERIC Educational Resources Information Center

Stickler, Ursula; Emke, Martina

2011-01-01

The European Union funded LITERALIA project connected adult language learners from four countries with the help of an online workspace and supported visits. The project was based on Tandem principles, whereby learners of different languages support one another in learning one another's language and culture, in turn taking on the roles of learners…

Stereoscopic Configurations To Minimize Distortions

NASA Technical Reports Server (NTRS)

Diner, Daniel B.

1991-01-01

Proposed television system provides two stereoscopic displays. Two-camera, two-monitor system used in various camera configurations and with stereoscopic images on monitors magnified to various degrees. Designed to satisfy observer's need to perceive spatial relationships accurately throughout workspace or to perceive them at high resolution in small region of workspace. Potential applications include industrial, medical, and entertainment imaging and monitoring and control of telemanipulators, telerobots, and remotely piloted vehicles.

Reproducibility analysis of upper limbs reachable workspace, and effects of acquisition protocol, sex and hand dominancy.

PubMed

Clément, Julien; Raison, Maxime; Rouleau, Dominique M

2018-02-08

None of the physical testing, nor the goniometers currently used to assess upper limb function have a high validity, sensitivity or reliability. The reachable workspace, i.e. the area covered by the farthest points a subject can reach by hand without moving his/her body, shows promise but has yet to be validated, particularly in terms of reproducibility. Therefore, this study aims to evaluate the reproducibility of the reachable workspace over a period of several weeks, and to assess the effects of two proposed acquisition protocols, as well as those of gender, and hand dominancy. Shoulder movements were recorded using a motion capture system on 10 female and 10 male healthy subjects during a random protocol, i.e. simply asking them to achieve the farthest points they could reach with their hands, and during a standardized protocol, i.e. asking them to perform predefined shoulder elevations while keeping their trunk and elbow straight. The standardized protocol was repeated 7 weeks later. Repeated measures showed no significant difference, good to excellent intraclass correlation coefficients (0.46-0.81) and small bias (0.0-1.2%). The random protocol provided significantly lower and more scattered values for the reachable workspace (80.0 ± 22.6% vs. 91.0 ± 8.1%, p = .004), whereas gender and hand-dominancy had no effect. This study showed that the reachable workspace was highly reliable over a period of 7 weeks and that both upper limbs provided similar results. It could be used to monitor various pathologies of the upper limbs and to assess treatment efficiency, using a subject's healthy limb as reference. Copyright © 2017 Elsevier Ltd. All rights reserved.

Re-designing illumination level in printing working area

NASA Astrophysics Data System (ADS)

Wahyuni, D.; Tambunan, M.; Panjaitan, N.; Budiman, I.

2018-02-01

This research was conducted in four printing business in Medan city. The illumination level on the research object is very low around 30 Lux far below the required value of government regulation at 200 Lux. Poor lighting has an impact on the number of defective products that pass the inspection, so we need to improve the workspace lighting to improve the quality of work. The method of determining the measuring point follows SNI 16-7062-2004, and the measuring instrument used is 4 in 1 Environment Meter. The results show that almost all workspaces under study require improved lighting, because the light bulbs used are not able to meet the lighting needs. This research recommends improving the workspace lighting using LED (Light Emitting Diode) lights because it has high energy efficiency and relatively more lifetime compared to the existing lamp.

The Role of a Facilitated Online Workspace Component of a Community of Practice: Knowledge Building and Value Creation for NASA

ERIC Educational Resources Information Center

Davey, Bradford Thomas

2013-01-01

The purpose of this study was to examine the role of an online workspace component of a community in the work of a community of practice. Much has been studied revealing the importance of communities of practice to organizations, project success, and knowledge management and some of these same successes hold true for virtual communities of…

Joint Command Support Through Workspace Analysis, Design and Optimization (Soutien du Commandement Interarmees au Moyen de L’Analyse, de la Conception et de L’Optimisation de L’Espace de Travail)

DTIC Science & Technology

2009-10-01

WACC ); and • Joint Task Force (Games) Joint Operations Centre (GJOC). In May 2008, DRDC Toronto initiated two studies to support the workspace...Voice-over-IP WACC Whistler Area Command Centre DRDC Toronto TR 2009-100 39 Distribution list Document No.: DRDC CR 2009-028 LIST

Balancing "we" and "me".

PubMed

Congdon, Christine; Flynn, Donna; Redman, Melanie

2014-10-01

The open office is the dominant form of workspace design for good reason: It fosters collaboration, promotes learning, and nurtures strong culture. But what most companies fail to realize is that collaboration has a natural rhythm that requires both interaction and private contemplation. Companies have been trying for decades to find the balance between public and private workspace that best supports collaboration. In 1980 52% of U.S. employees lacked workspaces where they could concentrate without distraction. In response, high-walled cubicles took over the corporate landscape. By the late 1990s, the tide had turned, and only 23% of employees wanted more privacy, and 50% wanted more access to other people. Ever since, firms have been beefing up spaces that support collaboration and shrinking areas for individual work. But the pendulum seems to have swung too far: Once again, people feel a pressing need for privacy, not only to do heads-down work but to cope with the intensity of work today. To address these needs, according to the authors, we have to rethink our assumptions about privacy. Traditionally defined in physical terms, privacy is now about the individual's ability to control information and stimulation. In this article, the authors examine workspace design through the new lens of privacy and offer insights on how to foster teamwork and solitude.

Case management for high-intensity service users: towards a relational approach to care co-ordination.

PubMed

McEvoy, Phil; Escott, Diane; Bee, Penny

2011-01-01

This study is based on a formative evaluation of a case management service for high-intensity service users in Northern England. The evaluation had three main purposes: (i) to assess the quality of the organisational infrastructure; (ii) to obtain a better understanding of the key influences that played a role in shaping the development of the service; and (iii) to identify potential changes in practice that may help to improve the quality of service provision. The evaluation was informed by Gittell's relational co-ordination theory, which focuses upon cross-boundary working practices that facilitate task integration. The Assessment of Chronic Illness Care Survey was used to assess the organisational infrastructure and qualitative interviews with front line staff were conducted to explore the key influences that shaped the development of the service. A high level of strategic commitment and political support for integrated working was identified. However, the quality of care co-ordination was variable. The most prominent operational factor that appeared to influence the scope and quality of care co-ordination was the pattern of interaction between the case managers and their co-workers. The co-ordination of patient care was much more effective in integrated co-ordination networks. Key features included clearly defined, task focussed, relational workspaces with interactive forums where case managers could engage with co-workers in discussions about the management of interdependent care activities. In dispersed co-ordination networks with fewer relational workspaces, the case managers struggled to work as effectively. The evaluation concluded that the creation of flexible and efficient task focused relational workspaces that are systemically managed and adequately resourced could help to improve the quality of care co-ordination, particularly in dispersed networks. © 2010 Blackwell Publishing Ltd.

Force adaptation transfers to untrained workspace regions in children: evidence for developing inverse dynamic motor models.

PubMed

Jansen-Osmann, Petra; Richter, Stefanie; Konczak, Jürgen; Kalveram, Karl-Theodor

2002-03-01

When humans perform goal-directed arm movements under the influence of an external damping force, they learn to adapt to these external dynamics. After removal of the external force field, they reveal kinematic aftereffects that are indicative of a neural controller that still compensates the no longer existing force. Such behavior suggests that the adult human nervous system uses a neural representation of inverse arm dynamics to control upper-extremity motion. Central to the notion of an inverse dynamic model (IDM) is that learning generalizes. Consequently, aftereffects should be observable even in untrained workspace regions. Adults have shown such behavior, but the ontogenetic development of this process remains unclear. This study examines the adaptive behavior of children and investigates whether learning a force field in one hemifield of the right arm workspace has an effect on force adaptation in the other hemifield. Thirty children (aged 6-10 years) and ten adults performed 30 degrees elbow flexion movements under two conditions of external damping (negative and null). We found that learning to compensate an external damping force transferred to the opposite hemifield, which indicates that a model of the limb dynamics rather than an association of visited space and experienced force was acquired. Aftereffects were more pronounced in the younger children and readaptation to a null-force condition was prolonged. This finding is consistent with the view that IDMs in children are imprecise neural representations of the actual arm dynamics. It indicates that the acquisition of IDMs is a developmental achievement and that the human motor system is inherently flexible enough to adapt to any novel force within the limits of the organism's biomechanics.

Using Library Resources and Technology to Develop Global and Collaborative Workspaces

ERIC Educational Resources Information Center

Shepherd, Sonya S.

2012-01-01

Information literacy is defined as a "set of skills needed to find, retrieve, analyze, and use information" (ACRL, 2011). Similarly, the "Big6®" consists of (i) defining the task, (ii) defining strategies for seeking information, (iii) locating and accessing information, (iv) knowing how to use the information found, (v)…

Developing a TI-92 Manual Generator Based on Computer Algebra Systems

ERIC Educational Resources Information Center

Jun, Youngcook

2004-01-01

The electronic medium suitable for mathematics learning and teaching is often designed with a notebook interface provided in a computer algebra system. Such a notebook interface facilitates a workspace for mathematical activities along with an online help system. In this paper, the proposed feature is implemented in the Mathematica's notebook…

Development of remote crane system for use inside small argon hot-cell

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

Lee, Jong Kwang; Park, Byung Suk; Yu, Seung-Nam

2013-07-01

In this paper, we describe the design of a novel crane system for the use in a small argon hot-cell where only a pair of master-slave manipulators (MSM) is available for the remote maintenance of the crane. To increase the remote maintainability in the space-limited environment, we devised a remote actuation mechanism in which electrical parts consisting of a servo-motor, a position sensor, and two limit switches located inside the workspace of the MSM transmit power to the mechanical parts located in the ceiling. Even though the design concept does not provide thoroughly sufficient solution because the mechanical parts aremore » placed out of the MSM's workspace, the durability of mechanical parts can be easily increased if they have a high safety margin. Therefore, the concept may be one of the best solutions for our special crane system. In addition, we developed a servo-control system based on absolute positioning technology; therefore, it is possible for us to perform the given tasks more safely through an automatic operation. (authors)« less

A novel approach to the design of a needle driver with multiple DOFs for pediatric laparoscopic surgery.

PubMed

Fujii, Masahiro; Sugita, Naohiko; Ishimaru, Tetsuya; Iwanaka, Tadashi; Mitsuishi, Mamoru

2013-02-01

The objective of our research was to design and develop a novel needle driver with multiple degrees of freedom (DOFs) for pediatric laparoscopic surgery. Pediatric laparoscopic surgery has many advantages for patients, but the difficulty of the operation is increased due to many restrictions. For example, the motion of the needle driver is restricted by the insertion points, and the operation workspace is smaller in children than in adults. A needle driver with 3 DOFs and a 3.5-mm diameter is proposed and implemented in this study. Grasping DOF is achieved using a piston mechanism actuated by a wire. Deflection and rotation DOFs are actuated by gears. Experiments were conducted to evaluate the workspace and ligation force, and the results confirmed that the needle driver meets all the necessary requirements. Finally, a first reaction of a pediatric surgeon on the suturing and ligaturing capabilities of the prototype is reported. A multi-DOF needle driver with a new mechanism was proposed for pediatric laparoscopic surgery and a first prototype was developed. It is expected that further elaboration of the developed first prototype of the needle driver may contribute to the advancement of pediatric laparoscopic surgery.

Collaborative Workspaces within Distributed Virtual Environments.

DTIC Science & Technology

1996-12-01

such as a text document, a 3D model, or a captured image using a collaborative workspace called the InPerson Whiteboard . The Whiteboard contains a...commands for editing objects drawn on the screen. Finally, when the call is completed, the Whiteboard can be saved to a file for future use . IRIS Annotator... use , and a shared whiteboard that includes a number of multimedia annotation tools. Both systems are also mindful of bandwidth limitations and can

Simulation-based intelligent robotic agent for Space Station Freedom

NASA Technical Reports Server (NTRS)

Biegl, Csaba A.; Springfield, James F.; Cook, George E.; Fernandez, Kenneth R.

1990-01-01

A robot control package is described which utilizes on-line structural simulation of robot manipulators and objects in their workspace. The model-based controller is interfaced with a high level agent-independent planner, which is responsible for the task-level planning of the robot's actions. Commands received from the agent-independent planner are refined and executed in the simulated workspace, and upon successful completion, they are transferred to the real manipulators.

MBAT: a scalable informatics system for unifying digital atlasing workflows.

PubMed

Lee, Daren; Ruffins, Seth; Ng, Queenie; Sane, Nikhil; Anderson, Steve; Toga, Arthur

2010-12-22

Digital atlases provide a common semantic and spatial coordinate system that can be leveraged to compare, contrast, and correlate data from disparate sources. As the quality and amount of biological data continues to advance and grow, searching, referencing, and comparing this data with a researcher's own data is essential. However, the integration process is cumbersome and time-consuming due to misaligned data, implicitly defined associations, and incompatible data sources. This work addressing these challenges by providing a unified and adaptable environment to accelerate the workflow to gather, align, and analyze the data. The MouseBIRN Atlasing Toolkit (MBAT) project was developed as a cross-platform, free open-source application that unifies and accelerates the digital atlas workflow. A tiered, plug-in architecture was designed for the neuroinformatics and genomics goals of the project to provide a modular and extensible design. MBAT provides the ability to use a single query to search and retrieve data from multiple data sources, align image data using the user's preferred registration method, composite data from multiple sources in a common space, and link relevant informatics information to the current view of the data or atlas. The workspaces leverage tool plug-ins to extend and allow future extensions of the basic workspace functionality. A wide variety of tool plug-ins were developed that integrate pre-existing as well as newly created technology into each workspace. Novel atlasing features were also developed, such as supporting multiple label sets, dynamic selection and grouping of labels, and synchronized, context-driven display of ontological data. MBAT empowers researchers to discover correlations among disparate data by providing a unified environment for bringing together distributed reference resources, a user's image data, and biological atlases into the same spatial or semantic context. Through its extensible tiered plug-in architecture, MBAT allows researchers to customize all platform components to quickly achieve personalized workflows.

Working Smarter Not Harder - Developing a Virtual Subsurface Data Framework for U.S. Energy R&D

NASA Astrophysics Data System (ADS)

Rose, K.; Baker, D.; Bauer, J.; Dehlin, M.; Jones, T. J.; Rowan, C.

2017-12-01

The data revolution has resulted in a proliferation of resources that span beyond commercial and social networking domains. Research, scientific, and engineering data resources, including subsurface characterization, modeling, and analytical datasets, are increasingly available through online portals, warehouses, and systems. Data for subsurface systems is still challenging to access, discontinuous, and varies in resolution. However, with the proliferation of online data there are significant opportunities to advance access and knowledge of subsurface systems. The Energy Data eXchange (EDX) is an online platform designed to address research data needs by improving access to energy R&D products through advanced search capabilities. In addition, EDX hosts private, virtualized computational workspaces in support of multi-organizational R&D. These collaborative workspaces allow teams to share working data resources and connect to a growing number of analytical tools to support research efforts. One recent application, a team digital data notebook tool, called DataBook, was introduced within EDX workspaces to allow teams to capture contextual and structured data resources. Starting with DOE's subsurface R&D community, the EDX team has been developing DataBook to support scientists and engineers working on subsurface energy research, allowing them to contribute and curate both structured and unstructured data and knowledge about subsurface systems. These resources span petrophysical, geologic, engineering, geophysical, interpretations, models, and analyses associated with carbon storage, water, oil, gas, geothermal, induced seismicity and other subsurface systems to support the development of a virtual subsurface data framework. The integration of EDX and DataBook allows for these systems to leverage each other's best features, such as the ability to interact with other systems (Earthcube, OpenEI.net, NGDS, etc.) and leverage custom machine learning algorithms and capabilities to enhance user experience, make access and connection to relevant subsurface data resources more efficient for research teams to use, analyze and draw insights. Ultimately, the public and private resources in EDX seek to make subsurface energy research more efficient, reduce redundancy, and drive innovation.

Optimal design of a novel remote center-of-motion mechanism for minimally invasive surgical robot

NASA Astrophysics Data System (ADS)

Sun, Jingyuan; Yan, Zhiyuan; Du, Zhijiang

2017-06-01

Surgical robot with a remote center-of-motion (RCM) plays an important role in minimally invasive surgery (MIS) field. To make the mechanism has high flexibility and meet the demand of movements during processing of operation, an optimized RCM mechanism is proposed in this paper. Then, the kinematic performance and workspace are analyzed. Finally, a new optimization objective function is built by using the condition number index and the workspace index.

Small-Scale Surf Zone Geometric Roughness

DTIC Science & Technology

2017-12-01

and an image of the tie points can be seen (Figure 6). 23 Figure 6. Screen Shot of Alignment Process On the left side is the workspace which...rest of the points, producing the 3D surface. 24 Figure 7. Screen Shot of Dense Cloud Process On the left side is the workspace which...maximum 200 words) Measurements of small-scale (O(mm)) geometric roughness (kf) associated with breaking wave foam were obtained within the surf zone on

A ground truth based comparative study on clustering of gene expression data.

PubMed

Zhu, Yitan; Wang, Zuyi; Miller, David J; Clarke, Robert; Xuan, Jianhua; Hoffman, Eric P; Wang, Yue

2008-05-01

Given the variety of available clustering methods for gene expression data analysis, it is important to develop an appropriate and rigorous validation scheme to assess the performance and limitations of the most widely used clustering algorithms. In this paper, we present a ground truth based comparative study on the functionality, accuracy, and stability of five data clustering methods, namely hierarchical clustering, K-means clustering, self-organizing maps, standard finite normal mixture fitting, and a caBIG toolkit (VIsual Statistical Data Analyzer--VISDA), tested on sample clustering of seven published microarray gene expression datasets and one synthetic dataset. We examined the performance of these algorithms in both data-sufficient and data-insufficient cases using quantitative performance measures, including cluster number detection accuracy and mean and standard deviation of partition accuracy. The experimental results showed that VISDA, an interactive coarse-to-fine maximum likelihood fitting algorithm, is a solid performer on most of the datasets, while K-means clustering and self-organizing maps optimized by the mean squared compactness criterion generally produce more stable solutions than the other methods.

Semantic web data warehousing for caGrid.

PubMed

McCusker, James P; Phillips, Joshua A; González Beltrán, Alejandra; Finkelstein, Anthony; Krauthammer, Michael

2009-10-01

The National Cancer Institute (NCI) is developing caGrid as a means for sharing cancer-related data and services. As more data sets become available on caGrid, we need effective ways of accessing and integrating this information. Although the data models exposed on caGrid are semantically well annotated, it is currently up to the caGrid client to infer relationships between the different models and their classes. In this paper, we present a Semantic Web-based data warehouse (Corvus) for creating relationships among caGrid models. This is accomplished through the transformation of semantically-annotated caBIG Unified Modeling Language (UML) information models into Web Ontology Language (OWL) ontologies that preserve those semantics. We demonstrate the validity of the approach by Semantic Extraction, Transformation and Loading (SETL) of data from two caGrid data sources, caTissue and caArray, as well as alignment and query of those sources in Corvus. We argue that semantic integration is necessary for integration of data from distributed web services and that Corvus is a useful way of accomplishing this. Our approach is generalizable and of broad utility to researchers facing similar integration challenges.

78 FR 1851 - Sabine Pass Liquefaction, LLC and Sabine Pass LNG, L.P.; Notice of Intent To Prepare an...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-01-09

... gas liquids (NGL) truck loading facilities. A Project location map depicting the proposed facilities..., metering and send-out facilities; four gas pipeline meter stations; additional workspaces, laydown and... project is further developed. On natural gas projects, the APE at a minimum encompasses all areas subject...

Online Workspace to Connect Scientists with NASA's Science E/PO Efforts and Practitioners

NASA Astrophysics Data System (ADS)

Shipp, Stephanie; Bartolone , Lindsay; Peticolas, Laura; Woroner, Morgan; Dalton, Heather; Schwerin, Theresa; Smith, Denise

2014-11-01

There is a growing awareness of the need for a scientifically literate public in light of challenges facing society today, and also a growing concern about the preparedness of our future workforce to meet those challenges. Federal priorities for science, technology, engineering, and math (STEM) education call for improvement of teacher training, increased youth and public engagement, greater involvement of underrepresented populations, and investment in undergraduate and graduate education. How can planetary scientists contribute to these priorities? How can they “make their work and findings comprehensible, appealing, and available to the public” as called for in the Planetary Decadal Survey?NASA’s Science Mission Directorate (SMD) Education and Public Outreach (E/PO) workspace provides the SMD E/PO community of practice - scientists and educators funded to conduct SMD E/PO or those using NASA’s science discoveries in E/PO endeavors - with an online environment in which to communicate, collaborate, and coordinate activities, thus helping to increase effectiveness of E/PO efforts. The workspace offers interested scientists avenues to partner with SMD E/PO practitioners and learn about E/PO projects and impacts, as well as to advertise their own efforts to reach a broader audience. Through the workspace, scientists can become aware of opportunities for involvement and explore resources to improve professional practice, including literature reviews of best practices for program impact, mechanisms for engaging diverse audiences, and large- and small-scale program evaluation. Scientists will find “how to” manuals for getting started and increasing impact with public presentations, classroom visits, and other audiences, as well as primers with activity ideas and resources that can augment E/PO interactions with different audiences. The poster will introduce the workspace to interested scientists and highlight pathways to resources of interest that can help scientists more effectively contribute to national STEM education priorities. Visitors are encouraged to explore the growing collection of resources at http://smdepo.org.

Blended Interaction Design: A Spatial Workspace Supporting HCI and Design Practice

NASA Astrophysics Data System (ADS)

Geyer, Florian

This research investigates novel methods and techniques along with tool support that result from a conceptual blend of human-computer interaction with design practice. Using blending theory with material anchors as a theoretical framework, we frame both input spaces and explore emerging structures within technical, cognitive, and social aspects. Based on our results, we will describe a framework of the emerging structures and will design and evaluate tool support within a spatial, studio-like workspace to support collaborative creativity in interaction design.

Wireless, relative-motion computer input device

DOEpatents

Holzrichter, John F.; Rosenbury, Erwin T.

2004-05-18

The present invention provides a system for controlling a computer display in a workspace using an input unit/output unit. A train of EM waves are sent out to flood the workspace. EM waves are reflected from the input unit/output unit. A relative distance moved information signal is created using the EM waves that are reflected from the input unit/output unit. Algorithms are used to convert the relative distance moved information signal to a display signal. The computer display is controlled in response to the display signal.

Workspace design for crane cabins applying a combined traditional approach and the Taguchi method for design of experiments.

PubMed

Spasojević Brkić, Vesna K; Veljković, Zorica A; Golubović, Tamara; Brkić, Aleksandar Dj; Kosić Šotić, Ivana

2016-01-01

Procedures in the development process of crane cabins are arbitrary and subjective. Since approximately 42% of incidents in the construction industry are linked to them, there is a need to collect fresh anthropometric data and provide additional recommendations for design. In this paper, dimensioning of the crane cabin interior space was carried out using a sample of 64 crane operators' anthropometric measurements, in the Republic of Serbia, by measuring workspace with 10 parameters using nine measured anthropometric data from each crane operator. This paper applies experiments run via full factorial designs using a combined traditional and Taguchi approach. The experiments indicated which design parameters are influenced by which anthropometric measurements and to what degree. The results are expected to be of use for crane cabin designers and should assist them to design a cabin that may lead to less strenuous sitting postures and fatigue for operators, thus improving safety and accident prevention.

Kinematically redundant robot manipulators

NASA Technical Reports Server (NTRS)

Baillieul, J.; Hollerbach, J.; Brockett, R.; Martin, D.; Percy, R.; Thomas, R.

1987-01-01

Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

Spatial and rotational quality assurance of 6DOF patient tracking systems

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

Belcher, Andrew H.; Liu, Xinmin; Grelewicz, Zachary

Purpose: External tracking systems used for patient positioning and motion monitoring during radiotherapy are now capable of detecting both translations and rotations. In this work, the authors develop a novel technique to evaluate the 6 degree of freedom 6(DOF) (translations and rotations) performance of external motion tracking systems. The authors apply this methodology to an infrared marker tracking system and two 3D optical surface mapping systems in a common tumor 6DOF workspace. Methods: An in-house designed and built 6DOF parallel kinematics robotic motion phantom was used to perform motions with sub-millimeter and subdegree accuracy in a 6DOF workspace. An infraredmore » marker tracking system was first used to validate a calibration algorithm which associates the motion phantom coordinate frame to the camera frame. The 6DOF positions of the mobile robotic system in this space were then tracked and recorded independently by an optical surface tracking system after a cranial phantom was rigidly fixed to the moveable platform of the robotic stage. The calibration methodology was first employed, followed by a comprehensive 6DOF trajectory evaluation, which spanned a full range of positions and orientations in a 20 × 20 × 16 mm and 5° × 5° × 5° workspace. The intended input motions were compared to the calibrated 6DOF measured points. Results: The technique found the accuracy of the infrared (IR) marker tracking system to have maximal root-mean square error (RMSE) values of 0.18, 0.25, 0.07 mm, 0.05°, 0.05°, and 0.09° in left–right (LR), superior–inferior (SI), anterior–posterior (AP), pitch, roll, and yaw, respectively, comparing the intended 6DOF position and the measured position by the IR camera. Similarly, the 6DOF RSME discrepancy for the HD optical surface tracker yielded maximal values of 0.46, 0.60, 0.54 mm, 0.06°, 0.11°, and 0.08° in LR, SI, AP, pitch, roll, and yaw, respectively, over the same 6DOF evaluative workspace. An earlier generation 3D optical surface tracking unit was observed to have worse tracking capabilities than both the IR camera unit and the newer 3D surface tracking system with maximal RMSE of 0.69, 0.74, 0.47 mm, 0.28°, 0.19°, and 0.18°, in LR, SI, AP, pitch, roll, and yaw, respectively, in the same 6DOF evaluation space. Conclusions: The proposed technique was found to be effective at evaluating the performance of 6DOF patient tracking systems. All observed optical tracking systems were found to exhibit tracking capabilities at the sub-millimeter and subdegree level within a 6DOF workspace.« less

Global models: Robot sensing, control, and sensory-motor skills

NASA Technical Reports Server (NTRS)

Schenker, Paul S.

1989-01-01

Robotics research has begun to address the modeling and implementation of a wide variety of unstructured tasks. Examples include automated navigation, platform servicing, custom fabrication and repair, deployment and recovery, and science exploration. Such tasks are poorly described at onset; the workspace layout is partially unfamiliar, and the task control sequence is only qualitatively characterized. The robot must model the workspace, plan detailed physical actions from qualitative goals, and adapt its instantaneous control regimes to unpredicted events. Developing robust representations and computational approaches for these sensing, planning, and control functions is a major challenge. The underlying domain constraints are very general, and seem to offer little guidance for well-bounded approximation of object shape and motion, manipulation postures and trajectories, and the like. This generalized modeling problem is discussed, with an emphasis on the role of sensing. It is also discussed that unstructured tasks often have, in fact, a high degree of underlying physical symmetry, and such implicit knowledge should be drawn on to model task performance strategies in a methodological fashion. A group-theoretic decomposition of the workspace organization, task goals, and their admissible interactions are proposed. This group-mechanical approach to task representation helps to clarify the functional interplay of perception and control, in essence, describing what perception is specifically for, versus how it is generically modeled. One also gains insight how perception might logically evolve in response to needs of more complex motor skills. It is discussed why, of the many solutions that are often mathematically admissible to a given sensory motor-coordination problem, one may be preferred over others.

Mixed Initiative Visual Analytics Using Task-Driven Recommendations

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

Cook, Kristin A.; Cramer, Nicholas O.; Israel, David

2015-12-07

Visual data analysis is composed of a collection of cognitive actions and tasks to decompose, internalize, and recombine data to produce knowledge and insight. Visual analytic tools provide interactive visual interfaces to data to support tasks involved in discovery and sensemaking, including forming hypotheses, asking questions, and evaluating and organizing evidence. Myriad analytic models can be incorporated into visual analytic systems, at the cost of increasing complexity in the analytic discourse between user and system. Techniques exist to increase the usability of interacting with such analytic models, such as inferring data models from user interactions to steer the underlying modelsmore » of the system via semantic interaction, shielding users from having to do so explicitly. Such approaches are often also referred to as mixed-initiative systems. Researchers studying the sensemaking process have called for development of tools that facilitate analytic sensemaking through a combination of human and automated activities. However, design guidelines do not exist for mixed-initiative visual analytic systems to support iterative sensemaking. In this paper, we present a candidate set of design guidelines and introduce the Active Data Environment (ADE) prototype, a spatial workspace supporting the analytic process via task recommendations invoked by inferences on user interactions within the workspace. ADE recommends data and relationships based on a task model, enabling users to co-reason with the system about their data in a single, spatial workspace. This paper provides an illustrative use case, a technical description of ADE, and a discussion of the strengths and limitations of the approach.« less

A Virtual Information-Action Workspace for Command and Control

NASA Astrophysics Data System (ADS)

Lintern, Gavan; Naikar, Neelam

2002-10-01

Information overload has become a critical challenge within military Command and Control. However, the problem is not so much one of too much information but of abundant information that is poorly organized and poorly represented. In addition, the capabilities to test the effects of decisions before they are implemented and to monitor the progress of events after a decision is implemented are primitive. A virtual information-action workspace could be designed to resolve these issues. The design of such a space would require a detailed understanding of the specific information needed to support decision making in Command and Control. That information can be obtained with the use of knowledge acquisition and knowledge representation tools from the field of applied cognitive psychology. In addition, it will be necessary to integrate forms for perception and action into a virtual space that will support access to the information and that will provide means for testing and implementing decisions. This paper presents a rationale for a virtual information-action workspace and outlines an approach to its design.

Analysis of parameters for technological equipment of parallel kinematics based on rods of variable length for processing accuracy assurance

NASA Astrophysics Data System (ADS)

Koltsov, A. G.; Shamutdinov, A. H.; Blokhin, D. A.; Krivonos, E. V.

2018-01-01

A new classification of parallel kinematics mechanisms on symmetry coefficient, being proportional to mechanism stiffness and accuracy of the processing product using the technological equipment under study, is proposed. A new version of the Stewart platform with a high symmetry coefficient is presented for analysis. The workspace of the mechanism under study is described, this space being a complex solid figure. The workspace end points are reached by the center of the mobile platform which moves in parallel related to the base plate. Parameters affecting the processing accuracy, namely the static and dynamic stiffness, natural vibration frequencies are determined. The capability assessment of the mechanism operation under various loads, taking into account resonance phenomena at different points of the workspace, was conducted. The study proved that stiffness and therefore, processing accuracy with the use of the above mentioned mechanisms are comparable with the stiffness and accuracy of medium-sized series-produced machines.

Geometric features of workspace and joint-space paths of 3D reaching movements.

PubMed

Klein Breteler, M D; Meulenbroek, R G; Gielen, S C

1998-11-01

The present study focuses on geometric features of workspace and joint-space paths of three-dimensional reaching movements. Twelve subjects repeatedly performed a three-segment, triangular-shaped movement pattern in an approximately 60 degrees tilted horizontal plane. Task variables elicited movement patterns that varied in position, rotational direction and speed. Trunk, arm, hand and finger-tip movements were recorded by means of a 3D motion-tracking system. Angular excursions of the shoulder and elbow joints were extracted from position data. Analyses of the shape of 3D workspace and joint-space paths focused on the extent to which the submovements were produced in a plane, and on the curvature of the central parts of the submovements. A systematic tendency to produce movements in a plane was found in addition to an increase of finger-tip path curvature with increasing speed. The findings are discussed in relation to the role of optimization principles in trajectory-formation models.

Satellite Articulation Characterization from an Image Trajectory Matrix Using Optimization

NASA Astrophysics Data System (ADS)

Curtis, D. H.; Cobb, R. G.

Autonomous on-orbit satellite servicing and inspection benefits from an inspector satellite that can autonomously gain as much information as possible about the primary satellite. This includes performance of articulated objects such as solar arrays, antennas, and sensors. This paper presents a method of characterizing the articulation of a satellite using resolved monocular imagery. A simulated point cloud representing a nominal satellite with articulating solar panels and a complex articulating appendage is developed and projected to the image coordinates that would be seen from an inspector following a given inspection route. A method is developed to analyze the resulting image trajectory matrix. The developed method takes advantage of the fact that the route of the inspector satellite is known to assist in the segmentation of the points into different rigid bodies, the creation of the 3D point cloud, and the identification of the articulation parameters. Once the point cloud and the articulation parameters are calculated, they can be compared to the known truth. The error in the calculated point cloud is determined as well as the difference between the true workspace of the satellite and the calculated workspace. These metrics can be used to compare the quality of various inspection routes for characterizing the satellite and its articulation.

Operators' perception of comfort in two tractor cabs.

PubMed

Ferrari, E; Cavallo, E

2013-01-01

Workspace characteristics affect the perceived comfort level of the operator and uncomfortable working conditions have been found to have a negative impact on productivity and safety. The comfort of the operator is increasingly recognized by manufacturers as a product's added value. Comfort can positively distinguish a product and increase its competitiveness. The concept of comfort is controversial, and a clear operational definition is missing. Nevertheless, it is widely accepted that comfort is a subjective phenomenon that can be evaluated by the final users. In this study, comfort aspects of the tractor workspace interior (i.e., the cab) were investigated. Users with various levels of expertise and two medium-power utility tractors of different brands were used in a 2 x 2 mixed-factorial experimental design. Participants were involved in a dynamic assessment of the cabs, and their opinions about the different workspaces were collected through a questionnaire. Additionally, objective measurements were taken on both tractors, and subjective data were compared with objective data. Results indicate significant differences in terms of the ease of locating and operating the controls (i.e., rear-mounted three-point linkage, hydraulic system, and power take-off), the ease of starting the tractor, the ease exiting the cab, the required level of concentration in executing the tasks, the adequacy of lateral visibility from the driving station, and the level of noise at the operator's position. This article provides guidance for improving the comfort of tractor workspace interiors. Agricultural machinery manufactures would benefit from research results, differentiating themselves from competitors.

Optimal design of a main driving mechanism for servo punch press based on performance atlases

NASA Astrophysics Data System (ADS)

Zhou, Yanhua; Xie, Fugui; Liu, Xinjun

2013-09-01

The servomotor drive turret punch press is attracting more attentions and being developed more intensively due to the advantages of high speed, high accuracy, high flexibility, high productivity, low noise, cleaning and energy saving. To effectively improve the performance and lower the cost, it is necessary to develop new mechanisms and establish corresponding optimal design method with uniform performance indices. A new patented main driving mechanism and a new optimal design method are proposed. In the optimal design, the performance indices, i.e., the local motion/force transmission indices ITI, OTI, good transmission workspace good transmission workspace(GTW) and the global transmission indices GTIs are defined. The non-dimensional normalization method is used to get all feasible solutions in dimensional synthesis. Thereafter, the performance atlases, which can present all possible design solutions, are depicted. As a result, the feasible solution of the mechanism with good motion/force transmission performance is obtained. And the solution can be flexibly adjusted by designer according to the practical design requirements. The proposed mechanism is original, and the presented design method provides a feasible solution to the optimal design of the main driving mechanism for servo punch press.

A Web-Based Development Environment for Collaborative Data Analysis

NASA Astrophysics Data System (ADS)

Erdmann, M.; Fischer, R.; Glaser, C.; Klingebiel, D.; Komm, M.; Müller, G.; Rieger, M.; Steggemann, J.; Urban, M.; Winchen, T.

2014-06-01

Visual Physics Analysis (VISPA) is a web-based development environment addressing high energy and astroparticle physics. It covers the entire analysis spectrum from the design and validation phase to the execution of analyses and the visualization of results. VISPA provides a graphical steering of the analysis flow, which consists of self-written, re-usable Python and C++ modules for more demanding tasks. All common operating systems are supported since a standard internet browser is the only software requirement for users. Even access via mobile and touch-compatible devices is possible. In this contribution, we present the most recent developments of our web application concerning technical, state-of-the-art approaches as well as practical experiences. One of the key features is the use of workspaces, i.e. user-configurable connections to remote machines supplying resources and local file access. Thereby, workspaces enable the management of data, computing resources (e.g. remote clusters or computing grids), and additional software either centralized or individually. We further report on the results of an application with more than 100 third-year students using VISPA for their regular particle physics exercises during the winter term 2012/13. Besides the ambition to support and simplify the development cycle of physics analyses, new use cases such as fast, location-independent status queries, the validation of results, and the ability to share analyses within worldwide collaborations with a single click become conceivable.

The caBIG annotation and image Markup project.

PubMed

Channin, David S; Mongkolwat, Pattanasak; Kleper, Vladimir; Sepukar, Kastubh; Rubin, Daniel L

2010-04-01

Image annotation and markup are at the core of medical interpretation in both the clinical and the research setting. Digital medical images are managed with the DICOM standard format. While DICOM contains a large amount of meta-data about whom, where, and how the image was acquired, DICOM says little about the content or meaning of the pixel data. An image annotation is the explanatory or descriptive information about the pixel data of an image that is generated by a human or machine observer. An image markup is the graphical symbols placed over the image to depict an annotation. While DICOM is the standard for medical image acquisition, manipulation, transmission, storage, and display, there are no standards for image annotation and markup. Many systems expect annotation to be reported verbally, while markups are stored in graphical overlays or proprietary formats. This makes it difficult to extract and compute with both of them. The goal of the Annotation and Image Markup (AIM) project is to develop a mechanism, for modeling, capturing, and serializing image annotation and markup data that can be adopted as a standard by the medical imaging community. The AIM project produces both human- and machine-readable artifacts. This paper describes the AIM information model, schemas, software libraries, and tools so as to prepare researchers and developers for their use of AIM.

Introducing the Canadian Information Centric Workspace Concept

DTIC Science & Technology

2004-03-01

information, and (3) collaboration. » Chaum [14] goes even further by arguing that to fully exploit such NCW concept, there must exist a common...Technical Memorandum 2003-085; September 2003, Canada, Unclassified [12] Alberts, David S.; Garstka, John J.; and Stein, Frederick P.; “Netwrok...Centric Warfare: Developing and Leveraging Information Superiority”. Washington, DC, CCRP. August 1999, Unclassified [13] Alberts, David S.; DoD Command

Stability effects of singularities in force-controlled robotic assist devices

NASA Astrophysics Data System (ADS)

Luecke, Greg R.

2002-02-01

Force feedback is being used as an interface between humans and material handling equipment to provide an intuitive method to control large and bulky payloads. Powered actuation in the lift assist device compensates for the inertial characteristics of the manipulator and the payload to provide effortless control and handling of manufacturing parts, components, and assemblies. The use of these Intelligent Assist Devices (IAD) is being explored to prevent worker injury, enhance material handling performance, and increase productivity in the workplace. The IAD also provides the capability to shape and control motion in the workspace during routine operations. Virtual barriers can be developed to protect fixed objects in the workspace, and regions can be programmed that attract the work piece to a certain position and orientation. However, the robot is still under complete control of the human operator, with the trajectory being determined and commanded using the judgment of the operator to complete a given task. In many cases, the IAD is built in a configuration that may have singular points inside the workspace. These singularities can cause problems when the unstructured trajectory commands from the human cause interaction between the IAD and the virtual walls and fixtures at positions close to these singularities. The research presented here explores the stability effects of the interactions between the powered manipulator and the virtual surfaces when controlled by the operator. Because of the flexible nature of the human decisions determining the real time work piece paths, manipulator singularities that occur in conjunction with the virtual surfaces raise stability issues in the performance around these singularities. We examine these stability issues in the context of a particular IAD configuration, and present analytic results for the performance and stability of these systems in response to the real-time trajectory modification of the human operator.

Traceability, reproducibility and wiki-exploration for “à-la-carte” reconstructions of genome-scale metabolic models

PubMed Central

Got, Jeanne; Cortés, María Paz; Maass, Alejandro

2018-01-01

Genome-scale metabolic models have become the tool of choice for the global analysis of microorganism metabolism, and their reconstruction has attained high standards of quality and reliability. Improvements in this area have been accompanied by the development of some major platforms and databases, and an explosion of individual bioinformatics methods. Consequently, many recent models result from “à la carte” pipelines, combining the use of platforms, individual tools and biological expertise to enhance the quality of the reconstruction. Although very useful, introducing heterogeneous tools, that hardly interact with each other, causes loss of traceability and reproducibility in the reconstruction process. This represents a real obstacle, especially when considering less studied species whose metabolic reconstruction can greatly benefit from the comparison to good quality models of related organisms. This work proposes an adaptable workspace, AuReMe, for sustainable reconstructions or improvements of genome-scale metabolic models involving personalized pipelines. At each step, relevant information related to the modifications brought to the model by a method is stored. This ensures that the process is reproducible and documented regardless of the combination of tools used. Additionally, the workspace establishes a way to browse metabolic models and their metadata through the automatic generation of ad-hoc local wikis dedicated to monitoring and facilitating the process of reconstruction. AuReMe supports exploration and semantic query based on RDF databases. We illustrate how this workspace allowed handling, in an integrated way, the metabolic reconstructions of non-model organisms such as an extremophile bacterium or eukaryote algae. Among relevant applications, the latter reconstruction led to putative evolutionary insights of a metabolic pathway. PMID:29791443

Applications of artificial intelligence in safe human-robot interactions.

PubMed

Najmaei, Nima; Kermani, Mehrdad R

2011-04-01

The integration of industrial robots into the human workspace presents a set of unique challenges. This paper introduces a new sensory system for modeling, tracking, and predicting human motions within a robot workspace. A reactive control scheme to modify a robot's operations for accommodating the presence of the human within the robot workspace is also presented. To this end, a special class of artificial neural networks, namely, self-organizing maps (SOMs), is employed for obtaining a superquadric-based model of the human. The SOM network receives information of the human's footprints from the sensory system and infers necessary data for rendering the human model. The model is then used in order to assess the danger of the robot operations based on the measured as well as predicted human motions. This is followed by the introduction of a new reactive control scheme that results in the least interferences between the human and robot operations. The approach enables the robot to foresee an upcoming danger and take preventive actions before the danger becomes imminent. Simulation and experimental results are presented in order to validate the effectiveness of the proposed method.

CartograTree: connecting tree genomes, phenotypes and environment.

PubMed

Vasquez-Gross, Hans A; Yu, John J; Figueroa, Ben; Gessler, Damian D G; Neale, David B; Wegrzyn, Jill L

2013-05-01

Today, researchers spend a tremendous amount of time gathering, formatting, filtering and visualizing data collected from disparate sources. Under the umbrella of forest tree biology, we seek to provide a platform and leverage modern technologies to connect biotic and abiotic data. Our goal is to provide an integrated web-based workspace that connects environmental, genomic and phenotypic data via geo-referenced coordinates. Here, we connect the genomic query web-based workspace, DiversiTree and a novel geographical interface called CartograTree to data housed on the TreeGenes database. To accomplish this goal, we implemented Simple Semantic Web Architecture and Protocol to enable the primary genomics database, TreeGenes, to communicate with semantic web services regardless of platform or back-end technologies. The novelty of CartograTree lies in the interactive workspace that allows for geographical visualization and engagement of high performance computing (HPC) resources. The application provides a unique tool set to facilitate research on the ecology, physiology and evolution of forest tree species. CartograTree can be accessed at: http://dendrome.ucdavis.edu/cartogratree. © 2013 Blackwell Publishing Ltd.

Mapping and correction of the CMM workspace error with the use of an electronic gyroscope and neural networks--practical application.

PubMed

Swornowski, Pawel J

2013-01-01

The article presents the application of neural networks in determining and correction of the deformation of a coordinate measuring machine (CMM) workspace. The information about the CMM errors is acquired using an ADXRS401 electronic gyroscope. A test device (PS-20 module) was built and integrated with a commercial measurement system based on the SP25M passive scanning probe and with a PH10M module (Renishaw). The proposed solution was tested on a Kemco 600 CMM and on a DEA Global Clima CMM. In the former case, correction of the CMM errors was performed using the source code of WinIOS software owned by The Institute of Advanced Manufacturing Technology, Cracow, Poland and in the latter on an external PC. Optimum parameters of full and simplified mapping of a given layer of the CMM workspace were determined for practical applications. The proposed method can be employed for the interim check (ISO 10360-2 procedure) or to detect local CMM deformations, occurring when the CMM works at high scanning speeds (>20 mm/s). © Wiley Periodicals, Inc.

Optics in gait analysis and anthropometry

NASA Astrophysics Data System (ADS)

Silva Moreno, Alejandra Alicia

2013-11-01

Since antiquity, human gait has been studied to understand human movement, the kind of gait, in some cases, can cause musculoskeletal disorders or other health problems; in addition, also from antiquity, anthropometry has been important for the design of human items such as workspaces, tools, garments, among others. Nowadays, thanks to the development of optics and electronics, more accurate studies of gait and anthropometry can be developed. This work will describe the most important parameters for gait analysis, anthropometry and the optical systems used.

An Internal Review and Operational Trial of a Human Factors Engineering Self-Paced Course in Accordance with the Instructional Systems Development Process.

DTIC Science & Technology

1983-12-01

factors aspects of systems and equipments. 6. Identify the human factors principles which must be applied during the evaluation of a workspace and control...Curriculum Development Expert Questionnaires Three proven specialists in the field of curriculum evaluation who regularly apply the standards and criteria 67...which each terminal objective met each of the six criteria listed in Appendix E. Ordinal values ranging from 1 through 4, were applied to the verbal

Development of stereo endoscope system with its innovative master interface for continuous surgical operation.

PubMed

Kim, Myungjoon; Lee, Chiwon; Hong, Nhayoung; Kim, Yoon Jae; Kim, Sungwan

2017-06-24

Although robotic laparoscopic surgery has various benefits when compared with conventional open surgery and minimally invasive surgery, it also has issues to overcome and one of the issues is the discontinuous surgical flow that occurs whenever control is swapped between the endoscope system and the operating robot arm system. This can lead to problems such as collision between surgical instruments, injury to patients, and increased operation time. To achieve continuous surgical operation, a wireless controllable stereo endoscope system is proposed which enables the simultaneous control of the operating robot arm system and the endoscope system. The proposed system consists of two improved novel master interfaces (iNMIs), a four-degrees of freedom (4-DOFs) endoscope control system (ECS), and a simple three-dimensional (3D) endoscope. In order to simultaneously control the proposed system and patient side manipulators of da Vinci research kit (dVRK), the iNMIs are installed to the master tool manipulators of dVRK system. The 4-DOFs ECS consists of four servo motors and employs a two-parallel link structure to provide translational and fulcrum point motion to the simple 3D endoscope. The images acquired by the endoscope undergo stereo calibration and rectification to provide a clear 3D vision to the surgeon as available in clinically used da Vinci surgical robot systems. Tests designed to verify the accuracy, data transfer time, and power consumption of the iNMIs were performed. The workspace was calculated to estimate clinical applicability and a modified peg transfer task was conducted with three novice volunteers. The iNMIs operated for 317 min and moved in accordance with the surgeon's desire with a mean latency of 5 ms. The workspace was calculated to be 20378.3 cm 3 , which exceeds the reference workspace of 549.5 cm 3 . The novice volunteers were able to successfully execute the modified peg transfer task designed to evaluate the proposed system's overall performance. The experimental results verify that the proposed 3D endoscope system enables continuous surgical flow. The workspace is suitable for the performance of numerous types of surgeries. Therefore, the proposed system is expected to provide much higher safety and efficacy for current surgical robot systems.

Robot path planning using a genetic algorithm

NASA Technical Reports Server (NTRS)

Cleghorn, Timothy F.; Baffes, Paul T.; Wang, Liu

1988-01-01

Robot path planning can refer either to a mobile vehicle such as a Mars Rover, or to an end effector on an arm moving through a cluttered workspace. In both instances there may exist many solutions, some of which are better than others, either in terms of distance traversed, energy expended, or joint angle or reach capabilities. A path planning program has been developed based upon a genetic algorithm. This program assumes global knowledge of the terrain or workspace, and provides a family of good paths between the initial and final points. Initially, a set of valid random paths are constructed. Successive generations of valid paths are obtained using one of several possible reproduction strategies similar to those found in biological communities. A fitness function is defined to describe the goodness of the path, in this case including length, slope, and obstacle avoidance considerations. It was found that with some reproduction strategies, the average value of the fitness function improved for successive generations, and that by saving the best paths of each generation, one could quite rapidly obtain a collection of good candidate solutions.

Kinematic Analysis and Performance Evaluation of Novel PRS Parallel Mechanism

NASA Astrophysics Data System (ADS)

Balaji, K.; Khan, B. Shahul Hamid

2018-02-01

In this paper, a 3 DoF (Degree of Freedom) novel PRS (Prismatic-Revolute- Spherical) type parallel mechanisms has been designed and presented. The combination of striaght and arc type linkages for 3 DOF parallel mechanism is introduced for the first time. The performances of the mechanisms are evaluated based on the indices such as Minimum Singular Value (MSV), Condition Number (CN), Local Conditioning Index (LCI), Kinematic Configuration Index (KCI) and Global Conditioning Index (GCI). The overall reachable workspace of all mechanisms are presented. The kinematic measure, dexterity measure and workspace analysis for all the mechanism have been evaluated and compared.

Workspaces in the Semantic Web

NASA Technical Reports Server (NTRS)

Wolfe, Shawn R.; Keller, RIchard M.

2005-01-01

Due to the recency and relatively limited adoption of Semantic Web technologies. practical issues related to technology scaling have received less attention than foundational issues. Nonetheless, these issues must be addressed if the Semantic Web is to realize its full potential. In particular, we concentrate on the lack of scoping methods that reduce the size of semantic information spaces so they are more efficient to work with and more relevant to an agent's needs. We provide some intuition to motivate the need for such reduced information spaces, called workspaces, give a formal definition, and suggest possible methods of deriving them.

Applying Lean Sigma solutions to mistake-proof the chemotherapy preparation process.

PubMed

Aboumatar, Hanan J; Winner, Laura; Davis, Richard; Peterson, Aisha; Hill, Richard; Frank, Susan; Almuete, Virna; Leung, T Vivian; Trovitch, Peter; Farmer, Denise

2010-02-01

Errors related to high-alert medications, such as chemotherapeutic agents, have resulted in serious adverse events. A fast-paced application of Lean Sigma methodology was used to safeguard the chemotherapy preparation process against errors and increase compliance with United States Pharmacopeia 797 (USP 797) regulations. On Days 1 and 2 of a Lean Sigma workshop, frontline staff studied the chemotherapy preparation process. During Days 2 and 3, interventions were developed and implementation was started. The workshop participants were satisfied with the speed at which improvements were put to place using the structured workshop format. The multiple opportunities for error identified related to the chemotherapy preparation process, workspace layout, distractions, increased movement around ventilated hood areas, and variation in medication processing and labeling procedures. Mistake-proofing interventions were then introduced via workspace redesign, process redesign, and development of standard operating procedures for pharmacy staff. Interventions were easy to implement and sustainable. Reported medication errors reaching patients and requiring monitoring decreased, whereas the number of reported near misses increased, suggesting improvement in identifying errors before reaching the patients. Application of Lean Sigma solutions enabled the development of a series of relatively inexpensive and easy to implement mistake-proofing interventions that reduce the likelihood of chemotherapy preparation errors and increase compliance with USP 797 regulations. The findings and interventions are generalizable and can inform mistake-proofing interventions in all types of pharmacies.

TARDEC FIXED HEEL POINT (FHP): DRIVER CAD ACCOMMODATION MODEL VERIFICATION REPORT

DTIC Science & Technology

2017-11-09

SUPPLEMENTARY NOTES N/A 14. ABSTRACT Easy-to-use Computer-Aided Design (CAD) tools, known as accommodation models, are needed by the ground vehicle... designers when developing the interior workspace for the occupant. The TARDEC Fixed Heel Point (FHP): Driver CAD Accommodation Model described in this...is intended to provide the composite boundaries representing the body of the defined target design population, including posture prediction

A General Comparison of SharePoint 2007 and SharePoint 2010

DTIC Science & Technology

2012-10-01

rich as some dedicated Wiki offerings, e.g. Confluence, appropriately authorised users can collaboratively develop content. Unlike Wiki pages...Workspace 2010 uses Windows credentials instead of a Groove-specific logon for authenticating users, thus improving consistency with the rest of the Office...environment, such as authentication properties. In SharePoint 2010 the Business Data Connectivity service is the new version of SharePoint 2007’s Business

Model-based engineering for laser weapons systems

NASA Astrophysics Data System (ADS)

Panthaki, Malcolm; Coy, Steve

2011-10-01

The Comet Performance Engineering Workspace is an environment that enables integrated, multidisciplinary modeling and design/simulation process automation. One of the many multi-disciplinary applications of the Comet Workspace is for the integrated Structural, Thermal, Optical Performance (STOP) analysis of complex, multi-disciplinary space systems containing Electro-Optical (EO) sensors such as those which are designed and developed by and for NASA and the Department of Defense. The CometTM software is currently able to integrate performance simulation data and processes from a wide range of 3-D CAD and analysis software programs including CODE VTM from Optical Research Associates and SigFitTM from Sigmadyne Inc. which are used to simulate the optics performance of EO sensor systems in space-borne applications. Over the past year, Comet Solutions has been working with MZA Associates of Albuquerque, NM, under a contract with the Air Force Research Laboratories. This funded effort is a "risk reduction effort", to help determine whether the combination of Comet and WaveTrainTM, a wave optics systems engineering analysis environment developed and maintained by MZA Associates and used by the Air Force Research Laboratory, will result in an effective Model-Based Engineering (MBE) environment for the analysis and design of laser weapons systems. This paper will review the results of this effort and future steps.

RAAAF's office landscape The End of Sitting: Energy expenditure and temporary comfort when working in non-sitting postures.

PubMed

Caljouw, Simone R; de Vries, Rutger; Withagen, Rob

2017-01-01

An earlier study suggested that the activity-inviting office landscape called "The End of Sitting", designed by Rietveld Architecture Art Affordances (RAAAF), should be considered as an alternative working environment to prevent sedentary behavior. The End of Sitting lacks chairs and tables but consists instead of a myriad of sloped surfaces at different heights that afford workers to stand, lean or recline at different locations. In this study, we assessed the impact of four of its workspaces on physical intensity, temporary comfort and productivity of office work and compared the outcomes with sitting and standing behind a desk. Twenty-four participants worked for 10 minutes in each of the six test conditions. Energy expenditure, measured by indirect calorimetry, and heart rate were recorded. Questionnaires were used to assess the perceived comfort. The number of words found in the word search test was counted as a measure of productivity. The majority of The End of Sitting workspaces led to a significant increase in energy expenditure compared with sitting behind a desk (ps < .05). Average MET values ranged from 1.40 to 1.58 which is a modest rise in energy expenditure compared to sitting (1.32 METs) and not significantly different from standing (1.47 METs). The scores on the general comfort scale indicated that some workspaces were less comfortable than sitting (ps < .05), but the vast majority of participants reported that at least one of The End of Sitting workspaces was equally or more comfortable than sitting. No differences in productivity between the test conditions were found. Further long-term studies are required to assess the behavioral adaptations, productivity and the level of comfort when using The End of Sitting as a permanent office.

RAAAF’s office landscape The End of Sitting: Energy expenditure and temporary comfort when working in non-sitting postures

PubMed Central

de Vries, Rutger; Withagen, Rob

2017-01-01

Abstract An earlier study suggested that the activity-inviting office landscape called “The End of Sitting”, designed by Rietveld Architecture Art Affordances (RAAAF), should be considered as an alternative working environment to prevent sedentary behavior. The End of Sitting lacks chairs and tables but consists instead of a myriad of sloped surfaces at different heights that afford workers to stand, lean or recline at different locations. In this study, we assessed the impact of four of its workspaces on physical intensity, temporary comfort and productivity of office work and compared the outcomes with sitting and standing behind a desk. Twenty-four participants worked for 10 minutes in each of the six test conditions. Energy expenditure, measured by indirect calorimetry, and heart rate were recorded. Questionnaires were used to assess the perceived comfort. The number of words found in the word search test was counted as a measure of productivity. The majority of The End of Sitting workspaces led to a significant increase in energy expenditure compared with sitting behind a desk (ps < .05). Average MET values ranged from 1.40 to 1.58 which is a modest rise in energy expenditure compared to sitting (1.32 METs) and not significantly different from standing (1.47 METs). The scores on the general comfort scale indicated that some workspaces were less comfortable than sitting (ps < .05), but the vast majority of participants reported that at least one of The End of Sitting workspaces was equally or more comfortable than sitting. No differences in productivity between the test conditions were found. Further long-term studies are required to assess the behavioral adaptations, productivity and the level of comfort when using The End of Sitting as a permanent office. PMID:29125854

A DBMS-based medical teleconferencing system.

PubMed

Chun, J; Kim, H; Lee, S; Choi, J; Cho, H

2001-01-01

This article presents the design of a medical teleconferencing system that is integrated with a multimedia patient database and incorporates easy-to-use tools and functions to effectively support collaborative work between physicians in remote locations. The design provides a virtual workspace that allows physicians to collectively view various kinds of patient data. By integrating the teleconferencing function into this workspace, physicians are able to conduct conferences using the same interface and have real-time access to the database during conference sessions. The authors have implemented a prototype based on this design. The prototype uses a high-speed network test bed and a manually created substitute for the integrated patient database.

A DBMS-based Medical Teleconferencing System

PubMed Central

Chun, Jonghoon; Kim, Hanjoon; Lee, Sang-goo; Choi, Jinwook; Cho, Hanik

2001-01-01

This article presents the design of a medical teleconferencing system that is integrated with a multimedia patient database and incorporates easy-to-use tools and functions to effectively support collaborative work between physicians in remote locations. The design provides a virtual workspace that allows physicians to collectively view various kinds of patient data. By integrating the teleconferencing function into this workspace, physicians are able to conduct conferences using the same interface and have real-time access to the database during conference sessions. The authors have implemented a prototype based on this design. The prototype uses a high-speed network test bed and a manually created substitute for the integrated patient database. PMID:11522766

Office design and health: a systematic review.

PubMed

Richardson, Ann; Potter, John; Paterson, Margaret; Harding, Thomas; Tyler-Merrick, Gaye; Kirk, Ray; Reid, Kate; McChesney, Jane

2017-12-15

To carry out a systematic review of recent research into the effects of workplace design, comparing individual with shared workspaces, on the health of employees. The research question was "Does workplace design (specifically individual offices compared with shared workspaces) affect the health of workers?" A literature search limited to articles published between 2000 and 2017 was undertaken. A systematic review was carried out, and the findings of the reviewed studies grouped into themes according to the primary outcomes measured in the studies. The literature search identified 15 relevant studies addressing health effects of shared or open-plan offices compared with individual offices. Our systematic review found that, compared with individual offices, shared or open-plan office space is not beneficial to employees' health, with consistent findings of deleterious effects on staff health, wellbeing and productivity. Our findings are also consistent with those of earlier reviews. These findings have public health implications for the New Zealand workforce. Decisions about workplace design should include weighing the short-term financial benefits of open-plan or shared workspaces against the significant harms, including increased sickness absence, lower job satisfaction and productivity, and possible threats to recruitment and retention of staff.

The i5k Workspace@NAL—enabling genomic data access, visualization and curation of arthropod genomes

PubMed Central

Poelchau, Monica; Childers, Christopher; Moore, Gary; Tsavatapalli, Vijaya; Evans, Jay; Lee, Chien-Yueh; Lin, Han; Lin, Jun-Wei; Hackett, Kevin

2015-01-01

The 5000 arthropod genomes initiative (i5k) has tasked itself with coordinating the sequencing of 5000 insect or related arthropod genomes. The resulting influx of data, mostly from small research groups or communities with little bioinformatics experience, will require visualization, dissemination and curation, preferably from a centralized platform. The National Agricultural Library (NAL) has implemented the i5k Workspace@NAL (http://i5k.nal.usda.gov/) to help meet the i5k initiative's genome hosting needs. Any i5k member is encouraged to contact the i5k Workspace with their genome project details. Once submitted, new content will be accessible via organism pages, genome browsers and BLAST search engines, which are implemented via the open-source Tripal framework, a web interface for the underlying Chado database schema. We also implement the Web Apollo software for groups that choose to curate gene models. New content will add to the existing body of 35 arthropod species, which include species relevant for many aspects of arthropod genomic research, including agriculture, invasion biology, systematics, ecology and evolution, and developmental research. PMID:25332403

Machine tools error characterization and compensation by on-line measurement of artifact

NASA Astrophysics Data System (ADS)

Wahid Khan, Abdul; Chen, Wuyi; Wu, Lili

2009-11-01

Most manufacturing machine tools are utilized for mass production or batch production with high accuracy at a deterministic manufacturing principle. Volumetric accuracy of machine tools depends on the positional accuracy of the cutting tool, probe or end effector related to the workpiece in the workspace volume. In this research paper, a methodology is presented for volumetric calibration of machine tools by on-line measurement of an artifact or an object of a similar type. The machine tool geometric error characterization was carried out through a standard or an artifact, having similar geometry to the mass production or batch production product. The artifact was measured at an arbitrary position in the volumetric workspace with a calibrated Renishaw touch trigger probe system. Positional errors were stored into a computer for compensation purpose, to further run the manufacturing batch through compensated codes. This methodology was found quite effective to manufacture high precision components with more dimensional accuracy and reliability. Calibration by on-line measurement gives the advantage to improve the manufacturing process by use of deterministic manufacturing principle and found efficient and economical but limited to the workspace or envelop surface of the measured artifact's geometry or the profile.

Kinematics optimization and static analysis of a modular continuum robot used for minimally invasive surgery.

PubMed

Qi, Fei; Ju, Feng; Bai, Dong Ming; Chen, Bai

2018-02-01

For the outstanding compliance and dexterity of continuum robot, it is increasingly used in minimally invasive surgery. The wide workspace, high dexterity and strong payload capacity are essential to the continuum robot. In this article, we investigate the workspace of a cable-driven continuum robot that we proposed. The influence of section number on the workspace is discussed when robot is operated in narrow environment. Meanwhile, the structural parameters of this continuum robot are optimized to achieve better kinematic performance. Moreover, an indicator based on the dexterous solid angle for evaluating the dexterity of robot is introduced and the distal end dexterity is compared for the three-section continuum robot with different range of variables. Results imply that the wider range of variables achieve the better dexterity. Finally, the static model of robot based on the principle of virtual work is derived to analyze the relationship between the bending shape deformation and the driven force. The simulations and experiments for plane and spatial motions are conducted to validate the feasibility of model, respectively. Results of this article can contribute to the real-time control and movement and can be a design reference for cable-driven continuum robot.

Planning and reasoning in the JPL telerobot testbed

NASA Technical Reports Server (NTRS)

Peters, Stephen; Mittman, David; Collins, Carol; Omeara, Jacquie; Rokey, Mark

1990-01-01

The Telerobot Interactive Planning System is developed to serve as the highest autonomous-control level of the Telerobot Testbed. A recent prototype is described which integrates an operator interface for supervisory control, a task planner supporting disassembly and re-assembly operations, and a spatial planner for collision-free manipulator motion through the workspace. Each of these components is described in detail. Descriptions of the technical problem, approach, and lessons learned are included.

Collective consciousness and its pathologies: Understanding the failure of AIDS control and treatment in the United States

PubMed Central

Wallace, Rodrick M; Fullilove, Mindy T; Fullilove, Robert E; Wallace, Deborah N

2007-01-01

We address themes of distributed cognition by extending recent formal developments in the theory of individual consciousness. While single minds appear biologically limited to one dynamic structure of linked cognitive submodules instantiating consciousness, organizations, by contrast, can support several, sometimes many, such constructs simultaneously, although these usually operate relatively slowly. System behavior remains, however, constrained not only by culture, but by a developmental path dependence generated by organizational history, in the context of market selection pressures. Such highly parallel multitasking – essentially an institutional collective consciousness – while capable of reducing inattentional blindness and the consequences of failures within individual workspaces, does not eliminate them, and introduces new characteristic malfunctions involving the distortion of information sent between workspaces and the possibility of pathological resilience – dysfunctional institutional lock-in. Consequently, organizations remain subject to canonical and idiosyncratic failures analogous to, but more complicated than, those afflicting individuals. Remediation is made difficult by the manner in which pathological externalities can write images of themselves onto both institutional function and corrective intervention. The perspective is applied to the failure of AIDS control and treatment in the United States. PMID:17324268

Spatial Map of Synthesized Criteria for the Redundancy Resolution of Human Arm Movements.

PubMed

Li, Zhi; Milutinovic, Dejan; Rosen, Jacob

2015-11-01

The kinematic redundancy of the human arm enables the elbow position to rotate about the axis going through the shoulder and wrist, which results in infinite possible arm postures when the arm reaches to a target in a 3-D workspace. To infer the control strategy the human motor system uses to resolve redundancy in reaching movements, this paper compares five redundancy resolution criteria and evaluates their arm posture prediction performance using data on healthy human motion. Two synthesized criteria are developed to provide better real-time arm posture prediction than the five individual criteria. Of these two, the criterion synthesized using an exponential method predicts the arm posture more accurately than that using a least squares approach, and therefore is preferable for inferring the contributions of the individual criteria to motor control during reaching movements. As a methodology contribution, this paper proposes a framework to compare and evaluate redundancy resolution criteria for arm motion control. A cluster analysis which associates criterion contributions with regions of the workspace provides a guideline for designing a real-time motion control system applicable to upper-limb exoskeletons for stroke rehabilitation.

Kinematic design to improve ergonomics in human machine interaction.

PubMed

Schiele, André; van der Helm, Frans C T

2006-12-01

This paper introduces a novel kinematic design paradigm for ergonomic human machine interaction. Goals for optimal design are formulated generically and applied to the mechanical design of an upper-arm exoskeleton. A nine degree-of-freedom (DOF) model of the human arm kinematics is presented and used to develop, test, and optimize the kinematic structure of an human arm interfacing exoskeleton. The resulting device can interact with an unprecedented portion of the natural limb workspace, including motions in the shoulder-girdle, shoulder, elbow, and the wrist. The exoskeleton does not require alignment to the human joint axes, yet is able to actuate each DOF of our redundant limb unambiguously and without reaching into singularities. The device is comfortable to wear and does not create residual forces if misalignments exist. Implemented in a rehabilitation robot, the design features of the exoskeleton could enable longer lasting training sessions, training of fully natural tasks such as activities of daily living and shorter dress-on and dress-off times. Results from inter-subject experiments with a prototype are presented, that verify usability over the entire workspace of the human arm, including shoulder and shoulder girdle.

Advancing Robotic Control for Space Exploration Using Robonaut 2

NASA Technical Reports Server (NTRS)

Badger, Julia; Diftler, Myron; Hart, Stephen; Joyce, Charles

2012-01-01

Robonaut 2, or R2, arrived on the International Space Station (ISS) in February 2011 and is currently being tested in preparation for its role initially as an Intra-Vehicular Activity (IVA) tool and eventually as a robot that performs Extra-Vehicular Activities (EVA). Robonaut 2, is a state of the art dexterous anthropomorphic robotic torso designed for assisting astronauts. R2 features increased force sensing, greater range of motion, higher bandwidth, and improved dexterity over its predecessor. Robonaut 2 is unique in its ability to safely allow humans in its workspace and to perform significant tasks in a workspace designed for humans. The current operational paradigm involves either the crew or the ground control team running semi-autonomous scripts on the robot as both the astronaut and the ground team monitor R2 and the data it produces. While this is appropriate for the check-out phase of operations, the future plans for R2 will stress the current operational framework. The approach described here will outline a suite of operational modes that will be developed for Robonaut 2. These operational modes include teleoperation, shared control, directed autonomy, and supervised autonomy, and they cover a spectrum of human involvement in controlling R2.

The relationship among computer work, environmental design, and musculoskeletal and visual discomfort: examining the moderating role of supervisory relations and co-worker support.

PubMed

Robertson, Michelle M; Huang, Yueng-Hsiang; Larson, Nancy

2016-01-01

The prevalence of work-related upper extremity musculoskeletal disorders and visual symptoms reported in the USA has increased dramatically during the past two decades. This study examined the factors of computer use, workspace design, psychosocial factors, and organizational ergonomics resources on musculoskeletal and visual discomfort and their impact on the safety and health of computer work employees. A large-scale, cross-sectional survey was administered to a US manufacturing company to investigate these relationships (n = 1259). Associations between these study variables were tested along with moderating effects framed within a conceptual model. Significant relationships were found between computer use and psychosocial factors of co-worker support and supervisory relations with visual and musculoskeletal discomfort. Co-worker support was found to be significantly related to reports of eyestrain, headaches, and musculoskeletal discomfort. Supervisor relations partially moderated the relationship between workspace design satisfaction and visual and musculoskeletal discomfort. This study provides guidance for developing systematic, preventive measures and recommendations in designing office ergonomics interventions with the goal of reducing musculoskeletal and visual discomfort while enhancing office and computer workers' performance and safety.

Lessons from Google and Apple: creating an open workplace in an academic medical department to foster innovation and collaboration.

PubMed

Ricciotti, Hope A; Armstrong, Walter; Yaari, Gabriel; Campion, Suzanne; Pollard, Mary; Golen, Toni H

2014-09-01

An expanding obstetrics-gynecology department at an academic medical center was faced with too little physical space to accommodate its staff, including trainees, attending physicians, researchers, scientists, administrative leadership, nurses, physician assistants, and scheduling/phone staff. Staff also felt that the current use of space was not ideal for collaboration and innovation. In 2011, the department collected data on space use, using a neutral surveyor and a standardized data collection tool. Using these data, architects and facilities managers met with the department to develop a floor plan proposal for a new use of the space. Site visits, departmental meetings, literature reviews, and space mock-ups complemented the decision process. The final architectural plan was developed using an iterative process that included all disciplines within the department. The redesigned workspace accommodates more staff in a modernized, open, egalitarian setup. The authors' informal observations suggest that the physical proximity created by the new workspace has facilitated timely and civil cross-discipline communication and improvements in team-oriented behavior, both of which are important contributors to safe patient care. This innovation is generalizable and may lead other academic departments to make similar changes. In the future, the authors plan to measure the use of the space and to relate that to outcomes, including clinical (coordination of care/patient satisfaction), administrative (absenteeism/attrition), research (grant volume), and efficiency and cost measures.

Biology of Consciousness

PubMed Central

Edelman, Gerald M.; Gally, Joseph A.; Baars, Bernard J.

2010-01-01

The Dynamic Core and Global Workspace hypotheses were independently put forward to provide mechanistic and biologically plausible accounts of how brains generate conscious mental content. The Dynamic Core proposes that reentrant neural activity in the thalamocortical system gives rise to conscious experience. Global Workspace reconciles the limited capacity of momentary conscious content with the vast repertoire of long-term memory. In this paper we show the close relationship between the two hypotheses. This relationship allows for a strictly biological account of phenomenal experience and subjectivity that is consistent with mounting experimental evidence. We examine the constraints on causal analyses of consciousness and suggest that there is now sufficient evidence to consider the design and construction of a conscious artifact. PMID:21713129

Collaborative Workspaces to Accelerate Discovery

NASA Astrophysics Data System (ADS)

Meade, Bernard; Fluke, Christopher; Cooke, Jeff; Andreoni, Igor; Pritchard, Tyler; Curtin, Christopher; Bernard, Stephanie R.; Asher, Albany; Mack, Katherine J.; Murphy, Michael T.; Vohl, Dany; Codoreanu, Alex; Kotuš, Srđan M.; Rumokoy, Fanuel; Horst, Chuck; Reynolds, Tristan

2017-05-01

By applying a display ecology to the Deeper, Wider, Faster proactive, simultaneous telescope observing campaign, we have shown a dramatic reduction in the time taken to inspect DECam CCD images for potential transient candidates and to produce time-critical triggers to standby telescopes. We also show how facilitating rapid corroboration of potential candidates and the exclusion of non-candidates improves the accuracy of detection; and establish that a practical and enjoyable workspace can improve the experience of an otherwise taxing task for astronomers. We provide a critical road test of two advanced displays in a research context-a rare opportunity to demonstrate how they can be used rather than simply discuss how they might be used to accelerate discovery.

Redundantly piezo-actuated XYθ z compliant mechanism for nano-positioning featuring simple kinematics, bi-directional motion and enlarged workspace

NASA Astrophysics Data System (ADS)

Zhu, Wu-Le; Zhu, Zhiwei; To, Suet; Liu, Qiang; Ju, Bing-Feng; Zhou, Xiaoqin

2016-12-01

This paper presents a novel redundantly piezo-actuated three-degree-of-freedom XYθ z compliant mechanism for nano-positioning, driven by four mirror-symmetrically configured piezoelectric actuators (PEAs). By means of differential motion principle, linearized kinematics and physically bi-directional motions in all the three directions are achieved. Meanwhile, the decoupled delivering of three-directional independent motions at the output end is accessible, and the essential parallel and mirror symmetric configuration guarantees large output stiffness, high natural frequencies, high accuracy as well as high structural compactness of the mechanism. Accurate kinematics analysis with consideration of input coupling indicates that the proposed redundantly actuated compliant mechanism can generate three-dimensional (3D) symmetric polyhedral workspace envelope with enlarged reachable workspace, as compared with the most common parallel XYθ z mechanism driven by three PEAs. Keeping a high consistence with both analytical and numerical models, the experimental results show the working ranges of ±6.21 μm and ±12.41 μm in X- and Y-directions, and that of ±873.2 μrad in θ z-direction with nano-positioning capability can be realized. The superior performances and easily achievable structure well facilitate practical applications of the proposed XYθ z compliant mechanism in nano-positioning systems.

Sensorimotor adaptation to inertial forces in a multi-force environment does not depend on the number of targets: indirect validation of the altered-proprioception hypothesis.

PubMed

Bourdin, C; Bock, O

2006-11-20

The ability of our sensorimotor system to adapt to changing and complex environmental demands has been under experimental scrutiny for more than a century. Previous works have shown that aimed arm movements adapt quickly and completely to Coriolis force, but incompletely to the combination of Coriolis and centrifugal forces without visual cues. Two hypotheses may be advanced to explain this discrepancy: the workspace-exploration hypothesis, and the degraded-proprioception hypothesis. The aim of this study was to distinguish between the above two alternatives by comparing adaptive improvement during off-axis rotation in subjects pointing at one, three or seven different targets in complete darkness. Two main results emerge: (a) off-axis rotation led initially to errors in the direction of Coriolis force and in the opposite direction of the centrifugal force; (b) the size of the visited workspace has no effect on the way the subjects adapt to a multi-force environment. The lack of a target-number effect and the persistence of lateral errors in the pointing movements performed during rotation of the platform, support the degraded-proprioception rather than the workspace-exploration hypothesis of adaptation to a multi-force environment.

Pilot study to test effectiveness of video game on reaching performance in stroke.

PubMed

Acosta, Ana Maria; Dewald, Hendrik A; Dewald, Jules P A

2011-01-01

Robotic systems currently used in upper-limb rehabilitation following stroke rely on some form of visual feedback as part of the intervention program. We evaluated the effect of a video game environment (air hockey) on reaching in stroke with various levels of arm support. We used the Arm Coordination Training 3D system to provide variable arm support and to control the hockey stick. We instructed seven subjects to reach to one of three targets covering the workspace of the impaired arm during the reaching task and to reach as far as possible while playing the video game. The results from this study showed that across subjects, support levels, and targets, the reaching distances achieved with the reaching task were greater than those covered with the video game. This held even after further restricting the mapped workspace of the arm to the area most affected by the flexion synergy (effectively forcing subjects to fight the synergy to reach the hockey puck). The results from this study highlight the importance of designing video games that include specific reaching targets in the workspace compromised by the expression of the flexion synergy. Such video games would also adapt the target location online as a subject's success rate increases.

Pilot study to test effectiveness of video game on reaching performance in stroke

PubMed Central

Acosta, Ana Maria; Dewald, Hendrik A.; Dewald, Jules P. A.

2012-01-01

Robotic systems currently used in upper-limb rehabilitation following stroke rely on some form of visual feedback as part of the intervention program. We evaluated the effect of a video game environment (air hockey) on reaching in stroke with various levels of arm support. We used the Arm Coordination Training 3D system to provide variable arm support and to control the hockey stick. We instructed seven subjects to reach to one of three targets covering the workspace of the impaired arm during the reaching task and to reach as far as possible while playing the video game. The results from this study showed that across subjects, support levels, and targets, the reaching distances achieved with the reaching task were greater than those covered with the video game. This held even after further restricting the mapped workspace of the arm to the area most affected by the flexion synergy (effectively forcing subjects to fight the synergy to reach the hockey puck). The results from this study highlight the importance of designing video games that include specific reaching targets in the workspace compromised by the expression of the flexion synergy. Such video games would also adapt the target location online as a subject’s success rate increases. PMID:21674392

The Undiagnosed Diseases Program Integrated Collaboration System (UDPICS): One Program’s Experience Developing Custom Software to Support Research for Complex-Disease Families

PubMed Central

Guzman, Jessica; Lee, Elizabeth; Draper, David; Valivullah, Zaheer; Yu, Guoyun; Sincan, Murat; Gahl, William A.; Adams, David R.

2015-01-01

The Undiagnosed Diseases Program (UDP) was started in 2008 with the goals of making diagnoses and facilitating related translational research. The individuals and families seen by the UDP are often unique and medically complex. Approximately 40% of UDP cases are pediatric. The Undiagnosed Diseases Program Integrated Collaboration System (UDPICS) was designed to create a collaborative workspace for researchers, clinicians and families. We describe our progress in developing the system to date, focusing on design rationale, challenges and issues that are likely to be common in the development of similar systems in the future. PMID:27417368

Collision-free motion of two robot arms in a common workspace

NASA Technical Reports Server (NTRS)

Basta, Robert A.; Mehrotra, Rajiv; Varanasi, Murali R.

1987-01-01

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed.

Dynamic Task Assignment and Path Planning of Multi-AUV System Based on an Improved Self-Organizing Map and Velocity Synthesis Method in Three-Dimensional Underwater Workspace.

PubMed

Zhu, Daqi; Huang, Huan; Yang, S X

2013-04-01

For a 3-D underwater workspace with a variable ocean current, an integrated multiple autonomous underwater vehicle (AUV) dynamic task assignment and path planning algorithm is proposed by combing the improved self-organizing map (SOM) neural network and a novel velocity synthesis approach. The goal is to control a team of AUVs to reach all appointed target locations for only one time on the premise of workload balance and energy sufficiency while guaranteeing the least total and individual consumption in the presence of the variable ocean current. First, the SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in 3-D ocean environment. The working process involves special definition of the initial neural weights of the SOM network, the rule to select the winner, the computation of the neighborhood function, and the method to update weights. Then, the velocity synthesis approach is applied to plan the shortest path for each AUV to visit the corresponding target in a dynamic environment subject to the ocean current being variable and targets being movable. Lastly, to demonstrate the effectiveness of the proposed approach, simulation results are given in this paper.

Equilibrium-Based Movement Endpoints Elicited from Primary Motor Cortex Using Repetitive Microstimulation

PubMed Central

Van Acker, Gustaf M.; Amundsen, Sommer L.; Messamore, William G.; Zhang, Hongyu Y.; Luchies, Carl W.

2014-01-01

High-frequency, long-duration intracortical microstimulation (HFLD-ICMS) is increasingly being used to deduce how the brain encodes coordinated muscle activity and movement. However, the full movement repertoire that can be elicited from the forelimb representation of primary motor cortex (M1) using this method has not been systematically determined. Our goal was to acquire a comprehensive M1 forelimb representational map of movement endpoints elicited with HFLD-ICMS, using stimulus parameters optimal for evoking stable forelimb spatial endpoints. The data reveal a 3D forelimb movement endpoint workspace that is represented in a patchwork fashion on the 2D M1 cortical surface. Although cortical maps of movement endpoints appear quite disorderly with respect to movement space, we show that the endpoint locations in the workspace evoked with HFLD-ICMS of two adjacent cortical points are closer together than would be expected if the organization were random. Although there were few obvious consistencies in the endpoint maps across the two monkeys tested, one notable exception was endpoints bringing the hand to the mouth, which was located at the boundary between the hand and face representation. Endpoints at the extremes of the monkey's workspace and locations above the head were largely absent. Our movement endpoints are best explained as resulting from coactivation of agonist and antagonist muscles driving the joints toward equilibrium positions determined by the length–tension relationships of the muscles. PMID:25411500

A collaborative resource management workspace and project management application for data collection, analysis and visualization: OpenNRM

NASA Astrophysics Data System (ADS)

Osti, A.

2013-12-01

During the process of research and design for OpenNRM, we imagined a place where diverse groups of people and communities could effectively and efficiently collaborate to manage large-scale environmental problems and projects. Our research revealed the need to combine a variety of software components. Users can explore and analyze a topic while simultaneously develop stories and solve problems in a way that the end result is consumable by their colleagues and the general public. To do this we brought together software modules that are typically separate: Document and Asset Management, GIS and Interactive Mapping, WIKI and Information Libraries, Data Catalogs and Services, Project Management Tools and Storytelling templates. These components, along with others are supported by extensive data catalogs (NWIS, Storet, CDEC, Cuahsi), data analysis tools and web services for a turn-key workspace that will allow you to quickly build project communities and data stories. In this presentation we will show you how our investigation into these collaborative efforts are implemented and working for some of our clients, including the State of California's Sacramento San Joaquin Bay-Delta and San Joaquin River Basin. The case study will display the use of the OpenNRM workspace for real time environmental conditions management, data visualization, project operations, environmental restoration, high frequency monitoring and data reporting. We will demonstrate how scientists and policy makers are working together to tell the story of this complicated and divisive system and how they are becoming better managers of that system. Using the genius of web services, we will show you how OpenNRM was designed to allow you to build your own community while easily sharing data stories, project data, monitoring results, document libraries, interactive maps and datasets with others. We will get into more technical detail by presenting how our data interpolation tools can show high frequency monitoring trends using the NWIS data network and other Cuahsi services and how you can save those results to make your projects operate in real time. Lastly, we will talk about the OpenNRM project and it's future in the open source community and as a general tool for collaborative multi-disciplinary research. You can learn more about us at www.34north.com . OpenNRM is currently implemented as a collaborative scientific research platform and project management community workspace for the Sacramento San Joaquin Bay Delta. Participants include: The Environmental protection Agency, California Department of Fish and Wildlife, State Water Resources Control Board, California Department of Water Resource, more than 10 Water Districts and USGS.

Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire.

PubMed

Lee, Chiwon; Park, Woo Jung; Kim, Myungjoon; Noh, Seungwoo; Yoon, Chiyul; Lee, Choonghee; Kim, Youdan; Kim, Hyeon Hoe; Kim, Hee Chan; Kim, Sungwan

2014-09-05

Although minimally invasive surgery (MIS) affords several advantages compared to conventional open surgery, robotic MIS systems still have many limitations. One of the limitations is the non-uniform gripping force due to mechanical strings of the existing systems. To overcome this limitation, a surgical instrument with a pneumatic gripping system consisting of a compressor, catheter balloon, micro motor, and other parts is developed. This study aims to implement a surgical instrument with a pneumatic gripping system and pitching/yawing joints using micro motors and without mechanical strings based on the surgical-operation-by-wire (SOBW) concept. A 6-axis external arm for increasing degrees of freedom (DOFs) is integrated with the surgical instrument using LabVIEW® for laparoscopic procedures. The gripping force is measured over a wide range of pressures and compared with the simulated ideal step function. Furthermore, a kinematic analysis is conducted. To validate and evaluate the system's clinical applicability, a simple peg task experiment and workspace identification experiment are performed with five novice volunteers using the fundamentals of laparoscopic surgery (FLS) board kit. The master interface of the proposed system employs the hands-on-throttle-and-stick (HOTAS) controller used in aerospace engineering. To develop an improved HOTAS (iHOTAS) controller, 6-axis force/torque sensor was integrated in the special housing. The mean gripping force (after 1,000 repetitions) at a pressure of 0.3 MPa was measured to be 5.8 N. The reaction time was found to be 0.4 s, which is almost real-time. All novice volunteers could complete the simple peg task within a mean time of 176 s, and none of them exceeded the 300 s cut-off time. The system's workspace was calculated to be 11,157.0 cm3. The proposed pneumatic gripping system provides a force consistent with that of other robotic MIS systems. It provides near real-time control. It is more durable than the existing other surgical robot systems. Its workspace is sufficient for clinical surgery. Therefore, the proposed system is expected to be widely used for laparoscopic robotic surgery. This research using iHOTAS will be applied to the tactile force feedback system for surgeon's safe operation.

A development of assistant surgical robot system based on surgical-operation-by-wire and hands-on-throttle-and-stick.

PubMed

Kim, Myungjoon; Lee, Chiwon; Park, Woo Jung; Suh, Yun Suhk; Yang, Han Kwang; Kim, H Jin; Kim, Sungwan

2016-05-20

Robot-assisted laparoscopic surgery offers several advantages compared with open surgery and conventional minimally invasive surgery. However, one issue that needs to be resolved is a collision between the robot arm and the assistant instrument. This is mostly caused by miscommunication between the surgeon and the assistant. To resolve this limitation, an assistant surgical robot system that can be simultaneously manipulated via a wireless controller is proposed to allow the surgeon to control the assistant instrument. The system comprises two novel master interfaces (NMIs), a surgical instrument with a gripper actuated by a micromotor, and 6-axis robot arm. Two NMIs are attached to master tool manipulators of da Vinci research kit (dVRK) to control the proposed system simultaneously with patient side manipulators of dVRK. The developments of the surgical instrument and NMI are based on surgical-operation-by-wire concept and hands-on-throttle-and-stick concept from the earlier research, respectively. Tests for checking the accuracy, latency, and power consumption of the NMI are performed. The gripping force, reaction time, and durability are assessed to validate the surgical instrument. The workspace is calculated for estimating the clinical applicability. A simple peg task using the fundamentals of laparoscopic surgery board and an in vitro test are executed with three novice volunteers. The NMI was operated for 185 min and reflected the surgeon's decision successfully with a mean latency of 132 ms. The gripping force of the surgical instrument was comparable to that of conventional systems and was consistent even after 1000 times of gripping motion. The reaction time was 0.4 s. The workspace was calculated to be 8397.4 cm(3). Recruited volunteers were able to execute the simple peg task within the cut-off time and successfully performed the in vitro test without any collision. Various experiments were conducted and it is verified that the proposed assistant surgical robot system enables collision-free and simultaneous operation of the dVRK's robot arm and the proposed assistant robot arm. The workspace is appropriate for the performance of various kinds of surgeries. Therefore, the proposed system is expected to provide higher safety and effectiveness for the current surgical robot system.

Rate of Perceived Exertion of Female Aviation Workers Pertaining to Selected Aviation Workspace and Recommended Fitness Regime to Reduce Exertion

NASA Astrophysics Data System (ADS)

Harridon, Mohd

2018-05-01

In aviation maintenance, workers usually work in tight spaces to maintain or repair aircraft. These constricted spaces provide uncomfortable feeling to these workers and in return the workmanship of the workers declined in terms of quality and thus affect the safety of the aircraft. However, some workers are fit enough to go through these conditions without hassle or without much pain. This paper focused upon female aviation workers and collected data on their rate of perceived exertion pertaining to two selected aviation workspaces. The data and analyses showed that those who are fit felt less exertion while those who are not fit felt more exertion. This paper then recommended several physical exercises to increase their fitness and in turn reduce the exertion felt.

NASA's MERBoard: An Interactive Collaborative Workspace Platform. Chapter 4

NASA Technical Reports Server (NTRS)

Trimble, Jay; Wales, Roxana; Gossweiler, Rich

2003-01-01

This chapter describes the ongoing process by which a multidisciplinary group at NASA's Ames Research Center is designing and implementing a large interactive work surface called the MERBoard Collaborative Workspace. A MERBoard system involves several distributed, large, touch-enabled, plasma display systems with custom MERBoard software. A centralized server and database back the system. We are continually tuning MERBoard to support over two hundred scientists and engineers during the surface operations of the Mars Exploration Rover Missions. These scientists and engineers come from various disciplines and are working both in small and large groups over a span of space and time. We describe the multidisciplinary, human-centered process by which this h4ERBoard system is being designed, the usage patterns and social interactions that we have observed, and issues we are currently facing.

Evaluation of the power consumption of a high-speed parallel robot

NASA Astrophysics Data System (ADS)

Han, Gang; Xie, Fugui; Liu, Xin-Jun

2018-06-01

An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. Afterward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low-power-consumption workspace is selected for the robot.

A variational dynamic programming approach to robot-path planning with a distance-safety criterion

NASA Technical Reports Server (NTRS)

Suh, Suk-Hwan; Shin, Kang G.

1988-01-01

An approach to robot-path planning is developed by considering both the traveling distance and the safety of the robot. A computationally-efficient algorithm is developed to find a near-optimal path with a weighted distance-safety criterion by using a variational calculus and dynamic programming (VCDP) method. The algorithm is readily applicable to any factory environment by representing the free workspace as channels. A method for deriving these channels is also proposed. Although it is developed mainly for two-dimensional problems, this method can be easily extended to a class of three-dimensional problems. Numerical examples are presented to demonstrate the utility and power of this method.

The Development and Validation of a Human Systems Integration (HSI) Program for the Canadian Department of National Defence (DND)

DTIC Science & Technology

2008-09-01

inputs to interface and workspace design , and iterative user testing is not required. However, an effective HSI Program is just as important on a COTS...this phase is the contract, and the various design reviews, tests , and evaluations that occur to ensure that the system meets it goals. 3.3 DBCM ESM...Report(s). • HSI Approvals of Relevant Design Changes. • HSI Test Plans and Reports. • HSI Review Progress and Evaluation Memos and Reports. • HSI

Ergonomics: The Forgotten Variable.

ERIC Educational Resources Information Center

Fitterman, L. Jeffrey

1998-01-01

Defines ergonomics and discusses design and environmental considerations. Suggests work-space requirements for: tables, chairs, monitor height, ambient noise and light, electricity, and environmental hazards. Includes sources for additional information related to ergonomic design. (AEF)

TH-AB-202-11: Spatial and Rotational Quality Assurance of 6DOF Patient Tracking Systems

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

Belcher, AH; Liu, X; Grelewicz, Z

2016-06-15

Purpose: External tracking systems used for patient positioning and motion monitoring during radiotherapy are now capable of detecting both translations and rotations (6DOF). In this work, we develop a novel technique to evaluate the 6DOF performance of external motion tracking systems. We apply this methodology to an infrared (IR) marker tracking system and two 3D optical surface mapping systems in a common tumor 6DOF workspace. Methods: An in-house designed and built 6DOF parallel kinematics robotic motion phantom was used to follow input trajectories with sub-millimeter and sub-degree accuracy. The 6DOF positions of the robotic system were then tracked and recordedmore » independently by three optical camera systems. A calibration methodology which associates the motion phantom and camera coordinate frames was first employed, followed by a comprehensive 6DOF trajectory evaluation, which spanned a full range of positions and orientations in a 20×20×16 mm and 5×5×5 degree workspace. The intended input motions were compared to the calibrated 6DOF measured points. Results: The technique found the accuracy of the IR marker tracking system to have maximal root mean square error (RMSE) values of 0.25 mm translationally and 0.09 degrees rotationally, in any one axis, comparing intended 6DOF positions to positions measured by the IR camera. The 6DOF RSME discrepancy for the first 3D optical surface tracking unit yielded maximal values of 0.60 mm and 0.11 degrees over the same 6DOF volume. An earlier generation 3D optical surface tracker was observed to have worse tracking capabilities than both the IR camera unit and the newer 3D surface tracking system with maximal RMSE of 0.74 mm and 0.28 degrees within the same 6DOF evaluation space. Conclusion: The proposed technique was effective at evaluating the performance of 6DOF patient tracking systems. All systems examined exhibited tracking capabilities at the sub-millimeter and sub-degree level within a 6DOF workspace.« less

Comparative psychology without consciousness.

PubMed

Carruthers, Peter

2018-06-22

The goal of this paper is to establish the truth of the following conditional: if a global workspace theory of phenomenal consciousness is correct, and is fully reductive in nature, then we should stop asking questions about consciousness in nonhuman animals-not because those questions are too hard to answer, but because there are no substantive facts to discover. The argument in support of this conditional turns on the idea that while global broadcasting is all-or-nothing in the human mind, it is framed in terms that imply gradations across species. Yet our concept of phenomenal consciousness doesn't permit mental states to be to some degree conscious. Before getting to that argument, however, and in order to motivate the subsequent discussion, some of the virtues of global workspace theory are displayed. Copyright © 2018 Elsevier Inc. All rights reserved.

Equilibrium-based movement endpoints elicited from primary motor cortex using repetitive microstimulation.

PubMed

Van Acker, Gustaf M; Amundsen, Sommer L; Messamore, William G; Zhang, Hongyu Y; Luchies, Carl W; Cheney, Paul D

2014-11-19

High-frequency, long-duration intracortical microstimulation (HFLD-ICMS) is increasingly being used to deduce how the brain encodes coordinated muscle activity and movement. However, the full movement repertoire that can be elicited from the forelimb representation of primary motor cortex (M1) using this method has not been systematically determined. Our goal was to acquire a comprehensive M1 forelimb representational map of movement endpoints elicited with HFLD-ICMS, using stimulus parameters optimal for evoking stable forelimb spatial endpoints. The data reveal a 3D forelimb movement endpoint workspace that is represented in a patchwork fashion on the 2D M1 cortical surface. Although cortical maps of movement endpoints appear quite disorderly with respect to movement space, we show that the endpoint locations in the workspace evoked with HFLD-ICMS of two adjacent cortical points are closer together than would be expected if the organization were random. Although there were few obvious consistencies in the endpoint maps across the two monkeys tested, one notable exception was endpoints bringing the hand to the mouth, which was located at the boundary between the hand and face representation. Endpoints at the extremes of the monkey's workspace and locations above the head were largely absent. Our movement endpoints are best explained as resulting from coactivation of agonist and antagonist muscles driving the joints toward equilibrium positions determined by the length-tension relationships of the muscles. Copyright © 2014 the authors 0270-6474/14/3415722-13$15.00/0.

Haptic fMRI: combining functional neuroimaging with haptics for studying the brain's motor control representation.

PubMed

Menon, Samir; Brantner, Gerald; Aholt, Chris; Kay, Kendrick; Khatib, Oussama

2013-01-01

A challenging problem in motor control neuroimaging studies is the inability to perform complex human motor tasks given the Magnetic Resonance Imaging (MRI) scanner's disruptive magnetic fields and confined workspace. In this paper, we propose a novel experimental platform that combines Functional MRI (fMRI) neuroimaging, haptic virtual simulation environments, and an fMRI-compatible haptic device for real-time haptic interaction across the scanner workspace (above torso ∼ .65×.40×.20m(3)). We implement this Haptic fMRI platform with a novel haptic device, the Haptic fMRI Interface (HFI), and demonstrate its suitability for motor neuroimaging studies. HFI has three degrees-of-freedom (DOF), uses electromagnetic motors to enable high-fidelity haptic rendering (>350Hz), integrates radio frequency (RF) shields to prevent electromagnetic interference with fMRI (temporal SNR >100), and is kinematically designed to minimize currents induced by the MRI scanner's magnetic field during motor displacement (<2cm). HFI possesses uniform inertial and force transmission properties across the workspace, and has low friction (.05-.30N). HFI's RF noise levels, in addition, are within a 3 Tesla fMRI scanner's baseline noise variation (∼.85±.1%). Finally, HFI is haptically transparent and does not interfere with human motor tasks (tested for .4m reaches). By allowing fMRI experiments involving complex three-dimensional manipulation with haptic interaction, Haptic fMRI enables-for the first time-non-invasive neuroscience experiments involving interactive motor tasks, object manipulation, tactile perception, and visuo-motor integration.

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1989-01-01

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

A Fairy-Tale Landscape

NASA Image and Video Library

2008-05-29

Fun, fairy-tale nicknames have been assigned to features in this animated view of the workspace reachable by the robotic arm of NASA Phoenix Mars Lander. For example, Sleepy Hollow denotes a trench and Headless designates a rock.

Technology Development, Evaluation, and Application (TDEA) FY 2001 Progress Report Environment, Safety, and Health (ESH) Division

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

L.G. Hoffman; K. Alvar; T. Buhl

2002-05-01

This progress report presents the results of 11 projects funded ($500K) in FY01 by the Technology Development, Evaluation, and Application (TDEA) Committee of the Environment, Safety, and Health Division (ESH). Five projects fit into the Health Physics discipline, 5 projects are environmental science and one is industrial hygiene/safety. As a result of their TDEA-funded projects, investigators have published sixteen papers in professional journals, proceedings, or Los Alamos reports and presented their work at professional meetings. Supplement funds and in-kind contributions, such as staff time, instrument use, and workspace, were also provided to TDEA-funded projects by organizations external to ESH Divisions.

75 FR 26321 - Seventeenth Plenary Meeting: RTCA Special Committee 203: Unmanned Aircraft Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2010-05-11

... RTCA Workspace Web Tool Special Committee Status Overview Workgroup Updates WG1--Systems Engineering..., Washington, DC 20036; telephone (202) 833-9339; fax (202) 833-9434; Web site http://www.rtca.org...

CROSS DRIVE: A Collaborative and Distributed Virtual Environment for Exploitation of Atmospherical and Geological Datasets of Mars

NASA Astrophysics Data System (ADS)

Cencetti, Michele

2016-07-01

European space exploration missions have produced huge data sets of potentially immense value for research as well as for planning and operating future missions. For instance, Mars Exploration programs comprise a series of missions with launches ranging from the past to beyond present, which are anticipated to produce exceptional volumes of data which provide prospects for research breakthroughs and advancing further activities in space. These collected data include a variety of information, such as imagery, topography, atmospheric, geochemical datasets and more, which has resulted in and still demands, databases, versatile visualisation tools and data reduction methods. Such rate of valuable data acquisition requires the scientists, researchers and computer scientists to coordinate their storage, processing and relevant tools to enable efficient data analysis. However, the current position is that expert teams from various disciplines, the databases and tools are fragmented, leaving little scope for unlocking its value through collaborative activities. The benefits of collaborative virtual environments have been implemented in various industrial fields allowing real-time multi-user collaborative work among people from different disciplines. Exploiting the benefits of advanced immersive virtual environments (IVE) has been recognized as an important interaction paradigm to facilitate future space exploration. The current work is mainly aimed towards the presentation of the preliminary results coming from the CROSS DRIVE project. This research received funding from the European Union Seventh Framework Programme (FP7/2007-2013) under grant agreement n° 607177 and is mainly aimed towards the implementation of a distributed virtual workspace for collaborative scientific discovery, mission planning and operations. The purpose of the CROSS DRIVE project is to lay foundations of collaborative European workspaces for space science. It will demonstrate the feasibility and begin to standardize the integration of space datasets, simulators, analytical modules, remote scientific centers and experts to work together to conduct space science activities as well as support the planning and operations of space missions. The development of this collaborative workspace infrastructure will be focused through preparation of the ExoMars 2016 TGO and 2018 rover missions. Three use case scenarios with increasing levels of complexities has been considered to exercise the remote and Collaborative Workspace as it would happen during science mission design or real-time operations: rover landing site characterization; Mars atmospheric data analysis and comparison among datasets; rover target selection and motion planning during real-time operations. A brief overview of the traditional approaches used in the operations domains is provided in the first part of the paper, mainly focusing on the main drawbacks that arise during actual missions. Examples of design, execution and management of the operational activities are introduced in this section, highlighting the main issues and tools that are currently used. The current needs and the possible solutions are introduced in the following section, providing details on how CROSS DRIVE environment can be used to improve space operations. The developed prototype and the related approach are assessed to show the improvements that can be achieved with respect to data exchange and users' interactions. The project results are also intended to show how the same operational philosophy can be extended from robotic exploration to human-rated ones missions.

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

NASA Astrophysics Data System (ADS)

Lee, Po-Chih; Lee, Jyh-Jone

2012-06-01

This paper presents the analysis of three parallel manipulators with Schoenflies-motion. Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degree of freedom) in the translational motion and one DOF in rotational motion about a given direction axis with respect to the world coordinate system. The three isoconstrained parallel manipulators have the structures denoted as C{u/u}UwHw-//-C{v/v}UwHw, CuR{u/u}Uhw-//-CvR{v/v}Uhw and CuPuUhw-//-CvPvUhw. The kinematic equations are first introduced for each manipulator. Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently derived and analysed for the first time. The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application in industry where pick-and-place motion is required.

Transfer as a function of exploration and stabilization in original practice.

PubMed

Pacheco, Matheus M; Newell, Karl M

2015-12-01

The identification of practice conditions that provide flexibility to perform successfully in transfer is a long-standing issue in motor learning but is still not well understood. Here we investigated the hypothesis that a search strategy that encompasses both exploration and stabilization of the perceptual-motor workspace will enhance performance in transfer. Twenty-two participants practiced a virtual projection task (120 trials on each of 3 days) and subsequently performed two transfer conditions (20 trials/condition) with different constraints in the angle to project the object. The findings revealed a quadratic relation between exploration in practice (indexed by autocorrelation and distribution of error) and subsequent performance error in transfer. The integration of exploration and stabilization of the perceptual-motor workspace enhances transfer to tasks with different constraints on the scaling of motor output. Copyright © 2015 Elsevier B.V. All rights reserved.

Applying Workspace Limitations in a Velocity-Controlled Robotic Mechanism

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Platt, Robert J., Jr. (Inventor)

2014-01-01

A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.

Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

NASA Technical Reports Server (NTRS)

Lew, Jae Young; Book, Wayne J.

1991-01-01

Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Crossing boundaries in a collaborative modeling workspace

USGS Publications Warehouse

Morisette, Jeffrey T.; Cravens, Amanda; Miller, Brian W.; Talbert, Marian; Talbert, Colin; Jarnevich, Catherine S.; Fink, Michelle; Decker, Karin; Odell, Eric

2017-01-01

There is substantial literature on the importance of bridging across disciplinary and science–management boundaries. One of the ways commonly suggested to cross boundaries is for participants from both sides of the boundary to jointly produce information (i.e., knowledge co-production). But simply providing tools or bringing people together in the same room is not sufficient. Here we present a case study documenting the mechanisms by which managers and scientists collaborated to incorporate climate change projections into Colorado’s State Wildlife Action Plan. A critical component of the project was the use of a collaborative modeling and visualization workspace: the U.S. Geological Survey’s Resource for Advanced Modeling (RAM). Using video analysis and pre/post surveys from this case study, we examine how the RAM facilitated cognitive and social processes that co-produced a more salient and credible end product. This case provides practical suggestions to scientists and practitioners who want to implement actionable science.

User questionnaire to evaluate the radiological workspace.

PubMed

van Ooijen, Peter M A; Koesoema, Allya P; Oudkerk, Matthijs

2006-01-01

Over the past few years, an increase in digitalization of radiology departments can be seen, which has a large impact on the work of the radiologists. This impact is not only demonstrated by the increased use of digital images but also by changing demands on the whole reading environment. In this study, we evaluated the satisfaction of our radiologists with our digital Picture Archival and Communication System environment and their workspace. This evaluation was performed by distribution of a questionnaire consisting of a score sheet and some open questions to all radiologists and residents. Out of 25 questionnaires, 12 were adequately answered and returned. Results clearly showed that most problems were present in the area of reading room design and layout and comfort and ergonomics. Based on the results from this study, adaptations were made and the results were also used in the planning of the redesign of the entire department of radiology.

A real-time robot arm collision avoidance system

NASA Technical Reports Server (NTRS)

Shaffer, Clifford A.; Herb, Gregory M.

1992-01-01

A data structure and update algorithm are presented for a prototype real-time collision avoidance safety system simulating a multirobot workspace. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes 3D space into eight equal cubic octants until each octant meets some decomposition criteria. The N-objects octree, which indexes a collection of 3D primitive solids is used. These primitives make up the two (seven-degrees-of-freedom) robot arms and workspace modeled by the system. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Cycle time for interpreting current arm joint angles, updating the octree to reflect new positions, and detecting/reporting imminent collisions averages 30 ms on an Intel 80386 processor running at 20 MHz.

An efficient approach for inverse kinematics and redundancy resolution scheme of hyper-redundant manipulators

NASA Astrophysics Data System (ADS)

Chembuly, V. V. M. J. Satish; Voruganti, Hari Kumar

2018-04-01

Hyper redundant manipulators have a large number of degrees of freedom (DOF) than the required to perform a given task. Additional DOF of manipulators provide the flexibility to work in highly cluttered environment and in constrained workspaces. Inverse kinematics (IK) of hyper-redundant manipulators is complicated due to large number of DOF and these manipulators have multiple IK solutions. The redundancy gives a choice of selecting best solution out of multiple solutions based on certain criteria such as obstacle avoidance, singularity avoidance, joint limit avoidance and joint torque minimization. This paper focuses on IK solution and redundancy resolution of hyper-redundant manipulator using classical optimization approach. Joint positions are computed by optimizing various criteria for a serial hyper redundant manipulators while traversing different paths in the workspace. Several cases are addressed using this scheme to obtain the inverse kinematic solution while optimizing the criteria like obstacle avoidance, joint limit avoidance.

Endoscopes and robots for tight surgical spaces: use of precurved elastic elements to enhance curvature

NASA Astrophysics Data System (ADS)

Remirez, Andria A.; Webster, Robert J.

2016-03-01

Many applications in medicine require flexible surgical manipulators and endoscopes capable of reaching tight curvatures. The maximum curvature these devices can achieve is often restricted either by a strain limit, or by a maximum actuation force that the device's components can tolerate without risking mechanical failure. In this paper we propose the use of precurvature to "bias" the workspace of the device in one direction. Combined with axial shaft rotation, biasing increases the size of the device's workspace, enabling it to reach tighter curvatures than a comparable device without biasing can achieve, while still being able to fully straighten. To illustrate this effect, we describe several example prototype devices which use flexible nitinol strips that can be pushed and pulled to generate bending. We provide a statics model that relates the manipulator curvature to actuation force, and validate it experimentally.

Are Biophilic-Designed Site Office Buildings Linked to Health Benefits and High Performing Occupants?

PubMed Central

Gray, Tonia; Birrell, Carol

2014-01-01

This paper discusses the first phase of a longitudinal study underway in Australia to ascertain the broad health benefits of specific types of biophilic design for workers in a building site office. A bespoke site design was formulated to include open plan workspace, natural lighting, ventilation, significant plants, prospect and views, recycled materials and use of non-synthetic materials. Initial data in the first three months was gathered from a series of demographic questions and from interviews and observations of site workers. Preliminary data indicates a strong positive effect from incorporating aspects of biophilic design to boost productivity, ameliorate stress, enhance well-being, foster a collaborative work environment and promote workplace satisfaction, thus contributing towards a high performance workspace. The longitudinal study spanning over two years will track human-plant interactions in a biophilic influenced space, whilst also assessing the concomitant cognitive, social, psychological and physical health benefits for workers. PMID:25431874

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

NASA Astrophysics Data System (ADS)

Meng, Qizhi; Xie, Fugui; Liu, Xin-Jun

2018-06-01

This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot's DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

Using mixed reality, force feedback and tactile augmentation to improve the realism of medical simulation.

PubMed

Fisher, J Brian; Porter, Susan M

2002-01-01

This paper describes an application of a display approach which uses chromakey techniques to composite real and computer-generated images allowing a user to see his hands and medical instruments collocated with the display of virtual objects during a medical training simulation. Haptic feedback is provided through the use of a PHANTOM force feedback device in addition to tactile augmentation, which allows the user to touch virtual objects by introducing corresponding real objects in the workspace. A simplified catheter introducer insertion simulation was developed to demonstrate the capabilities of this approach.

EPOS Thematic Core Service Anthropogenic Hazards for SHEER project: maintain, process and manage your project research data

NASA Astrophysics Data System (ADS)

Orlecka-Sikora, Beata; Lasocki, Stanislaw; Staszek, Monika; Olszewska, Dorota; Urban, Pawel; Jaroslawski, Janusz; Cielesta, Szymon; Mirek, Janusz; Wiszniowski, Jan; Picozzi, Matteo; Solaro, Giuseppe; Pringle, Jamie; Toon, Sam; Cesca, Simone; Kuehn, Daniela; Ruigrok, Elmer; Gunning, Andrew; Isherwood, Catherine

2017-04-01

The main objective of the "Shale gas exploration and exploitation induced risks - SHEER" project (Horizon 2020, call LCE 16-2014) is to develop a probabilistic methodology to assess and mitigate the short- and the long-term environmental risks associated with the exploration and exploitation of shale gas. To this end, the SHEER project makes use of a large amount of heterogeneous data of various types. This data, from different disciplines of science e.g. geophysical, geochemical, geological, technological, etc., must be homogenized, harmonized and made accessible exclusively for all project participants. This requires to develop an over-arching structure for high-level multidisciplinary data integration. The bespoke solution is provided by Thematic Core Service Anthropogenic Hazards (TCS AH) developed in the framework of European Plate Observing System Program (https://tcs.ah-epos.eu/, infrastructural projects IS-EPOS, POIG.02.03.00-14-090/13-00 and EPOS IP, H2020-INFRADEV-1-2015-1). TCS AH provides virtual access to a comprehensive, wide-scale and high quality research infrastructure in the field of induced seismicity and other anthropogenic hazards evoked by exploration and exploitation of geo-resources. TCS AH is designed as a functional e-research environment to ensure a researcher the maximum possible freedom for experimentation by providing a virtual laboratory flexible to create own workspace for processing streams. A data-management process promotes the use of research infrastructure in novel ways providing an access to (i) data gathered in the so-called "episodes", comprehensively describing a geophysical process, induced or triggered by human technological activity, which under certain circumstances can become hazardous for people, infrastructure and the environment, (ii) problem-oriented, specific services, with the particular attention devoted to methods analyzing correlations between technology, geophysical response and resulting hazards, (iii) the intercommunity social functions, e.g. brokering of projects, common workspace for the project shared by the project members, upload/download data and codes to the common workspace, tools for communication of project members. The SHEER project uses TCS AH e-infrastructure to manage interdisciplinary data from seven independent episodes and data products from own research. Since presently more than 500 users from 21 countries have registered to TCS AH, the SHEER use of TCS AH by leaps and bounds increases visibility of the project. This work was supported within SHEER: "Shale Gas Exploration and Exploitation Induced Risks" project funded from Horizon 2020 - R&I Framework Programme, call H2020-LCE 16-2014-1 and within statutory activities No3841/E-41/S/2016 of Ministry of Science and Higher Education of Poland.

Contralesional arm preference depends on hemisphere of damage and target location in unilateral stroke patients

PubMed Central

Mani, Saandeep; Przybyla, Andrzej; Good, David C.; Haaland, Kathleen Y.; Sainburg, Robert L.

2014-01-01

Background Previous research has shown that during simulated activities of daily living right handed stroke patients use their contralesional arm more after left than right hemisphere stroke. These findings were attributed to a hand preference effect. However, these decisions about when to use the contralesional arm may be modulated by where in the work space the task is performed, a factor that could be used in physical rehabilitation to influence recovery by decreasing learned non-use. Objective To examine how target location and side of stroke influences arm selection choices for simple reaching movements. Methods Fourteen right-handed stroke patients (7 with left hemisphere damage, 7 with right hemisphere damage) with similar degree of hemiparesis (Fugl-Meyer motor score), and 16 right-handed control subjects participated in this experiment. Thirty-two targets were presented throughout the reachable horizontal plane workspace in a pseudo-random fashion, and the subjects were asked to select one hand to reach the target on each trial. Results The left hemisphere damaged group chose their contralesional arm significantly more often than the right hemisphere damaged group. Patients with right hemisphere damage also chose their left (contralesional) arm significantly less than the control group. However, these patterns of choice were most pronounced in the center of the workspace. Conclusion Both the side of hemisphere damage and workspace location played a significant role in the choice of whether to use the contralesional arm for reaching. These findings have implications for structuring rehabilitation for unilateral stroke patients. PMID:24523143

Learn about effective collaboration processes, tools and outcomes for science education professionals and scientists: NASA's Heliophysics Science Education and Public Outreach Forum

NASA Astrophysics Data System (ADS)

Peticolas, L. M.; Bartolone, L. M.; Cobabe-Ammann, E. A.; Paglierani, R.; Mendez, B. J.; Nichols, M.; Davis, H.; Ali, N. A.

2012-12-01

NASA has funded four Science Education and Public Outreach Forums (SEPOFs) that work closely with NASA's Science Mission Directorate (SMD) and with each other to support and coordinate NASA's science education and public outreach activities. The Heliophysics E/PO Forum is one of these forums. The currently funded program has been operating for 3 years. The work of the Heliophysics E/PO Forum has resulted in several deliverables. 1) We have continued and further developed a 'community of practice' for Heliophysics E/PO professionals, which includes an on-line workspace for the heliophysics community (and other NASA SEPOF communities), monthly features of Heliophysics educational programs and products and the people who run the programs and develop the products, monthly tag-ups for Heliophysics E/PO professionals funded by NASA, an annual 'internal' workshop for this community, professional development opportunities, a structure for reporting information to NASA, and a weekly newsletter; 2) We have created tools for scientists interested in doing education and public outreach; 3) We have created workshops for faculty teaching Heliophysics topics; 4) We have analyzed heliophysics educational products in order to classify them both for 'gap analysis' as well as for use in a digital catalogue of science educational resources; and 5) We have worked on several cross-forum initiatives including professional development opportunities, working groups, a digital library of science educational resources, reporting support for NASA SMD, and the on-line workspace infrastructure and design. We present evaluation data on the impact of these deliverables in meeting our goals and objectives specifically for the Heliophysics E/PO Forum. We also discuss our perspectives on the benefits of working closely with the other NASA science E/PO Forums. We share how the Heliophysics E/PO Forum can benefit scientists in their E/PO efforts as well.

Enabling a systems biology knowledgebase with gaggle and firegoose

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

Baliga, Nitin S.

The overall goal of this project was to extend the existing Gaggle and Firegoose systems to develop an open-source technology that runs over the web and links desktop applications with many databases and software applications. This technology would enable researchers to incorporate workflows for data analysis that can be executed from this interface to other online applications. The four specific aims were to (1) provide one-click mapping of genes, proteins, and complexes across databases and species; (2) enable multiple simultaneous workflows; (3) expand sophisticated data analysis for online resources; and enhance open-source development of the Gaggle-Firegoose infrastructure. Gaggle is anmore » open-source Java software system that integrates existing bioinformatics programs and data sources into a user-friendly, extensible environment to allow interactive exploration, visualization, and analysis of systems biology data. Firegoose is an extension to the Mozilla Firefox web browser that enables data transfer between websites and desktop tools including Gaggle. In the last phase of this funding period, we have made substantial progress on development and application of the Gaggle integration framework. We implemented the workspace to the Network Portal. Users can capture data from Firegoose and save them to the workspace. Users can create workflows to start multiple software components programmatically and pass data between them. Results of analysis can be saved to the cloud so that they can be easily restored on any machine. We also developed the Gaggle Chrome Goose, a plugin for the Google Chrome browser in tandem with an opencpu server in the Amazon EC2 cloud. This allows users to interactively perform data analysis on a single web page using the R packages deployed on the opencpu server. The cloud-based framework facilitates collaboration between researchers from multiple organizations. We have made a number of enhancements to the cmonkey2 application to enable and improve the integration within different environments, and we have created a new tools pipeline for generating EGRIN2 models in a largely automated way.« less

PCs and Personal Health.

ERIC Educational Resources Information Center

Lombardi, Don

1991-01-01

Studies suggest that computer work stations may induce high levels of physical and psychological stress. Advises school districts to take a proactive stance on ergonomics. Cites laws and pending litigation regulating computer use in the workspace and offers guidelines for computer users. (MLF)

[The development of clinical reasoning skills and leadership: personal factors and organizational factors].

PubMed

Larue, Caroline; Dubois, Sylvie; Girard, Francine; Goudreau, Johanne; Dumont, Katia

2013-03-01

Continuing education of newly graduated nurses (NGN) depends on several factors related to the characteristics of skills to be developed, the target population and the organizational context. Few studies describe both how nurses develop their skills and how institutions promote this development. The objectives of this manuscript are to (1) describe the behaviors that the NGN use to develop their reasoning skills and leadership and (2) document the organizational elements that facilitate this development. Method. Individual interviews were conducted with nurses (n = 34) using a grid of semistructured interviews and two group interviews were conducted with nurses (n = 7) and managers (n = 19) in two teaching hospitals in eastern Canada. The results show that nurses develop mainly by reflecting on their professional practice in their workplace. However, the lack of time for reflection in the workspace is a considerable obstacle while managerial leadership is an important asset.

Control of an automated mobile manipulator using artificial immune system

NASA Astrophysics Data System (ADS)

Deepak, B. B. V. L.; Parhi, Dayal R.

2016-03-01

This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

75 FR 76453 - Columbia Gulf Transmission Company and Southern Natural Gas Company; Notice of Intent to Prepare...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-12-08

... workspaces) at three discrete onshore and offshore locations: One 60-foot by 20-foot excavation area within... district, site, building, structure, or object included in or eligible for inclusion in the National...

Virtual temporal bone: an interactive 3-dimensional learning aid for cranial base surgery.

PubMed

Kockro, Ralf A; Hwang, Peter Y K

2009-05-01

We have developed an interactive virtual model of the temporal bone for the training and teaching of cranial base surgery. The virtual model was based on the tomographic data of the Visible Human Project. The male Visible Human's computed tomographic data were volumetrically reconstructed as virtual bone tissue, and the individual photographic slices provided the basis for segmentation of the middle and inner ear structures, cranial nerves, vessels, and brainstem. These structures were created by using outlining and tube editing tools, allowing structural modeling either directly on the basis of the photographic data or according to information from textbooks and cadaver dissections. For training and teaching, the virtual model was accessed in the previously described 3-dimensional workspaces of the Dextroscope or Dextrobeam (Volume Interactions Pte, Ltd., Singapore), whose interfaces enable volumetric exploration from any perspective and provide virtual tools for drilling and measuring. We have simulated several cranial base procedures including approaches via the floor of the middle fossa and the lateral petrous bone. The virtual model suitably illustrated the core facts of anatomic spatial relationships while simulating different stages of bone drilling along a variety of surgical corridors. The system was used for teaching during training courses to plan and discuss operative anatomy and strategies. The Virtual Temporal Bone and its surrounding 3-dimensional workspace provide an effective way to study the essential surgical anatomy of this complex region and to teach and train operative strategies, especially when used as an adjunct to cadaver dissections.

Study on the three-station typical network deployments of workspace Measurement and Positioning System

NASA Astrophysics Data System (ADS)

Xiong, Zhi; Zhu, J. G.; Xue, B.; Ye, Sh. H.; Xiong, Y.

2013-10-01

As a novel network coordinate measurement system based on multi-directional positioning, workspace Measurement and Positioning System (wMPS) has outstanding advantages of good parallelism, wide measurement range and high measurement accuracy, which makes it to be the research hotspots and important development direction in the field of large-scale measurement. Since station deployment has a significant impact on the measurement range and accuracy, and also restricts the use-cost, the optimization method of station deployment was researched in this paper. Firstly, positioning error model was established. Then focusing on the small network consisted of three stations, the typical deployments and error distribution characteristics were studied. Finally, through measuring the simulated fuselage using typical deployments at the industrial spot and comparing the results with Laser Tracker, some conclusions are obtained. The comparison results show that under existing prototype conditions, I_3 typical deployment of which three stations are distributed in a straight line has an average error of 0.30 mm and the maximum error is 0.50 mm in the range of 12 m. Meanwhile, C_3 typical deployment of which three stations are uniformly distributed in the half-circumference of an circle has an average error of 0.17 mm and the maximum error is 0.28 mm. Obviously, C_3 typical deployment has a higher control effect on precision than I_3 type. The research work provides effective theoretical support for global measurement network optimization in the future work.

Paradox and Cross Purposes in Recent Work on Consciousness.

ERIC Educational Resources Information Center

Block, Ned

2001-01-01

Functionalists about consciousness identify consciousness with a role; physicalists identify consciousness with an implementer of that role. The global workspace theory of consciousness fits the functionalist perspective, but the physicalist sees consciousness as a biological phenomenon that implements global accessibility. (Author)

The Poetic Workspace

ERIC Educational Resources Information Center

Van Buskirk, William; London, Michael; Plump, Carolyn

2018-01-01

Traditional management education has been widely criticized for an overemphasis on rational, analytic, arms-length approaches to the detriment of softer, more intuitive capacities. Most critics agree that today's management students are overdrilled in the routines of calculation and analysis, but underprepared for the dynamic and turbulent…

Reality Check. It Pays to Keep Your Sense of Humor.

ERIC Educational Resources Information Center

Whaley, Kanda W.

1995-01-01

A former elementary school teacher shares suggestions for decorating a classroom on a low budget. The article includes tips for decorating bulletin boards and keeping them up-to-date, organizing workspaces and storing materials, and creating appropriate seating arrangements. (SM)

Intelligent Help in the LOCATE Workspace Layout Tool

DTIC Science & Technology

1999-06-01

LOCATE’s basic design and analysis features; • commercialising the application; • expanding the groundwork for tracking actions and goals at the interface...Muraida, D.J. (Eds.) (1993). Automating instructional design: Concepts and issues. Englewood Cliffs, N.J.: Educational Technology Publications

MMI: Increasing Community Collaboration

NASA Astrophysics Data System (ADS)

Galbraith, N. R.; Stocks, K.; Neiswender, C.; Maffei, A.; Bermudez, L.

2007-12-01

Building community requires a collaborative environment and guidance to help move members towards a common goal. An effective environment for community collaboration is a workspace that fosters participation and cooperation; effective guidance furthers common understanding and promotes best practices. The Marine Metadata Interoperability (MMI) project has developed a community web site to provide a collaborative environment for scientists, technologists, and data managers from around the world to learn about metadata and exchange ideas. Workshops, demonstration projects, and presentations also provide community-building opportunities for MMI. MMI has developed comprehensive online guides to help users understand and work with metadata standards, ontologies, and other controlled vocabularies. Documents such as "The Importance of Metadata Standards", "Usage vs. Discovery Vocabularies" and "Developing Controlled Vocabularies" guide scientists and data managers through a variety of metadata-related concepts. Members from eight organizations involved in marine science and informatics collaborated on this effort. The MMI web site has moved from Plone to Drupal, two content management systems which provide different opportunities for community-based work. Drupal's "organic groups" feature will be used to provide workspace for future teams tasked with content development, outreach, and other MMI mission-critical work. The new site is designed to enable members to easily create working areas, to build communities dedicated to developing consensus on metadata and other interoperability issues. Controlled-vocabulary-driven menus, integrated mailing-lists, member-based content creation and review tools are facets of the new web site architecture. This move provided the challenge of developing a hierarchical vocabulary to describe the resources presented on the site; consistent and logical tagging of web pages is the basis of Drupal site navigation. The new MMI web site presents enhanced opportunities for electronic discussions, focused collaborative work, and even greater community participation. The MMI project is beginning a new initiative to comprehensively catalog and document tools for marine metadata. The new MMI community-based web site will be used to support this work and to support the work of other ad-hoc teams in the future. We are seeking broad input from the community on this effort.

Reward-dependent learning in neuronal networks for planning and decision making.

PubMed

Dehaene, S; Changeux, J P

2000-01-01

Neuronal network models have been proposed for the organization of evaluation and decision processes in prefrontal circuitry and their putative neuronal and molecular bases. The models all include an implementation and simulation of an elementary reward mechanism. Their central hypothesis is that tentative rules of behavior, which are coded by clusters of active neurons in prefrontal cortex, are selected or rejected based on an evaluation by this reward signal, which may be conveyed, for instance, by the mesencephalic dopaminergic neurons with which the prefrontal cortex is densely interconnected. At the molecular level, the reward signal is postulated to be a neurotransmitter such as dopamine, which exerts a global modulatory action on prefrontal synaptic efficacies, either via volume transmission or via targeted synaptic triads. Negative reinforcement has the effect of destabilizing the currently active rule-coding clusters; subsequently, spontaneous activity varies again from one cluster to another, giving the organism the chance to discover and learn a new rule. Thus, reward signals function as effective selection signals that either maintain or suppress currently active prefrontal representations as a function of their current adequacy. Simulations of this variation-selection have successfully accounted for the main features of several major tasks that depend on prefrontal cortex integrity, such as the delayed-response test, the Wisconsin card sorting test, the Tower of London test and the Stroop test. For the more complex tasks, we have found it necessary to supplement the external reward input with a second mechanism that supplies an internal reward; it consists of an auto-evaluation loop which short-circuits the reward input from the exterior. This allows for an internal evaluation of covert motor intentions without actualizing them as behaviors, by simply testing them covertly by comparison with memorized former experiences. This element of architecture gives access to enhanced rates of learning via an elementary process of internal or covert mental simulation. We have recently applied these ideas to a new model, developed with M. Kerszberg, which hypothesizes that prefrontal cortex and its reward-related connections contribute crucially to conscious effortful tasks. This model distinguishes two main computational spaces within the human brain: a unique global workspace composed of distributed and heavily interconnected neurons with long-range axons, and a set of specialized and modular perceptual, motor, memory, evaluative and attentional processors. We postulate that workspace neurons are mobilized in effortful tasks for which the specialized processors do not suffice; they selectively mobilize or suppress, through descending connections, the contribution of specific processor neurons. In the course of task performance, workspace neurons become spontaneously co-activated, forming discrete though variable spatio-temporal patterns subject to modulation by vigilance signals and to selection by reward signals. A computer simulation of the Stroop task shows workspace activation to increase during acquisition of a novel task, effortful execution, and after errors. This model makes predictions concerning the spatio-temporal activation patterns during brain imaging of cognitive tasks, particularly concerning the conditions of activation of dorsolateral prefrontal cortex and anterior cingulate, their relation to reward mechanisms, and their specific reaction during error processing.

Control of a Serpentine Robot for Inspection Tasks

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Glass, K.; Seraji, H.

1994-01-01

This paper presents a simple and robust kinematic control scheme for the JPL serpentine robot system. The proposed strategy is developed using the dampened-least-squares/configuration control methodology, and permits the considerable dexterity of the JPL serpentine robot to be effectively utilized for maneuvering in the congested and uncertain workspaces often encountered in inspection tasks. Computer simulation results are given for the 20 degree-of-freedom (DOF) manipulator system obtained by mounting the twelve DOF serpentine robot at the end-effector of an eight DOF Robotics Research arm/lathe-bed system. These simulations demonstrate that the proposed approach provides an effective method of controlling this complex system.

Swarmie User Manual: A Rover Used for Multi-agent Swarm Research

NASA Technical Reports Server (NTRS)

Montague, Gilbert

2014-01-01

The ability to create multiple functional yet cost effective robots is crucial for conducting swarming robotics research. The Center Innovation Fund (CIF) swarming robotics project is a collaboration among the KSC Granular Mechanics and Regolith Operations (GMRO) group, the University of New Mexico Biological Computation Lab, and the NASA Ames Intelligent Robotics Group (IRG) that uses rovers, dubbed "Swarmies", as test platforms for genetic search algorithms. This fall, I assisted in the development of the software modules used on the Swarmies and created this guide to provide thorough instructions on how to configure your workspace to operate a Swarmie both in simulation and out in the field.

An adaptive controller for enhancing operator performance during teleoperation

NASA Technical Reports Server (NTRS)

Carignan, Craig R.; Tarrant, Janice M.; Mosier, Gary E.

1989-01-01

An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified.

A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.

PubMed

Hadavand, Mostafa; Mirbagheri, Alireza; Behzadipour, Saeed; Farahmand, Farzam

2014-06-01

An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia. A novel 4 + 1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests. With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints. The proposed mechanism meets the basic requirements of an effective master robot for haptic tele-surgery applications. Copyright © 2013 John Wiley & Sons, Ltd.

Energy Edge Post-Occupancy Evaluation Project: The Emerald People's Utility District Building (EPUD) Eugene, Oregon

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

Not Available

1990-06-01

The Workspace Satisfaction Survey measures occupant satisfaction with the thermal, lighting, acoustical, and air quality aspects of the work environment. In addition to ratings of these ambient environmental features, occupants also rate their satisfaction with a number of functional and aesthetic features of the office environment as well as their satisfaction with specific kinds of workspaces (e.g., computer rooms, the lobby, employee lounge, etc.). Each section on ambient conditions includes questions on the frequency with which people experience particular kinds of discomforts or problems, how much the discomfort bothers them, and how much it interferes with their work. Occupants aremore » also asked to identify how they cope with discomfort or environmental problems, and to what extent these behaviors enable them to achieve more satisfactory conditions. This report documents the results of this survey of the occupants of the Emerald People's Utility District office building in Eugene, Oregon.« less

Modeling and controller design of a 6-DOF precision positioning system

NASA Astrophysics Data System (ADS)

Cai, Kunhai; Tian, Yanling; Liu, Xianping; Fatikow, Sergej; Wang, Fujun; Cui, Liangyu; Zhang, Dawei; Shirinzadeh, Bijan

2018-05-01

A key hurdle to meet the needs of micro/nano manipulation in some complex cases is the inadequate workspace and flexibility of the operation ends. This paper presents a 6-degree of freedom (DOF) serial-parallel precision positioning system, which consists of two compact type 3-DOF parallel mechanisms. Each parallel mechanism is driven by three piezoelectric actuators (PEAs), guided by three symmetric T-shape hinges and three elliptical flexible hinges, respectively. It can extend workspace and improve flexibility of the operation ends. The proposed system can be assembled easily, which will greatly reduce the assembly errors and improve the positioning accuracy. In addition, the kinematic and dynamic model of the 6-DOF system are established, respectively. Furthermore, in order to reduce the tracking error and improve the positioning accuracy, the Discrete-time Model Predictive Controller (DMPC) is applied as an effective control method. Meanwhile, the effectiveness of the DMCP control method is verified. Finally, the tracking experiment is performed to verify the tracking performances of the 6-DOF stage.

Energy Edge Post-Occupancy Evaluation Project: The Eugene Water and Electric Board Building (EWEB) Eugene, Oregon

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

Not Available

1990-06-01

The Workspace Satisfaction Survey measures occupant satisfaction with the thermal, lighting, acoustical, and air quality aspects of the work environment. In addition to ratings of these ambient environmental features, occupants also rate their satisfaction with a number of functional and aesthetic features of the office environment as well as their satisfaction with specific kinds of workspaces (e.g., computer rooms, the lobby, employee lounge, etc.) Each section on ambient conditions includes questions on the frequency with which people experience particular kinds of discomforts or problems, how much the discomfort bothers them, and how much it interferes with their work. Occupants aremore » also asked to identify how they cope with discomfort or environmental problems, and to what extent these behaviors enable them to achieve more satisfactory conditions. Results of this survey of occupants of the four story Eugene Water Electric Boards (EWEB) main office building on the banks of the Wilamette River in Eugene, Oregon are the subject of this report.« less

A new system for evaluation of armrest use in robotic surgery and validation of a new ergonomic concept - armrest load.

PubMed

Yang, K; Perez, M; Perrenot, C; Hubert, N; Felblinger, J; Hubert, J

2016-12-01

The da Vinci robot provides a sitting position and an armrest to decrease workload and increase dexterity. We investigated the surgeon's ergonomic behaviour by installing force sensors on the dV-Trainer® simulator's armrest to measure the 'armrest load' during the performance of simulated exercises. Five experts and 48 novices performed two robotic simulation exercises on the dV-Trainer. We calculated the armrest load and evaluated their armrest-using habits. Overall score and workspace range were evaluated automatically by the simulator and compared with armrest load. Statistically significant differences exist for overall score, workspace range and armrest load between novices and experts. The armrest load score is a direct, sensitive measure for the ergonomic evaluation of a simulator's armrest use. This experience-dependent ergonomic difference between experts and novices (p = 0.007) highlights the importance of ergonomic training for novice robot users. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Perceived reachability in single- and multiple-degree-of-freedom workspaces.

PubMed

Gabbard, Carl; Ammar, Diala; Lee, Sunghan

2006-11-01

In comparisons of perceived (imagined) and actual reaches, investigators consistently find a tendency to overestimate. A primary explanation for that phenomenon is that individuals reach as a "whole-body engagement" involving multiple degrees of freedom (m-df). The authors examined right-handers (N = 28) in 1-df and m-df workspaces by having them judge the reachability of targets at midline, right, and left visual fields. Response profiles were similar for total error. Both conditions reflected an overestimation bias, although the bias was significantly greater in the m-df condition. Midline responses differed (greater overestimation) from those of right and left visual fields, which were similar. Although the authors would have predicted better performance in the m-df condition, it seems plausible that if individuals think in terms of m-df, they may feel more confident in that condition and thereby exhibit greater overestimation. Furthermore, the authors speculate that the reduced bias at the side fields may be attributed to a more conservative strategy based in part on perceived reach constraints.

Automated path planning of the Payload Inspection and Processing System

NASA Technical Reports Server (NTRS)

Byers, Robert M.

1994-01-01

The Payload Changeout Room Inspection and Processing System (PIPS) is a highly redundant manipulator intended for performing tasks in the crowded and sensitive environment of the Space Shuttle Orbiter payload bay. Its dexterity will be exploited to maneuver the end effector in a workspace populated with obstacles. A method is described by which the end effector of a highly redundant manipulator is directed toward a target via a Lyapunov stability function. A cost function is constructed which represents the distance from the manipulator links to obstacles. Obstacles are avoided by causing the vector of joint parameters to move orthogonally to the gradient of the workspace cost function. A C language program implements the algorithm to generate a joint history. The resulting motion is graphically displayed using the Interactive Graphical Robot Instruction Program (IGRIP) produced by Deneb Robotics. The graphical simulation has the potential to be a useful tool in path planning for the PIPS in the Shuttle Payload Bay environment.

Improving indoor air quality and thermal comfort in office building by using combination filters

NASA Astrophysics Data System (ADS)

Kabrein, H.; Yusof, M. Z. M.; Hariri, A.; Leman, A. M.; Afandi, A.

2017-09-01

Poor indoor air quality and thermal comfort condition in the workspace affected the occupants’ health and work productivity, especially when adapting the recirculation of air in heating ventilation and air-conditioning (HVAC) system. The recirculation of air was implemented in this study by mixing the circulated returned indoor air with the outdoor fresh air. The aims of this study are to assess the indoor thermal comfort and indoor air quality (IAQ) in the office buildings, equipped with combination filters. The air filtration technique consisting minimum efficiency reporting value (MERV) filter and activated carbon fiber (ACF) filter, located before the fan coil units. The findings of the study show that the technique of mixing recirculation air with the fresh air through the combination filters met the recommended thermal comfort condition in the workspace. Furthermore, the result of the post-occupancy evaluation (POE) and the environmental measurements comply with the ASHRAE 55 standard. In addition, the level of CO2 concentration continued to decrease during the period of the measurement.

75 FR 60495 - Eighteenth Plenary Meeting: RTCA Special Committee 203: Unmanned Aircraft Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2010-09-30

..., 20036; telephone (202) 833-9339; fax (202) 833-9434; Web site http://www.rtca.org . SUPPLEMENTARY... Product Team Breakout Session. RTCA Workspace Web Tool. Closing Plenary Session. Plenary Adjourns until... Engineering Workgroup. Control and Communications Workgroup. Sense and Avoid Workgroup. Wednesday, October...

Cross-Border Student Collaborations: Opportunities for Videoconferencing

ERIC Educational Resources Information Center

Scovotti, Carol; Spiller, Lisa D.

2011-01-01

Globalization has prompted businesses to adopt burgeoning technologies that support the efforts of distributed teams. This project unites students from geographically dispersed master's-level programs on two continents. Using videoconferencing, virtual workspace, telephone, and e-mail, MBA students at a U.S. university teamed with students from…

What Makes a Computer Lab: Use These Ideas to Design Your Own.

ERIC Educational Resources Information Center

Day, C. William; Herlihy, John J.

1989-01-01

Although educators have succeeded in informing the public about the transformative power of electronic and telecommunications tools, they have frequently overlooked physical features of spaces needed to house them. This article discusses workspace, arrangements, flooring, environment, electrical wiring, lighting, acoustics, and security features…

Wire Stripper Holds Insulation Debris

NASA Technical Reports Server (NTRS)

Cook, Allen D.; Morris, Henry S.; Bauer, Laverne

1994-01-01

Attachment to standard wire-stripping tool catches bits of insulation as they are removed from electrical wire and retains them for proper disposal. Prevents insulation particles from falling at random, contaminating electronic equipment and soiling workspace. Commercial tool modified by attaching small collection box to one of the jaws.

DHM simulation in virtual environments: a case-study on control room design.

PubMed

Zamberlan, M; Santos, V; Streit, P; Oliveira, J; Cury, R; Negri, T; Pastura, F; Guimarães, C; Cid, G

2012-01-01

This paper will present the workflow developed for the application of serious games in the design of complex cooperative work settings. The project was based on ergonomic studies and development of a control room among participative design process. Our main concerns were the 3D human virtual representation acquired from 3D scanning, human interaction, workspace layout and equipment designed considering ergonomics standards. Using Unity3D platform to design the virtual environment, the virtual human model can be controlled by users on dynamic scenario in order to evaluate the new work settings and simulate work activities. The results obtained showed that this virtual technology can drastically change the design process by improving the level of interaction between final users and, managers and human factors team.

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

NASA Technical Reports Server (NTRS)

Mann, R. C.; Fujimura, K.; Unseren, M. A.

1992-01-01

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Working Memory and Mathematics: A Review of Developmental, Individual Difference, and Cognitive Approaches

ERIC Educational Resources Information Center

Raghubar, Kimberly P.; Barnes, Marcia A.; Hecht, Steven A.

2010-01-01

Working memory refers to a mental workspace, involved in controlling, regulating, and actively maintaining relevant information to accomplish complex cognitive tasks (e.g. mathematical processing). Despite the potential relevance of a relation between working memory and math for understanding developmental and individual differences in…

Avatar-Mediated Networking: Increasing Social Presence and Interpersonal Trust in Net-Based Collaborations

ERIC Educational Resources Information Center

Bente, Gary; Ruggenberg, Sabine; Kramer, Nicole C.; Eschenburg, Felix

2008-01-01

This study analyzes the influence of avatars on social presence, interpersonal trust, perceived communication quality, nonverbal behavior, and visual attention in Net-based collaborations using a comparative approach. A real-time communication window including a special avatar interface was integrated into a shared collaborative workspace.…

76 FR 24957 - Nineteenth Meeting: RTCA Special Committee 203: Unmanned Aircraft Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2011-05-03

..., Washington, DC, 20036, telephone (202) 833-9339, fax (202) 833-9434, Web site http://www.rtca.org... Session Closing Plenary Session Plenary Adjourns RTCA Workspace Web Tool Mid-Morning/Afternoon--Workgroup Breakout Sessions Systems Engineering Workgroup Requirements Status and Overview AV2 Overview Control and...

Re-Storying an Entrepreneurial Identity: Education, Experience and Self-Narrative

ERIC Educational Resources Information Center

Harmeling, Susan S.

2011-01-01

Purpose: This paper aims to explore the ways in which entrepreneurship education may serve as an identity workspace. Design/methodology/approach: This is a conceptual/theoretical paper based on previously completed empirical work. Findings: The paper makes the connection between worldmaking, experience, action and identity. Practical implications:…

Manipulation strategies for massive space payloads

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1991-01-01

The industrial and environmental applications for robots with a relatively large workspace has increased significantly in the last few years. To accommodate the demands, the manipulator is usually designed with long, lightweight links that are inherently flexible. Ongoing research at Georgia Tech into the behavior and design of these flexible links is discussed.

Toward a Semantic Forum for Active Collaborative Learning

ERIC Educational Resources Information Center

Li, Yanyan; Dong, Mingkai; Huang, Ronghuai

2009-01-01

Online discussion forums provide open workspace allowing learners to share information, exchange ideas, address problems and discuss on specific themes. But the substantial impediment to its promotion as effective e-learning facility lies in the continuously increasing messages but with discrete and incoherent structure as well as the loosely-tied…

Centering Objects in the Workspace

ERIC Educational Resources Information Center

Free, Cory

2005-01-01

Drafters must be detail-oriented people. The objects they draw are interpreted and then built with the extreme precision required by today's manufacturers. Now that computer-aided drafting (CAD) has taken over the drafting profession, anything less than exact precision is unacceptable. In her drafting classes, the author expects her students to…

GLCF: Services

Science.gov Websites

Services Contact Site Map Go Services GLCF General Services Contact us with the online form. Answer classification Special Group Services Special workspaces for groups accessing datasets Data Ordering Services Click here to proceed to Data Ordering Service Hard Media Orders Metrics Services ESDS Metrics

Esprit de Place: Maintaining and Designing Library Buildings To Provide Transcendent Spaces.

ERIC Educational Resources Information Center

Demas, Sam; Scherer, Jeffrey A.

2002-01-01

Discusses library buildings and their role in building community. Reviews current design trends, including reading and study spaces; collaborative workspaces; technology-free zones; archives and special collections; cultural events spaces; age-specific spaces; shared spaces; natural light and landscapes; and interior design trends. (LRW)

Creating Workplaces Where People Can Think: Cognitive Ergonomics.

ERIC Educational Resources Information Center

Kearny, Lynn; Smith, Phyl

1999-01-01

Presents ideas about how the workplace affects job performance, how to diagnose workplace-related problems, and how to make modest improvements. Highlights include: workplace-imposed limits on performance; the mental and physical steps of work; screening behavior; how adaptation interferes with performance; task- and human-based workspaces;…

Workspace: The Final Frontier

ERIC Educational Resources Information Center

Parrish, Jesse; Parks, Rodney

2018-01-01

Registrar's offices used to be--and in some cases still are--physical manifestations of organizational charts: upper management resides in one cloistered area, occasionally behind a locked door, connected to the rest of the staff by multiple degrees of separation. During the summer of 2013, Elon University agreed to remodel the Office of the…

How Physical Design Can Influence Copyright Compliance

ERIC Educational Resources Information Center

Harper, Meghan

2007-01-01

Most school librarians do not think of copyright compliance and facilities planning in the same breath. Yet the design of space--physical and virtual--can discourage or promote compliance, or even help police it. Placement of and access to equipment, traffic patterns, signage, and student workspace all may influence copyright-compliance behavior…

Wikis and Collaborative Inquiry

ERIC Educational Resources Information Center

Lamb, Annette; Johnson, Larry

2009-01-01

Wikis are simply Web sites that provide easy-to-use tools for creating, editing, and sharing digital documents, images, and media files. Multiple participants can enter, submit, manage, and update a single Web workspace creating a community of authors and editors. Wiki projects help young people shift from being "consumers" of the Internet to…

77 FR 22835 - Second Meeting: RTCA Special Committee 227, Standards of Navigation Performance

Federal Register 2010, 2011, 2012, 2013, 2014

2012-04-17

... Agenda Overview Review of SC-227 Workspace Changes/Process, and MASPS/MOPS Workgroup Leadership Review... Applicable to MOPS Other Business Establish Agenda for Next Meeting. Attendance is open to the interested.... John Raper, Manager, Business Operations Branch, Federal Aviation Administration. [FR Doc. 2012-9193...

Development Context Driven Change Awareness and Analysis Framework

NASA Technical Reports Server (NTRS)

Sarma, Anita; Branchaud, Josh; Dwyer, Matthew B.; Person, Suzette; Rungta, Neha

2014-01-01

Recent work on workspace monitoring allows conflict prediction early in the development process, however, these approaches mostly use syntactic differencing techniques to compare different program versions. In contrast, traditional change-impact analysis techniques analyze related versions of the program only after the code has been checked into the master repository. We propose a novel approach, De- CAF (Development Context Analysis Framework), that leverages the development context to scope a change impact analysis technique. The goal is to characterize the impact of each developer on other developers in the team. There are various client applications such as task prioritization, early conflict detection, and providing advice on testing that can benefit from such a characterization. The DeCAF framework leverages information from the development context to bound the iDiSE change impact analysis technique to analyze only the parts of the code base that are of interest. Bounding the analysis can enable DeCAF to efficiently compute the impact of changes using a combination of program dependence and symbolic execution based approaches.

Development Context Driven Change Awareness and Analysis Framework

NASA Technical Reports Server (NTRS)

Sarma, Anita; Branchaud, Josh; Dwyer, Matthew B.; Person, Suzette; Rungta, Neha; Wang, Yurong; Elbaum, Sebastian

2014-01-01

Recent work on workspace monitoring allows conflict prediction early in the development process, however, these approaches mostly use syntactic differencing techniques to compare different program versions. In contrast, traditional change-impact analysis techniques analyze related versions of the program only after the code has been checked into the master repository. We propose a novel approach, DeCAF (Development Context Analysis Framework), that leverages the development context to scope a change impact analysis technique. The goal is to characterize the impact of each developer on other developers in the team. There are various client applications such as task prioritization, early conflict detection, and providing advice on testing that can benefit from such a characterization. The DeCAF framework leverages information from the development context to bound the iDiSE change impact analysis technique to analyze only the parts of the code base that are of interest. Bounding the analysis can enable DeCAF to efficiently compute the impact of changes using a combination of program dependence and symbolic execution based approaches.

Effect of coordinate frame compatibility on the transfer of implicit and explicit learning across limbs

PubMed Central

Carroll, Timothy J.

2016-01-01

Insights into the neural representation of motor learning can be obtained by investigating how learning transfers to novel task conditions. We recently demonstrated that visuomotor rotation learning transferred strongly between left and right limbs when the task was performed in a sagittal workspace, which afforded a consistent remapping for the two limbs in both extrinsic and joint-based coordinates. In contrast, transfer was absent when performed in horizontal workspace, where the extrinsically defined perturbation required conflicting joint-based remapping for the left and right limbs. Because visuomotor learning is thought to be supported by both implicit and explicit forms of learning, however, it is unclear to what extent these distinct forms of learning contribute to interlimb transfer. In this study, we assessed the degree to which interlimb transfer, following visuomotor rotation training, reflects explicit vs. implicit learning by obtaining verbal reports of participants' aiming direction before each movement. We also determined the extent to which these distinct components of learning are constrained by the compatibility of coordinate systems by comparing transfer between groups of participants who reached to targets arranged in the horizontal and sagittal planes. Both sagittal and horizontal conditions displayed complete transfer of explicit learning to the untrained limb. In contrast, transfer of implicit learning was incomplete, but the sagittal condition showed greater transfer than the horizontal condition. These findings suggest that explicit strategies developed with one limb can be fully implemented in the opposite limb, whereas implicit transfer depends on the degree to which new sensorimotor maps are spatially compatible for the two limbs. PMID:27334955

Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

NASA Technical Reports Server (NTRS)

Bar-Cohen, Y.; Mavroidis, C.; Bouzit, M.; Dolgin, B.; Harm, D. L.; Kopchok, G. E.; White, R.

2000-01-01

There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.

Effect of coordinate frame compatibility on the transfer of implicit and explicit learning across limbs.

PubMed

Poh, Eugene; Carroll, Timothy J; Taylor, Jordan A

2016-09-01

Insights into the neural representation of motor learning can be obtained by investigating how learning transfers to novel task conditions. We recently demonstrated that visuomotor rotation learning transferred strongly between left and right limbs when the task was performed in a sagittal workspace, which afforded a consistent remapping for the two limbs in both extrinsic and joint-based coordinates. In contrast, transfer was absent when performed in horizontal workspace, where the extrinsically defined perturbation required conflicting joint-based remapping for the left and right limbs. Because visuomotor learning is thought to be supported by both implicit and explicit forms of learning, however, it is unclear to what extent these distinct forms of learning contribute to interlimb transfer. In this study, we assessed the degree to which interlimb transfer, following visuomotor rotation training, reflects explicit vs. implicit learning by obtaining verbal reports of participants' aiming direction before each movement. We also determined the extent to which these distinct components of learning are constrained by the compatibility of coordinate systems by comparing transfer between groups of participants who reached to targets arranged in the horizontal and sagittal planes. Both sagittal and horizontal conditions displayed complete transfer of explicit learning to the untrained limb. In contrast, transfer of implicit learning was incomplete, but the sagittal condition showed greater transfer than the horizontal condition. These findings suggest that explicit strategies developed with one limb can be fully implemented in the opposite limb, whereas implicit transfer depends on the degree to which new sensorimotor maps are spatially compatible for the two limbs. Copyright © 2016 the American Physiological Society.

Lack of conformity between Indian classroom furniture and student dimensions: proposed future seat/table dimensions.

PubMed

Savanur, C S; Altekar, C R; De, A

2007-10-01

Children spend one-quarter of a day in school. Of this, 60-80% of time is spent in the classroom. Classroom features, such as workspace and personal space play an important role in children's growth and performance as this age marks the period of anatomical, physiological and psychological developments. Since the classroom is an influential part of a student's life the present study focused on classroom furniture in relation to students' workspace and personal space requirements and standards and was conducted in five schools at Mumbai, India. Dimensions of 104 items of furniture (chairs and desks) were measured as were 42 anthropometric dimensions of 225 students from grade six to grade nine (age: 10-14 years). Questionnaire responses of 292 students regarding the perceived adequacy of their classroom furniture were collected. Results indicated that the seat and desk heights (450 mm, 757 mm respectively) were higher than the comparable students' anthropometric dimensions and that of the recommendations of Bureau of Indian Standards (BIS) (340 + 3 mm, 380 + 3 mm seat-heights, 580 + 3 mm 640 + 3 mm desk-heights) as well as Time-Saver Standards (TSS) (381.0 mm seat-height and 660.4 mm desk-height). The depth of the seats and the desks (299 mm, 319 mm, respectively) were less than comparable students' anthropometric dimensions and the recommendations of BIS (IS 4837: 1990). Students reported discomfort in shoulder, wrist, knee and ankle regions. Based on the students' anthropometric data, proposed future designs with fixed table-heights and adjustable seat-heights along with footrests were identified.

Web-Based Collaborative Publications System: R&Tserve

NASA Technical Reports Server (NTRS)

Abrams, Steve

1997-01-01

R&Tserve is a publications system based on 'commercial, off-the-shelf' (COTS) software that provides a persistent, collaborative workspace for authors and editors to support the entire publication development process from initial submission, through iterative editing in a hierarchical approval structure, and on to 'publication' on the WWW. It requires no specific knowledge of the WWW (beyond basic use) or HyperText Markup Language (HTML). Graphics and URLs are automatically supported. The system includes a transaction archive, a comments utility, help functionality, automated graphics conversion, automated table generation, and an email-based notification system. It may be configured and administered via the WWW and can support publications ranging from single page documents to multiple-volume 'tomes'.

A Feasibility Study on a Parallel Mechanism for Examining the Space Shuttle Orbiter Payload Bay Radiators

NASA Technical Reports Server (NTRS)

Roberts, Rodney G.; LopezdelCastillo, Eduardo

1996-01-01

The goal of the project was to develop the necessary analysis tools for a feasibility study of a cable suspended robot system for examining the space shuttle orbiter payload bay radiators These tools were developed to address design issues such as workspace size, tension requirements on the cable, the necessary accuracy and resolution requirements and the stiffness and movement requirements of the system. This report describes the mathematical models for studying the inverse kinematics, statics, and stiffness of the robot. Each model is described by a matrix. The manipulator Jacobian was also related to the stiffness matrix, which characterized the stiffness of the system. Analysis tools were then developed based on the singular value decomposition (SVD) of the corresponding matrices. It was demonstrated how the SVD can be used to quantify the robot's performance and to provide insight into different design issues.

caCORE version 3: Implementation of a model driven, service-oriented architecture for semantic interoperability.

PubMed

Komatsoulis, George A; Warzel, Denise B; Hartel, Francis W; Shanbhag, Krishnakant; Chilukuri, Ram; Fragoso, Gilberto; Coronado, Sherri de; Reeves, Dianne M; Hadfield, Jillaine B; Ludet, Christophe; Covitz, Peter A

2008-02-01

One of the requirements for a federated information system is interoperability, the ability of one computer system to access and use the resources of another system. This feature is particularly important in biomedical research systems, which need to coordinate a variety of disparate types of data. In order to meet this need, the National Cancer Institute Center for Bioinformatics (NCICB) has created the cancer Common Ontologic Representation Environment (caCORE), an interoperability infrastructure based on Model Driven Architecture. The caCORE infrastructure provides a mechanism to create interoperable biomedical information systems. Systems built using the caCORE paradigm address both aspects of interoperability: the ability to access data (syntactic interoperability) and understand the data once retrieved (semantic interoperability). This infrastructure consists of an integrated set of three major components: a controlled terminology service (Enterprise Vocabulary Services), a standards-based metadata repository (the cancer Data Standards Repository) and an information system with an Application Programming Interface (API) based on Domain Model Driven Architecture. This infrastructure is being leveraged to create a Semantic Service-Oriented Architecture (SSOA) for cancer research by the National Cancer Institute's cancer Biomedical Informatics Grid (caBIG).

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot.

PubMed

Omisore, Olatunji Mumini; Han, Shipeng; Ren, Lingxue; Zhang, Nannan; Ivanov, Kamen; Elazab, Ahmed; Wang, Lei

2017-08-01

Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response. In this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot's workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules. Both two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s. This paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal surgery through minimal invasion or natural orifices. The study showed that the proposed geometric method can resolve IK of the snake-like robot with negligible error offset. Evaluation against well-known methods shows that the proposed method can reach several points in the robot's workspace with high accuracy and shorter computational time, simultaneously.

Using Wikis to Investigate Communication, Collaboration and Engagement in Capstone Engineering Design Projects

ERIC Educational Resources Information Center

Berthoud, L.; Gliddon, J.

2018-01-01

In today's global Aerospace industry, virtual workspaces are commonly used for collaboration between geographically distributed multidisciplinary teams. This study investigated the use of wikis to look at communication, collaboration and engagement in 'Capstone' team design projects at the end of an engineering degree. Wikis were set up for teams…

41 CFR 102-79.20 - What standard must Executive agencies promote when assigning space?

Code of Federal Regulations, 2013 CFR

2013-07-01

... quality workspace that is delivered and occupied in a timely manner, and assign space based on mission... Executive agencies promote when assigning space? 102-79.20 Section 102-79.20 Public Contracts and Property... PROPERTY 79-ASSIGNMENT AND UTILIZATION OF SPACE Assignment and Utilization of Space Assignment of Space...

41 CFR 102-79.20 - What standard must Executive agencies promote when assigning space?

Code of Federal Regulations, 2012 CFR

2012-01-01

... quality workspace that is delivered and occupied in a timely manner, and assign space based on mission... Executive agencies promote when assigning space? 102-79.20 Section 102-79.20 Public Contracts and Property... PROPERTY 79-ASSIGNMENT AND UTILIZATION OF SPACE Assignment and Utilization of Space Assignment of Space...

41 CFR 102-79.20 - What standard must Executive agencies promote when assigning space?

Code of Federal Regulations, 2010 CFR

2010-07-01

... quality workspace that is delivered and occupied in a timely manner, and assign space based on mission... Executive agencies promote when assigning space? 102-79.20 Section 102-79.20 Public Contracts and Property... PROPERTY 79-ASSIGNMENT AND UTILIZATION OF SPACE Assignment and Utilization of Space Assignment of Space...

41 CFR 102-79.20 - What standard must Executive agencies promote when assigning space?

Code of Federal Regulations, 2011 CFR

2011-01-01

... quality workspace that is delivered and occupied in a timely manner, and assign space based on mission... Executive agencies promote when assigning space? 102-79.20 Section 102-79.20 Public Contracts and Property... PROPERTY 79-ASSIGNMENT AND UTILIZATION OF SPACE Assignment and Utilization of Space Assignment of Space...

41 CFR 102-79.20 - What standard must Executive agencies promote when assigning space?

Code of Federal Regulations, 2014 CFR

2014-01-01

... quality workspace that is delivered and occupied in a timely manner, and assign space based on mission... Executive agencies promote when assigning space? 102-79.20 Section 102-79.20 Public Contracts and Property... PROPERTY 79-ASSIGNMENT AND UTILIZATION OF SPACE Assignment and Utilization of Space Assignment of Space...

Applying Global Workspace Theory to the Frame Problem

ERIC Educational Resources Information Center

Shanahan, Murray; Baars, Bernard

2005-01-01

The subject of this article is the frame problem, as conceived by certain cognitive scientists and philosophers of mind, notably Fodor for whom it stands as a fundamental obstacle to progress in cognitive science. The challenge is to explain the capacity of so-called informationally unencapsulated cognitive processes to deal effectively with…

Yours, Mine, Theirs: Multiple Generations in Today's Workplace

ERIC Educational Resources Information Center

Grotophorst, Julie

2011-01-01

For the first time in history, four distinct generations are sharing the same workspace. Veterans, Baby Boomers, Gen-Xers, and Generation Y (the Millennials) are all bringing very different life experiences, expectations, and value systems to the work table. How do leaders bridge the gap among these generations and provide common ground on which…

Statistical Learning Induces Discrete Shifts in the Allocation of Working Memory Resources

ERIC Educational Resources Information Center

Umemoto, Akina; Scolari, Miranda; Vogel, Edward K.; Awh, Edward

2010-01-01

Observers can voluntarily select which items are encoded into working memory, and the efficiency of this process strongly predicts memory capacity. Nevertheless, the present work suggests that voluntary intentions do not exclusively determine what is encoded into this online workspace. Observers indicated whether any items from a briefly stored…

The Fundamental Skills Training Project

DTIC Science & Technology

2003-08-01

rejecting hypotheses. This ITS teaches ecology concepts in areas including biomes , abiotic factors of plant growth, biotic factors in ecosystems, human...Deserts, Temperate Deciduous Forests, Coniferous Forests, Tropical Rainforests, Polar Regions, Tundra, Fresh Water, Marine . Abiotic Factors...critical points in each workspace. Incorporating motivational features that address individual characteristics such as learning styles and interests

Understanding Teamwork in Trauma Resuscitation through Analysis of Team Errors

ERIC Educational Resources Information Center

Sarcevic, Aleksandra

2009-01-01

An analysis of human errors in complex work settings can lead to important insights into the workspace design. This type of analysis is particularly relevant to safety-critical, socio-technical systems that are highly dynamic, stressful and time-constrained, and where failures can result in catastrophic societal, economic or environmental…

Labouring in the Knowledge Fields: Researching Knowledge in Globalising Workspaces

ERIC Educational Resources Information Center

Farrell, Lesley

2006-01-01

While research on globalisation can hardly be said to have ignored the phenomenon of the global corporation or the globally distributed supply chain, the focus has overwhelmingly been on "globalization from above"--on corporate structures and on the movement of global capital in global "knowledge economies". My focus in this…

Soldier-Computer Interface

DTIC Science & Technology

2015-01-27

placed on the user by the required tasks. Design areas that are of concern include seating , input and output device location and design , ambient...software, hardware, and workspace design for the test function of operability that influence operator performance in a computer-based system. 15...PRESENTATION ................... 23 APPENDIX A. SAMPLE DESIGN CHECKLISTS ...................................... A-1 B. SAMPLE TASK CHECKLISTS

The Elephant in the Schoolhouse: The Role of Propinquity in School Staff Interactions about Teaching

ERIC Educational Resources Information Center

Spillane, James P.; Shirrell, Matthew; Sweet, Tracy M.

2017-01-01

Although the physical arrangement of workspaces can both constrain and enable interactions among organizational members, sociological research in education has not extensively examined the role of physical proximity in determining work-related social ties among school staff. Using social network analysis, this article explores the relationship…

An Exploration of Women's Engagement in Makerspaces

ERIC Educational Resources Information Center

Bean, Vanessa; Farmer, Nicole M.; Kerr, Barbara A.

2015-01-01

The Maker Movement is an international trend for communities to form around shared tools and workspaces in order to engage in do-it-yourself activities. Women are underrepresented in Makerspaces, and exploration of issues related to their participation may provide directions for future research. Eight women participated in a focus group study of…

Problem Scoping Design Thinking and Close Reading: Makerspaces in the School Library

ERIC Educational Resources Information Center

Blakemore, Megan

2018-01-01

Makerspaces, collaborative workspaces stocked with materials and tools for creating, building, designing, and learning, are becoming more and more common in schools and, in particular, in school libraries. Makerspaces in the school library allow for connections between making and literacy. Indeed, such connections are authentic and natural as…

A brain-machine interface to navigate a mobile robot in a planar workspace: enabling humans to fly simulated aircraft with EEG.

PubMed

Akce, Abdullah; Johnson, Miles; Dantsker, Or; Bretl, Timothy

2013-03-01

This paper presents an interface for navigating a mobile robot that moves at a fixed speed in a planar workspace, with noisy binary inputs that are obtained asynchronously at low bit-rates from a human user through an electroencephalograph (EEG). The approach is to construct an ordered symbolic language for smooth planar curves and to use these curves as desired paths for a mobile robot. The underlying problem is then to design a communication protocol by which the user can, with vanishing error probability, specify a string in this language using a sequence of inputs. Such a protocol, provided by tools from information theory, relies on a human user's ability to compare smooth curves, just like they can compare strings of text. We demonstrate our interface by performing experiments in which twenty subjects fly a simulated aircraft at a fixed speed and altitude with input only from EEG. Experimental results show that the majority of subjects are able to specify desired paths despite a wide range of errors made in decoding EEG signals.

SDRE controller for motion design of cable-suspended robot with uncertainties and moving obstacles

NASA Astrophysics Data System (ADS)

Behboodi, Ahad; Salehi, Seyedmohammad

2017-10-01

In this paper an optimal control approach for nonlinear dynamical systems was proposed based on State Dependent Riccati Equation (SDRE) and its robustness against uncertainties is shown by simulation results. The proposed method was applied on a spatial six-cable suspended robot, which was designed to carry loads or perform different tasks in huge workspaces. Motion planning for cable-suspended robots in such a big workspace is subjected to uncertainties and obstacles. First, we emphasized the ability of SDRE to construct a systematic basis and efficient design of controller for wide variety of nonlinear dynamical systems. Then we showed how this systematic design improved the robustness of the system and facilitated the integration of motion planning techniques with the controller. In particular, obstacle avoidance technique based on artificial potential field (APF) can be easily combined with SDRE controller with efficient performance. Due to difficulties of exact solution for SDRE, an approximation method was used based on power series expansion. The efficiency and robustness of the SDRE controller was illustrated on a six-cable suspended robot with proper simulations.

Aspects on the design, implementation, and simulation of a tracked mini robot destined for special applications in theatres of operations

NASA Astrophysics Data System (ADS)

Petrişor, Silviu-Mihai; Bârsan, GhiÅ£Ä.ƒ

2013-12-01

The authors of this paper wish to highlight elements regarding the organology, functioning and simulation, in a real workspace, of a tracked mini robot structure destined for special applications in theatres of operation, a technological product which is subject to a national patent granted to our institution (patent no. RO a 2012 01051), the result of research activities undertaken under a contract won by national competition, a grant for young research teams, PN-RUTE- 2010 type. The issues outlined in this paper are aspects related to the original invention in comparison with other mini-robot structures, the inventors presenting succinctly the technological product description and its applicability both in the military and applicative area as well as in the educational one. Additionally, the advantages of using the technological product are shown in a real workspace, the constructive and functional solution before, finally, presenting, based on the modelling of the mechanical structure of the tilting module attached to the mini-robot, an application on the simulation and programming of the mini-robot under study.

Automation trust and attention allocation in multitasking workspace.

PubMed

Karpinsky, Nicole D; Chancey, Eric T; Palmer, Dakota B; Yamani, Yusuke

2018-07-01

Previous research suggests that operators with high workload can distrust and then poorly monitor automation, which has been generally inferred from automation dependence behaviors. To test automation monitoring more directly, the current study measured operators' visual attention allocation, workload, and trust toward imperfect automation in a dynamic multitasking environment. Participants concurrently performed a manual tracking task with two levels of difficulty and a system monitoring task assisted by an unreliable signaling system. Eye movement data indicate that operators allocate less visual attention to monitor automation when the tracking task is more difficult. Participants reported reduced levels of trust toward the signaling system when the tracking task demanded more focused visual attention. Analyses revealed that trust mediated the relationship between the load of the tracking task and attention allocation in Experiment 1, an effect that was not replicated in Experiment 2. Results imply a complex process underlying task load, visual attention allocation, and automation trust during multitasking. Automation designers should consider operators' task load in multitasking workspaces to avoid reduced automation monitoring and distrust toward imperfect signaling systems. Copyright © 2018. Published by Elsevier Ltd.

Using subject-specific three-dimensional (3D) anthropometry data in digital human modelling: case study in hand motion simulation.

PubMed

Tsao, Liuxing; Ma, Liang

2016-11-01

Digital human modelling enables ergonomists and designers to consider ergonomic concerns and design alternatives in a timely and cost-efficient manner in the early stages of design. However, the reliability of the simulation could be limited due to the percentile-based approach used in constructing the digital human model. To enhance the accuracy of the size and shape of the models, we proposed a framework to generate digital human models using three-dimensional (3D) anthropometric data. The 3D scan data from specific subjects' hands were segmented based on the estimated centres of rotation. The segments were then driven in forward kinematics to perform several functional postures. The constructed hand models were then verified, thereby validating the feasibility of the framework. The proposed framework helps generate accurate subject-specific digital human models, which can be utilised to guide product design and workspace arrangement. Practitioner Summary: Subject-specific digital human models can be constructed under the proposed framework based on three-dimensional (3D) anthropometry. This approach enables more reliable digital human simulation to guide product design and workspace arrangement.

Virtual fixtures as tools to enhance operator performance in telepresence environments

NASA Astrophysics Data System (ADS)

Rosenberg, Louis B.

1993-12-01

This paper introduces the notion of virtual fixtures for use in telepresence systems and presents an empirical study which demonstrates that such virtual fixtures can greatly enhance operator performance within remote environments. Just as tools and fixtures in the real world can enhance human performance by guiding manual operations, providing localizing references, and reducing the mental processing required to perform a task, virtual fixtures are computer generated percepts overlaid on top of the reflection of a remote workspace which can provide similar benefits. Like a ruler guiding a pencil in a real manipulation task, a virtual fixture overlaid on top of a remote workspace can act to reduce the mental processing required to perform a task, limit the workload of certain sensory modalities, and most of all allow precision and performance to exceed natural human abilities. Because such perceptual overlays are virtual constructions they can be diverse in modality, abstract in form, and custom tailored to individual task or user needs. This study investigates the potential of virtual fixtures by implementing simple combinations of haptic and auditory sensations as perceptual overlays during a standardized telemanipulation task.

Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

NASA Astrophysics Data System (ADS)

Bayram, Atilla

2017-03-01

Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

ROBOSIGHT: Robotic Vision System For Inspection And Manipulation

NASA Astrophysics Data System (ADS)

Trivedi, Mohan M.; Chen, ChuXin; Marapane, Suresh

1989-02-01

Vision is an important sensory modality that can be used for deriving information critical to the proper, efficient, flexible, and safe operation of an intelligent robot. Vision systems are uti-lized for developing higher level interpretation of the nature of a robotic workspace using images acquired by cameras mounted on a robot. Such information can be useful for tasks such as object recognition, object location, object inspection, obstacle avoidance and navigation. In this paper we describe efforts directed towards developing a vision system useful for performing various robotic inspection and manipulation tasks. The system utilizes gray scale images and can be viewed as a model-based system. It includes general purpose image analysis modules as well as special purpose, task dependent object status recognition modules. Experiments are described to verify the robust performance of the integrated system using a robotic testbed.

A novel passive/active hybrid robot for orthopaedic trauma surgery.

PubMed

Kuang, Shaolong; Leung, Kwok-sui; Wang, Tianmiao; Hu, Lei; Chui, Elvis; Liu, Wenyong; Wang, Yu

2012-12-01

Image guided navigation systems (IGNS) have been implemented successfully in orthopaedic trauma surgery procedures because of their ability to help surgeons position and orient hand-held drills at optimal entry points. However, current IGNS cannot prevent drilling tools or instruments from slipping or deviating from the planned trajectory during the drilling process. A method is therefore needed to overcome such problems. A novel passive/active hybrid robot (the HybriDot) for positioning and supporting surgical tools and instruments while drilling and/or cutting in orthopaedic trauma surgery is presented in this paper. This new robot, consisting of a circular prismatic joint and five passive/active back-drivable joints, is designed to fulfill clinical needs. In this paper, a system configuration and three operational modes are introduced and analyzed. Workspace and layout in the operating theatre (OT) are also analyzed in order to validate the structure design. Finally, experiments to evaluate the feasibility of the robot system are described. Analysis, simulation, and experimental results show that the novel structure of the robot can provide an appropriate workspace without risk of collision within OT environments during operation. The back-drivable joint mechanism can provide surgeons with more safety and flexibility in operational modes. The mean square value of the positional accuracy of this robot is 0.811 mm, with a standard deviation (SD) of 0.361 mm; the orientation is accurate to within 2.186º, with a SD of 0.932º. Trials on actual patients undergoing surgery for distal locking of intramedullary nails were successfully conducted in one pass using the robot. This robot has the advantages of having an appropriate workspace, being well designed for human-robot cooperation, and having high accuracy, sufficient rigidity, and easy deployability within the OT for use in common orthopaedic trauma surgery tasks such as screw fixation and drilling assistance. Copyright © 2012 John Wiley & Sons, Ltd.

Barriers to success: physical separation optimizes event-file retrieval in shared workspaces.

PubMed

Klempova, Bibiana; Liepelt, Roman

2017-07-08

Sharing tasks with other persons can simplify our work and life, but seeing and hearing other people's actions may also be very distracting. The joint Simon effect (JSE) is a standard measure of referential response coding when two persons share a Simon task. Sequential modulations of the joint Simon effect (smJSE) are interpreted as a measure of event-file processing containing stimulus information, response information and information about the just relevant control-state active in a given social situation. This study tested effects of physical (Experiment 1) and virtual (Experiment 2) separation of shared workspaces on referential coding and event-file processing using a joint Simon task. In Experiment 1, participants performed this task in individual (go-nogo), joint and standard Simon task conditions with and without a transparent curtain (physical separation) placed along the imagined vertical midline of the monitor. In Experiment 2, participants performed the same tasks with and without receiving background music (virtual separation). For response times, physical separation enhanced event-file retrieval indicated by an enlarged smJSE in the joint Simon task with curtain than without curtain (Experiment1), but did not change referential response coding. In line with this, we also found evidence for enhanced event-file processing through physical separation in the joint Simon task for error rates. Virtual separation did neither impact event-file processing, nor referential coding, but generally slowed down response times in the joint Simon task. For errors, virtual separation hampered event-file processing in the joint Simon task. For the cognitively more demanding standard two-choice Simon task, we found music to have a degrading effect on event-file retrieval for response times. Our findings suggest that adding a physical separation optimizes event-file processing in shared workspaces, while music seems to lead to a more relaxed task processing mode under shared task conditions. In addition, music had an interfering impact on joint error processing and more generally when dealing with a more complex task in isolation.

Cognitive Learning, Monitoring and Assistance of Industrial Workflows Using Egocentric Sensor Networks

PubMed Central

Bleser, Gabriele; Damen, Dima; Behera, Ardhendu; Hendeby, Gustaf; Mura, Katharina; Miezal, Markus; Gee, Andrew; Petersen, Nils; Maçães, Gustavo; Domingues, Hugo; Gorecky, Dominic; Almeida, Luis; Mayol-Cuevas, Walterio; Calway, Andrew; Cohn, Anthony G.; Hogg, David C.; Stricker, Didier

2015-01-01

Today, the workflows that are involved in industrial assembly and production activities are becoming increasingly complex. To efficiently and safely perform these workflows is demanding on the workers, in particular when it comes to infrequent or repetitive tasks. This burden on the workers can be eased by introducing smart assistance systems. This article presents a scalable concept and an integrated system demonstrator designed for this purpose. The basic idea is to learn workflows from observing multiple expert operators and then transfer the learnt workflow models to novice users. Being entirely learning-based, the proposed system can be applied to various tasks and domains. The above idea has been realized in a prototype, which combines components pushing the state of the art of hardware and software designed with interoperability in mind. The emphasis of this article is on the algorithms developed for the prototype: 1) fusion of inertial and visual sensor information from an on-body sensor network (BSN) to robustly track the user’s pose in magnetically polluted environments; 2) learning-based computer vision algorithms to map the workspace, localize the sensor with respect to the workspace and capture objects, even as they are carried; 3) domain-independent and robust workflow recovery and monitoring algorithms based on spatiotemporal pairwise relations deduced from object and user movement with respect to the scene; and 4) context-sensitive augmented reality (AR) user feedback using a head-mounted display (HMD). A distinguishing key feature of the developed algorithms is that they all operate solely on data from the on-body sensor network and that no external instrumentation is needed. The feasibility of the chosen approach for the complete action-perception-feedback loop is demonstrated on three increasingly complex datasets representing manual industrial tasks. These limited size datasets indicate and highlight the potential of the chosen technology as a combined entity as well as point out limitations of the system. PMID:26126116

Improvements for energy conservation at the Coeur d'Alene Nursery

Treesearch

Aram Eramian

2009-01-01

In 2002, the USDA Forest Service Coeur d'Alene Nursery in Idaho began to evaluate ways to reduce energy consumption in lighting, refrigeration, and heating and cooling of facility workspace. The primary factor leading up to this was the inefficiency of the nursery's Freon(R)-based refrigeration system. Energy costs and maintenance of the system were becoming...

The i5k Workspace@NAL – enabling genomic data access, visualization, and curation for the i5k community

USDA-ARS?s Scientific Manuscript database

The 5,000 arthropod genomes initiative (i5k) has tasked itself with coordinating the sequencing of 5,000 insect or related arthropod genomes. The resulting influx of data, mostly from small research groups or communities with little bioinformatics experience, will require visualization, disseminatio...

The Computer-Networked Writing Lab: One Instructor's View. ERIC Digest.

ERIC Educational Resources Information Center

Puccio, P. M.

According to an instructor of basic writing in the Writing Lab at the University of Massachusetts in Amherst, he can teach differently in a computer-networked writing lab than he did in a conventional classroom. Because the room is designed to teach writing and nothing else, it offers a congenial workspace where the teacher can interact with…

Learning Curve: Adapting Library Workspaces

ERIC Educational Resources Information Center

Haug, James C.

2008-01-01

One of the hubs of campus life at Longwood University--located in the small central Virginia town of Farmville--is the Janet D. Greenwood Library. In fall 2004, reference materials were relocated to free up space, and 15 computer workstations, which had been lined up against a wall, were replaced with 48 new PCs. In 2005, library staff began…

The Impact of Institutional Student Support on Graduation Rates in US Ph.D. Programmes

ERIC Educational Resources Information Center

Bolli, Thomas; Agasisti, Tommaso; Johnes, Geraint

2015-01-01

Using National Research Council data, we investigate the determinants of graduation rates in US Ph.D. programmes. We emphasise the impact that support and facilities offered to doctoral students have on completion rates. Significant, strong and positive effects are found for the provision of on-site graduate conferences and dedicated workspace,…

Software for Collaborative Use of Large Interactive Displays

NASA Technical Reports Server (NTRS)

Trimble, Jay; Shab, Thodore; Wales, Roxana; Vera, Alonso; Tollinger, Irene; McCurdy, Michael; Lyubimov, Dmitriy

2006-01-01

The MERBoard Collaborative Workspace, which is currently being deployed to support the Mars Exploration Rover (MER) Missions, is the first instantiation of a new computing architecture designed to support collaborative and group computing using computing devices situated in NASA mission operations room. It is a software system for generation of large-screen interactive displays by multiple users

The Journey to Recovery

ERIC Educational Resources Information Center

Reiman, Mary

2012-01-01

When 250 employees of Lincoln Public Schools (LPS) in Lincoln, Nebraska, left their workspaces in the administration building on Friday, May 25, 2011, they thought the only thing that was significant was that it was the last day of the 2010-2011 school year. However, on Monday evening, May 30, 2011, during a wind and rain storm, the 90,000 square…

Distributed user interfaces for clinical ubiquitous computing applications.

PubMed

Bång, Magnus; Larsson, Anders; Berglund, Erik; Eriksson, Henrik

2005-08-01

Ubiquitous computing with multiple interaction devices requires new interface models that support user-specific modifications to applications and facilitate the fast development of active workspaces. We have developed NOSTOS, a computer-augmented work environment for clinical personnel to explore new user interface paradigms for ubiquitous computing. NOSTOS uses several devices such as digital pens, an active desk, and walk-up displays that allow the system to track documents and activities in the workplace. We present the distributed user interface (DUI) model that allows standalone applications to distribute their user interface components to several devices dynamically at run-time. This mechanism permit clinicians to develop their own user interfaces and forms to clinical information systems to match their specific needs. We discuss the underlying technical concepts of DUIs and show how service discovery, component distribution, events and layout management are dealt with in the NOSTOS system. Our results suggest that DUIs--and similar network-based user interfaces--will be a prerequisite of future mobile user interfaces and essential to develop clinical multi-device environments.

Mobile viewer system for virtual 3D space using infrared LED point markers and camera

NASA Astrophysics Data System (ADS)

Sakamoto, Kunio; Taneji, Shoto

2006-09-01

The authors have developed a 3D workspace system using collaborative imaging devices. A stereoscopic display enables this system to project 3D information. In this paper, we describe the position detecting system for a see-through 3D viewer. A 3D display system is useful technology for virtual reality, mixed reality and augmented reality. We have researched spatial imaging and interaction system. We have ever proposed 3D displays using the slit as a parallax barrier, the lenticular screen and the holographic optical elements(HOEs) for displaying active image 1)2)3)4). The purpose of this paper is to propose the interactive system using these 3D imaging technologies. The observer can view virtual images in the real world when the user watches the screen of a see-through 3D viewer. The goal of our research is to build the display system as follows; when users see the real world through the mobile viewer, the display system gives users virtual 3D images, which is floating in the air, and the observers can touch these floating images and interact them such that kids can make play clay. The key technologies of this system are the position recognition system and the spatial imaging display. The 3D images are presented by the improved parallax barrier 3D display. Here the authors discuss the measuring method of the mobile viewer using infrared LED point markers and a camera in the 3D workspace (augmented reality world). The authors show the geometric analysis of the proposed measuring method, which is the simplest method using a single camera not the stereo camera, and the results of our viewer system.

Inertial drives for micro- and nanorobots: two novel mechanisms

NASA Astrophysics Data System (ADS)

Zesch, Wolfgang; Buechi, Roland; Codourey, Alain; Siegwart, Roland Y.

1995-12-01

In micro or nanorobotics, high precision movement in two or more degrees of freedom is one of the main problems. Firstly, the positional precision has to be increased (< 10 nm) as the object sizes decrease. On the other hand, the workspace has to have macroscopic dimensions (1 cm3) to give high maneuverability to the system and to allow suitable handling at the micro/macro-world interface. As basic driving mechanisms for the ETHZ Nanorobot Project, two new piezoelectric devices have been developed. `Abalone' is a 3-dof system that relies on the impact drive principle. The 38 mm X 33 mm X 9 mm slider can be moved to each position and orientation in a horizontal plane within a theoretically infinite workspace. In the stepping mode it achieves a speed of 1 mm/s in translation and 7 deg/s in rotation. Within the actuator's local range of 6 micrometers fine positioning is possible with a resolution better than 10 nm. `NanoCrab' is a bearingless rotational micromotor relying on the stick-slip effect. This 10 mm X 7 mm X 7 mm motor has the advantage of a relatively high torque at low rotational speed and an excellent runout. While the maximum velocity is 60 rpm, it reaches its highest torque of 0.3 mNm at 2 rpm. Another benefit is the powerless holding torque of 0.9 mNm. With a typical step of 0.1 mrad and a local resolution 3 orders of magnitude better than the step angle, NanoCrab can be very precisely adjusted. Design and measurements of the characteristics of these two mechanisms will be presented and compared with the theoretical analysis of inertial drives presented in a companion paper. Finally their integration into the Nanorobot system will be discussed.

Phoenix Animation Looking North

NASA Technical Reports Server (NTRS)

2008-01-01

[figure removed for brevity, see original site] Click on image for animation

This animation is a series of images, taken by NASA's Phoenix Mars Lander's Surface Stereo Imager, combined into a panoramic view looking north from the lander. The area depicted is beyond the immediate workspace of the lander and shows a system of polygons and troughs that connect with the ones Phoenix will be investigating in depth.

The images were taken on sol 14 (June 8, 2008) or the 14th Martian day after landing.

The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

Is the digitization of laparoscopic movement using accessible alternative technologies possible?

PubMed

Lorias Espinoza, Daniel; Gutiérrez Gnecchi, José Antonio; Martínez, Arturo Minor

2012-05-01

It is widely documented that laparoscopic surgeons require training, and an objective evaluation of the training that they receive. The most advanced evaluation systems integrate the digitization of the movement of laparoscopic tools. A great number of these systems, however, do not permit the use of real tools and their high cost limits their academic impact. Likewise, it is documented that new and accessible systems need to be developed. The aim of this article is to explore the possibility of digitizing the movement of laparoscopic tools in a three-dimensional workspace, using accessible alternative technology. Our proposal uses a commercial Wii video game control in conjunction with a program for determining kinematic variables during the execution of a recognition task.

Nanorobotics control design: a collective behavior approach for medicine

NASA Astrophysics Data System (ADS)

Cavalcanti, A.; Freitas, R. A., Jr.

2005-06-01

The authors present a new approach using genetic algorithms, neural networks, and nanorobotics concepts applied to the problem of control design for nanoassembly automation and its application in medicine. As a practical approach to validate the proposed design, we have elaborated and simulated a virtual environment focused on control automation for nanorobotics teams that exhibit collective behavior. This collective behavior is a suitable way to perform a large range of tasks and positional assembly manipulation in a complex three-dimensional workspace. We emphasize the application of such techniques as a feasible approach for the investigation of nanorobotics system design in nanomedicine. Theoretical and practical analyses of control modeling is one important aspect that will enable rapid development in the emerging field of nanotechnology.

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

Mann, R.C.; Fujimura, K.; Unseren, M.A.

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of positionmore » and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs.« less

Calculating potential fields using microchannel spatial light modulators

NASA Technical Reports Server (NTRS)

Reid, Max B.

1993-01-01

We describe and present experimental results of the optical calculation of potential field maps suitable for mobile robot navigation. The optical computation employs two write modes of a microchannel spatial light modulator (MSLM). In one mode, written patterns expand spatially, and this characteristic is used to create an extended two dimensional function representing the influence of the goal in a robot's workspace. Distinct obstacle patterns are written in a second, non-expanding, mode. A model of the mechanisms determining MSLM write mode characteristics is developed and used to derive the optical calculation time for full potential field maps. Field calculations at a few hertz are possible with current technology, and calculation time vs. map size scales favorably in comparison to digital electronic computation.

Virtual reality robotic telesurgery simulations using MEMICA haptic system

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph; Mavroidis, Constantinos; Bouzit, Mourad; Dolgin, Benjamin; Harm, Deborah L.; Kopchok, George E.; White, Rodney

2001-01-01

The authors conceived a haptic mechanism called MEMICA (Remote Mechanical Mirroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace haptic system. The development of a novel MEMICA gloves and virtual reality models are being explored to allow simulation of telesurgery and other applications. The MEMICA gloves are being designed to provide intuitive mirroring of the conditions at a virtual site where a robot simulates the presence of a human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and electrically controlled force and stiffness (ECFS) actuators that are based on the use of Electro-Rheological Fluids (ERF. In this paper the design of the MEMICA system and initial experimental results are presented.

Assessment of a cooperative workstation.

PubMed Central

Beuscart, R. J.; Molenda, S.; Souf, N.; Foucher, C.; Beuscart-Zephir, M. C.

1996-01-01

Groupware and new Information Technologies have now made it possible for people in different places to work together in synchronous cooperation. Very often, designers of this new type of software are not provided with a model of the common workspace, which is prejudicial to software development and its acceptance by potential users. The authors take the example of a task of medical co-diagnosis, using a multi-media communication workstation. Synchronous cooperative work is made possible by using local ETHERNET or public ISDN Networks. A detailed ergonomic task analysis studies the cognitive functioning of the physicians involved, compares their behaviour in the normal and the mediatized situations, and leads to an interpretation of the likely causes for success or failure of CSCW tools. PMID:8947764

Articulated Arm Coordinate Measuring Machine Calibration by Laser Tracker Multilateration

PubMed Central

Majarena, Ana C.; Brau, Agustín; Velázquez, Jesús

2014-01-01

A new procedure for the calibration of an articulated arm coordinate measuring machine (AACMM) is presented in this paper. First, a self-calibration algorithm of four laser trackers (LTs) is developed. The spatial localization of a retroreflector target, placed in different positions within the workspace, is determined by means of a geometric multilateration system constructed from the four LTs. Next, a nonlinear optimization algorithm for the identification procedure of the AACMM is explained. An objective function based on Euclidean distances and standard deviations is developed. This function is obtained from the captured nominal data (given by the LTs used as a gauge instrument) and the data obtained by the AACMM and compares the measured and calculated coordinates of the target to obtain the identified model parameters that minimize this difference. Finally, results show that the procedure presented, using the measurements of the LTs as a gauge instrument, is very effective by improving the AACMM precision. PMID:24688418

Geolab Results from Three Years of Analog Mission Tests

NASA Technical Reports Server (NTRS)

Evans, Cindy A.; Bell, M. S.; Calaway, M. J.

2013-01-01

GeoLab is a prototype glovebox for geological sample examination that was, until November 2012, fully integrated into NASA's Deep Space Habitat Analog Testbed [1,2]. GeoLab allowed us to test science operations related to contained sample examination during simulated exploration missions. The facility, shown in Figure 1 and described elsewhere [1-4], was designed for fostering the development of both instrument technology and operational concepts for sample handling and examination during future missions [3-5]. Even though we recently deintegrated the glovebox from the Deep Space Habitat (Fig. 2), it continues to provide a high-fidelity workspace for testing instruments that could be used for sample characterization. As a testbed, GeoLab supports the development of future science operations that will enhance the early scientific returns from exploration missions, and will help ensure selection of the best samples for Earth return.

Laser Measurements Based for Volumetric Accuracy Improvement of Multi-axis Systems

NASA Astrophysics Data System (ADS)

Vladimir, Sokolov; Konstantin, Basalaev

The paper describes a new developed approach to CNC-controlled multi-axis systems geometric errors compensation based on optimal error correction strategy. Multi-axis CNC-controlled systems - machine-tools and CMM's are the basis of modern engineering industry. Similar design principles of both technological and measurement equipment allow usage of similar approaches to precision management. The approach based on geometric errors compensation are widely used at present time. The paper describes a system for compensation of geometric errors of multi-axis equipment based on the new approach. The hardware basis of the developed system is a multi-function laser interferometer. The principles of system's implementation, results of measurements and system's functioning simulation are described. The effectiveness of application of described principles to multi-axis equipment of different sizes and purposes for different machining directions and zones within workspace is presented. The concepts of optimal correction strategy is introduced and dynamic accuracy control is proposed.

Development of a user-friendly system for image processing of electron microscopy by integrating a web browser and PIONE with Eos.

PubMed

Tsukamoto, Takafumi; Yasunaga, Takuo

2014-11-01

Eos (Extensible object-oriented system) is one of the powerful applications for image processing of electron micrographs. In usual cases, Eos works with only character user interfaces (CUI) under the operating systems (OS) such as OS-X or Linux, not user-friendly. Thus, users of Eos need to be expert at image processing of electron micrographs, and have a little knowledge of computer science, as well. However, all the persons who require Eos does not an expert for CUI. Thus we extended Eos to a web system independent of OS with graphical user interfaces (GUI) by integrating web browser.Advantage to use web browser is not only to extend Eos with GUI, but also extend Eos to work under distributed computational environment. Using Ajax (Asynchronous JavaScript and XML) technology, we implemented more comfortable user-interface on web browser. Eos has more than 400 commands related to image processing for electron microscopy, and the usage of each command is different from each other. Since the beginning of development, Eos has managed their user-interface by using the interface definition file of "OptionControlFile" written in CSV (Comma-Separated Value) format, i.e., Each command has "OptionControlFile", which notes information for interface and its usage generation. Developed GUI system called "Zephyr" (Zone for Easy Processing of HYpermedia Resources) also accessed "OptionControlFIle" and produced a web user-interface automatically, because its mechanism is mature and convenient,The basic actions of client side system was implemented properly and can supply auto-generation of web-form, which has functions of execution, image preview, file-uploading to a web server. Thus the system can execute Eos commands with unique options for each commands, and process image analysis. There remain problems of image file format for visualization and workspace for analysis: The image file format information is useful to check whether the input/output file is correct and we also need to provide common workspace for analysis because the client is physically separated from a server. We solved the file format problem by extension of rules of OptionControlFile of Eos. Furthermore, to solve workspace problems, we have developed two type of system. The first system is to use only local environments. The user runs a web server provided by Eos, access to a web client through a web browser, and manipulate the local files with GUI on the web browser. The second system is employing PIONE (Process-rule for Input/Output Negotiation Environment), which is our developing platform that works under heterogenic distributed environment. The users can put their resources, such as microscopic images, text files and so on, into the server-side environment supported by PIONE, and so experts can write PIONE rule definition, which defines a workflow of image processing. PIONE run each image processing on suitable computers, following the defined rule. PIONE has the ability of interactive manipulation, and user is able to try a command with various setting values. In this situation, we contribute to auto-generation of GUI for a PIONE workflow.As advanced functions, we have developed a module to log user actions. The logs include information such as setting values in image processing, procedure of commands and so on. If we use the logs effectively, we can get a lot of advantages. For example, when an expert may discover some know-how of image processing, other users can also share logs including his know-hows and so we may obtain recommendation workflow of image analysis, if we analyze logs. To implement social platform of image processing for electron microscopists, we have developed system infrastructure, as well. © The Author 2014. Published by Oxford University Press on behalf of The Japanese Society of Microscopy. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

The Ecology of the Mobile Worker. Workscape 21: The Ecology of New Ways of Working.

ERIC Educational Resources Information Center

Becker, Franklin; Quinn, Kristen L.; Callentine, Livit U.

A study addressed the impact of household composition--preschool, school-age, or no children--and nature of the home workspace--dedicated room or area--on IBM employees' satisfaction, stress, and work effectiveness. The IBM program allowed 300 employees who spent about 70 percent of their time with clients to work in home offices. Surveys,…

Traditional Project Management and the Visual Workplace Environment to Improve Project Success

ERIC Educational Resources Information Center

Fichera, Christopher E.

2016-01-01

A majority of large IT projects fail to meet scheduled deadlines, are over budget and do not satisfy the end user. Many projects fail in spite of utilizing traditional project management techniques. Research of project management has not identified the use of a visual workspace as a feature affecting or influencing the success of a project during…

Plug Your Users into Library Resources with OpenSearch Plug-Ins

ERIC Educational Resources Information Center

Baker, Nicholas C.

2007-01-01

To bring the library catalog and other online resources right into users' workspace quickly and easily without needing much more than a short XML file, the author, a reference and Web services librarian at Williams College, learned to build and use OpenSearch plug-ins. OpenSearch is a set of simple technologies and standards that allows the…

Enacting Work Space in the Flow: Sensemaking about Mobile Practices and Blurring Boundaries

ERIC Educational Resources Information Center

Davis, Loni

2013-01-01

An increasing portion of the contemporary workforce is using mobile devices to create new kinds of work-space flows characterized by emergence, liquidity, and the blurring of all kinds of boundaries. This changes the traditional notion of the term "workplace." The present study focuses on how people enact and make sense of new work space…

The GENERATE Project: Curricular and Pedagogical Inspiration from Parents and Their Children Working Together

ERIC Educational Resources Information Center

Barnes, Jonathan

2010-01-01

This report summarizes GENERATE, a pilot research project conducted by 12 artists and their children 3-14. Simply put, these artist/art educator/parents allowed their own children unlimited access to their studios, materials, equipment and workspaces for two years. During that time the children were able to work alongside their parents on making…

Conversational Pedagogy: Exploring Interactions between a Teaching Artist and Young Learners during Visual Arts Experiences

ERIC Educational Resources Information Center

Eckhoff, Angela

2013-01-01

In many early childhood classrooms, visual arts experiences occur around a communal arts table. A shared workspace allows for spontaneous conversation and exploration of the art-making process of peers and teachers. In this setting, conversation can play an important role in visual arts experiences as children explore new media, skills, and ideas.…

Work Addiction and 21st Century Information Technologies in Traditional and Virtual Work Spaces in the United States

ERIC Educational Resources Information Center

Hunka, Patricia L.

2014-01-01

This study was completed to understand whether or not work addiction or work addiction intensity could be predicted from mobile technology use. The study further investigated whether or not gender, workspace, income, or education level would moderate the relationship. The sample used was drawn from service industry employees who are not in the…

A Vision-Based Self-Calibration Method for Robotic Visual Inspection Systems

PubMed Central

Yin, Shibin; Ren, Yongjie; Zhu, Jigui; Yang, Shourui; Ye, Shenghua

2013-01-01

A vision-based robot self-calibration method is proposed in this paper to evaluate the kinematic parameter errors of a robot using a visual sensor mounted on its end-effector. This approach could be performed in the industrial field without external, expensive apparatus or an elaborate setup. A robot Tool Center Point (TCP) is defined in the structural model of a line-structured laser sensor, and aligned to a reference point fixed in the robot workspace. A mathematical model is established to formulate the misalignment errors with kinematic parameter errors and TCP position errors. Based on the fixed point constraints, the kinematic parameter errors and TCP position errors are identified with an iterative algorithm. Compared to the conventional methods, this proposed method eliminates the need for a robot-based-frame and hand-to-eye calibrations, shortens the error propagation chain, and makes the calibration process more accurate and convenient. A validation experiment is performed on an ABB IRB2400 robot. An optimal configuration on the number and distribution of fixed points in the robot workspace is obtained based on the experimental results. Comparative experiments reveal that there is a significant improvement of the measuring accuracy of the robotic visual inspection system. PMID:24300597

Ergonomic design of crane cabins: a case study from a steel plant in India.

PubMed

Ray, Pradip Kumar; Tewari, V K

2012-01-01

The study, carried out at the Batch Annealing Furnace (BAF) shop of Cold Rolling Mill (CRM) at an integrated steel plant of India, concerns ergonomic evaluation and redesign of a manually-operated Electrical Overhead Travelling (EOT) crane cabin. The crane cabin is a complex worksystem consisting of the crane operator and twelve specific machine components embedded in a closed workspace. A crane operator has to perform various activities, such as loading and unloading of coils, setting and removal of convector plates, and routine maintenance work. Initially, an operator had to work in standing posture with bent back most of the time. Ergonomically poor design of the chair and the controls, awkward work postures, and insufficient vision angle resulting in musculoskeletal disorders (MSDs) are some of the critical problems observed.. The study, conceived as an industry-academia joint initiative, was undertaken by a design team, the members of which were drawn from both the company concerned and the institute. With the project executed successfully, a number of lessons, such as how to minimize the anthropometric mismatch, how to improve the layout of the components and controls within enclosed workspace, and how to improve work posture minimizing risk of MSDs have been learned.

Digital map and situation surface: a team-oriented multidisplay workspace for network enabled situation analysis

NASA Astrophysics Data System (ADS)

Peinsipp-Byma, E.; Geisler, Jürgen; Bader, Thomas

2009-05-01

System concepts for network enabled image-based ISR (intelligence, surveillance, reconnaissance) is the major mission of Fraunhofer IITB's applied research in the area of defence and security solutions. For the TechDemo08 as part of the NATO CNAD POW Defence against terrorism Fraunhofer IITB advanced a new multi display concept to handle the shear amount and high complexity of ISR data acquired by networked, distributed surveillance systems with the objective to support the generation of a common situation picture. Amount and Complexity of ISR data demands an innovative man-machine interface concept for humans to deal with it. The IITB's concept is the Digital Map & Situation Surface. This concept offers to the user a coherent multi display environment combining a horizontal surface for the situation overview from the bird's eye view, an attached vertical display for collateral information and so-called foveatablets as personalized magic lenses in order to obtain high resolved and role-specific information about a focused areaof- interest and to interact with it. In the context of TechDemo08 the Digital Map & Situation Surface served as workspace for team-based situation visualization and analysis. Multiple sea- and landside surveillance components were connected to the system.

Mechanical interface having multiple grounded actuators

DOEpatents

Martin, Kenneth M.; Levin, Mike D.; Rosenberg, Louis B.

1998-01-01

An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object, such as a stylus or a medical instrument, and provides three degrees of freedom to the user object. Three grounded actuators provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed-loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage. Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage, pulleys coupled to grounded actuators, and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage while the pulleys and actuators remain fixed to ground. The interface also may include a floating gimbal mechanism coupling the linkage to the user object. The floating gimbal mechanism includes rotatably coupled gimbal members that provide three degrees of freedom to the user object and capstan mechanisms coupled between sensors and the gimbal members for providing enhanced sensor resolution.

Determining of a robot workspace using the integration of a CAD system with a virtual control system

NASA Astrophysics Data System (ADS)

Herbuś, K.; Ociepka, P.

2016-08-01

The paper presents a method for determining the workspace of an industrial robot using an approach consisting in integration a 3D model of an industrial robot with a virtual control system. The robot model with his work environment, prepared for motion simulation, was created in the “Motion Simulation” module of the Siemens PLM NX software. In the mentioned model components of the “link” type were created which map the geometrical form of particular elements of the robot and the components of “joint” type mapping way of cooperation of components of the “link” type. In the paper is proposed the solution in which the control process of a virtual robot is similar to the control process of a real robot using the manual control panel (teach pendant). For this purpose, the control application “JOINT” was created, which provides the manipulation of a virtual robot in accordance with its internal control system. The set of procedures stored in an .xlsx file is the element integrating the 3D robot model working in the CAD/CAE class system with the elaborated control application.

Workspaces that move people.

PubMed

Waber, Ben; Magnolfi, Jennifer; Lindsay, Greg

2014-10-01

Few companies measure whether the design of their workspaces helps or hurts performance, but they should. The authors have collected data that capture individuals' interactions, communications, and location information. They've learned that face-to-face interactions are by far the most important activity in an office; creating chance encounters between knowledge workers, both inside and outside the organization, improves performance. The Norwegian telecom company Telenor was ahead of its time in 2003, when it incorporated "hot desking" (no assigned seats) and spaces that could easily be reconfigured for different tasks and evolving teams. The CEO credits the design of the offices with helping Telenor shift from a state-run monopoly to a competitive multinational carrier with 150 million subscribers. In another example, data collected at one pharmaceuticals company showed that when a salesperson increased interactions with coworkers on other teams by 10%, his or her sales increased by 10%. To get the sales staff running into colleagues from other departments, management shifted from one coffee machine for every six employees to one for every 120 and created a new large cafeteria for everyone. Sales rose by 20%, or $200 million, afterjust one quarter, quickly justifying the capital investment in the redesign.

The CEBAF Element Database

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

Theodore Larrieu, Christopher Slominski, Michele Joyce

2011-03-01

With the inauguration of the CEBAF Element Database (CED) in Fall 2010, Jefferson Lab computer scientists have taken a step toward the eventual goal of a model-driven accelerator. Once fully populated, the database will be the primary repository of information used for everything from generating lattice decks to booting control computers to building controls screens. A requirement influencing the CED design is that it provide access to not only present, but also future and past configurations of the accelerator. To accomplish this, an introspective database schema was designed that allows new elements, types, and properties to be defined on-the-fly withmore » no changes to table structure. Used in conjunction with Oracle Workspace Manager, it allows users to query data from any time in the database history with the same tools used to query the present configuration. Users can also check-out workspaces to use as staging areas for upcoming machine configurations. All Access to the CED is through a well-documented Application Programming Interface (API) that is translated automatically from original C++ source code into native libraries for scripting languages such as perl, php, and TCL making access to the CED easy and ubiquitous.« less

There and back again: putting the vectorial movement planning hypothesis to a critical test.

PubMed

Kobak, Eva-Maria; Cardoso de Oliveira, Simone

2014-01-01

Based on psychophysical evidence about how learning of visuomotor transformation generalizes, it has been suggested that movements are planned on the basis of movement direction and magnitude, i.e., the vector connecting movement origin and targets. This notion is also known under the term "vectorial planning hypothesis". Previous psychophysical studies, however, have included separate areas of the workspace for training movements and testing the learning. This study eliminates this confounding factor by investigating the transfer of learning from forward to backward movements in a center-out-and-back task, in which the workspace for both movements is completely identical. Visual feedback allowed for learning only during movements towards the target (forward movements) and not while moving back to the origin (backward movements). When subjects learned the visuomotor rotation in forward movements, initial directional errors in backward movements also decreased to some degree. This learning effect in backward movements occurred predominantly when backward movements featured the same movement directions as the ones trained in forward movements (i.e., when opposite targets were presented). This suggests that learning was transferred in a direction specific way, supporting the notion that movement direction is the most prominent parameter used for motor planning.

Using an integrative mock-up simulation approach for evidence-based evaluation of operating room design prototypes.

PubMed

Bayramzadeh, Sara; Joseph, Anjali; Allison, David; Shultz, Jonas; Abernathy, James

2018-07-01

This paper describes the process and tools developed as part of a multidisciplinary collaborative simulation-based approach for iterative design and evaluation of operating room (OR) prototypes. Full-scale physical mock-ups of healthcare spaces offer an opportunity to actively communicate with and to engage multidisciplinary stakeholders in the design process. While mock-ups are increasingly being used in healthcare facility design projects, they are rarely evaluated in a manner to support active user feedback and engagement. Researchers and architecture students worked closely with clinicians and architects to develop OR design prototypes and engaged clinical end-users in simulated scenarios. An evaluation toolkit was developed to compare design prototypes. The mock-up evaluation helped the team make key decisions about room size, location of OR table, intra-room zoning, and doors location. Structured simulation based mock-up evaluations conducted in the design process can help stakeholders visualize their future workspace and provide active feedback. Copyright © 2018 Elsevier Ltd. All rights reserved.

Advanced biological and chemical discovery (ABCD): centralizing discovery knowledge in an inherently decentralized world.

PubMed

Agrafiotis, Dimitris K; Alex, Simson; Dai, Heng; Derkinderen, An; Farnum, Michael; Gates, Peter; Izrailev, Sergei; Jaeger, Edward P; Konstant, Paul; Leung, Albert; Lobanov, Victor S; Marichal, Patrick; Martin, Douglas; Rassokhin, Dmitrii N; Shemanarev, Maxim; Skalkin, Andrew; Stong, John; Tabruyn, Tom; Vermeiren, Marleen; Wan, Jackson; Xu, Xiang Yang; Yao, Xiang

2007-01-01

We present ABCD, an integrated drug discovery informatics platform developed at Johnson & Johnson Pharmaceutical Research & Development, L.L.C. ABCD is an attempt to bridge multiple continents, data systems, and cultures using modern information technology and to provide scientists with tools that allow them to analyze multifactorial SAR and make informed, data-driven decisions. The system consists of three major components: (1) a data warehouse, which combines data from multiple chemical and pharmacological transactional databases, designed for supreme query performance; (2) a state-of-the-art application suite, which facilitates data upload, retrieval, mining, and reporting, and (3) a workspace, which facilitates collaboration and data sharing by allowing users to share queries, templates, results, and reports across project teams, campuses, and other organizational units. Chemical intelligence, performance, and analytical sophistication lie at the heart of the new system, which was developed entirely in-house. ABCD is used routinely by more than 1000 scientists around the world and is rapidly expanding into other functional areas within the J&J organization.

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

Gregory Reaman

The initiative will enable the COG Biopathology Center (Biospecimen Repository), the Molecular Genetics Laboratory and other participating reference laboratories to upload large data sets to the eRDES. The capability streamlines data currency and accuracy allowing the centers to export data from local systems and import the defined data to the eRDES. The process will aid in the best practices which have been defined by the Office of Biorepository and Biospecimen Research (OBBR) and the Group Banking Committee (GBC). The initiative allows for batch import and export, a data validation process and reporting mechanism, and a model for other labs tomore » incorporate. All objectives are complete. The solutions provided and the defined process eliminates dual data entry resulting in data consistency. The audit trail capabilities allow for complete tracking of the data exchange between laboratories and the Statistical Data Center (SDC). The impact is directly on time and efforts. In return, the process will save money and improve the data utilized by the COG. Ongoing efforts include implementing new technologies to further enhance the current solutions and process currently in place. Web Services and Reporting Services are technologies that have become industry standards and will allow for further harmonization with caBIG (cancer Biolnforrnatics Grid). Additional testing and implementation of the model for other laboratories is in process.« less

Accelerating cancer systems biology research through Semantic Web technology.

PubMed

Wang, Zhihui; Sagotsky, Jonathan; Taylor, Thomas; Shironoshita, Patrick; Deisboeck, Thomas S

2013-01-01

Cancer systems biology is an interdisciplinary, rapidly expanding research field in which collaborations are a critical means to advance the field. Yet the prevalent database technologies often isolate data rather than making it easily accessible. The Semantic Web has the potential to help facilitate web-based collaborative cancer research by presenting data in a manner that is self-descriptive, human and machine readable, and easily sharable. We have created a semantically linked online Digital Model Repository (DMR) for storing, managing, executing, annotating, and sharing computational cancer models. Within the DMR, distributed, multidisciplinary, and inter-organizational teams can collaborate on projects, without forfeiting intellectual property. This is achieved by the introduction of a new stakeholder to the collaboration workflow, the institutional licensing officer, part of the Technology Transfer Office. Furthermore, the DMR has achieved silver level compatibility with the National Cancer Institute's caBIG, so users can interact with the DMR not only through a web browser but also through a semantically annotated and secure web service. We also discuss the technology behind the DMR leveraging the Semantic Web, ontologies, and grid computing to provide secure inter-institutional collaboration on cancer modeling projects, online grid-based execution of shared models, and the collaboration workflow protecting researchers' intellectual property. Copyright © 2012 Wiley Periodicals, Inc.

ROBOSIM: An intelligent simulator for robotic systems

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Cook, George E.; Biegl, Csaba; Springfield, James F.

1993-01-01

The purpose of this paper is to present an update of an intelligent robotics simulator package, ROBOSIM, first introduced at Technology 2000 in 1990. ROBOSIM is used for three-dimensional geometrical modeling of robot manipulators and various objects in their workspace, and for the simulation of action sequences performed by the manipulators. Geometric modeling of robot manipulators has an expanding area of interest because it can aid the design and usage of robots in a number of ways, including: design and testing of manipulators, robot action planning, on-line control of robot manipulators, telerobotic user interface, and training and education. NASA developed ROBOSIM between 1985-88 to facilitate the development of robotics, and used the package to develop robotics for welding, coating, and space operations. ROBOSIM has been further developed for academic use by its co-developer Vanderbilt University, and has been in both classroom and laboratory environments for teaching complex robotic concepts. Plans are being formulated to make ROBOSIM available to all U.S. engineering/engineering technology schools (over three hundred total with an estimated 10,000+ users per year).

[caCORE: core architecture of bioinformation on cancer research in America].

PubMed

Gao, Qin; Zhang, Yan-lei; Xie, Zhi-yun; Zhang, Qi-peng; Hu, Zhang-zhi

2006-04-18

A critical factor in the advancement of biomedical research is the ease with which data can be integrated, redistributed and analyzed both within and across domains. This paper summarizes the Biomedical Information Core Infrastructure built by National Cancer Institute Center for Bioinformatics in America (NCICB). The main product from the Core Infrastructure is caCORE--cancer Common Ontologic Reference Environment, which is the infrastructure backbone supporting data management and application development at NCICB. The paper explains the structure and function of caCORE: (1) Enterprise Vocabulary Services (EVS). They provide controlled vocabulary, dictionary and thesaurus services, and EVS produces the NCI Thesaurus and the NCI Metathesaurus; (2) The Cancer Data Standards Repository (caDSR). It provides a metadata registry for common data elements. (3) Cancer Bioinformatics Infrastructure Objects (caBIO). They provide Java, Simple Object Access Protocol and HTTP-XML application programming interfaces. The vision for caCORE is to provide a common data management framework that will support the consistency, clarity, and comparability of biomedical research data and information. In addition to providing facilities for data management and redistribution, caCORE helps solve problems of data integration. All NCICB-developed caCORE components are distributed under open-source licenses that support unrestricted usage by both non-profit and commercial entities, and caCORE has laid the foundation for a number of scientific and clinical applications. Based on it, the paper expounds caCORE-base applications simply in several NCI projects, of which one is CMAP (Cancer Molecular Analysis Project), and the other is caBIG (Cancer Biomedical Informatics Grid). In the end, the paper also gives good prospects of caCORE, and while caCORE was born out of the needs of the cancer research community, it is intended to serve as a general resource. Cancer research has historically contributed to many areas beyond tumor biology. At the same time, the paper makes some suggestions about the study at the present time on biomedical informatics in China.

MAGENCO: A map generalization controller for Arc/Info

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

Ganter, J.H.; Cashwell, J.W.

The Arc/Info GENERALIZE command implements the Douglas-Peucker algorithm, a well-regarded approach that preserves line ``character`` while reducing the number of points according to a tolerance parameter supplied by the user. The authors have developed an Arc Macro Language (AML) interface called MAGENCO that allows the user to browse workspaces, select a coverage, extract a sample from this coverage, then apply various tolerances to the sample. The results are shown in multiple display windows that are arranged around the original sample for quick visual comparison. The user may then return to the whole coverage and apply the chosen tolerance. They analyzemore » the ergonomics of line simplification, explain the design (which includes an animated demonstration of the Douglas-Peucker algorithm), and discuss key points of the MAGENCO implementation.« less

Modeling and control of a cable-suspended robot for inspection of vertical structures

NASA Astrophysics Data System (ADS)

Barry, Nicole; Fisher, Erin; Vaughan, Joshua

2016-09-01

In this paper, a cable-driven system is examined for the application of inspection of large, vertical-walled structures such as chemical storage tanks, large ship hulls, and high-rise buildings. Such cable-driven systems are not commonly used for these tasks due to vibration, which decreases inspection accuracy and degrades safety. The flexible nature of the cables make them difficult to control. In this paper, input shaping is implemented on a cable-driven system to reduce vibration. To design the input shapers, a model of the cable-driven system was developed. Analysis of the dominant dynamics and changes in them over the large workspace are also presented. The performance improvements provided by the input shaping controller are quantified through a series of simulations.

Haptic interface of the KAIST-Ewha colonoscopy simulator II.

PubMed

Woo, Hyun Soo; Kim, Woo Seok; Ahn, Woojin; Lee, Doo Yong; Yi, Sun Young

2008-11-01

This paper presents an improved haptic interface for the Korea Advanced Institute of Science and Technology Ewha Colonoscopy Simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing sufficient workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures the profiles of the user. Manipulation of the colonoscope tip is monitored by four deflection sensors and triggers computations to render accurate graphic images corresponding to the rotation of the angle knob. Tack sensors are attached to the valve-actuation buttons of the colonoscope to simulate air injection or suction as well as the corresponding deformation of the colon. A survey study for face validation was conducted, and the result shows that the developed haptic interface provides realistic haptic feedback for colonoscopy simulations.

41 CFR 102-85.125 - What alternate methods may be used to establish Rent in Federally-owned space?

Code of Federal Regulations, 2010 CFR

2010-07-01

... schedules for the right to use rooftops and other floor areas not suitable for workspace; e.g., antenna... 41 Public Contracts and Property Management 3 2010-07-01 2010-07-01 false What alternate methods may be used to establish Rent in Federally-owned space? 102-85.125 Section 102-85.125 Public Contracts...

41 CFR 102-85.125 - What alternate methods may be used to establish Rent in Federally-owned space?

Code of Federal Regulations, 2011 CFR

2011-01-01

... schedules for the right to use rooftops and other floor areas not suitable for workspace; e.g., antenna... 41 Public Contracts and Property Management 3 2011-01-01 2011-01-01 false What alternate methods may be used to establish Rent in Federally-owned space? 102-85.125 Section 102-85.125 Public Contracts...

Obstacle avoidance for redundant robots using configuration control

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor); Colbaugh, Richard D. (Inventor); Glass, Kristin L. (Inventor)

1992-01-01

A redundant robot control scheme is provided for avoiding obstacles in a workspace during the motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance between is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.

Constrained trajectory optimization for kinematically redundant arms

NASA Technical Reports Server (NTRS)

Carignan, Craig R.; Tarrant, Janice M.

1990-01-01

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths.

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.

Got Web 2.0? A Review of Web 2.0 Tools for the Information Systems Curriculum

ERIC Educational Resources Information Center

Sendall, Patricia; Ceccucci, Wendy; Peslak, Alan R.

2010-01-01

This paper discusses the importance of incorporating Web 2.0 technologies across the Information Systems (IS) curriculum. The Web 2.0 paradigm is not new; although the term itself was coined in 2004 by Dale Dougherty of O'Reilly Media, Inc., (Anderson, 2007) the concept of a collaborative workspace was the original vision of Tim Berners-Lee, the…

The Relative Merits of Lean, Enriched, and Empowered Offices: An Experimental Examination of the Impact of Workspace Management Strategies on Well-Being and Productivity

ERIC Educational Resources Information Center

Knight, Craig; Haslam, S. Alexander

2010-01-01

Principles of lean management encourage managers to exert tight control over office space and the people within it. Alternative, design-led approaches promote the value of offices that are enriched, particularly by plants and art. On the basis of a social identity perspective, we argue that both of these approaches may compromise organizational…

Sampling-Based Coverage Path Planning for Complex 3D Structures

DTIC Science & Technology

2012-09-01

one such task, in which a single robot must sweep its end effector over the entirety of a known workspace. For two-dimensional environments, optimal...structures. First, we introduce a new algorithm for planning feasible coverage paths. It is more computationally efficient in problems of complex geometry...iteratively shortens and smooths a feasible coverage path; robot configurations are adjusted without violating any coverage con- straints. Third, we propose

Thermal Comfort Testing for Vehicle Operator/Passenger Workspaces (Truck Cabs)

DTIC Science & Technology

2007-10-09

This TOP describes the procedure to quantify the thermal comfort of a truck cab in temperatures as hot and humid as possible. Facilities, instrumentation, health and safety, test conditions, test procedures, data required, and presentation of data will be discussed in this TOP. This TOP will supplement the following TOPs: TOP 1-1-006, TOP 2-2-508, TOP 2-4-001, and TOP 10-1-003.

Large-Scale Urban Localisation with a Pushbroom LIDAR

DTIC Science & Technology

2012-10-01

the sole means of gen- erating full 6-DOF poses from a previously-surveyed workspace. In this approach, Normalised Information Distance is used as the...vehicle to have good knowledge of its position at system- initialization. We now turn to an overview of the use of point-based registration methods for...combination of reference vertices, and provides a convenient representation for the intersection test . Using this parametric representation, the coordinates

Augmented Reality for Maintenance and Repair (ARMAR)

DTIC Science & Technology

2007-08-01

800×600 resolution monocular display, whose small size and lack of an opaque “ frame ”, provides the closest experience to an eyeglass form factor, and...Alternatively, fiducials could be mounted on lightweight rigid frames that are attached to predetermined points on the maintained system. Figure...stereo at 800×600 resolution, thirty frames per second, creating a compelling experience of an augmented workspace. Based on our preliminary

Kinematic and Dynamic Analysis of High-Speed Intermittent-Motion Mechanisms.

DTIC Science & Technology

1984-01-16

intermittent-motion mechanisms which -"have potential application to the high-speed automatic weapon system , and an investigation on the workspace of a robotic...manipulator system . The problems of this investigation belong to a selected group of unsolved or partially solved problems which are relevant and...design of high-speed machinery and automated manufacturing systems . Accession For IiTIS GRA&I DTIC TAB Unamounced 0 Justificatio By_, Distribut ion

Houston-Galveston Vessel Traffic Service Watchstander Analysis

DTIC Science & Technology

1978-05-01

12 ~neincludedncye Nof te cete’ frs n logs,11 reod of ntchteri Ac’tiv e for. Deartotal of iTeen husp o bevto naio tmdeaumeso ypiolpath wfithcenter...2-10 2.5 Operating Positions ...................... 2- 12 2.5,1 Watch Supervisor .................. 2- 12 2.5.2 Sector...Watchatander er.............. 2- 12 2.5.3 External Conmmunicator ............. 2-13 2.6 Equipment and Workspace ....... . . . . . . . . . . . 2 - 1 3 S2.6.1 VHF

Conventional and tubular skylights: An evaluation of the daylighting systems at two ACT{sup 2} commercial buildings

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

Allen, T.

1997-12-31

As part of the ACT{sup 2} project, sponsored by a major northern California utility, two occupied single-story commercial buildings were equipped with similar yet different daylighting systems in an effort to reduce electric lighting loads and provide a better workspace. The daylighting system, at the newly constructed 15,000 sq.ft. California State Automobile Association (CSAA) office building in Antioch, California, incorporates skylights with louvers, perforated blinds on the windows, and dimming ballasts which control T8 fluorescent fixtures. At the 7,500 sq.ft. retrofitted Verifone office building in Auburn, California, the building required a different kind of skylight to provide daylighting. Die tomore » the 10 foot attic space on the single-story building, a tubular-type of skylight was installed. The tubular skylight incorporates a long cylinder with a reflective internal surface to direct available sunlight into the workspace through a white diffuser. In addition, T8 fluorescent fixtures were controlled by dimming ballasts and light level controls. Annual lighting energy consumption at the CSAA building was reduced by 32% with a favorable reaction from the occupants. While the occupant response to the lighting at Verifone was generally good, thee were some problems in calibrating the lighting controls, thereby reducing energy savings.« less

Motor memory is encoded as a gain-field combination of intrinsic and extrinsic action representations.

PubMed

Brayanov, Jordan B; Press, Daniel Z; Smith, Maurice A

2012-10-24

Actions can be planned in either an intrinsic (body-based) reference frame or an extrinsic (world-based) frame, and understanding how the internal representations associated with these frames contribute to the learning of motor actions is a key issue in motor control. We studied the internal representation of this learning in human subjects by analyzing generalization patterns across an array of different movement directions and workspaces after training a visuomotor rotation in a single movement direction in one workspace. This provided a dense sampling of the generalization function across intrinsic and extrinsic reference frames, which allowed us to dissociate intrinsic and extrinsic representations and determine the manner in which they contributed to the motor memory for a trained action. A first experiment showed that the generalization pattern reflected a memory that was intermediate between intrinsic and extrinsic representations. A second experiment showed that this intermediate representation could not arise from separate intrinsic and extrinsic learning. Instead, we find that the representation of learning is based on a gain-field combination of local representations in intrinsic and extrinsic coordinates. This gain-field representation generalizes between actions by effectively computing similarity based on the (Mahalanobis) distance across intrinsic and extrinsic coordinates and is in line with neural recordings showing mixed intrinsic-extrinsic representations in motor and parietal cortices.

EuPathDB: the eukaryotic pathogen genomics database resource

PubMed Central

Aurrecoechea, Cristina; Barreto, Ana; Basenko, Evelina Y.; Brestelli, John; Brunk, Brian P.; Cade, Shon; Crouch, Kathryn; Doherty, Ryan; Falke, Dave; Fischer, Steve; Gajria, Bindu; Harb, Omar S.; Heiges, Mark; Hertz-Fowler, Christiane; Hu, Sufen; Iodice, John; Kissinger, Jessica C.; Lawrence, Cris; Li, Wei; Pinney, Deborah F.; Pulman, Jane A.; Roos, David S.; Shanmugasundram, Achchuthan; Silva-Franco, Fatima; Steinbiss, Sascha; Stoeckert, Christian J.; Spruill, Drew; Wang, Haiming; Warrenfeltz, Susanne; Zheng, Jie

2017-01-01

The Eukaryotic Pathogen Genomics Database Resource (EuPathDB, http://eupathdb.org) is a collection of databases covering 170+ eukaryotic pathogens (protists & fungi), along with relevant free-living and non-pathogenic species, and select pathogen hosts. To facilitate the discovery of meaningful biological relationships, the databases couple preconfigured searches with visualization and analysis tools for comprehensive data mining via intuitive graphical interfaces and APIs. All data are analyzed with the same workflows, including creation of gene orthology profiles, so data are easily compared across data sets, data types and organisms. EuPathDB is updated with numerous new analysis tools, features, data sets and data types. New tools include GO, metabolic pathway and word enrichment analyses plus an online workspace for analysis of personal, non-public, large-scale data. Expanded data content is mostly genomic and functional genomic data while new data types include protein microarray, metabolic pathways, compounds, quantitative proteomics, copy number variation, and polysomal transcriptomics. New features include consistent categorization of searches, data sets and genome browser tracks; redesigned gene pages; effective integration of alternative transcripts; and a EuPathDB Galaxy instance for private analyses of a user's data. Forthcoming upgrades include user workspaces for private integration of data with existing EuPathDB data and improved integration and presentation of host–pathogen interactions. PMID:27903906

Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints

PubMed Central

Bergeles, Christos; Gosline, Andrew H.; Vasilyev, Nikolay V.; Codd, Patrick J.; del Nido, Pedro J.; Dupont, Pierre E.

2015-01-01

Concentric tube robots are catheter-sized continuum robots that are well suited for minimally invasive surgery inside confined body cavities. These robots are constructed from sets of pre-curved superelastic tubes and are capable of assuming complex 3D curves. The family of 3D curves that the robot can assume depends on the number, curvatures, lengths and stiffnesses of the tubes in its tube set. The robot design problem involves solving for a tube set that will produce the family of curves necessary to perform a surgical procedure. At a minimum, these curves must enable the robot to smoothly extend into the body and to manipulate tools over the desired surgical workspace while respecting anatomical constraints. This paper introduces an optimization framework that utilizes procedureor patient-specific image-based anatomical models along with surgical workspace requirements to generate robot tube set designs. The algorithm searches for designs that minimize robot length and curvature and for which all paths required for the procedure consist of stable robot configurations. Two mechanics-based kinematic models are used. Initial designs are sought using a model assuming torsional rigidity. These designs are then refined using a torsionally-compliant model. The approach is illustrated with clinically relevant examples from neurosurgery and intracardiac surgery. PMID:26380575

A positioning system with no line-of-sight restrictions for cluttered environments

NASA Astrophysics Data System (ADS)

Prigge, Eric A.

Accurate sensing of vehicle location and attitude is a fundamental requirement in many mobile-robot applications, but is a very challenging problem in the cluttered and unstructured environment of the real world. Many existing indoor positioning systems are limited in workspace and robustness because they require clear lines of sight or do not provide absolute, drift-free measurements. Examples include overhead vision systems, where an unobstructed view must be maintained between robot and camera, and inertial systems, where the measurements drift over time. The research presented in this dissertation provides a new location- and attitude-sensing system designed specifically to meet the challenges of operation in a realistic, cluttered indoor environment, such as that of an office building or warehouse. The system is not limited by line-of-sight restrictions and produces drift-free measurements throughout a three-dimensional operating volume that can span a large building. Accuracy of several centimeters and a few degrees is delivered at 10 Hz, and any number of the small sensor units can be in operation, all providing estimates in a common reference frame. This positioning system is based on extremely-low-frequency magnetic fields, which have excellent characteristics for penetrating line-of-sight obstructions. Beacons located throughout the workspace create the low-level fields. A sensor unit on the mobile robot samples the local magnetic field and processes the measurements to determine its location and attitude. This research overcomes limitations in existing magnetic-based systems. The design of the signal structure, based on pseudorandom codes, enables the use of multiple, distributed L-beacons and greatly expands coverage volume. The development of real-time identification and correction methods mitigates the impact of distortions caused by materials in the environment. A novel solution algorithm combats both challenges, providing increased coverage volume and reduced sensitivity to materials. This dissertation examines the concept for the system, the challenges encountered during its development, the research solutions that enable the system, the design of a prototype, and results from experimental demonstrations. The positioning system developed through this research provides an effective solution not only for mobile robots navigating cluttered environments, but has application in other areas such as object tracking, augmented reality, and construction.

Doing laboratory ethnography: reflections on method in scientific workplaces.

PubMed

Stephens, Neil; Lewis, Jamie

2017-04-01

Laboratory ethnography extended the social scientist's gaze into the day-to-day accomplishment of scientific practice. Here we reflect upon our own ethnographies of biomedical scientific workspaces to provoke methodological discussion on the doing of laboratory ethnography. What we provide is less a 'how to' guide and more a commentary on what to look for and what to look at. We draw upon our empirical research with stem cell laboratories and animal houses, teams producing robotic surgical tools, musicians sonifying data science, a psychiatric genetics laboratory, and scientists developing laboratory grown meat. We use these cases to example a set of potential ethnographic themes worthy of pursuit: science epistemics and the extended laboratory, the interaction order of scientific work, sensory realms and the rending of science as sensible, conferences as performative sites, and the spaces, places and temporalities of scientific work.

Handheld Micromanipulation with Vision-Based Virtual Fixtures

PubMed Central

Becker, Brian C.; MacLachlan, Robert A.; Hager, Gregory D.; Riviere, Cameron N.

2011-01-01

Precise movement during micromanipulation becomes difficult in submillimeter workspaces, largely due to the destabilizing influence of tremor. Robotic aid combined with filtering techniques that suppress tremor frequency bands increases performance; however, if knowledge of the operator's goals is available, virtual fixtures have been shown to greatly improve micromanipulator precision. In this paper, we derive a control law for position-based virtual fixtures within the framework of an active handheld micromanipulator, where the fixtures are generated in real-time from microscope video. Additionally, we develop motion scaling behavior centered on virtual fixtures as a simple and direct extension to our formulation. We demonstrate that hard and soft (motion-scaled) virtual fixtures outperform state-of-the-art tremor cancellation performance on a set of artificial but medically relevant tasks: holding, move-and-hold, curve tracing, and volume restriction. PMID:23275860

ENCOMPASS: A SAGA based environment for the compositon of programs and specifications, appendix A

NASA Technical Reports Server (NTRS)

Terwilliger, Robert B.; Campbell, Roy H.

1985-01-01

ENCOMPASS is an example integrated software engineering environment being constructed by the SAGA project. ENCOMPASS supports the specification, design, construction and maintenance of efficient, validated, and verified programs in a modular programming language. The life cycle paradigm, schema of software configurations, and hierarchical library structure used by ENCOMPASS is presented. In ENCOMPASS, the software life cycle is viewed as a sequence of developments, each of which reuses components from the previous ones. Each development proceeds through the phases planning, requirements definition, validation, design, implementation, and system integration. The components in a software system are modeled as entities which have relationships between them. An entity may have different versions and different views of the same project are allowed. The simple entities supported by ENCOMPASS may be combined into modules which may be collected into projects. ENCOMPASS supports multiple programmers and projects using a hierarchical library system containing a workspace for each programmer; a project library for each project, and a global library common to all projects.

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

NASA Technical Reports Server (NTRS)

Collins, Curtis L.; Robinson, Matthew L.

2013-01-01

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

Augmented reality and haptic interfaces for robot-assisted surgery.

PubMed

Yamamoto, Tomonori; Abolhassani, Niki; Jung, Sung; Okamura, Allison M; Judkins, Timothy N

2012-03-01

Current teleoperated robot-assisted minimally invasive surgical systems do not take full advantage of the potential performance enhancements offered by various forms of haptic feedback to the surgeon. Direct and graphical haptic feedback systems can be integrated with vision and robot control systems in order to provide haptic feedback to improve safety and tissue mechanical property identification. An interoperable interface for teleoperated robot-assisted minimally invasive surgery was developed to provide haptic feedback and augmented visual feedback using three-dimensional (3D) graphical overlays. The software framework consists of control and command software, robot plug-ins, image processing plug-ins and 3D surface reconstructions. The feasibility of the interface was demonstrated in two tasks performed with artificial tissue: palpation to detect hard lumps and surface tracing, using vision-based forbidden-region virtual fixtures to prevent the patient-side manipulator from entering unwanted regions of the workspace. The interoperable interface enables fast development and successful implementation of effective haptic feedback methods in teleoperation. Copyright © 2011 John Wiley & Sons, Ltd.

ALPS - A LINEAR PROGRAM SOLVER

NASA Technical Reports Server (NTRS)

Viterna, L. A.

1994-01-01

Linear programming is a widely-used engineering and management tool. Scheduling, resource allocation, and production planning are all well-known applications of linear programs (LP's). Most LP's are too large to be solved by hand, so over the decades many computer codes for solving LP's have been developed. ALPS, A Linear Program Solver, is a full-featured LP analysis program. ALPS can solve plain linear programs as well as more complicated mixed integer and pure integer programs. ALPS also contains an efficient solution technique for pure binary (0-1 integer) programs. One of the many weaknesses of LP solvers is the lack of interaction with the user. ALPS is a menu-driven program with no special commands or keywords to learn. In addition, ALPS contains a full-screen editor to enter and maintain the LP formulation. These formulations can be written to and read from plain ASCII files for portability. For those less experienced in LP formulation, ALPS contains a problem "parser" which checks the formulation for errors. ALPS creates fully formatted, readable reports that can be sent to a printer or output file. ALPS is written entirely in IBM's APL2/PC product, Version 1.01. The APL2 workspace containing all the ALPS code can be run on any APL2/PC system (AT or 386). On a 32-bit system, this configuration can take advantage of all extended memory. The user can also examine and modify the ALPS code. The APL2 workspace has also been "packed" to be run on any DOS system (without APL2) as a stand-alone "EXE" file, but has limited memory capacity on a 640K system. A numeric coprocessor (80X87) is optional but recommended. The standard distribution medium for ALPS is a 5.25 inch 360K MS-DOS format diskette. IBM, IBM PC and IBM APL2 are registered trademarks of International Business Machines Corporation. MS-DOS is a registered trademark of Microsoft Corporation.

Mobile Monitoring of Diesel Particulate Matter Exposure within Five Urban Microenvironments, Portland, OR

NASA Astrophysics Data System (ADS)

Orlando, P. J.; Bennett, B. A.; George, L. A.

2016-12-01

Diesel particulate matter (DPM) is a hazardous air pollutant linked to mortality and morbidity outcomes including cancer, cardiovascular disease, and adverse respiratory effects. The EPA's Air Toxics Assessment indicated that more than 50% of Oregonians are exposed to 10 times the ambient benchmark concentration (ABC) of 0.1 μgm-3 for DPM. These model estimates have not been verified with measurements, potentially limiting policy action. We developed a mobile monitoring platform to ground-truth model predictions and characterize DPM spatial variation. Using black carbon (BC) as a marker, concentrations within five urban microenvironments (a construction site, an arterial, a bus mall, a city park, and an indoor workspace) were sampled within Portland, OR. The mobile monitoring platform consisted of a bicycle and trailer equipped with an aethalometer measuring BC mass, a Data Ram 4 measuring total PM2.5 mass, and a Q-Starz GPS recording location; each instrument was monitoring in 1 second intervals. Concentrations of BC were used as an indicator of DPM. The construction site had the highest DPM concentration (7 μg m-3). The indoor workspace and the park had the lowest DPM (0.3 μg m-3). Near the construction site, DPM constituted approximately 50% of the total PM2.5. However, at the park, DPM was attributed to only 6% of the total PM2.5, while the indoor space constituted 15%. Concentrations of BC near construction sites were observed to exceed 67 times the state ABC of 0.1 μg m-3 (Figure). These results signify the need to better characterize the urban exposure to DPM, as even the cleanest microenvironments may be 3 times above the ABC. Our mobile monitoring platform will help further elucidate how local-scale sources contribute to the broader distribution of DPM within Portland, while providing a tool for both residents and DEQ to effectively mitigate the health impacts from DPM exposure.

Communities of Interest: Collaborating on Technology Challenges

DTIC Science & Technology

2015-04-01

Tech- nology, and Logistics Office of International Cooperation and the Assistant Secretary of Defense for Research and Evalua- tion ( ASD [R&E]). With...DoD R&E budgetary responsibilities: The R&E Executive Committee (R&E ExCom), the most senior- level group, is comprised of the ASD (R&E), Service...COIs can draw from many new resources to inform and populate their respective Technology Roadmaps. The ASD (R&E) hosts a COI Collaboration workspace on

A Method to Determine an Organization’s Compatibility with Hybrid Workspaces

DTIC Science & Technology

2014-03-27

workers were present and assumed to be working. As early as the 1980s , private sector organizations began to evolve from task-based work to process...fact that people may utilize multiple physical spaces to conduct work ( Hislop & Axtell 2007). This is an important difference to consider when...on a flexible basis (Kunkle, 2000). Hislop and Axtell (2007) discovered that multiple studies compared the performances of teleworkers to those

Enhancement of the Shared Graphics Workspace.

DTIC Science & Technology

1987-12-31

participants to share videodisc images and computer graphics displayed in color and text and facsimile information displayed in black on amber. They...could annotate the information in up to five * colors and print the annotated version at both sites, using a standard fax machine. The SGWS also used a fax...system to display a document, whether text or photo, the camera scans the document, digitizes the data, and sends it via direct memory access (DMA) to

Expansion of Enterprise Requirements and Acquisition Model

DTIC Science & Technology

2012-06-04

upgrades in technology that made it more lethal with a smaller force. Computer technology, GPS, and stealth are just a few examples that allowed...The facility consists of banks of networked computers , large displays all built around a centralized workspace. It can be seen in Figure 3. The...first was to meet a gap in UHF satellite communciations for the Navy. This was satisfied as a Tier-1 program by purchasing additional bandwidth

Applications of Network Visualisation in Infectious Disease Management

DTIC Science & Technology

2006-12-01

White, D.R. P-Systems: a structural model for kinship studies. Connections. 24, 22–33. 2001. [13] White, D.R., Batagelj , V., and Mrvar , A. Analyzing...Infectious Disease Management 12 - 6 RTO-MP-IST-063 [14] De Nooy, W., Mrvar , A., and Batagelj , V. Exploratory social network analysis with Pajek...Workspace for the World-Wide Web, Proceedings of the ACM Human Factors in Computing Systems, pp, 111. 1996 . [7] Plaisant, C. Facilitating Data

GUI to Facilitate Research on Biological Damage from Radiation

NASA Technical Reports Server (NTRS)

Cucinotta, Frances A.; Ponomarev, Artem Lvovich

2010-01-01

A graphical-user-interface (GUI) computer program has been developed to facilitate research on the damage caused by highly energetic particles and photons impinging on living organisms. The program brings together, into one computational workspace, computer codes that have been developed over the years, plus codes that will be developed during the foreseeable future, to address diverse aspects of radiation damage. These include codes that implement radiation-track models, codes for biophysical models of breakage of deoxyribonucleic acid (DNA) by radiation, pattern-recognition programs for extracting quantitative information from biological assays, and image-processing programs that aid visualization of DNA breaks. The radiation-track models are based on transport models of interactions of radiation with matter and solution of the Boltzmann transport equation by use of both theoretical and numerical models. The biophysical models of breakage of DNA by radiation include biopolymer coarse-grained and atomistic models of DNA, stochastic- process models of deposition of energy, and Markov-based probabilistic models of placement of double-strand breaks in DNA. The program is designed for use in the NT, 95, 98, 2000, ME, and XP variants of the Windows operating system.

Biological Visualization, Imaging and Simulation(Bio-VIS) at NASA Ames Research Center: Developing New Software and Technology for Astronaut Training and Biology Research in Space

NASA Technical Reports Server (NTRS)

Smith, Jeffrey

2003-01-01

The Bio- Visualization, Imaging and Simulation (BioVIS) Technology Center at NASA's Ames Research Center is dedicated to developing and applying advanced visualization, computation and simulation technologies to support NASA Space Life Sciences research and the objectives of the Fundamental Biology Program. Research ranges from high resolution 3D cell imaging and structure analysis, virtual environment simulation of fine sensory-motor tasks, computational neuroscience and biophysics to biomedical/clinical applications. Computer simulation research focuses on the development of advanced computational tools for astronaut training and education. Virtual Reality (VR) and Virtual Environment (VE) simulation systems have become important training tools in many fields from flight simulation to, more recently, surgical simulation. The type and quality of training provided by these computer-based tools ranges widely, but the value of real-time VE computer simulation as a method of preparing individuals for real-world tasks is well established. Astronauts routinely use VE systems for various training tasks, including Space Shuttle landings, robot arm manipulations and extravehicular activities (space walks). Currently, there are no VE systems to train astronauts for basic and applied research experiments which are an important part of many missions. The Virtual Glovebox (VGX) is a prototype VE system for real-time physically-based simulation of the Life Sciences Glovebox where astronauts will perform many complex tasks supporting research experiments aboard the International Space Station. The VGX consists of a physical display system utilizing duel LCD projectors and circular polarization to produce a desktop-sized 3D virtual workspace. Physically-based modeling tools (Arachi Inc.) provide real-time collision detection, rigid body dynamics, physical properties and force-based controls for objects. The human-computer interface consists of two magnetic tracking devices (Ascention Inc.) attached to instrumented gloves (Immersion Inc.) which co-locate the user's hands with hand/forearm representations in the virtual workspace. Force-feedback is possible in a work volume defined by a Phantom Desktop device (SensAble inc.). Graphics are written in OpenGL. The system runs on a 2.2 GHz Pentium 4 PC. The prototype VGX provides astronauts and support personnel with a real-time physically-based VE system to simulate basic research tasks both on Earth and in the microgravity of Space. The immersive virtual environment of the VGX also makes it a useful tool for virtual engineering applications including CAD development, procedure design and simulation of human-system systems in a desktop-sized work volume.

The Past, Present, and Future of Configuration Management

DTIC Science & Technology

1992-07-01

surveying the tools and environments, it is possible to extract a set of 15 CM concepts [12] that capture the essence of automated support for CM. These...tools in maintaining the configuration’s integrity, as in Jasmine [20]. 9. Subsystem: provide a means to limit the effect of changes and recompilation...workspace facility. Thus, the ser- vices model, in essence , is intended to provide plug in/plug out, "black box" capabilities. The initial set of 50

Ergonomic glovebox workspace layout tool and associated method of use

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

Roddy, Shannon Howard

The present invention provides an elongate tool that aides in the placement of objects and machinery within a glovebox, such that the objects and machinery can be safely handled by a user. The tool includes a plurality of visual markings (in English units, metric units, other units, grooves, ridges, varying widths, etc.) that indicate distance from the user within the glovebox, optionally broken into placement preference zones that are color coded, grayscale coded, or the like.

Primate Anatomy, Kinematics, and Principles for Humanoid Design

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.; Ambrose, Catherine G.

2004-01-01

The primate order of animals is investigated for clues in the design of Humanoid Robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re emergence of the human waist, seen in early Prosimians and Monkeys for arboreal balance, but lost in the terrestrial Pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of Gorillas and other Hominoidea.

Motor Memory Is Encoded as a Gain-Field Combination of Intrinsic and Extrinsic Action Representations

PubMed Central

Brayanov, Jordan B.; Press, Daniel Z.; Smith, Maurice A.

2013-01-01

Actions can be planned in either an intrinsic (body-based) reference frame or an extrinsic (world-based) frame, and understanding how the internal representations associated with these frames contribute to the learning of motor actions is a key issue in motor control. We studied the internal representation of this learning in human subjects by analyzing generalization patterns across an array of different movement directions and workspaces after training a visuomotor rotation in a single movement direction in one workspace. This provided a dense sampling of the generalization function across intrinsic and extrinsic reference frames, which allowed us to dissociate intrinsic and extrinsic representations and determine the manner in which they contributed to the motor memory for a trained action. A first experiment showed that the generalization pattern reflected a memory that was intermediate between intrinsic and extrinsic representations. A second experiment showed that this intermediate representation could not arise from separate intrinsic and extrinsic learning. Instead, we find that the representation of learning is based on a gain-field combination of local representations in intrinsic and extrinsic coordinates. This gain-field representation generalizes between actions by effectively computing similarity based on the (Mahalanobis) distance across intrinsic and extrinsic coordinates and is in line with neural recordings showing mixed intrinsic-extrinsic representations in motor and parietal cortices. PMID:23100418

Design and Optimization of a Hybrid-Driven Waist Rehabilitation Robot

PubMed Central

Zi, Bin; Yin, Guangcai; Zhang, Dan

2016-01-01

In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators’ driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation robot (HWRR) cost-effective, safe, flexible, and well-adapted. A variety of sensors are chosen to measure the position and orientation of the recovery patient to ensure patient safety at the same time as the structure design. According to the structure specialty and function, the HWRR is divided into two independent parallel robots: the waist twist device and the lower limb traction device. Then these two devices are analyzed and evaluated, respectively. Considering the characters of the human body in the HWRR, the inverse kinematics and statics are studied when the waist and the lower limb are considered as a spring and link, respectively. Based on the inverse kinematics and statics, the effect of the contraction parameter of the PAM is considered in the optimization of the waist twist device, and the lower limb traction device is optimized using particle swarm optimization (PSO) to minimize the global conditioning number over the feasible workspace. As a result of the optimization, an optimal rehabilitation robot design is obtained and the condition number of the Jacobian matrix over the feasible workspace is also calculated. PMID:27983626

Impossible spaces: maximizing natural walking in virtual environments with self-overlapping architecture.

PubMed

Suma, Evan A; Lipps, Zachary; Finkelstein, Samantha; Krum, David M; Bolas, Mark

2012-04-01

Walking is only possible within immersive virtual environments that fit inside the boundaries of the user's physical workspace. To reduce the severity of the restrictions imposed by limited physical area, we introduce "impossible spaces," a new design mechanic for virtual environments that wish to maximize the size of the virtual environment that can be explored with natural locomotion. Such environments make use of self-overlapping architectural layouts, effectively compressing comparatively large interior environments into smaller physical areas. We conducted two formal user studies to explore the perception and experience of impossible spaces. In the first experiment, we showed that reasonably small virtual rooms may overlap by as much as 56% before users begin to detect that they are in an impossible space, and that the larger virtual rooms that expanded to maximally fill our available 9.14 m x 9.14 m workspace may overlap by up to 31%. Our results also demonstrate that users perceive distances to objects in adjacent overlapping rooms as if the overall space was uncompressed, even at overlap levels that were overtly noticeable. In our second experiment, we combined several well-known redirection techniques to string together a chain of impossible spaces in an expansive outdoor scene. We then conducted an exploratory analysis of users' verbal feedback during exploration, which indicated that impossible spaces provide an even more powerful illusion when users are naive to the manipulation.

Supporting community annotation and user collaboration in the integrated microbial genomes (IMG) system.

PubMed

Chen, I-Min A; Markowitz, Victor M; Palaniappan, Krishna; Szeto, Ernest; Chu, Ken; Huang, Jinghua; Ratner, Anna; Pillay, Manoj; Hadjithomas, Michalis; Huntemann, Marcel; Mikhailova, Natalia; Ovchinnikova, Galina; Ivanova, Natalia N; Kyrpides, Nikos C

2016-04-26

The exponential growth of genomic data from next generation technologies renders traditional manual expert curation effort unsustainable. Many genomic systems have included community annotation tools to address the problem. Most of these systems adopted a "Wiki-based" approach to take advantage of existing wiki technologies, but encountered obstacles in issues such as usability, authorship recognition, information reliability and incentive for community participation. Here, we present a different approach, relying on tightly integrated method rather than "Wiki-based" method, to support community annotation and user collaboration in the Integrated Microbial Genomes (IMG) system. The IMG approach allows users to use existing IMG data warehouse and analysis tools to add gene, pathway and biosynthetic cluster annotations, to analyze/reorganize contigs, genes and functions using workspace datasets, and to share private user annotations and workspace datasets with collaborators. We show that the annotation effort using IMG can be part of the research process to overcome the user incentive and authorship recognition problems thus fostering collaboration among domain experts. The usability and reliability issues are addressed by the integration of curated information and analysis tools in IMG, together with DOE Joint Genome Institute (JGI) expert review. By incorporating annotation operations into IMG, we provide an integrated environment for users to perform deeper and extended data analysis and annotation in a single system that can lead to publications and community knowledge sharing as shown in the case studies.

ViSA: a neurodynamic model for visuo-spatial working memory, attentional blink, and conscious access.

PubMed

Simione, Luca; Raffone, Antonino; Wolters, Gezinus; Salmas, Paola; Nakatani, Chie; Belardinelli, Marta Olivetti; van Leeuwen, Cees

2012-10-01

Two separate lines of study have clarified the role of selectivity in conscious access to visual information. Both involve presenting multiple targets and distracters: one simultaneously in a spatially distributed fashion, the other sequentially at a single location. To understand their findings in a unified framework, we propose a neurodynamic model for Visual Selection and Awareness (ViSA). ViSA supports the view that neural representations for conscious access and visuo-spatial working memory are globally distributed and are based on recurrent interactions between perceptual and access control processors. Its flexible global workspace mechanisms enable a unitary account of a broad range of effects: It accounts for the limited storage capacity of visuo-spatial working memory, attentional cueing, and efficient selection with multi-object displays, as well as for the attentional blink and associated sparing and masking effects. In particular, the speed of consolidation for storage in visuo-spatial working memory in ViSA is not fixed but depends adaptively on the input and recurrent signaling. Slowing down of consolidation due to weak bottom-up and recurrent input as a result of brief presentation and masking leads to the attentional blink. Thus, ViSA goes beyond earlier 2-stage and neuronal global workspace accounts of conscious processing limitations. PsycINFO Database Record (c) 2012 APA, all rights reserved.

Design and Optimization of a Hybrid-Driven Waist Rehabilitation Robot.

PubMed

Zi, Bin; Yin, Guangcai; Zhang, Dan

2016-12-14

In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators' driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation robot (HWRR) cost-effective, safe, flexible, and well-adapted. A variety of sensors are chosen to measure the position and orientation of the recovery patient to ensure patient safety at the same time as the structure design. According to the structure specialty and function, the HWRR is divided into two independent parallel robots: the waist twist device and the lower limb traction device. Then these two devices are analyzed and evaluated, respectively. Considering the characters of the human body in the HWRR, the inverse kinematics and statics are studied when the waist and the lower limb are considered as a spring and link, respectively. Based on the inverse kinematics and statics, the effect of the contraction parameter of the PAM is considered in the optimization of the waist twist device, and the lower limb traction device is optimized using particle swarm optimization (PSO) to minimize the global conditioning number over the feasible workspace. As a result of the optimization, an optimal rehabilitation robot design is obtained and the condition number of the Jacobian matrix over the feasible workspace is also calculated.

Motion capability analysis of a quadruped robot as a parallel manipulator

NASA Astrophysics Data System (ADS)

Yu, Jingjun; Lu, Dengfeng; Zhang, Zhongxiang; Pei, Xu

2014-12-01

This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.

A biologically inspired controller to solve the coverage problem in robotics.

PubMed

Rañó, Iñaki; Santos, José A

2017-06-05

The coverage problem consists on computing a path or trajectory for a robot to pass over all the points in some free area and has applications ranging from floor cleaning to demining. Coverage is solved as a planning problem-providing theoretical validation of the solution-or through heuristic techniques which rely on experimental validation. Through a combination of theoretical results and simulations, this paper presents a novel solution to the coverage problem that exploits the chaotic behaviour of a simple biologically inspired motion controller, the Braitenberg vehicle 2b. Although chaos has been used for coverage, our approach has much less restrictive assumptions about the environment and can be implemented using on-board sensors. First, we prove theoretically that this vehicle-a well known model of animal tropotaxis-behaves as a charge in an electro-magnetic field. The motion equations can be reduced to a Hamiltonian system, and, therefore the vehicle follows quasi-periodic or chaotic trajectories, which pass arbitrarily close to any point in the work-space, i.e. it solves the coverage problem. Secondly, through a set of extensive simulations, we show that the trajectories cover regions of bounded workspaces, and full coverage is achieved when the perceptual range of the vehicle is short. We compare the performance of this new approach with different types of random motion controllers in the same bounded environments.

Effect of Tendon Vibration on Hemiparetic Arm Stability in Unstable Workspaces.

PubMed

Conrad, Megan O; Gadhoke, Bani; Scheidt, Robert A; Schmit, Brian D

2015-01-01

Sensory stimulation of wrist musculature can enhance stability in the proximal arm and may be a useful therapy aimed at improving arm control post-stroke. Specifically, our prior research indicates tendon vibration can enhance stability during point-to-point arm movements and in tracking tasks. The goal of the present study was to investigate the influence of forearm tendon vibration on endpoint stability, measured at the hand, immediately following forward arm movements in an unstable environment. Both proximal and distal workspaces were tested. Ten hemiparetic stroke subjects and 5 healthy controls made forward arm movements while grasping the handle of a two-joint robotic arm. At the end of each movement, the robot applied destabilizing forces. During some trials, 70 Hz vibration was applied to the forearm flexor muscle tendons. 70 Hz was used as the stimulus frequency as it lies within the range of optimal frequencies that activate the muscle spindles at the highest response rate. Endpoint position, velocity, muscle activity and grip force data were compared before, during and after vibration. Stability at the endpoint was quantified as the magnitude of oscillation about the target position, calculated from the power of the tangential velocity data. Prior to vibration, subjects produced unstable, oscillating hand movements about the target location due to the applied force field. Stability increased during vibration, as evidenced by decreased oscillation in hand tangential velocity.

Effect of Tendon Vibration on Hemiparetic Arm Stability in Unstable Workspaces

PubMed Central

Conrad, Megan O.; Gadhoke, Bani; Scheidt, Robert A.; Schmit, Brian D.

2015-01-01

Sensory stimulation of wrist musculature can enhance stability in the proximal arm and may be a useful therapy aimed at improving arm control post-stroke. Specifically, our prior research indicates tendon vibration can enhance stability during point-to-point arm movements and in tracking tasks. The goal of the present study was to investigate the influence of forearm tendon vibration on endpoint stability, measured at the hand, immediately following forward arm movements in an unstable environment. Both proximal and distal workspaces were tested. Ten hemiparetic stroke subjects and 5 healthy controls made forward arm movements while grasping the handle of a two-joint robotic arm. At the end of each movement, the robot applied destabilizing forces. During some trials, 70 Hz vibration was applied to the forearm flexor muscle tendons. 70 Hz was used as the stimulus frequency as it lies within the range of optimal frequencies that activate the muscle spindles at the highest response rate. Endpoint position, velocity, muscle activity and grip force data were compared before, during and after vibration. Stability at the endpoint was quantified as the magnitude of oscillation about the target position, calculated from the power of the tangential velocity data. Prior to vibration, subjects produced unstable, oscillating hand movements about the target location due to the applied force field. Stability increased during vibration, as evidenced by decreased oscillation in hand tangential velocity. PMID:26633892

Doing laboratory ethnography: reflections on method in scientific workplaces

PubMed Central

Stephens, Neil; Lewis, Jamie

2017-01-01

Laboratory ethnography extended the social scientist’s gaze into the day-to-day accomplishment of scientific practice. Here we reflect upon our own ethnographies of biomedical scientific workspaces to provoke methodological discussion on the doing of laboratory ethnography. What we provide is less a ‘how to’ guide and more a commentary on what to look for and what to look at. We draw upon our empirical research with stem cell laboratories and animal houses, teams producing robotic surgical tools, musicians sonifying data science, a psychiatric genetics laboratory, and scientists developing laboratory grown meat. We use these cases to example a set of potential ethnographic themes worthy of pursuit: science epistemics and the extended laboratory, the interaction order of scientific work, sensory realms and the rending of science as sensible, conferences as performative sites, and the spaces, places and temporalities of scientific work. PMID:28546784

Lower Limb Rehabilitation Using Patient Data

PubMed Central

Saadat, Mozafar

2016-01-01

The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm. PMID:27721648

Ghettos and enclaves in the cross-place realm: mapping socially bounded spaces across cities.

PubMed

Montgomery, Alesia F

2011-01-01

Since the early Chicago School, urban researchers have used residential proximity to assess contacts within and between racial and ethnic groups. This approach is increasingly limited. Diverse groups use email, social networking sites, instant messaging and mobile phones to communicate across urban zones and distant cities. These practices enable mutual support among far-flung family members and co-ethnics as they engage with an array of institutions throughout their day. Through interviews and observations that include women and men of diverse occupations, races and national origins, the author explores how and why cross-place enclosures of sociality and resources develop. Rather than framing the residential area as the locus of racial/ethnic concentration, the author focuses on cross-place concentrations in the technologically mediated workspace. This study enhances theorization of the structural negotiations, interpersonal pressures and group preferences that produce separate lifeworlds in globalizing cities.

An Evaluation Tool for Agricultural Health and Safety Mobile Applications.

PubMed

Reyes, Iris; Ellis, Tammy; Yoder, Aaron; Keifer, Matthew C

2016-01-01

As the use of mobile devices and their software applications, or apps, becomes ubiquitous, use amongst agricultural working populations is expanding as well. The smart device paired with a well-designed app has potential for improving workplace health and safety in the hands of those who can act upon the information provided. Many apps designed to assess workplace hazards and implementation of worker protections already exist. However, the abundance and diversity of such applications also presents challenges regarding evaluation practices and assignation of value. This is particularly true in the agricultural workspace, as there is currently little information on the value of these apps for agricultural safety and health. This project proposes a framework for developing and evaluating apps that have potential usefulness in agricultural health and safety. The evaluation framework is easily transferable, with little modification for evaluation of apps in several agriculture-specific areas.

Workstations for people with disabilities: an example of a virtual reality approach

PubMed Central

Budziszewski, Paweł; Grabowski, Andrzej; Milanowicz, Marcin; Jankowski, Jarosław

2016-01-01

This article describes a method of adapting workstations for workers with motion disability using computer simulation and virtual reality (VR) techniques. A workstation for grinding spring faces was used as an example. It was adjusted for two people with a disabled right upper extremity. The study had two stages. In the first, a computer human model with a visualization of maximal arm reach and preferred workspace was used to develop a preliminary modification of a virtual workstation. In the second stage, an immersive VR environment was used to assess the virtual workstation and to add further modifications. All modifications were assessed by measuring the efficiency of work and the number of movements involved. The results of the study showed that a computer simulation could be used to determine whether a worker with a disability could access all important areas of a workstation and to propose necessary modifications. PMID:26651540

A novel method for trajectory planning of cooperative mobile manipulators.

PubMed

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method.

A Novel Method for Trajectory Planning of Cooperative Mobile Manipulators

PubMed Central

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method. PMID:22606656

A User-Friendly Software Package for HIFU Simulation

NASA Astrophysics Data System (ADS)

Soneson, Joshua E.

2009-04-01

A freely-distributed, MATLAB (The Mathworks, Inc., Natick, MA)-based software package for simulating axisymmetric high-intensity focused ultrasound (HIFU) beams and their heating effects is discussed. The package (HIFU_Simulator) consists of a propagation module which solves the Khokhlov-Zabolotskaya-Kuznetsov (KZK) equation and a heating module which solves Pennes' bioheat transfer (BHT) equation. The pressure, intensity, heating rate, temperature, and thermal dose fields are computed, plotted, the output is released to the MATLAB workspace for further user analysis or postprocessing.

Movable Cameras And Monitors For Viewing Telemanipulator

NASA Technical Reports Server (NTRS)

Diner, Daniel B.; Venema, Steven C.

1993-01-01

Three methods proposed to assist operator viewing telemanipulator on video monitor in control station when video image generated by movable video camera in remote workspace of telemanipulator. Monitors rotated or shifted and/or images in them transformed to adjust coordinate systems of scenes visible to operator according to motions of cameras and/or operator's preferences. Reduces operator's workload and probability of error by obviating need for mental transformations of coordinates during operation. Methods applied in outer space, undersea, in nuclear industry, in surgery, in entertainment, and in manufacturing.

Adaptive tracking for complex systems using reduced-order models

NASA Technical Reports Server (NTRS)

Carnigan, Craig R.

1990-01-01

Reduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track a payload trajectory using a four-parameter model instead of the full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory.

Adaptive tracking for complex systems using reduced-order models

NASA Technical Reports Server (NTRS)

Carignan, Craig R.

1990-01-01

Reduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track the desired position trajectory of a payload using a four-parameter model instead of a full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory.

Intelligent Analysis in the LOCATE Workspace Layout Tool

DTIC Science & Technology

1999-07-01

function values ~· Print colour cost displays. .... Figure 10. Consequence for System (Selt) Model of User Query in Figure 9. I I I I I I I I...as a model for other complex and many-featured applications. I I I I I I I I I I I 42 References Broadbent , G. (1988). Design in... models that provide ways of monitoring LOCATE’s understanding of what the user is doing, what he or she knows and how that information might be used to

Occupational Chemical Exposures Among Cosmetologists

PubMed Central

Pak, Victoria M.; Powers, Martha; Liu, Jianghong

2014-01-01

More research is needed to understand possible occupational reproductive risks for cosmetologists, specifically hairdressers and nail technicians, two occupations that often share workspace and exposure to hair dyes and nail polish. Cosmetologists are predominantly females of reproductive age; thus, they may be at higher risk for the effects of exposure to reproductive toxins. The purpose of this article is to inform nurses and public health professionals about occupational exposures for cosmetologists and discuss interventions to reduce the risks of reproductive disorders among susceptible worker populations. PMID:24328919

Workspace Design Handbook for Standardized Command Posts

DTIC Science & Technology

1990-09-01

b02 a. 4 2 20. 4P =U & u 00 -AR 2 MO Z.-aa a W 0 w 2q ____q_>_P. ’U Z~ -~~$ U~. hhIZf- - do 4 a: 0 ~ ~~~ L0; M; R-- IU 9 9- ~ KR 5B-4K z~ ~ 1 IM 2Sw...safety training to prevent accidents. N(ot all users get such training, even when it is "required." Some users will kave had outdated training, or

A self-updating road map of The Cancer Genome Atlas.

PubMed

Robbins, David E; Grüneberg, Alexander; Deus, Helena F; Tanik, Murat M; Almeida, Jonas S

2013-05-15

Since 2011, The Cancer Genome Atlas' (TCGA) files have been accessible through HTTP from a public site, creating entirely new possibilities for cancer informatics by enhancing data discovery and retrieval. Significantly, these enhancements enable the reporting of analysis results that can be fully traced to and reproduced using their source data. However, to realize this possibility, a continually updated road map of files in the TCGA is required. Creation of such a road map represents a significant data modeling challenge, due to the size and fluidity of this resource: each of the 33 cancer types is instantiated in only partially overlapping sets of analytical platforms, while the number of data files available doubles approximately every 7 months. We developed an engine to index and annotate the TCGA files, relying exclusively on third-generation web technologies (Web 3.0). Specifically, this engine uses JavaScript in conjunction with the World Wide Web Consortium's (W3C) Resource Description Framework (RDF), and SPARQL, the query language for RDF, to capture metadata of files in the TCGA open-access HTTP directory. The resulting index may be queried using SPARQL, and enables file-level provenance annotations as well as discovery of arbitrary subsets of files, based on their metadata, using web standard languages. In turn, these abilities enhance the reproducibility and distribution of novel results delivered as elements of a web-based computational ecosystem. The development of the TCGA Roadmap engine was found to provide specific clues about how biomedical big data initiatives should be exposed as public resources for exploratory analysis, data mining and reproducible research. These specific design elements align with the concept of knowledge reengineering and represent a sharp departure from top-down approaches in grid initiatives such as CaBIG. They also present a much more interoperable and reproducible alternative to the still pervasive use of data portals. A prepared dashboard, including links to source code and a SPARQL endpoint, is available at http://bit.ly/TCGARoadmap. A video tutorial is available at http://bit.ly/TCGARoadmapTutorial. robbinsd@uab.edu.

A self-updating road map of The Cancer Genome Atlas

PubMed Central

Robbins, David E.; Grüneberg, Alexander; Deus, Helena F.; Tanik, Murat M.; Almeida, Jonas S.

2013-01-01

Motivation: Since 2011, The Cancer Genome Atlas’ (TCGA) files have been accessible through HTTP from a public site, creating entirely new possibilities for cancer informatics by enhancing data discovery and retrieval. Significantly, these enhancements enable the reporting of analysis results that can be fully traced to and reproduced using their source data. However, to realize this possibility, a continually updated road map of files in the TCGA is required. Creation of such a road map represents a significant data modeling challenge, due to the size and fluidity of this resource: each of the 33 cancer types is instantiated in only partially overlapping sets of analytical platforms, while the number of data files available doubles approximately every 7 months. Results: We developed an engine to index and annotate the TCGA files, relying exclusively on third-generation web technologies (Web 3.0). Specifically, this engine uses JavaScript in conjunction with the World Wide Web Consortium’s (W3C) Resource Description Framework (RDF), and SPARQL, the query language for RDF, to capture metadata of files in the TCGA open-access HTTP directory. The resulting index may be queried using SPARQL, and enables file-level provenance annotations as well as discovery of arbitrary subsets of files, based on their metadata, using web standard languages. In turn, these abilities enhance the reproducibility and distribution of novel results delivered as elements of a web-based computational ecosystem. The development of the TCGA Roadmap engine was found to provide specific clues about how biomedical big data initiatives should be exposed as public resources for exploratory analysis, data mining and reproducible research. These specific design elements align with the concept of knowledge reengineering and represent a sharp departure from top-down approaches in grid initiatives such as CaBIG. They also present a much more interoperable and reproducible alternative to the still pervasive use of data portals. Availability: A prepared dashboard, including links to source code and a SPARQL endpoint, is available at http://bit.ly/TCGARoadmap. A video tutorial is available at http://bit.ly/TCGARoadmapTutorial. Contact: robbinsd@uab.edu PMID:23595662

Hand-Eye Calibration of Robonaut

NASA Technical Reports Server (NTRS)

Nickels, Kevin; Huber, Eric

2004-01-01

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

Mobility experiments with microrobots for minimally invasive intraocular surgery.

PubMed

Ullrich, Franziska; Bergeles, Christos; Pokki, Juho; Ergeneman, Olgac; Erni, Sandro; Chatzipirpiridis, George; Pané, Salvador; Framme, Carsten; Nelson, Bradley J

2013-04-23

To investigate microrobots as an assistive tool for minimally invasive intraocular surgery and to demonstrate mobility and controllability inside the living rabbit eye. A system for wireless magnetic control of untethered microrobots was developed. Mobility and controllability of a microrobot are examined in different media, specifically vitreous, balanced salt solution (BSS), and silicone oil. This is demonstrated through ex vivo and in vivo animal experiments. The developed electromagnetic system enables precise control of magnetic microrobots over a workspace that covers the posterior eye segment. The system allows for rotation and translation of the microrobot in different media (vitreous, BSS, silicone oil) inside the eye. Intravitreal introduction of untethered mobile microrobots can enable sutureless and precise ophthalmic procedures. Ex vivo and in vivo experiments demonstrate that microrobots can be manipulated inside the eye. Potential applications are targeted drug delivery for maculopathies such as AMD, intravenous deployment of anticoagulation agents for retinal vein occlusion (RVO), and mechanical applications, such as manipulation of epiretinal membrane peeling (ERM). The technology has the potential to reduce the invasiveness of ophthalmic surgery and assist in the treatment of a variety of ophthalmic diseases.

Kinematics, controls, and path planning results for a redundant manipulator

NASA Technical Reports Server (NTRS)

Gretz, Bruce; Tilley, Scott W.

1989-01-01

The inverse kinematics solution, a modal position control algorithm, and path planning results for a 7 degree of freedom manipulator are presented. The redundant arm consists of two links with shoulder and elbow joints and a spherical wrist. The inverse kinematics problem for tip position is solved and the redundant joint is identified. It is also shown that a locus of tip positions exists in which there are kinematic limitations on self-motion. A computationally simple modal position control algorithm has been developed which guarantees a nearly constant closed-loop dynamic response throughout the workspace. If all closed-loop poles are assigned to the same location, the algorithm can be implemented with very little computation. To further reduce the required computation, the modal gains are updated only at discrete time intervals. Criteria are developed for the frequency of these updates. For commanding manipulator movements, a 5th-order spline which minimizes jerk provides a smooth tip-space path. Schemes for deriving a corresponding joint-space trajectory are discussed. Modifying the trajectory to avoid joint torque saturation when a tip payload is added is also considered. Simulation results are presented.

International Space Station USOS Crew Quarters Development

NASA Technical Reports Server (NTRS)

Broyan, James Lee, Jr.; Borrego, Melissa Ann; Bahr, Juergen F.

2008-01-01

The International Space Station (ISS) United States Operational Segment (USOS) currently provides a Temporary Sleep Station (TeSS) as crew quarters for one crewmember in the Laboratory Module. The Russian Segment provides permanent crew quarters (Kayutas) for two crewmembers in the Service Module. The TeSS provides limited electrical, communication, and ventilation functionality. A new permanent rack sized USOS ISS Crew Quarters (CQ) is being developed. Up to four CQs can be installed into the Node 2 element to increase the ISS crewmember size to six. The new CQs will provide private crewmember space with enhanced acoustic noise mitigation, integrated radiation reduction material, controllable airflow, communication equipment, redundant electrical systems, and redundant caution and warning systems. The rack sized CQ is a system with multiple crewmember restraints, adjustable lighting, controllable ventilation, and interfaces that allow each crewmember to personalize their CQ workspace. Providing an acoustically quiet and visually isolated environment, while ensuring crewmember safety, is critical for obtaining crewmember rest and comfort to enable long term crewmember performance. The numerous human factor, engineering, and program considerations during the concept, design, and prototyping are outlined in the paper.

Development master arm of 2-DOF planar parallel manipulator for In-Vitro Fertilization

NASA Astrophysics Data System (ADS)

Thamrongaphichartkul, Kitti; Vongbunyong, Supachai; Nuntakarn, Lalana

2018-01-01

Micromanipulator is a mechanical device used for manipulating miniature objects in the order of micron. It is widely used in In-Vitro Fertilization (IVF) in which sperms will be held in a micro-needle and penetrate to an oocyte for fertilization. IVF needs to be performed by high skill embryologists to control the movement of the needle accurately due to the lack of tactile perception of the user. Haptic device is a device that can transmit and simulate position, velocity and force in order to enhance interaction between the user and system. However, commercially available haptic devices have unnecessary degrees of freedom and limited workspace which are inappropriate for IVF process. This paper focuses on development of a haptic device for using in IVF process. It will be used as a master arm for the master-slave system for IVF process in order to enhance the ability of users to control the micromanipulator. As a result, the embryologist is able to carry out the IVF process more effectively with having tactile perception.

Development of an assistive motorized hip orthosis: kinematics analysis and mechanical design.

PubMed

Olivier, Jeremy; Bouri, Mohamed; Ortlieb, Amalric; Bleuler, Hannes; Clavel, Reymond

2013-06-01

With the increase of life expectancy, a higher number of elderly need assistance to maintain their mobility and their independance. The hip joint is crucial for walking and is problematic for a large number of aged people. In this paper we present a novel design of a motorized hip orthosis to assist elderly people while walking, stair climbing and during the sit-to-stand transistions. The kinematics was developed based on biomechanics considerations. To be able to achieve a large assistance rate, velocity and torques of the hip joint were studied from the literature. In order to fit with these requirements, an amplification mechanism inspired by excavators was developed and implemented. Comfort considerations were also taken into account and a custom interface was designed with the collaboration of a professional orthopaedic technician. First tests with the prototype showed that the workspace is sufficient for walking, for stair climbing as well as for sit-to-stand transitions. The assistance rate can go up to 30% for a 70 kg subject during walking at a cadence of 100 steps/min. The comfort is guaranteed despite the important weight (4.3 kg) of this first prototype.

Memory under pressure: secondary-task effects on contextual cueing of visual search.

PubMed

Annac, Efsun; Manginelli, Angela A; Pollmann, Stefan; Shi, Zhuanghua; Müller, Hermann J; Geyer, Thomas

2013-11-04

Repeated display configurations improve visual search. Recently, the question has arisen whether this contextual cueing effect (Chun & Jiang, 1998) is itself mediated by attention, both in terms of selectivity and processing resources deployed. While it is accepted that selective attention modulates contextual cueing (Jiang & Leung, 2005), there is an ongoing debate whether the cueing effect is affected by a secondary working memory (WM) task, specifically at which stage WM influences the cueing effect: the acquisition of configural associations (e.g., Travis, Mattingley, & Dux, 2013) versus the expression of learned associations (e.g., Manginelli, Langer, Klose, & Pollmann, 2013). The present study re-investigated this issue. Observers performed a visual search in combination with a spatial WM task. The latter was applied on either early or late search trials--so as to examine whether WM load hampers the acquisition of or retrieval from contextual memory. Additionally, the WM and search tasks were performed either temporally in parallel or in succession--so as to permit the effects of spatial WM load to be dissociated from those of executive load. The secondary WM task was found to affect cueing in late, but not early, experimental trials--though only when the search and WM tasks were performed in parallel. This pattern suggests that contextual cueing involves a spatial WM resource, with spatial WM providing a workspace linking the current search array with configural long-term memory; as a result, occupying this workspace by a secondary WM task hampers the expression of learned configural associations.

A novel scanning system using an industrial robot and the workspace measurement and positioning system

NASA Astrophysics Data System (ADS)

Zhao, Ziyue; Zhu, Jigui; Yang, Linghui; Lin, Jiarui

2015-10-01

The present scanning system consists of an industrial robot and a line-structured laser sensor which uses the industrial robot as a position instrument to guarantee the accuracy. However, the absolute accuracy of an industrial robot is relatively poor compared with the good repeatability in the manufacturing industry. This paper proposes a novel method using the workspace measurement and positioning system (wMPS) to remedy the lack of accuracy of the industrial robot. In order to guarantee the positioning accuracy of the system, the wMPS which is a laser-based measurement technology designed for large-volume metrology applications is brought in. Benefitting from the wMPS, this system can measure different cell-areas by the line-structured laser sensor and fuse the measurement data of different cell-areas by using the wMPS accurately. The system calibration which is the procedure to acquire and optimize the structure parameters of the scanning system is also stated in detail in this paper. In order to verify the feasibility of the system for scanning the large free-form surface, an experiment is designed to scan the internal surface of the door of a car-body in white. The final results show that the measurement data of the whole measuring areas have been jointed perfectly and there is no mismatch in the figure especially in the hole measuring areas. This experiment has verified the rationality of the system scheme, the correctness and effectiveness of the relevant methods.

Design and Implementation of the CEBAF Element Database

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

Theodore Larrieu, Christopher Slominski, Michele Joyce

2011-10-01

With inauguration of the CEBAF Element Database (CED) in Fall 2010, Jefferson Lab computer scientists have taken a first step toward the eventual goal of a model-driven accelerator. Once fully populated, the database will be the primary repository of information used for everything from generating lattice decks to booting front-end computers to building controls screens. A particular requirement influencing the CED design is that it must provide consistent access to not only present, but also future, and eventually past, configurations of the CEBAF accelerator. To accomplish this, an introspective database schema was designed that allows new elements, element types, andmore » element properties to be defined on-the-fly without changing table structure. When used in conjunction with the Oracle Workspace Manager, it allows users to seamlessly query data from any time in the database history with the exact same tools as they use for querying the present configuration. Users can also check-out workspaces and use them as staging areas for upcoming machine configurations. All Access to the CED is through a well-documented API that is translated automatically from original C++ into native libraries for script languages such as perl, php, and TCL making access to the CED easy and ubiquitous. Notice: Authored by Jefferson Science Associates, LLC under U.S. DOE Contract No. DE-AC05-06OR23177. The U.S. Government retains a non-exclusive, paid-up, irrevocable, world-wide license to publish or reproduce this manuscript for U.S. Government purposes.« less

Supporting community annotation and user collaboration in the integrated microbial genomes (IMG) system

DOE PAGES

Chen, I-Min A.; Markowitz, Victor M.; Palaniappan, Krishna; ...

2016-04-26

Background: The exponential growth of genomic data from next generation technologies renders traditional manual expert curation effort unsustainable. Many genomic systems have included community annotation tools to address the problem. Most of these systems adopted a "Wiki-based" approach to take advantage of existing wiki technologies, but encountered obstacles in issues such as usability, authorship recognition, information reliability and incentive for community participation. Results: Here, we present a different approach, relying on tightly integrated method rather than "Wiki-based" method, to support community annotation and user collaboration in the Integrated Microbial Genomes (IMG) system. The IMG approach allows users to use existingmore » IMG data warehouse and analysis tools to add gene, pathway and biosynthetic cluster annotations, to analyze/reorganize contigs, genes and functions using workspace datasets, and to share private user annotations and workspace datasets with collaborators. We show that the annotation effort using IMG can be part of the research process to overcome the user incentive and authorship recognition problems thus fostering collaboration among domain experts. The usability and reliability issues are addressed by the integration of curated information and analysis tools in IMG, together with DOE Joint Genome Institute (JGI) expert review. Conclusion: By incorporating annotation operations into IMG, we provide an integrated environment for users to perform deeper and extended data analysis and annotation in a single system that can lead to publications and community knowledge sharing as shown in the case studies.« less

Supporting community annotation and user collaboration in the integrated microbial genomes (IMG) system

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

Chen, I-Min A.; Markowitz, Victor M.; Palaniappan, Krishna

Background: The exponential growth of genomic data from next generation technologies renders traditional manual expert curation effort unsustainable. Many genomic systems have included community annotation tools to address the problem. Most of these systems adopted a "Wiki-based" approach to take advantage of existing wiki technologies, but encountered obstacles in issues such as usability, authorship recognition, information reliability and incentive for community participation. Results: Here, we present a different approach, relying on tightly integrated method rather than "Wiki-based" method, to support community annotation and user collaboration in the Integrated Microbial Genomes (IMG) system. The IMG approach allows users to use existingmore » IMG data warehouse and analysis tools to add gene, pathway and biosynthetic cluster annotations, to analyze/reorganize contigs, genes and functions using workspace datasets, and to share private user annotations and workspace datasets with collaborators. We show that the annotation effort using IMG can be part of the research process to overcome the user incentive and authorship recognition problems thus fostering collaboration among domain experts. The usability and reliability issues are addressed by the integration of curated information and analysis tools in IMG, together with DOE Joint Genome Institute (JGI) expert review. Conclusion: By incorporating annotation operations into IMG, we provide an integrated environment for users to perform deeper and extended data analysis and annotation in a single system that can lead to publications and community knowledge sharing as shown in the case studies.« less

Technology and task parameters relating to the effectiveness of the bracing strategy

NASA Technical Reports Server (NTRS)

Book, Wayne J.; Wang, J. J.

1989-01-01

The bracing strategy has been proposed in various forms as a way to improve robot performance. One version of the strategy employs independent stages of motion. The first stage, referred to as the large or bracing arm, carries the second stage of motion. After the first stage has completed its motion it is braced to provide a more rigid base of motion with a more accurate relationship to the parts to be manipulated. The hypothesis is that more rapid completion of certain tasks is possible with lighter arms using the bracing strategy. While it is easy to make conceptual arguments why this should be so, it is less easy to specify even approximately when this will be true for some reasonably generic situation. There is no relevant experience base with bracing arms to be compared to non-bracing arms. Furthermore, if one were interested in obtaining such practical experience, there would be no methodical guidance on the selection of an interesting case, one in which the unproven approach, bracing, can show its superiority. If one such case exists, only the extent of applicability of the new approach is in question. One set of interesting cases is likely to be applications in which a large workspace must be covered, but where a series of small accurate moves will remain within a smaller region of the total workspace. A prototype application with these characteristics is set up and a skeleton design of arms using the competing strategies are compared.

Improved haptic interface for colonoscopy simulation.

PubMed

Woo, Hyun Soo; Kim, Woo Seok; Ahn, Woojin; Lee, Doo Yong; Yi, Sun Young

2007-01-01

This paper presents an improved haptic interface of the KAIST-Ewha colonoscopy simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing enough workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures profiles of the user. Manipulation of the colonoscope tip is monitored by four deflection sensors, and triggers computation to render accurate graphic images corresponding to the angle knob rotation. Tack switches are attached on the valve-actuation buttons of the colonoscope to simulate air-injection or suction, and the corresponding deformation of the colon.

Short medial approach harvesting of hamstring tendons.

PubMed

Lanternier, H; de Cussac, J B; Collet, T

2016-04-01

Harvesting the hamstring tendons for anterior cruciate ligament reconstruction is not straightforward to perform or to teach: the incision is small, the work-space is narrow and the surgeon's tactile feedback using the stripper is difficult to explain to juniors. The purpose of this short note is to describe a reliable means of harvesting the semitendinosus, gracilis or both. Patient and tourniquet positioning, instrumentation and landmarks are detailed; then the 6 steps (speed-bump 1, speed-bump 2, bubble, hook, expansions, stripper) are explained. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

Autonomous Hybrid Priority Queueing for Scheduling Residential Energy Demands

NASA Astrophysics Data System (ADS)

Kalimullah, I. Q.; Shamroukh, M.; Sahar, N.; Shetty, S.

2017-05-01

The advent of smart grid technologies has opened up opportunities to manage the energy consumption of the users within a residential smart grid system. Demand response management is particularly being employed to reduce the overall load on an electricity network which could in turn reduce outages and electricity costs. The objective of this paper is to develop an intelligible scheduler to optimize the energy available to a micro grid through hybrid queueing algorithm centered around the consumers’ energy demands. This is achieved by shifting certain schedulable load appliances to light load hours. Various factors such as the type of demand, grid load, consumers’ energy usage patterns and preferences are considered while formulating the logical constraints required for the algorithm. The algorithm thus obtained is then implemented in MATLAB workspace to simulate its execution by an Energy Consumption Scheduler (ECS) found within smart meters, which automatically finds the optimal energy consumption schedule tailor made to fit each consumer within the micro grid network.

Enhanced data consistency of a portable gait measurement system.

PubMed

Lin, Hsien-I; Chiang, Y P

2013-11-01

A gait measurement system is a useful tool for rehabilitation applications. Such a system is used to conduct gait experiments in large workplaces such as laboratories where gait measurement equipment can be permanently installed. However, a gait measurement system should be portable if it is to be used in clinics or community centers for aged people. In a portable gait measurement system, the workspace is limited and landmarks on a subject may not be visible to the cameras during experiments. Thus, we propose a virtual-marker function to obtain positions of unseen landmarks for maintaining data consistency. This work develops a portable clinical gait measurement system consisting of lightweight motion capture devices, force plates, and a walkway assembled from plywood boards. We evaluated the portable clinic gait system with 11 normal subjects in three consecutive days in a limited experimental space. Results of gait analysis based on the verification of within-day and between-day coefficients of multiple correlations show that the proposed portable gait system is reliable.

Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test

PubMed Central

Gilbert, Hunter B.; Hendrick, Richard J.; Webster, Robert J.

2016-01-01

Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot’s workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures. PMID:27042170

Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test.

PubMed

Gilbert, Hunter B; Hendrick, Richard J; Webster, Robert J

2016-02-01

Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot's workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures.

Parallel Robot for Lower Limb Rehabilitation Exercises.

PubMed

Rastegarpanah, Alireza; Saadat, Mozafar; Borboni, Alberto

2016-01-01

The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators' forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated length of the actuators and the actuators' forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants. Kinect camera was used to track the motion of the leg's model placed on the robot. The results demonstrate the robot's capability to perform a full range of various rehabilitation exercises.

Parallel Robot for Lower Limb Rehabilitation Exercises

PubMed Central

Saadat, Mozafar; Borboni, Alberto

2016-01-01

The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators' forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated length of the actuators and the actuators' forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants. Kinect camera was used to track the motion of the leg's model placed on the robot. The results demonstrate the robot's capability to perform a full range of various rehabilitation exercises. PMID:27799727

Collaboration in Complex Medical Systems

NASA Technical Reports Server (NTRS)

Xiao, Yan; Mankenzie, Colin F.

1998-01-01

Improving our understanding of collaborative work in complex environments has the potential for developing effective supporting technologies, personnel training paradigms, and design principles for multi-crew workplaces. USing a sophisticated audio-video-data acquisition system and a corresponding analysis system, the researchers at University of Maryland have been able to study in detail team performance during real trauma patient resuscitation. The first study reported here was on coordination mechanisms and on characteristics of coordination breakdowns. One of the key findings was that implicit communications were an important coordination mechanism (e.g. through the use of shared workspace and event space). The second study was on the sources of uncertainty during resuscitation. Although incoming trauma patients' status is inherently uncertain, the findings suggest that much of the uncertainty felt by care providers was related to communication and coordination. These two studies demonstrate the value of and need for creating a real-life laboratory for studying team performance with the use of comprehensive and integrated data acquisition and analysis tools.

Enhanced data consistency of a portable gait measurement system

NASA Astrophysics Data System (ADS)

Lin, Hsien-I.; Chiang, Y. P.

2013-11-01

A gait measurement system is a useful tool for rehabilitation applications. Such a system is used to conduct gait experiments in large workplaces such as laboratories where gait measurement equipment can be permanently installed. However, a gait measurement system should be portable if it is to be used in clinics or community centers for aged people. In a portable gait measurement system, the workspace is limited and landmarks on a subject may not be visible to the cameras during experiments. Thus, we propose a virtual-marker function to obtain positions of unseen landmarks for maintaining data consistency. This work develops a portable clinical gait measurement system consisting of lightweight motion capture devices, force plates, and a walkway assembled from plywood boards. We evaluated the portable clinic gait system with 11 normal subjects in three consecutive days in a limited experimental space. Results of gait analysis based on the verification of within-day and between-day coefficients of multiple correlations show that the proposed portable gait system is reliable.

The Diesel Combustion Collaboratory: Combustion Researchers Collaborating over the Internet

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

C. M. Pancerella; L. A. Rahn; C. Yang

2000-02-01

The Diesel Combustion Collaborator (DCC) is a pilot project to develop and deploy collaborative technologies to combustion researchers distributed throughout the DOE national laboratories, academia, and industry. The result is a problem-solving environment for combustion research. Researchers collaborate over the Internet using DCC tools, which include: a distributed execution management system for running combustion models on widely distributed computers, including supercomputers; web-accessible data archiving capabilities for sharing graphical experimental or modeling data; electronic notebooks and shared workspaces for facilitating collaboration; visualization of combustion data; and video-conferencing and data-conferencing among researchers at remote sites. Security is a key aspect of themore » collaborative tools. In many cases, the authors have integrated these tools to allow data, including large combustion data sets, to flow seamlessly, for example, from modeling tools to data archives. In this paper the authors describe the work of a larger collaborative effort to design, implement and deploy the DCC.« less

Toward a practical mobile robotic aid system for people with severe physical disabilities.

PubMed

Regalbuto, M A; Krouskop, T A; Cheatham, J B

1992-01-01

A simple, relatively inexpensive robotic system that can aid severely disabled persons by providing pick-and-place manipulative abilities to augment the functions of human or trained animal assistants is under development at Rice University and the Baylor College of Medicine. A stand-alone software application program runs on a Macintosh personal computer and provides the user with a selection of interactive windows for commanding the mobile robot via cursor action. A HERO 2000 robot has been modified such that its workspace extends from the floor to tabletop heights, and the robot is interfaced to a Macintosh SE via a wireless communications link for untethered operation. Integrated into the system are hardware and software which allow the user to control household appliances in addition to the robot. A separate Machine Control Interface device converts breath action and head or other three-dimensional motion inputs into cursor signals. Preliminary in-home and laboratory testing has demonstrated the utility of the system to perform useful navigational and manipulative tasks.

Design of a Minimum Surface-Effect Tendon-Based Microactuator for Micromanipulation

NASA Technical Reports Server (NTRS)

Goldfarb, Michael; Lipsey, James H.

1997-01-01

A piezoelectric (PZT) stack-based actuator was developed to provide a means of actuation with dynamic characteristics appropriate for small-scale manipulation. In particular, the design incorporates a highly nonlinear, large-ratio transmission that provides approximately two orders of magnitude motion amplification from the PZT stack. In addition to motion amplification, the nonlinear transmission was designed via optimization methods to distort the highly non-uniform properties of a piezoelectric actuator so that the achievable actuation force is nearly constant throughout the actuator workspace. The package also includes sensors that independently measure actuator output force and displacement, so that a manipulator structure need not incorporate sensors nor the associated wires. Specifically, the actuator was designed to output a maximum force of at least one Newton through a stroke of at least one millimeter. For purposes of small-scale precision position and/or force control, the actuator/sensor package was designed to eliminate stick-slip friction and backlash. The overall dimensions of the actuator/sensor package are approximately 40 x 65 x 25 mm.

Time-Chunking and Hyper-Refocusing in a Digitally-Enabled Workplace: Six Forms of Knowledge Workers

PubMed Central

Gaskin, James E.; Skousen, Tanner

2016-01-01

Until the turn of the millennium, switching tasks required moving locations or reconfiguring physical workspaces. However, contemporary digital tools and workspaces allow knowledge workers to perform an increasingly diverse set of tasks, with an increasingly extending arm of influence, all from the same physical location without any physical reconfigurations or traversing of physical space. Along with this increased ambidexterity comes an increase in the quantity and frequency of demands on the time of knowledge workers. This digitalization of work now tethers their ability to perform largely to their ability to intensely focus in small chunks, and then “hyper-jump” that focus to another task without traversing the cognitive cool downs or warm ups required to reconfigure their train of thought from one task to another. Accordingly, they must become more like the hyper-functioning tools they employ if they are to avoid becoming the bottleneck resource in the configuration of socio-technical elements comprising their work routines. In order to better understand how knowledge workers manage their time and maintain focus across multiple and interrupting tasks, we leverage current time prioritization literature to propose and theorize around two key constructs: time-chunking and hyper-refocusing. By combining the possible values for these two constructs, we hypothesize the emergence of six forms of knowledge workers and their relative expected performance. The effects of digitalization on these new worker forms are discussed. We conclude by discussing opportunities for new research questions regarding time-chunking strategies and the hyper-refocusing ability. PMID:27822193

Prevalence and risk factors associated with nonspecific building-related symptoms in office employees in Japan: relationships between work environment, Indoor Air Quality, and occupational stress.

PubMed

Azuma, K; Ikeda, K; Kagi, N; Yanagi, U; Osawa, H

2015-10-01

A nationwide cross-sectional study of 3335 employees was conducted in 320 offices in Japan to estimate the prevalence of building-related symptoms (BRSs) and determine the risk factors related to work environment, Indoor Air Quality, and occupational stress. Data were collected through self-administered questionnaires. The prevalences of general symptoms, eye irritation, and upper respiratory symptoms were 14.4%, 12.1%, and 8.9%, respectively. Multiple logistic regression analyses revealed that eye irritation was significantly associated with carpeting [odds ratio (OR), 1.73; 95% confidence interval (CI), 1.24-2.41], coldness perception (OR, 1.28; 95% CI, 1.13-1.45), and air dryness perception (OR, 1.61; 95% CI, 1.42-1.82). General symptoms were significantly associated with unpleasant odors (OR, 1.37; 95% CI, 1.13-1.65), amount of work (OR, 1.24; 95% CI, 1.06-1.45), and interpersonal conflicts (OR, 1.44; 95% CI, 1.23-1.69). Upper respiratory symptoms were significantly associated with crowded workspaces (OR, 1.36; 95% CI, 1.13-1.63), air dryness perception (OR, 2.07; 95% CI, 1.79-2.38), and reported dustiness on the floor (OR, 1.39; 95% CI, 1.16-1.67). Although psychosocial support is important to reduce and control BRSs, maintaining appropriate air-conditioning and a clean and uncrowded workspace is of equal importance. © 2014 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Addressing health disparities through multi-institutional, multidisciplinary collaboratories.

PubMed

Fleming, Erik S; Perkins, James; Easa, David; Conde, José G; Baker, Richard S; Southerland, William M; Dottin, Robert; Benabe, Julio E; Ofili, Elizabeth O; Bond, Vincent C; McClure, Shelia A; Sayre, Michael H; Beanan, Maureen J; Norris, Keith C

2008-01-01

The national research leadership has recently become aware of the tremendous potential of translational research as an approach to address health disparities. The Research Centers in Minority Institutions (RCMI) Translational Research Network (RTRN) is a research network that supports multi-institutional, multidisciplinary collaboration with a focus on key diseases and conditions for which disproportionately adverse racial and ethnic health disparities exist. The RTRN is designed to facilitate the movement of scientific advances across the translational research spectrum by providing researchers at different institutions with the infrastructure and tools necessary to collaborate on interdisciplinary and transdisciplinary research projects relating to specific health outcomes for which major racial/ethnic disparities exist. In the past, the difficulty of overcoming the restrictions imposed by time and space have made it difficult to carry out this type of large-scale, multilevel collaboration efficiently. To address this formidable challenge, the RTRN will deploy a translational research cluster system that uses "cyber workspaces" to bring researchers with similar interests together by using online collaboratory technology. These virtual meeting environments will provide a number of tools, including videoconferences (seminars, works in progress, meetings); project management tools (WebCT, Microsoft Share Point); and posting areas for projects, concepts, and other research and educational activities. This technology will help enhance access to resources across institutions with a common mission, minimize many of the logistical hurdles that impede intellectual exchange, streamline the planning and implementation of innovative interdisciplinary research, and assess the use of protocols and practices to assist researchers in interacting across and within cyber workspaces.

Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons

PubMed Central

Lauretti, Clemente; Cordella, Francesca; Ciancio, Anna Lisa; Trigili, Emilio; Catalan, Jose Maria; Badesa, Francisco Javier; Crea, Simona; Pagliara, Silvio Marcello; Sterzi, Silvia; Vitiello, Nicola; Garcia Aracil, Nicolas; Zollo, Loredana

2018-01-01

The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs) of the robot kinematic chain to achieve the desired end-effector pose; however, if used to operate non-redundant exoskeletons, it does not ensure that anthropomorphic criteria are satisfied in the whole human-robot workspace. This paper proposes a motion planning system, based on Learning by Demonstration, for upper-limb exoskeletons that allow successfully assisting patients during Activities of Daily Living (ADLs) in unstructured environment, while ensuring that anthropomorphic criteria are satisfied in the whole human-robot workspace. The motion planning system combines Learning by Demonstration with the computation of Dynamic Motion Primitives and machine learning techniques to construct task- and patient-specific joint trajectories based on the learnt trajectories. System validation was carried out in simulation and in a real setting with a 4-DoF upper-limb exoskeleton, a 5-DoF wrist-hand exoskeleton and four patients with Limb Girdle Muscular Dystrophy. Validation was addressed to (i) compare the performance of the proposed motion planning with traditional methods; (ii) assess the generalization capabilities of the proposed method with respect to the environment variability. Three ADLs were chosen to validate the system: drinking, pouring and lifting a light sphere. The achieved results showed a 100% success rate in the task fulfillment, with a high level of generalization with respect to the environment variability. Moreover, an anthropomorphic configuration of the exoskeleton is always ensured. PMID:29527161

Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons.

PubMed

Lauretti, Clemente; Cordella, Francesca; Ciancio, Anna Lisa; Trigili, Emilio; Catalan, Jose Maria; Badesa, Francisco Javier; Crea, Simona; Pagliara, Silvio Marcello; Sterzi, Silvia; Vitiello, Nicola; Garcia Aracil, Nicolas; Zollo, Loredana

2018-01-01

The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs) of the robot kinematic chain to achieve the desired end-effector pose; however, if used to operate non-redundant exoskeletons, it does not ensure that anthropomorphic criteria are satisfied in the whole human-robot workspace. This paper proposes a motion planning system, based on Learning by Demonstration, for upper-limb exoskeletons that allow successfully assisting patients during Activities of Daily Living (ADLs) in unstructured environment, while ensuring that anthropomorphic criteria are satisfied in the whole human-robot workspace. The motion planning system combines Learning by Demonstration with the computation of Dynamic Motion Primitives and machine learning techniques to construct task- and patient-specific joint trajectories based on the learnt trajectories. System validation was carried out in simulation and in a real setting with a 4-DoF upper-limb exoskeleton, a 5-DoF wrist-hand exoskeleton and four patients with Limb Girdle Muscular Dystrophy. Validation was addressed to (i) compare the performance of the proposed motion planning with traditional methods; (ii) assess the generalization capabilities of the proposed method with respect to the environment variability. Three ADLs were chosen to validate the system: drinking, pouring and lifting a light sphere. The achieved results showed a 100% success rate in the task fulfillment, with a high level of generalization with respect to the environment variability. Moreover, an anthropomorphic configuration of the exoskeleton is always ensured.

Synthesis and Evaluation of A High Precision 3D-Printed Ti6Al4V Compliant Parallel Manipulator

NASA Astrophysics Data System (ADS)

Pham, Minh Tuan; Teo, Tat Joo; Huat Yeo, Song; Wang, Pan; Nai, Mui Ling Sharon

2017-12-01

A novel 3D printed compliant parallel manipulator (CPM) with θX - θX - Z motions is presented in this paper. This CPM is synthesized using the beam-based method, a new structural optimization approach, to achieve optimized stiffness properties with targeted dynamic behavior. The CPM performs high non-actuating stiffness based on the predicted stiffness ratios of about 3600 for translations and 570 for rotations, while the dynamic response is fast with the targeted first resonant mode of 100Hz. A prototype of the synthesized CPM is fabricated using the electron beam melting (EBM) technology with Ti6Al4V material. Driven by three voice-coil (VC) motors, the CPM demonstrated a positioning resolution of 50nm along the Z axis and an angular resolution of ~0.3 “about the X and Y axes, the positioning accuracy is also good with the measured values of ±25.2nm and ±0.17” for the translation and rotations respectively. Experimental investigation also shows that this large workspace CPM has a first resonant mode of 98Hz and the stiffness behavior matches the prediction with the highest deviation of 11.2%. Most importantly, the full workspace of 10° × 10° × 7mm of the proposed CPM can be achieved, that demonstrates 3D printed compliant mechanisms can perform large elastic deformation. The obtained results show that CPMs printed by EBM technology have predictable mechanical characteristics and are applicable in precise positioning systems.

Proprioceptive bimanual test in intrinsic and extrinsic coordinates.

PubMed

Iandolo, Riccardo; Squeri, Valentina; De Santis, Dalia; Giannoni, Psiche; Morasso, Pietro; Casadio, Maura

2015-01-01

Is there any difference between matching the position of the hands by asking the subjects to move them to the same spatial location or to mirror-symmetric locations with respect to the body midline? If the motion of the hands were planned in the extrinsic space, the mirror-symmetric task would imply an additional challenge, because we would need to flip the coordinates of the target on the other side of the workspace. Conversely, if the planning were done in intrinsic coordinates, in order to move both hands to the same spot in the workspace, we should compute different joint angles for each arm. Even if both representations were available to the subjects, the two tasks might lead to different results, providing some cue on the organization of the "body schema". In order to answer such questions, the middle fingertip of the non-dominant hand of a population of healthy subjects was passively moved by a manipulandum to 20 different target locations. Subjects matched these positions with the middle fingertip of their dominant hand. For most subjects, the matching accuracy was higher in the extrinsic modality both in terms of systematic error and variability, even for the target locations in which the configuration of the arms was the same for both modalities. This suggests that the matching performance of the subjects could be determined not only by proprioceptive information but also by the cognitive representation of the task: expressing the goal as reaching for the physical location of the hand in space is apparently more effective than requiring to match the proprioceptive representation of joint angles.

Risk factors for work-related symptoms in northern California office workers

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

Mendell, M.J.

1991-10-01

In most episodes of health complaints reported in office buildings in the last-twenty years, causal factors have not been identified. In order to assess risk factors for work-related symptoms in office workers, a reanalysis was performed of previous studies, and an epidemiologic study was conducted. The reanalysis of data, showed remarkable agreement among studies. Air-conditioned buildings were consistently associated with higher prevalence of headache, lethargy, and eye, nose, or throat problems. Humidification was not a necessary factor for this higher prevalence. Mechanical ventilation without air-conditioning was not associated with higher symptom prevalence. A study was conducted among 880 office workers,more » within 12 office buildings selected without regard to worker complaints, in northern California. A number of factors were found associated with prevalence of work-related symptoms, after adjustment in a logistic regression model for personal, psychosocial, job, workspace, and building factors. Two different ventilation types were associated with increases Ln symptom prevalence, relative to workers in naturally ventilated buildings: mechanical supply and exhaust ventilation, without air conditioning and with operable windows; and air-conditioning with sealed windows. No study buildings were humidified. In both these ventilation types, the highest odds ratios (ORs) found were for skin symptoms (ORs-5.0, 5.6) and for tight chest or difficulty breathing (ORs-3.6, 4.3). Use of carbonless copies or photocopiers, sharing a workspace, carpets, new carpets, new walls, and distance from a window were associated with symptom increases. Cloth partitions and new paint were associated with symptom decreases.« less

A neurorobotic platform for locomotor prosthetic development in rats and mice

NASA Astrophysics Data System (ADS)

von Zitzewitz, Joachim; Asboth, Leonie; Fumeaux, Nicolas; Hasse, Alexander; Baud, Laetitia; Vallery, Heike; Courtine, Grégoire

2016-04-01

Objectives. We aimed to develop a robotic interface capable of providing finely-tuned, multidirectional trunk assistance adjusted in real-time during unconstrained locomotion in rats and mice. Approach. We interfaced a large-scale robotic structure actuated in four degrees of freedom to exchangeable attachment modules exhibiting selective compliance along distinct directions. This combination allowed high-precision force and torque control in multiple directions over a large workspace. We next designed a neurorobotic platform wherein real-time kinematics and physiological signals directly adjust robotic actuation and prosthetic actions. We tested the performance of this platform in both rats and mice with spinal cord injury. Main Results. Kinematic analyses showed that the robotic interface did not impede locomotor movements of lightweight mice that walked freely along paths with changing directions and height profiles. Personalized trunk assistance instantly enabled coordinated locomotion in mice and rats with severe hindlimb motor deficits. Closed-loop control of robotic actuation based on ongoing movement features enabled real-time control of electromyographic activity in anti-gravity muscles during locomotion. Significance. This neurorobotic platform will support the study of the mechanisms underlying the therapeutic effects of locomotor prosthetics and rehabilitation using high-resolution genetic tools in rodent models.

A neurorobotic platform for locomotor prosthetic development in rats and mice.

PubMed

von Zitzewitz, Joachim; Asboth, Leonie; Fumeaux, Nicolas; Hasse, Alexander; Baud, Laetitia; Vallery, Heike; Courtine, Grégoire

2016-04-01

We aimed to develop a robotic interface capable of providing finely-tuned, multidirectional trunk assistance adjusted in real-time during unconstrained locomotion in rats and mice. We interfaced a large-scale robotic structure actuated in four degrees of freedom to exchangeable attachment modules exhibiting selective compliance along distinct directions. This combination allowed high-precision force and torque control in multiple directions over a large workspace. We next designed a neurorobotic platform wherein real-time kinematics and physiological signals directly adjust robotic actuation and prosthetic actions. We tested the performance of this platform in both rats and mice with spinal cord injury. Kinematic analyses showed that the robotic interface did not impede locomotor movements of lightweight mice that walked freely along paths with changing directions and height profiles. Personalized trunk assistance instantly enabled coordinated locomotion in mice and rats with severe hindlimb motor deficits. Closed-loop control of robotic actuation based on ongoing movement features enabled real-time control of electromyographic activity in anti-gravity muscles during locomotion. This neurorobotic platform will support the study of the mechanisms underlying the therapeutic effects of locomotor prosthetics and rehabilitation using high-resolution genetic tools in rodent models.

Product development using process monitoring and NDE data fusion

NASA Astrophysics Data System (ADS)

Peterson, Todd; Bossi, Richard H.

1998-03-01

Composite process/product development relies on both process monitoring information and nondestructive evaluation measurements for determining application suitability. In the past these activities have been performed and analyzed independently. Our present approach is to present the process monitoring and NDE data together in a data fusion workstation. This methodology leads to final product acceptance based on a combined process monitoring and NDE criteria. The data fusion work station combines process parameter and NDE data in a single workspace enabling all the data to be used in the acceptance/rejection decision process. An example application is the induction welding process, a unique joining method for assembling primary composite structure, that offers significant cost and weight advantages over traditional fasted structure. The determination of the required time, temperature and pressure conditions used in the process to achieve a complete weld is being aided by the use of ultrasonic inspection techniques. Full waveform ultrasonic inspection data is employed to evaluate the quality of spar cap to skin fit, an essential element of the welding process, and is processed to find a parameter that can be used for weld acceptance. Certification of the completed weld incorporates the data fusion methodology.

Head posture measurements among work vehicle drivers and implications for work and workplace design.

PubMed

Eklund, J; Odenrick, P; Zettergren, S; Johansson, H

1994-04-01

An increased risk of musculoskeletal disorders, e.g. from the neck region, has been found among professional drivers of work vehicles. The purpose of this study was to identify causes of postural load and implications for vehicle design and work tasks. A second purpose was to develop the methods for measurement and analysis of head postures. Field measurements of head postures for drivers of fork lift trucks, forestry machines, and cranes were carried out. The equipment used was an electric goniometer measurement system, containing a mechanical transmission between the head and the upper trunk. Methods for data presentation and quantification were developed. The results showed that rotatable and movable driver cabins improved head postures and viewing angles substantially. Narrow window frame structures and large, optimally-placed windows were also advantageous. The steering wheel, controls, and a high backrest restricted shoulder rotation, which increased head rotation in unfavourable viewing angles. Improved workspace layouts and work organization factors such as job enlargement decreased the influence of strenuous postures. The results also showed that head postures should be analysed in two or three dimensions simultaneously, otherwise the postures taken will be underestimated in relation to the maximal voluntary movement.

A labview-based GUI for the measurement of otoacoustic emissions.

PubMed

Wu, Ye; McNamara, D M; Ziarani, A K

2006-01-01

This paper presents the outcome of a software development project aimed at creating a stand-alone user-friendly signal processing algorithm for the estimation of distortion product otoacoustic emission (OAE) signals. OAE testing is one of the most commonly used methods of first screening of newborns' hearing. Most of the currently available commercial devices rely upon averaging long strings of data and subsequent discrete Fourier analysis to estimate low level OAE signals from within the background noise in the presence of the strong stimuli. The main shortcoming of the presently employed technology is the need for long measurement time and its low noise immunity. The result of the software development project presented here is a graphical user interface (GUI) module that implements a recently introduced adaptive technique of OAE signal estimation. This software module is easy to use and is freely disseminated on the Internet for the use of the hearing research community. This GUI module allows loading of the a priori recorded OAE signals into the workspace, and provides the user with interactive instructions for the OAE signal estimation. Moreover, the user can generate simulated OAE signals to objectively evaluate the performance capability of the implemented signal processing technique.

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

Unseren, M.A.

The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

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

Unseren, M.A.

The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

Phoenix Checks out its Work Area

NASA Technical Reports Server (NTRS)

2008-01-01

[figure removed for brevity, see original site] Click on image for animation

This animation shows a mosaic of images of the workspace reachable by the scoop on the robotic arm of NASA's Phoenix Mars Lander, along with some measurements of rock sizes.

Phoenix was able to determine the size of the rocks based on three-dimensional views from stereoscopic images taken by the lander's 7-foot mast camera, called the Surface Stereo Imager. The stereo pair of images enable depth perception, much the way a pair of human eyes enable people to gauge the distance to nearby objects.

The rock measurements were made by a visualization tool known as Viz, developed at NASA's Ames Research Laboratory. The shadow cast by the camera on the Martian surface appears somewhat disjointed because the camera took the images in the mosaic at different times of day.

Scientists do not yet know the origin or composition of the flat, light-colored rocks on the surface in front of the lander.

The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

Human motion behavior while interacting with an industrial robot.

PubMed

Bortot, Dino; Ding, Hao; Antonopolous, Alexandros; Bengler, Klaus

2012-01-01

Human workers and industrial robots both have specific strengths within industrial production. Advantageously they complement each other perfectly, which leads to the development of human-robot interaction (HRI) applications. Bringing humans and robots together in the same workspace may lead to potential collisions. The avoidance of such is a central safety requirement. It can be realized with sundry sensor systems, all of them decelerating the robot when the distance to the human decreases alarmingly and applying the emergency stop, when the distance becomes too small. As a consequence, the efficiency of the overall systems suffers, because the robot has high idle times. Optimized path planning algorithms have to be developed to avoid that. The following study investigates human motion behavior in the proximity of an industrial robot. Three different kinds of encounters between the two entities under three robot speed levels are prompted. A motion tracking system is used to capture the motions. Results show, that humans keep an average distance of about 0,5m to the robot, when the encounter occurs. Approximation of the workbenches is influenced by the robot in ten of 15 cases. Furthermore, an increase of participants' walking velocity with higher robot velocities is observed.

Robotic Assisted Microsurgery - RAMS FY'97

NASA Technical Reports Server (NTRS)

1997-01-01

JPL and Microdexterity Systems collaborated to develop new surgical capabilities. They developed a Robot Assisted Microsurgery (RAM) tool for surgeons to use for operating on the eye, ear, brain, and blood vessels with unprecedented dexterity. A surgeon can hold the surgical instrument with motions of 6 degrees of freedom with an accuracy of 25 microns in a 70 cu cm workspace. In 1996 a demonstration was performed to remove a microscopic particle from a simulated eyeball. In 1997, tests were performed at UCLA to compare telerobotics with mechanical operations. In 5 out of 7 tests, the RAM tool performed with a significant improvement of preciseness over mechanical operation. New design features include: (1) amplified forced feedback; (2) simultaneous slave robot instrumentation; (3) index control switch on master handle; and (4) tool control switches. Upgrades include: (1) increase in computational power; and (2) installation of hard disk memory storage device for independent operation and independent operation of forceps. In 1997 a final demonstration was performed using 2 telerobotics simultaneously in a microsurgery suture procedure to close a slit in a thin sheet of latex rubber which extended the capabilities of microsurgery procedures. After completing trials and demonstrations for the FDA the potential benefits for thousands of operations will be exposed.

Validation of a CFD Model by Using 3D Sonic Anemometers to Analyse the Air Velocity Generated by an Air-Assisted Sprayer Equipped with Two Axial Fans

PubMed Central

García-Ramos, F. Javier; Malón, Hugo; Aguirre, A. Javier; Boné, Antonio; Puyuelo, Javier; Vidal, Mariano

2015-01-01

A computational fluid dynamics (CFD) model of the air flow generated by an air-assisted sprayer equipped with two axial fans was developed and validated by practical experiments in the laboratory. The CFD model was developed by considering the total air flow supplied by the sprayer fan to be the main parameter, rather than the outlet air velocity. The model was developed for three air flows corresponding to three fan blade settings and assuming that the sprayer is stationary. Actual measurements of the air velocity near the sprayer were taken using 3D sonic anemometers. The workspace sprayer was divided into three sections, and the air velocity was measured in each section on both sides of the machine at a horizontal distance of 1.5, 2.5, and 3.5 m from the machine, and at heights of 1, 2, 3, and 4 m above the ground The coefficient of determination (R2) between the simulated and measured values was 0.859, which demonstrates a good correlation between the simulated and measured data. Considering the overall data, the air velocity values produced by the CFD model were not significantly different from the measured values. PMID:25621611

Validation of a CFD model by using 3D sonic anemometers to analyse the air velocity generated by an air-assisted sprayer equipped with two axial fans.

PubMed

García-Ramos, F Javier; Malón, Hugo; Aguirre, A Javier; Boné, Antonio; Puyuelo, Javier; Vidal, Mariano

2015-01-22

A computational fluid dynamics (CFD) model of the air flow generated by an air-assisted sprayer equipped with two axial fans was developed and validated by practical experiments in the laboratory. The CFD model was developed by considering the total air flow supplied by the sprayer fan to be the main parameter, rather than the outlet air velocity. The model was developed for three air flows corresponding to three fan blade settings and assuming that the sprayer is stationary. Actual measurements of the air velocity near the sprayer were taken using 3D sonic anemometers. The workspace sprayer was divided into three sections, and the air velocity was measured in each section on both sides of the machine at a horizontal distance of 1.5, 2.5, and 3.5 m from the machine, and at heights of 1, 2, 3, and 4 m above the ground The coefficient of determination (R2) between the simulated and measured values was 0.859, which demonstrates a good correlation between the simulated and measured data. Considering the overall data, the air velocity values produced by the CFD model were not significantly different from the measured values.

Terrain Analysis for Human-Robot Interaction (TAH-RI): Enabling Terrain Understanding to Improve Tactical Behavior

DTIC Science & Technology

2005-04-01

determine terrain. (Howard, Seraji , & Tunstel 2001; Larson, Voyles, & Demir 2004) use inclinometers to determine the slope of the terrain. (Larson, Voyles...G .a............... jCurent Lonation Seht Currt Lons o in Workspace Weights N+FW Let j2 8 05 6608 + S SE Lon: 82 4225+’€;+"++ Fe ++et/Gride8 I5o04o𔃻s...o SShow Grld Lines i + iShow Cell Weights •+ iSS wArrows j Show Path fe .1 i Show Aerial Image li"’ .. . Run++ Trulla ........ j •:9 : 9 onltdm-82,e

Parametric design of tri-axial nested Helmholtz coils

NASA Astrophysics Data System (ADS)

Abbott, Jake J.

2015-05-01

This paper provides an optimal parametric design for tri-axial nested Helmholtz coils, which are used to generate a uniform magnetic field with controllable magnitude and direction. Circular and square coils, both with square cross section, are considered. Practical considerations such as wire selection, wire-wrapping efficiency, wire bending radius, choice of power supply, and inductance and time response are included. Using the equations provided, a designer can quickly create an optimal set of custom coils to generate a specified field magnitude in the uniform-field region while maintaining specified accessibility to the central workspace. An example case study is included.

Parametric design of tri-axial nested Helmholtz coils.

PubMed

Abbott, Jake J

2015-05-01

This paper provides an optimal parametric design for tri-axial nested Helmholtz coils, which are used to generate a uniform magnetic field with controllable magnitude and direction. Circular and square coils, both with square cross section, are considered. Practical considerations such as wire selection, wire-wrapping efficiency, wire bending radius, choice of power supply, and inductance and time response are included. Using the equations provided, a designer can quickly create an optimal set of custom coils to generate a specified field magnitude in the uniform-field region while maintaining specified accessibility to the central workspace. An example case study is included.

Parametric design of tri-axial nested Helmholtz coils

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

Abbott, Jake J., E-mail: jake.abbott@utah.edu

This paper provides an optimal parametric design for tri-axial nested Helmholtz coils, which are used to generate a uniform magnetic field with controllable magnitude and direction. Circular and square coils, both with square cross section, are considered. Practical considerations such as wire selection, wire-wrapping efficiency, wire bending radius, choice of power supply, and inductance and time response are included. Using the equations provided, a designer can quickly create an optimal set of custom coils to generate a specified field magnitude in the uniform-field region while maintaining specified accessibility to the central workspace. An example case study is included.

Depth Perception In Remote Stereoscopic Viewing Systems

NASA Technical Reports Server (NTRS)

Diner, Daniel B.; Von Sydow, Marika

1989-01-01

Report describes theoretical and experimental studies of perception of depth by human operators through stereoscopic video systems. Purpose of such studies to optimize dual-camera configurations used to view workspaces of remote manipulators at distances of 1 to 3 m from cameras. According to analysis, static stereoscopic depth distortion decreased, without decreasing stereoscopitc depth resolution, by increasing camera-to-object and intercamera distances and camera focal length. Further predicts dynamic stereoscopic depth distortion reduced by rotating cameras around center of circle passing through point of convergence of viewing axes and first nodal points of two camera lenses.

Location and acquisition of objects in unpredictable locations. [a teleoperator system with a computer for manipulator control

NASA Technical Reports Server (NTRS)

Sword, A. J.; Park, W. T.

1975-01-01

A teleoperator system with a computer for manipulator control to combine the capabilities of both man and computer to accomplish a task is described. This system allows objects in unpredictable locations to be successfully located and acquired. By using a method of characterizing the work-space together with man's ability to plan a strategy and coarsely locate an object, the computer is provided with enough information to complete the tedious part of the task. In addition, the use of voice control is shown to be a useful component of the man/machine interface.

SUPPORTING TEACHERS IN IMPLEMENTING FORMATIVE ASSESSMENT PRACTICES IN EARTH SYSTEMS SCIENCE

NASA Astrophysics Data System (ADS)

Harris, C. J.; Penuel, W. R.; Haydel Debarger, A.; Blank, J. G.

2009-12-01

An important purpose of formative assessment is to elicit student thinking to use in instruction to help all students learn and inform next steps in teaching. However, formative assessment practices are difficult to implement and thus present a formidable challenge for many science teachers. A critical need in geoscience education is a framework for providing teachers with real-time assessment tools as well as professional development to learn how to use formative assessment to improve instruction. Here, we describe a comprehensive support system, developed for our NSF-funded Contingent Pedagogies project, for addressing the challenge of helping teachers to use formative assessment to enhance student learning in middle school Earth Systems science. Our support system is designed to improve student understanding about the geosphere by integrating classroom network technology, interactive formative assessments, and contingent curricular activities to guide teachers from formative assessment to instructional decision-making and improved student learning. To accomplish this, we are using a new classroom network technology, Group Scribbles, in the context of an innovative middle-grades Earth Science curriculum called Investigating Earth Systems (IES). Group Scribbles, developed at SRI International, is a collaborative software tool that allows individual students to compose “scribbles” (i.e., drawings and notes), on “post-it” notes in a private workspace (a notebook computer) in response to a public task. They can post these notes anonymously to a shared, public workspace (a teacher-controlled large screen monitor) that becomes the centerpiece of group and class discussion. To help teachers implement formative assessment practices, we have introduced a key resource, called a teaching routine, to help teachers take advantage of Group Scribbles for more interactive assessments. Routine refers to a sequence of repeatable interactions that, over time, become automatic to teachers and students. Routines function as classroom norms, governing how students and teachers interact with subject matter (i.e., the way ideas are elicited, taken up, and revised). We use the qualifier teaching because we view good classroom assessment as seamless with instruction. Each teaching routine defines a sequence of instructional moves, supported by classroom network technology, for creating formative assessment opportunities that address 3 goals: (1) Increase student-teacher and student-student communication;(2) Motivate students to participate and learn from discussion, investigation, and reading; and (3) Provide real-time feedback for the teacher who can then adjust instruction. We report on key features of our support system for helping teachers develop proficiency with using formative assessment to inform instruction and advance learning in Earth Systems science. We also present preliminary findings from the implementation of the support system with a test group of teachers in a large, urban school district. Findings highlight the promise of teaching routines as an important resource for structuring student opportunities to showcase their thinking.

caCORRECT2: Improving the accuracy and reliability of microarray data in the presence of artifacts

PubMed Central

2011-01-01

Background In previous work, we reported the development of caCORRECT, a novel microarray quality control system built to identify and correct spatial artifacts commonly found on Affymetrix arrays. We have made recent improvements to caCORRECT, including the development of a model-based data-replacement strategy and integration with typical microarray workflows via caCORRECT's web portal and caBIG grid services. In this report, we demonstrate that caCORRECT improves the reproducibility and reliability of experimental results across several common Affymetrix microarray platforms. caCORRECT represents an advance over state-of-art quality control methods such as Harshlighting, and acts to improve gene expression calculation techniques such as PLIER, RMA and MAS5.0, because it incorporates spatial information into outlier detection as well as outlier information into probe normalization. The ability of caCORRECT to recover accurate gene expressions from low quality probe intensity data is assessed using a combination of real and synthetic artifacts with PCR follow-up confirmation and the affycomp spike in data. The caCORRECT tool can be accessed at the website: http://cacorrect.bme.gatech.edu. Results We demonstrate that (1) caCORRECT's artifact-aware normalization avoids the undesirable global data warping that happens when any damaged chips are processed without caCORRECT; (2) When used upstream of RMA, PLIER, or MAS5.0, the data imputation of caCORRECT generally improves the accuracy of microarray gene expression in the presence of artifacts more than using Harshlighting or not using any quality control; (3) Biomarkers selected from artifactual microarray data which have undergone the quality control procedures of caCORRECT are more likely to be reliable, as shown by both spike in and PCR validation experiments. Finally, we present a case study of the use of caCORRECT to reliably identify biomarkers for renal cell carcinoma, yielding two diagnostic biomarkers with potential clinical utility, PRKAB1 and NNMT. Conclusions caCORRECT is shown to improve the accuracy of gene expression, and the reproducibility of experimental results in clinical application. This study suggests that caCORRECT will be useful to clean up possible artifacts in new as well as archived microarray data. PMID:21957981

Compensatory Versus Noncompensatory Shoulder Movements Used for Reaching in Stroke.

PubMed

Levin, Mindy F; Liebermann, Dario G; Parmet, Yisrael; Berman, Sigal

2016-08-01

Background The extent to which the upper-limb flexor synergy constrains or compensates for arm motor impairment during reaching is controversial. This synergy can be quantified with a minimal marker set describing movements of the arm-plane. Objectives To determine whether and how (a) upper-limb flexor synergy in patients with chronic stroke contributes to reaching movements to different arm workspace locations and (b) reaching deficits can be characterized by arm-plane motion. Methods Sixteen post-stroke and 8 healthy control subjects made unrestrained reaching movements to targets located in ipsilateral, central, and contralateral arm workspaces. Arm-plane, arm, and trunk motion, and their temporal and spatial linkages were analyzed. Results Individuals with moderate/severe stroke used greater arm-plane movement and compensatory trunk movement compared to those with mild stroke and control subjects. Arm-plane and trunk movements were more temporally coupled in stroke compared with controls. Reaching accuracy was related to different segment and joint combinations for each target and group: arm-plane movement in controls and mild stroke subjects, and trunk and elbow movements in moderate/severe stroke subjects. Arm-plane movement increased with time since stroke and when combined with trunk rotation, discriminated between different subject groups for reaching the central and contralateral targets. Trunk movement and arm-plane angle during target reaches predicted the subject group. Conclusions The upper-limb flexor synergy was used adaptively for reaching accuracy by patients with mild, but not moderate/severe stroke. The flexor synergy, as parameterized by the amount of arm-plane motion, can be used by clinicians to identify levels of motor recovery in patients with stroke. © The Author(s) 2015.

Mental health nursing and stress: maintaining balance.

PubMed

Ward, Louise

2011-04-01

The recruitment and retention of mental health nurses within acute inpatient mental health facilities continues to be an ongoing issue. Literature and current research highlight an environment fraught with pressure and stress, identifying several key factors contributing to job dissatisfaction. These factors include greater patient acuity, unpredictable and challenging workspaces, violence, increased paperwork, and reduced managerial support. This qualitative, critical, feminist exploration investigated the lived experiences of 13 female mental health nurses working in inpatient services. They were asked about their practice and perceptions of workplace culture, and they shared their thoughts on stress management and professional well-being. Positive workplace practice was highlighted, and the participants revealed an environment they were proud to be a part of. Individual interviews, focus groups, and reflective practice were all used to collect data. The findings from the investigation unanimously support current literature that clearly confirms mental health nursing to be stressful. Interestingly, however, the findings also clearly identified that the way in which the nurse participants managed their stress was intrinsically linked to their job satisfaction. The major theme identified throughout the present study revealed that the female participants' ability to manage an at times complex workspace through the notions of teamwork, diversity, and creativity. All of the participants considered these elements as significant to providing a high standard in patient care. This research might provide an opportunity for others to view mental health nursing from a different perspective, and through the lived experiences of the participants, embrace the positive and rewarding aspects of the role. © 2011 The Author. International Journal of Mental Health Nursing © 2011 Australian College of Mental Health Nurses Inc.

IMHOTEP: virtual reality framework for surgical applications.

PubMed

Pfeiffer, Micha; Kenngott, Hannes; Preukschas, Anas; Huber, Matthias; Bettscheider, Lisa; Müller-Stich, Beat; Speidel, Stefanie

2018-05-01

The data which is available to surgeons before, during and after surgery is steadily increasing in quantity as well as diversity. When planning a patient's treatment, this large amount of information can be difficult to interpret. To aid in processing the information, new methods need to be found to present multimodal patient data, ideally combining textual, imagery, temporal and 3D data in a holistic and context-aware system. We present an open-source framework which allows handling of patient data in a virtual reality (VR) environment. By using VR technology, the workspace available to the surgeon is maximized and 3D patient data is rendered in stereo, which increases depth perception. The framework organizes the data into workspaces and contains tools which allow users to control, manipulate and enhance the data. Due to the framework's modular design, it can easily be adapted and extended for various clinical applications. The framework was evaluated by clinical personnel (77 participants). The majority of the group stated that a complex surgical situation is easier to comprehend by using the framework, and that it is very well suited for education. Furthermore, the application to various clinical scenarios-including the simulation of excitation propagation in the human atrium-demonstrated the framework's adaptability. As a feasibility study, the framework was used during the planning phase of the surgical removal of a large central carcinoma from a patient's liver. The clinical evaluation showed a large potential and high acceptance for the VR environment in a medical context. The various applications confirmed that the framework is easily extended and can be used in real-time simulation as well as for the manipulation of complex anatomical structures.

Head-controlled assistive telerobot with extended physiological proprioception capability

NASA Astrophysics Data System (ADS)

Salganicoff, Marcos; Rahman, Tariq; Mahoney, Ricardo; Pino, D.; Jayachandran, Vijay; Kumar, Vijay; Chen, Shoupu; Harwin, William S.

1995-12-01

People with disabilities such as quadriplegia can use mouth-sticks and head-sticks as extension devices to perform desired manipulations. These extensions provide extended proprioception which allows users to directly feel forces and other perceptual cues such as texture present at the tip of the mouth-stick. Such devices are effective for two principle reasons: because of their close contact with the user's tactile and proprioceptive sensing abilities; and because they tend to be lightweight and very stiff, and can thus convey tactile and kinesthetic information with high-bandwidth. Unfortunately, traditional mouth-sticks and head-sticks are limited in workspace and in the mechanical power that can be transferred because of user mobility and strength limitations. We describe an alternative implementation of the head-stick device using the idea of a virtual head-stick: a head-controlled bilateral force-reflecting telerobot. In this system the end-effector of the slave robot moves as if it were at the tip of an imaginary extension of the user's head. The design goal is for the system is to have the same intuitive operation and extended proprioception as a regular mouth-stick effector but with augmentation of workspace volume and mechanical power. The input is through a specially modified six DOF master robot (a PerForceTM hand-controller) whose joints can be back-driven to apply forces at the user's head. The manipulation tasks in the environment are performed by a six degree-of-freedom slave robot (the Zebra-ZEROTM) with a built-in force sensor. We describe the prototype hardware/software implementation of the system, control system design, safety/disability issues, and initial evaluation tasks.

Blood lead level and types of aviation fuel in aircraft maintenance crew.

PubMed

Park, Won-Ju; Gu, Hye-Min; Lee, Suk-Ho

2013-10-01

This study inquired into any significant difference in blood lead levels (BLLs) among aircraft maintenance crews at the air-bases, each with a different aviation fuel in use, and confirmed an environmental impact of leaded aviation gasoline (AVGAS). This study included a total of 256 male aircraft maintenance personnel, among whom 105 used only AVGAS as their aviation fuel, while 151 used only jet propellant 8 (JP-8), a kerosene variety. BLLs were measured and the data on related factors were obtained. The arithmetic and geometric means of BLLs of the personnel at the airbases that used only AVGAS were 4.20 microg x dl(-1) and 4.01 microg x dl(-1) and that used only JP-8 were 3.79 microg x dl(-1) and 3.57 microg x dl(-1), respectively. The BLLs of the maintenance crew of the main workspace that was located within a 200-m distance from the runway were higher than those of the main workspace that was located 200 m or farther from the runway. The longer the work hours in the runway or the longer the work duration, the higher the BLLs of the maintenance crew. This investigation exposed the fact that a body's BLL could be increased by AVGAS emissions through the examination of aircraft maintenance crew. This result is in agreement with results of previous studies that suggest proximity to an airport may be associated with elevated BLLs for adults and children. Collectively, the results of the current study and previous research suggest that long-duration inhabitation and/or activities in close proximity to an air facility should be limited given that lead poses known health risks.

Workspace location influences joint coordination during reaching in post-stroke hemiparesis

PubMed Central

Reisman, Darcy S.; Scholz, John P.

2006-01-01

The purpose of this study was to determine the influence of workspace location on joint coordination in persons with post-stroke hemiparesis when trunk motion was required to complete reaches beyond the arm’s functional reach length. Seven subjects with mild right hemiparesis following a stroke and seven age and gender matched control subjects participated. Joint motions and characteristics of hand and trunk movement were measured over multiple repetitions. The variance (across trials) of joint combinations was partitioned into two components at every point in the hand’s trajectory using the uncontrolled manifold approach; the first component is a measure of the extent to which equivalent joint combinations are used to control a given hand path, and reflects performance flexibility. The second component of joint variance reflects the use of non-equivalent joint combinations, which lead to hand path error. Compared to the control subjects, persons with hemiparesis demonstrated a significantly greater amount of non-equivalent joint variability related to control of the hand’s path and of the hand’s position relative to the trunk when reaching toward the hemiparetic side (ipsilaterally), but not when reaching to the less involved side. The relative timing of the hand and trunk was also altered when reaching ipsilaterally. The current findings support the idea that the previously proposed “arm compensatory synergy” may be deficient in subjects with hemiparesis. This deficiency may be due to one or a combination of factors: changes in central commands that are thought to set the gain of the arm compensatory synergy; a limited ability to combine shoulder abduction and elbow extension that limits the expression of an appropriately set arm compensatory synergy; or a reduction of the necessary degrees-of-freedom needed to adequately compensate for poor trunk control when reaching ipsilaterally. PMID:16328275

[Health promotion in day-care centres in Reykjavík--intervention and result of actions].

PubMed

Gudmarsdóttir, Agústa; Tómasson, Kristinn

2007-03-01

The purpose of the study was to compare wellbeing, health and work environment before and after intervention among employees of Reykjavík city day-care centre. The study is a prospective interventions study. In the year 2000 employees of 16 day-care centres responded to a questionnaire regarding work environment, health and wellbeing. Work environment evaluation was completed and the centre classified into four groups accordingly. Subsequently, the "equipment was renewed" noise protection improved and the employee received education concerning occupational health. Six months, after interventions, in the year 2002 the same questionnaire was readministered. Response rate in 2002 was 88% (n=267) but 90% in the year 2000. Work environment had improved. More employees had received instruction on good workposture and good work technique than 2 years earlier. Fewer employees used awkward posture than before. Better workspace resulted in reduced number of symptoms, also for the youngest employees. Symptoms were also fewer where unskilled employees were in majority and where the fewest of them had received proper education on work posture. In the year 2002, psychosocial wellbeing was better or equal than two years earlier. This was associated with better education and higher age even despite less workspace. Employees awareness towards noise was greatly improved. It is possible to improve work methods and work environment of employees with goal directed intervention, thus laying the ground for wellbeing at work. The interplay between the factors education and age is complex, though. Thus it is important, that all workplaces, adopt the process of "risk assessment", intervention, and then reassessment of the work environment. By doing so the goals of health promotion and good occupational health can be reached.

The integrated proactive surveillance system for prostate cancer.

PubMed

Wang, Haibin; Yatawara, Mahendra; Huang, Shao-Chi; Dudley, Kevin; Szekely, Christine; Holden, Stuart; Piantadosi, Steven

2012-01-01

In this paper, we present the design and implementation of the integrated proactive surveillance system for prostate cancer (PASS-PC). The integrated PASS-PC is a multi-institutional web-based system aimed at collecting a variety of data on prostate cancer patients in a standardized and efficient way. The integrated PASS-PC was commissioned by the Prostate Cancer Foundation (PCF) and built through the joint of efforts by a group of experts in medical oncology, genetics, pathology, nutrition, and cancer research informatics. Their main goal is facilitating the efficient and uniform collection of critical demographic, lifestyle, nutritional, dietary and clinical information to be used in developing new strategies in diagnosing, preventing and treating prostate cancer.The integrated PASS-PC is designed based on common industry standards - a three tiered architecture and a Service- Oriented Architecture (SOA). It utilizes open source software and programming languages such as HTML, PHP, CSS, JQuery, Drupal and MySQL. We also use a commercial database management system - Oracle 11g. The integrated PASS-PC project uses a "confederation model" that encourages participation of any interested center, irrespective of its size or location. The integrated PASS-PC utilizes a standardized approach to data collection and reporting, and uses extensive validation procedures to prevent entering erroneous data. The integrated PASS-PC controlled vocabulary is harmonized with the National Cancer Institute (NCI) Thesaurus. Currently, two cancer centers in the USA are participating in the integrated PASS-PC project.THE FINAL SYSTEM HAS THREE MAIN COMPONENTS: 1. National Prostate Surveillance Network (NPSN) website; 2. NPSN myConnect portal; 3. Proactive Surveillance System for Prostate Cancer (PASS-PC). PASS-PC is a cancer Biomedical Informatics Grid (caBIG) compatible product. The integrated PASS-PC provides a foundation for collaborative prostate cancer research. It has been built to meet the short term goal of gathering prostate cancer related data, but also with the prerequisites in place for future evolution into a cancer research informatics platform. In the future this will be vital for successful prostate cancer studies, care and treatment.

The Integrated Proactive Surveillance System for Prostate Cancer

PubMed Central

Wang, Haibin; Yatawara, Mahendra; Huang, Shao-Chi; Dudley, Kevin; Szekely, Christine; Holden, Stuart; Piantadosi, Steven

2012-01-01

In this paper, we present the design and implementation of the integrated proactive surveillance system for prostate cancer (PASS-PC). The integrated PASS-PC is a multi-institutional web-based system aimed at collecting a variety of data on prostate cancer patients in a standardized and efficient way. The integrated PASS-PC was commissioned by the Prostate Cancer Foundation (PCF) and built through the joint of efforts by a group of experts in medical oncology, genetics, pathology, nutrition, and cancer research informatics. Their main goal is facilitating the efficient and uniform collection of critical demographic, lifestyle, nutritional, dietary and clinical information to be used in developing new strategies in diagnosing, preventing and treating prostate cancer. The integrated PASS-PC is designed based on common industry standards – a three tiered architecture and a Service- Oriented Architecture (SOA). It utilizes open source software and programming languages such as HTML, PHP, CSS, JQuery, Drupal and MySQL. We also use a commercial database management system – Oracle 11g. The integrated PASS-PC project uses a “confederation model” that encourages participation of any interested center, irrespective of its size or location. The integrated PASS-PC utilizes a standardized approach to data collection and reporting, and uses extensive validation procedures to prevent entering erroneous data. The integrated PASS-PC controlled vocabulary is harmonized with the National Cancer Institute (NCI) Thesaurus. Currently, two cancer centers in the USA are participating in the integrated PASS-PC project. The final system has three main components: 1. National Prostate Surveillance Network (NPSN) website; 2. NPSN myConnect portal; 3. Proactive Surveillance System for Prostate Cancer (PASS-PC). PASS-PC is a cancer Biomedical Informatics Grid (caBIG) compatible product. The integrated PASS-PC provides a foundation for collaborative prostate cancer research. It has been built to meet the short term goal of gathering prostate cancer related data, but also with the prerequisites in place for future evolution into a cancer research informatics platform. In the future this will be vital for successful prostate cancer studies, care and treatment. PMID:22505956

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

NASA Astrophysics Data System (ADS)

Abdi, Elahe; Burdet, Etienne; Bouri, Mohamed; Himidan, Sharifa; Bleuler, Hannes

2016-02-01

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve with three hands compared to two hands? To evaluate this possibility, we carried out a behavioural study on the performance of naive adults catching objects with three virtual hands controlled by their two hands and right foot. The subjects could successfully control the virtual hands in a few trials. With this control strategy, the workspace of the hands was inversely correlated with the task velocity. The comparison of performance between the three and two hands control revealed no significant difference of success in catching falling objects and in average effort during the tasks. Subjects preferred the three handed control strategy, found it easier, with less physical and mental burden. Although the coordination of the foot with the natural hands increased trial after trial, about two minutes of practice was not sufficient to develop a sense of ownership towards the third arm.

Development of a multistage compliant mechanism with new boundary constraint

NASA Astrophysics Data System (ADS)

Ling, Mingxiang; Cao, Junyi; Jiang, Zhou; Li, Qisheng

2018-01-01

This paper presents a piezo-actuated compliant mechanism with a new boundary constraint to provide concurrent large workspace and high dynamic frequency for precision positioning or other flexible manipulation applications. A two-stage rhombus-type displacement amplifier with the "sliding-sliding" boundary constraint is presented to maximize the dynamic frequency while retaining a large output displacement. The vibration mode is also improved by the designed boundary constraint. A theoretical kinematic model of the compliant mechanism is established to optimize the geometric parameters, and a prototype is fabricated with a compact dimension of 60 mm × 60 mm × 12 mm. The experimental testing shows that the maximum stroke is approximately 0.6 mm and the output stiffness is 1.1 N/μm with the fundamental frequency of larger than 2.2 kHz. Lastly, the excellent performance of the presented compliant mechanism is compared with several mechanisms in the previous literature. As a conclusion, the presented boundary constraint strategy provides a new way to balance the trade-off between the frequency response and the stroke range widely existed in compliant mechanisms.

Vision-Based Control of a Handheld Surgical Micromanipulator with Virtual Fixtures

PubMed Central

Becker, Brian C.; MacLachlan, Robert A.; Lobes, Louis A.; Hager, Gregory D.; Riviere, Cameron N.

2012-01-01

Performing micromanipulation and delicate operations in submillimeter workspaces is difficult because of destabilizing tremor and imprecise targeting. Accurate micromanipulation is especially important for microsurgical procedures, such as vitreoretinal surgery, to maximize successful outcomes and minimize collateral damage. Robotic aid combined with filtering techniques that suppress tremor frequency bands increases performance; however, if knowledge of the operator’s goals is available, virtual fixtures have been shown to further improve performance. In this paper, we derive a virtual fixture framework for active handheld micromanipulators that is based on high-bandwidth position measurements rather than forces applied to a robot handle. For applicability in surgical environments, the fixtures are generated in real-time from microscope video during the procedure. Additionally, we develop motion scaling behavior around virtual fixtures as a simple and direct extension to the proposed framework. We demonstrate that virtual fixtures significantly outperform tremor cancellation algorithms on a set of synthetic tracing tasks (p < 0.05). In more medically relevant experiments of vein tracing and membrane peeling in eye phantoms, virtual fixtures can significantly reduce both positioning error and forces applied to tissue (p < 0.05). PMID:24639624

In a demanding task, three-handed manipulation is preferred to two-handed manipulation.

PubMed

Abdi, Elahe; Burdet, Etienne; Bouri, Mohamed; Himidan, Sharifa; Bleuler, Hannes

2016-02-25

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve with three hands compared to two hands? To evaluate this possibility, we carried out a behavioural study on the performance of naive adults catching objects with three virtual hands controlled by their two hands and right foot. The subjects could successfully control the virtual hands in a few trials. With this control strategy, the workspace of the hands was inversely correlated with the task velocity. The comparison of performance between the three and two hands control revealed no significant difference of success in catching falling objects and in average effort during the tasks. Subjects preferred the three handed control strategy, found it easier, with less physical and mental burden. Although the coordination of the foot with the natural hands increased trial after trial, about two minutes of practice was not sufficient to develop a sense of ownership towards the third arm.

Research on an optoelectronic measurement system of dynamic envelope measurement for China Railway high-speed train

NASA Astrophysics Data System (ADS)

Zhao, Ziyue; Gan, Xiaochuan; Zou, Zhi; Ma, Liqun

2018-01-01

The dynamic envelope measurement plays very important role in the external dimension design for high-speed train. Recently there is no digital measurement system to solve this problem. This paper develops an optoelectronic measurement system by using monocular digital camera, and presents the research of measurement theory, visual target design, calibration algorithm design, software programming and so on. This system consists of several CMOS digital cameras, several luminous targets for measuring, a scale bar, data processing software and a terminal computer. The system has such advantages as large measurement scale, high degree of automation, strong anti-interference ability, noise rejection and real-time measurement. In this paper, we resolve the key technology such as the transformation, storage and calculation of multiple cameras' high resolution digital image. The experimental data show that the repeatability of the system is within 0.02mm and the distance error of the system is within 0.12mm in the whole workspace. This experiment has verified the rationality of the system scheme, the correctness, the precision and effectiveness of the relevant methods.

Risk maps for navigation in liver surgery

NASA Astrophysics Data System (ADS)

Hansen, C.; Zidowitz, S.; Schenk, A.; Oldhafer, K.-J.; Lang, H.; Peitgen, H.-O.

2010-02-01

The optimal transfer of preoperative planning data and risk evaluations to the operative site is challenging. A common practice is to use preoperative 3D planning models as a printout or as a presentation on a display. One important aspect is that these models were not developed to provide information in complex workspaces like the operating room. Our aim is to reduce the visual complexity of 3D planning models by mapping surgically relevant information onto a risk map. Therefore, we present methods for the identification and classification of critical anatomical structures in the proximity of a preoperatively planned resection surface. Shadow-like distance indicators are introduced to encode the distance from the resection surface to these critical structures on the risk map. In addition, contour lines are used to accentuate shape and spatial depth. The resulting visualization is clear and intuitive, allowing for a fast mental mapping of the current resection surface to the risk map. Preliminary evaluations by liver surgeons indicate that damage to risk structures may be prevented and patient safety may be enhanced using the proposed methods.

Utilizing AI in Temporal, Spatial, and Resource Scheduling

NASA Technical Reports Server (NTRS)

Stottler, Richard; Kalton, Annaka; Bell, Aaron

2006-01-01

Aurora is a software system enabling the rapid, easy solution of complex scheduling problems involving spatial and temporal constraints among operations and scarce resources (such as equipment, workspace, and human experts). Although developed for use in the International Space Station Processing Facility, Aurora is flexible enough that it can be easily customized for application to other scheduling domains and adapted as the requirements change or become more precisely known over time. Aurora s scheduling module utilizes artificial-intelligence (AI) techniques to make scheduling decisions on the basis of domain knowledge, including knowledge of constraints and their relative importance, interdependencies among operations, and possibly frequent changes in governing schedule requirements. Unlike many other scheduling software systems, Aurora focuses on resource requirements and temporal scheduling in combination. For example, Aurora can accommodate a domain requirement to schedule two subsequent operations to locations adjacent to a shared resource. The graphical interface allows the user to quickly visualize the schedule and perform changes reflecting additional knowledge or alterations in the situation. For example, the user might drag the activity corresponding to the start of operations to reflect a late delivery.

A two-degrees-of-freedom miniature manipulator actuated by antagonistic shape memory alloys

NASA Astrophysics Data System (ADS)

Lai, Chih-Ming; Chu, Cheng-Yu; Lan, Chao-Chieh

2013-08-01

This paper presents a miniature manipulator that can provide rotations around two perpendicularly intersecting axes. Each axis is actuated by a pair of shape memory alloy (SMA) wires. SMA wire actuators are known for their large energy density and ease of actuation. These advantages make them ideal for applications that have stringent size and weight constraints. SMA actuators can be temperature-controlled to contract and relax like muscles. When correctly designed, antagonistic SMA actuators have a faster response and larger range of motion than bias-type SMA actuators. This paper proposes an antagonistic actuation model to determine the manipulator parameters that are required to generate sufficient workspace. Effects of SMA prestrain and spring stiffness on the manipulator are investigated. Taking advantage of proper prestrain, the actuator size can be made much smaller while maintaining the same motion. The use of springs in series with SMA can effectively reduce actuator stress. A controller and an anti-slack algorithm are developed to ensure fast and accurate motion. Speed, stress, and loading experiments are conducted to demonstrate the performance of the manipulator.

How to improve your PubMed/MEDLINE searches: 3. advanced searching, MeSH and My NCBI.

PubMed

Fatehi, Farhad; Gray, Leonard C; Wootton, Richard

2014-03-01

Although the basic PubMed search is often helpful, the results may sometimes be non-specific. For more control over the search process you can use the Advanced Search Builder interface. This allows a targeted search in specific fields, with the convenience of being able to select the intended search field from a list. It also provides a history of your previous searches. The search history is useful to develop a complex search query by combining several previous searches using Boolean operators. For indexing the articles in MEDLINE, the NLM uses a controlled vocabulary system called MeSH. This standardised vocabulary solves the problem of authors, researchers and librarians who may use different terms for the same concept. To be efficient in a PubMed search, you should start by identifying the most appropriate MeSH terms and use them in your search where possible. My NCBI is a personal workspace facility available through PubMed and makes it possible to customise the PubMed interface. It provides various capabilities that can enhance your search performance.

Design of a Teleoperated Needle Steering System for MRI-guided Prostate Interventions

PubMed Central

Seifabadi, Reza; Iordachita, Iulian; Fichtinger, Gabor

2013-01-01

Accurate needle placement plays a key role in success of prostate biopsy and brachytherapy. During percutaneous interventions, the prostate gland rotates and deforms which may cause significant target displacement. In these cases straight needle trajectory is not sufficient for precise targeting. Although needle spinning and fast insertion may be helpful, they do not entirely resolve the issue. We propose robot-assisted bevel-tip needle steering under MRI guidance as a potential solution to compensate for the target displacement. MRI is chosen for its superior soft tissue contrast in prostate imaging. Due to the confined workspace of the MRI scanner and the requirement for the clinician to be present inside the MRI room during the procedure, we designed a MRI-compatible 2-DOF haptic device to command the needle steering slave robot which operates inside the scanner. The needle steering slave robot was designed to be integrated with a previously developed pneumatically actuated transperineal robot for MRI-guided prostate needle placement. We describe design challenges and present the conceptual design of the master and slave robots and the associated controller. PMID:24649480

A Fairy-Tale Landscape

NASA Technical Reports Server (NTRS)

2008-01-01

[figure removed for brevity, see original site] Click on image for animation

Fun, fairy-tale nicknames have been assigned to features in this animated view of the workspace reachable by the robotic arm of NASA's Phoenix Mars Lander. For example, 'Sleepy Hollow' denotes a trench and 'Headless' designates a rock.

A 'National Park,' marked by purple text and a purple arrow, has been set aside for protection until scientists and engineers have tested the operation of the robotic scoop. First touches with the scoop will be to the left of the 'National Park' line.

Scientists use such informal names for easy identification of features of interest during the mission.

In this view, rocks are circled in yellow, other areas of interest in green. The images were taken by the lander's 7-foot mast camera, called the Surface Stereo Imager.

The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

Summary of Work for Joint Research Interchanges with DARWIN Integrated Product Team 1998

NASA Technical Reports Server (NTRS)

Hesselink, Lambertus

1999-01-01

The intent of Stanford University's SciVis group is to develop technologies that enabled comparative analysis and visualization techniques for simulated and experimental flow fields. These techniques would then be made available under the Joint Research Interchange for potential injection into the DARWIN Workspace Environment (DWE). In the past, we have focused on techniques that exploited feature based comparisons such as shock and vortex extractions. Our current research effort focuses on finding a quantitative comparison of general vector fields based on topological features. Since the method relies on topological information, grid matching and vector alignment is not needed in the comparison. This is often a problem with many data comparison techniques. In addition, since only topology based information is stored and compared for each field, there is a significant compression of information that enables large databases to be quickly searched. This report will briefly (1) describe current technologies in the area of comparison techniques, (2) will describe the theory of our new method and finally (3) summarize a few of the results.

Summary of Work for Joint Research Interchanges with DARWIN Integrated Product Team

NASA Technical Reports Server (NTRS)

Hesselink, Lambertus

1999-01-01

The intent of Stanford University's SciVis group is to develop technologies that enabled comparative analysis and visualization techniques for simulated and experimental flow fields. These techniques would then be made available un- der the Joint Research Interchange for potential injection into the DARWIN Workspace Environment (DWE). In the past, we have focused on techniques that exploited feature based comparisons such as shock and vortex extractions. Our current research effort focuses on finding a quantitative comparison of general vector fields based on topological features. Since the method relies on topological information, grid matching an@ vector alignment is not needed in the comparison. This is often a problem with many data comparison techniques. In addition, since only topology based information is stored and compared for each field, there is a significant compression of information that enables large databases to be quickly searched. This report will briefly (1) describe current technologies in the area of comparison techniques, (2) will describe the theory of our new method and finally (3) summarize a few of the results.

Modeling human-machine interactions for operations room layouts

NASA Astrophysics Data System (ADS)

Hendy, Keith C.; Edwards, Jack L.; Beevis, David

2000-11-01

The LOCATE layout analysis tool was used to analyze three preliminary configurations for the Integrated Command Environment (ICE) of a future USN platform. LOCATE develops a cost function reflecting the quality of all human-human and human-machine communications within a workspace. This proof- of-concept study showed little difference between the efficacy of the preliminary designs selected for comparison. This was thought to be due to the limitations of the study, which included the assumption of similar size for each layout and a lack of accurate measurement data for various objects in the designs, due largely to their notional nature. Based on these results, the USN offered an opportunity to conduct a LOCATE analysis using more appropriate assumptions. A standard crew was assumed, and subject matter experts agreed on the communications patterns for the analysis. Eight layouts were evaluated with the concepts of coordination and command factored into the analysis. Clear differences between the layouts emerged. The most promising design was refined further by the USN, and a working mock-up built for human-in-the-loop evaluation. LOCATE was applied to this configuration for comparison with the earlier analyses.

Visual control of robots using range images.

PubMed

Pomares, Jorge; Gil, Pablo; Torres, Fernando

2010-01-01

In the last years, 3D-vision systems based on the time-of-flight (ToF) principle have gained more importance in order to obtain 3D information from the workspace. In this paper, an analysis of the use of 3D ToF cameras to guide a robot arm is performed. To do so, an adaptive method to simultaneous visual servo control and camera calibration is presented. Using this method a robot arm is guided by using range information obtained from a ToF camera. Furthermore, the self-calibration method obtains the adequate integration time to be used by the range camera in order to precisely determine the depth information.

Laser-Based Trespassing Prediction in Restrictive Environments: A Linear Approach

PubMed Central

Cheein, Fernando Auat; Scaglia, Gustavo

2012-01-01

Stationary range laser sensors for intruder monitoring, restricted space violation detections and workspace determination are extensively used in risky environments. In this work we present a linear based approach for predicting the presence of moving agents before they trespass a laser-based restricted space. Our approach is based on the Taylor's series expansion of the detected objects' movements. The latter makes our proposal suitable for embedded applications. In the experimental results (carried out in different scenarios) presented herein, our proposal shows 100% of effectiveness in predicting trespassing situations. Several implementation results and statistics analysis showing the performance of our proposal are included in this work.

Filtration of water-sediment samples for the determination of organic compounds

USGS Publications Warehouse

Sandstrom, Mark W.

1995-01-01

This report describes the equipment and procedures used for on-site filtration of surface-water and ground-water samples for determination of organic compounds. Glass-fiber filters and a positive displacement pumping system are suitable for processing most samples for organic analyses. An optional system that uses disposable in-line membrane filters is suitable for a specific gas chromatography/mass spectrometry, selected-ion monitoring analytical method for determination of organonitrogen herbicides. General procedures to minimize contamination of the samples include preparing a clean workspace at the site, selecting appropriate sample-collection materials, and cleaning of the equipment with detergent, tap water, and methanol.

Cephalopod consciousness: behavioural evidence.

PubMed

Mather, Jennifer A

2008-03-01

Behavioural evidence suggests that cephalopod molluscs may have a form of primary consciousness. First, the linkage of brain to behaviour seen in lateralization, sleep and through a developmental context is similar to that of mammals and birds. Second, cephalopods, especially octopuses, are heavily dependent on learning in response to both visual and tactile cues, and may have domain generality and form simple concepts. Third, these animals are aware of their position, both within themselves and in larger space, including having a working memory of foraging areas in the recent past. Thus if using a 'global workspace' which evaluates memory input and focuses attention is the criterion, cephalopods appear to have primary consciousness.

Reflexive obstacle avoidance for kinematically-redundant manipulators

NASA Technical Reports Server (NTRS)

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

1989-01-01

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.

Get Involved in Education and Public Outreach! The Science Mission Directorate Science E/PO Forums Are Here to Help

NASA Astrophysics Data System (ADS)

Shipp, S. S.; Buxner, S.; Schwerin, T. G.; Hsu, B. C.; Peticolas, L. M.; Smith, D.; Meinke, B. K.

2013-12-01

NASA's Science Mission Directorate (SMD) Education and Public Outreach (E/PO) Forums help to engage, extend, support, and coordinate the efforts of the community of E/PO professionals and scientists involved in Earth and space science education activities. This work is undertaken to maximize the effectiveness and efficiency of the overall national NASA science education and outreach effort made up of individual efforts run by these education professionals. This includes facilitating scientist engagement in education and outreach. The Forums have been developing toolkits and pathways to support planetary, Earth, astrophysics, and heliophysics scientists who are - or who are interested in becoming - involved in E/PO. These tools include: 1) Pathways to learn about SMD and E/PO community announcements and opportunities, share news about E/PO programs, let the E/PO community know you are interested in becoming involved, and discover education programs needing scientist input and/or support. These pathways include weekly e-news, the SMD E/PO online community workspace, monthly community calls, conferences and meetings of opportunity. 2) Portals to help you find out what education resources already exist, obtain resources to share with students of all levels - from K-12 to graduate students, - and disseminate your materials. These include E/PO samplers and toolkits (sampling of resources selected for scientists who work with students, teachers, and the public), the one-stop shop of reviewed resources from the NASA Earth and space science education portfolio NASAWavelength.org, and the online clearinghouse of Earth and space science higher education materials EarthSpace (http://www.lpi.usra.edu/earthspace). 3) Connections to education specialists who can help you design and implement meaningful E/PO programs - small to large. Education specialists can help you understand what research says about how people learn and effective practices for achieving your goals, place your programs in context (e.g., Beyond IYA, Sun-Earth Day, launch events, 50 Years of Solar System Exploration, Earth Science Week), and get your programs and products disseminated. 4) Connections to education professionals to collaborate with you on educational programs, involve intended audience members as partners to guide your programs, reach a broader audience, and insure impact with external partners through the E/PO community contact database and workspace profiles, conferences, meetings, and SMD E/PO community annual retreats. Recently developed, the NASA SMD Scientist Speaker's Bureau (http://www.lpi.usra.edu/education/speaker) offers an online portal to connect scientists interested in getting involved in E/PO projects - giving public talks, classroom visits, and virtual connections - with audiences. Learn more about the Forums and the opportunities to become involved in E/PO and to share your science with students, educators, and the general public at http://smdepo.org.

Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions

PubMed Central

Fischer, Gregory S.; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Mewes, Philip W.; Tempany, Clare M.; Hata, Nobuhiko; Fichtinger, Gabor

2011-01-01

Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system. PMID:21686038

The Application of the Human Engineering Modeling and Performance Laboratory for Space Vehicle Ground Processing Tasks at Kennedy Space Center

NASA Technical Reports Server (NTRS)

Woodbury, Sarah K.

2008-01-01

The introduction of United Space Alliance's Human Engineering Modeling and Performance Laboratory began in early 2007 in an attempt to address the problematic workspace design issues that the Space Shuttle has imposed on technicians performing maintenance and inspection operations. The Space Shuttle was not expected to require the extensive maintenance it undergoes between flights. As a result, extensive, costly resources have been expended on workarounds and modifications to accommodate ground processing personnel. Consideration of basic human factors principles for design of maintenance is essential during the design phase of future space vehicles, facilities, and equipment. Simulation will be needed to test and validate designs before implementation.

Experimental characterization of a binary actuated parallel manipulator

NASA Astrophysics Data System (ADS)

Giuseppe, Carbone

2016-05-01

This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions.

PubMed

Fischer, Gregory S; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Mewes, Philip W; Tempany, Clare M; Hata, Nobuhiko; Fichtinger, Gabor

2008-06-13

Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.

Feedback from video for virtual reality Navigation

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

Tsap, L V

2000-10-27

Important preconditions for wide acceptance of virtual reality (VR) systems include their comfort, ease and naturalness to use. Most existing trackers super from discomfort-related issues. For example, body-based trackers (hand controllers, joysticks, helmet attachments, etc.) restrict spontaneity and naturalness of motion, while ground-based devices (e.g., hand controllers) limit the workspace by literally binding an operator to the ground. There are similar problems with controls. This paper describes using real-time video with registered depth information (from a commercially available camera) for virtual reality navigation. Camera-based setup can replace cumbersome trackers. The method includes selective depth processing for increased speed, and amore » robust skin-color segmentation for accounting illumination variations.« less

Humanoid Robot

NASA Technical Reports Server (NTRS)

Linn, Douglas M. (Inventor); Mehling, Joshua S. (Inventor); Radford, Nicolaus A. (Inventor); Bridgwater, Lyndon (Inventor); Wampler, II, Charles W. (Inventor); Abdallah, Muhammad E. (Inventor); Sanders, Adam M. (Inventor); Davis, Donald R. (Inventor); Diftler, Myron A. (Inventor); Platt, Robert (Inventor);

Affect as a Psychological Primitive

PubMed Central

Barrett, Lisa Feldman; Bliss-Moreau, Eliza

2009-01-01

In this article, we discuss the hypothesis that affect is a fundamental, psychologically irreducible property of the human mind. We begin by presenting historical perspectives on the nature of affect. Next, we proceed with a more contemporary discussion of core affect as a basic property of the mind that is realized within a broadly distributed neuronal workspace. We then present the affective circumplex, a mathematical formalization for representing core affective states, and show that this model can be used to represent individual differences in core affective feelings that are linked to meaningful variation in emotional experience. Finally, we conclude by suggesting that core affect has psychological consequences that reach beyond the boundaries of emotion, to influence learning and consciousness. PMID:20552040

Thalamocortical Dysrhythmia: A Theoretical Update in Tinnitus

PubMed Central

De Ridder, Dirk; Vanneste, Sven; Langguth, Berthold; Llinas, Rodolfo

2015-01-01

Tinnitus is the perception of a sound in the absence of a corresponding external sound source. Pathophysiologically it has been attributed to bottom-up deafferentation and/or top-down noise-cancelling deficit. Both mechanisms are proposed to alter auditory ­thalamocortical signal transmission, resulting in thalamocortical dysrhythmia (TCD). In deafferentation, TCD is characterized by a slowing down of resting state alpha to theta activity associated with an increase in surrounding gamma activity, resulting in persisting cross-frequency coupling between theta and gamma activity. Theta burst-firing increases network synchrony and recruitment, a mechanism, which might enable long-range synchrony, which in turn could represent a means for finding the missing thalamocortical information and for gaining access to consciousness. Theta oscillations could function as a carrier wave to integrate the tinnitus-related focal auditory gamma activity in a consciousness enabling network, as envisioned by the global workspace model. This model suggests that focal activity in the brain does not reach consciousness, except if the focal activity becomes functionally coupled to a consciousness enabling network, aka the global workspace. In limited deafferentation, the missing information can be retrieved from the auditory cortical neighborhood, decreasing surround inhibition, resulting in TCD. When the deafferentation is too wide in bandwidth, it is hypothesized that the missing information is retrieved from theta-mediated parahippocampal auditory memory. This suggests that based on the amount of deafferentation TCD might change to parahippocampocortical persisting and thus pathological theta–gamma rhythm. From a Bayesian point of view, in which the brain is conceived as a prediction machine that updates its memory-based predictions through sensory updating, tinnitus is the result of a prediction error between the predicted and sensed auditory input. The decrease in sensory updating is reflected by decreased alpha activity and the prediction error results in theta–gamma and beta–gamma coupling. Thus, TCD can be considered as an adaptive mechanism to retrieve missing auditory input in tinnitus. PMID:26106362

Designing Clinical Space for the Delivery of Integrated Behavioral Health and Primary Care.

PubMed

Gunn, Rose; Davis, Melinda M; Hall, Jennifer; Heintzman, John; Muench, John; Smeds, Brianna; Miller, Benjamin F; Miller, William L; Gilchrist, Emma; Brown Levey, Shandra; Brown, Jacqueline; Wise Romero, Pam; Cohen, Deborah J

2015-01-01

This study sought to describe features of the physical space in which practices integrating primary care and behavioral health care work and to identify the arrangements that enable integration of care. We conducted an observational study of 19 diverse practices located across the United States. Practice-level data included field notes from 2-4-day site visits, transcripts from semistructured interviews with clinicians and clinical staff, online implementation diary posts, and facility photographs. A multidisciplinary team used a 4-stage, systematic approach to analyze data and identify how physical layout enabled the work of integrated care teams. Two dominant spatial layouts emerged across practices: type-1 layouts were characterized by having primary care clinicians (PCCs) and behavioral health clinicians (BHCs) located in separate work areas, and type-2 layouts had BHCs and PCCs sharing work space. We describe these layouts and the influence they have on situational awareness, interprofessional "bumpability," and opportunities for on-the-fly communication. We observed BHCs and PCCs engaging in more face-to-face methods for coordinating integrated care for patients in type 2 layouts (41.5% of observed encounters vs 11.7%; P < .05). We show that practices needed to strike a balance between professional proximity and private work areas to accomplish job tasks. Private workspace was needed for focused work, to see patients, and for consults between clinicians and clinical staff. We describe the ways practices modified and built new space and provide 2 recommended layouts for practices integrating care based on study findings. Physical layout and positioning of professionals' workspace is an important consideration in practices implementing integrated care. Clinicians, researchers, and health-care administrators are encouraged to consider the role of professional proximity and private working space when creating new facilities or redesigning existing space to foster delivery of integrated behavioral health and primary care. © Copyright 2015 by the American Board of Family Medicine.

Compliance analysis of a 3-DOF spindle head by considering gravitational effects

NASA Astrophysics Data System (ADS)

Li, Qi; Wang, Manxin; Huang, Tian; Chetwynd, Derek G.

2015-01-01

The compliance modeling is one of the most significant issues in the stage of preliminary design for parallel kinematic machine(PKM). The gravity ignored in traditional compliance analysis has a significant effect on pose accuracy of tool center point(TCP) when a PKM is horizontally placed. By taking gravity into account, this paper presents a semi-analytical approach for compliance analysis of a 3-DOF spindle head named the A3 head. The architecture behind the A3 head is a 3-R PS parallel mechanism having one translational and two rotational movement capabilities, which can be employed to form the main body of a 5-DOF hybrid kinematic machine especially designed for high-speed machining of large aircraft components. The force analysis is carried out by considering both the externally applied wrench imposed upon the platform as well as gravity of all moving components. Then, the deflection analysis is investigated to establish the relationship between the deflection twist and compliances of all joints and links using semi-analytical method. The merits of this approach lie in that platform deflection twist throughout the entire task workspace can be evaluated in a very efficient manner. The effectiveness of the proposed approach is verified by the FEA and experiment at different configurations and the results show that the discrepancy of the compliances is less than 0.04 μm/N-1 and that of the deformations is less than 10μm. The computational and experimental results show that the deflection twist induced by gravity forces of the moving components has significant bearings on pose accuracy of the platform, providing an informative guidance for the improvement of the current design. The proposed approach can be easily applied to the compliance analysis of PKM by considering gravitational effects and to evaluate the deformation caused by gravity throughout the entire workspace.

Coordinated control of a space manipulator tested by means of an air bearing free floating platform

NASA Astrophysics Data System (ADS)

Sabatini, Marco; Gasbarri, Paolo; Palmerini, Giovanni B.

2017-10-01

A typical approach studied for the guidance of next generation space manipulators (satellites with robotic arms aimed at autonomously performing on-orbit operations) is to decouple the platform and the arm maneuvers, which are supposed to happen sequentially, mainly because of safety concerns. This control is implemented in this work as a two-stage Sequential control, where a first stage calls for the motion of the platform and the second stage calls for the motion of the manipulator. A second novel strategy is proposed, considering the platform and the manipulator as a single multibody system subject to a Coordinated control, with the goal of approaching and grasping a target spacecraft. At the scope, a region that the end effector can reach by means of the arm motion with limited reactions on the platform is identified (the so called Reaction Null workspace). The Coordinated control algorithm performs a gain modulation (finalized to a balanced contribution of the platform and arm motion) as a function of the target position within this Reaction Null map. The result is a coordinated maneuver in which the end effector moves thanks to the platform motion, predominant in a first phase, and to the arm motion, predominant when the Reaction-Null workspace is reached. In this way the collision avoidance and attitude over-control issues are automatically considered, without the need of splitting the mission in independent (and overall sub-optimal) segments. The guidance and control algorithms are first simulated by means of a multibody code, and successively tested in the lab by means of a free floating platform equipped with a robotic arm, moving frictionless on a flat granite table thanks to air bearings and on-off thrusters; the results will be discussed in terms of optimality of the fuel consumption and final accuracy.

Holistic approach to design and implementation of a medical teleconsultation workspace.

PubMed

Czekierda, Łukasz; Malawski, Filip; Wyszkowski, Przemysław

2015-10-01

While there are many state-of-the-art approaches to introducing telemedical services in the area of medical imaging, it is hard to point to studies which would address all relevant aspects in a complete and comprehensive manner. In this paper we describe our approach to design and implementation of a universal platform for imaging medicine which is based on our longstanding experience in this area. We claim it is holistic, because, contrary to most of the available studies it addresses all aspects related to creation and utilization of a medical teleconsultation workspace. We present an extensive analysis of requirements, including possible usage scenarios, user needs, organizational and security issues and infrastructure components. We enumerate and analyze multiple usage scenarios related to medical imaging data in treatment, research and educational applications - with typical teleconsultations treated as just one of many possible options. Certain phases common to all these scenarios have been identified, with the resulting classification distinguishing several modes of operation (local vs. remote, collaborative vs. non-interactive etc.). On this basis we propose a system architecture which addresses all of the identified requirements, applying two key concepts: Service Oriented Architecture (SOA) and Virtual Organizations (VO). The SOA paradigm allows us to decompose the functionality of the system into several distinct building blocks, ensuring flexibility and reliability. The VO paradigm defines the cooperation model for all participating healthcare institutions. Our approach is validated by an ICT platform called TeleDICOM II which implements the proposed architecture. All of its main elements are described in detail and cross-checked against the listed requirements. A case study presents the role and usage of the platform in a specific scenario. Finally, our platform is compared with similar systems described into-date studies and available on the market. Copyright © 2015. Published by Elsevier Inc.

Virtual rigid body: a new optical tracking paradigm in image-guided interventions

NASA Astrophysics Data System (ADS)

Cheng, Alexis; Lee, David S.; Deshmukh, Nishikant; Boctor, Emad M.

2015-03-01

Tracking technology is often necessary for image-guided surgical interventions. Optical tracking is one the options, but it suffers from line of sight and workspace limitations. Optical tracking is accomplished by attaching a rigid body marker, having a pattern for pose detection, onto a tool or device. A larger rigid body results in more accurate tracking, but at the same time large size limits its usage in a crowded surgical workspace. This work presents a prototype of a novel optical tracking method using a virtual rigid body (VRB). We define the VRB as a 3D rigid body marker in the form of pattern on a surface generated from a light source. Its pose can be recovered by observing the projected pattern with a stereo-camera system. The rigid body's size is no longer physically limited as we can manufacture small size light sources. Conventional optical tracking also requires line of sight to the rigid body. VRB overcomes these limitations by detecting a pattern projected onto the surface. We can project the pattern onto a region of interest, allowing the pattern to always be in the view of the optical tracker. This helps to decrease the occurrence of occlusions. This manuscript describes the method and results compared with conventional optical tracking in an experiment setup using known motions. The experiments are done using an optical tracker and a linear-stage, resulting in targeting errors of 0.38mm+/-0.28mm with our method compared to 0.23mm+/-0.22mm with conventional optical markers. Another experiment that replaced the linear stage with a robot arm resulted in rotational errors of 0.50+/-0.31° and 2.68+/-2.20° and the translation errors of 0.18+/-0.10 mm and 0.03+/-0.02 mm respectively.

MSLICE Sequencing

NASA Technical Reports Server (NTRS)

Crockett, Thomas M.; Joswig, Joseph C.; Shams, Khawaja S.; Norris, Jeffrey S.; Morris, John R.

2011-01-01

MSLICE Sequencing is a graphical tool for writing sequences and integrating them into RML files, as well as for producing SCMF files for uplink. When operated in a testbed environment, it also supports uplinking these SCMF files to the testbed via Chill. This software features a free-form textural sequence editor featuring syntax coloring, automatic content assistance (including command and argument completion proposals), complete with types, value ranges, unites, and descriptions from the command dictionary that appear as they are typed. The sequence editor also has a "field mode" that allows tabbing between arguments and displays type/range/units/description for each argument as it is edited. Color-coded error and warning annotations on problematic tokens are included, as well as indications of problems that are not visible in the current scroll range. "Quick Fix" suggestions are made for resolving problems, and all the features afforded by modern source editors are also included such as copy/cut/paste, undo/redo, and a sophisticated find-and-replace system optionally using regular expressions. The software offers a full XML editor for RML files, which features syntax coloring, content assistance and problem annotations as above. There is a form-based, "detail view" that allows structured editing of command arguments and sequence parameters when preferred. The "project view" shows the user s "workspace" as a tree of "resources" (projects, folders, and files) that can subsequently be opened in editors by double-clicking. Files can be added, deleted, dragged-dropped/copied-pasted between folders or projects, and these operations are undoable and redoable. A "problems view" contains a tabular list of all problems in the current workspace. Double-clicking on any row in the table opens an editor for the appropriate sequence, scrolling to the specific line with the problem, and highlighting the problematic characters. From there, one can invoke "quick fix" as described above to resolve the issue. Once resolved, saving the file causes the problem to be removed from the problem view.

Assembling the Past and the Future of the City through Designing Coworking Facilities

NASA Astrophysics Data System (ADS)

Lukman, Y. A.; Ekomadyo, A. S.; Wibowo, A. S.

2018-05-01

Bandung is known as a creative city in Indonesia, which can be seen from the large number of communities in Bandung that work in the creative industry. A creative city can be further developed by a good understanding of its local identity. One of the characteristic features of Bandung are the numerous old buildings across the city. Unfortunately, these buildings are no longer utilized optimally due to a mismatch between their function and typology. Housing new functions in old buildings to meet present space needs can increase their value. One kind of new function that fits well in old buildings, especially in Bandung, is the coworking space, a new type of workspace that has emerged as a result of the needs of today’s society. Mutually beneficial relations can be formed when the old building is well suited to carry out its function as a coworking space for the creative class. The idea is to assemble the past (using an old building as a workplace) and the future (developing the creative economy) through designing coworking facilities. The design simulation conducted in this study used the ‘third place’ theory by Ray Oldenburg as well as the approach of adaptive building reuse. By changing old buildings in Bandung into new workplaces for the creative class – coworking spaces – Bandung can maintain the city’s identity and provide new workplaces or public spaces for communities to develop their creativity and increase city income.

Numerical analysis of nonminimum phase zero for nonuniform link design

NASA Technical Reports Server (NTRS)

Girvin, Douglas L.; Book, Wayne J.

1991-01-01

As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links becomes more of an issue in control. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. This research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixed, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to the inverse dynamic algorithms that are currently under development.

Numerical analysis of nonminimum phase zero for nonuniform link design

NASA Astrophysics Data System (ADS)

Girvin, Douglas L.; Book, Wayne J.

1991-11-01

As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links becomes more of an issue in control. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. This research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixed, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to the inverse dynamic algorithms that are currently under development.

Alerts in mobile healthcare applications: requirements and pilot study.

PubMed

Kafeza, Eleanna; Chiu, Dickson K W; Cheung, S C; Kafeza, Marina

2004-06-01

Recent advances in mobile technologies have greatly extended traditional communication technologies to mobile devices. At the same time, healthcare environments are by nature "mobile" where doctors and nurses do not have fixed workspaces. Irregular and exceptional events are generated in daily hospital routines, such as operations rescheduling, laboratory/examination results, and adverse drug events. These events may create requests that should be delivered to the appropriate person at the appropriate time. Those requests that are classified as urgent are referred to as alerts. Efficient routing and monitoring of alerts are keys to quality and cost-effective healthcare services. Presently, these are generally handled in an ad hoc manner. In this paper, we propose the use of a healthcare alert management system to handle these alert messages systematically. We develop a model for specifying alerts that are associated with medical tasks and a set of parameters for their routing. We design an alert monitor that matches medical staff and their mobile devices to receive alerts, based on the requirements of these alerts. We also propose a mechanism to handle and reroute, if necessary, an alert message when it has not been acknowledged within a specific deadline.

Simple System for Isothermal DNA Amplification Coupled to Lateral Flow Detection

PubMed Central

Roskos, Kristina; Hickerson, Anna I.; Lu, Hsiang-Wei; Ferguson, Tanya M.; Shinde, Deepali N.; Klaue, Yvonne; Niemz, Angelika

2013-01-01

Infectious disease diagnosis in point-of-care settings can be greatly improved through integrated, automated nucleic acid testing devices. We have developed an early prototype for a low-cost system which executes isothermal DNA amplification coupled to nucleic acid lateral flow (NALF) detection in a mesofluidic cartridge attached to a portable instrument. Fluid handling inside the cartridge is facilitated through one-way passive valves, flexible pouches, and electrolysis-driven pumps, which promotes a compact and inexpensive instrument design. The closed-system disposable prevents workspace amplicon contamination. The cartridge design is based on standard scalable manufacturing techniques such as injection molding. Nucleic acid amplification occurs in a two-layer pouch that enables efficient heat transfer. We have demonstrated as proof of principle the amplification and detection of Mycobacterium tuberculosis (M.tb) genomic DNA in the cartridge, using either Loop Mediated Amplification (LAMP) or the Exponential Amplification Reaction (EXPAR), both coupled to NALF detection. We envision that a refined version of this cartridge, including upstream sample preparation coupled to amplification and detection, will enable fully-automated sample-in to answer-out infectious disease diagnosis in primary care settings of low-resource countries with high disease burden. PMID:23922706

Trifocal Tensor-Based Adaptive Visual Trajectory Tracking Control of Mobile Robots.

PubMed

Chen, Jian; Jia, Bingxi; Zhang, Kaixiang

2017-11-01

In this paper, a trifocal tensor-based approach is proposed for the visual trajectory tracking task of a nonholonomic mobile robot equipped with a roughly installed monocular camera. The desired trajectory is expressed by a set of prerecorded images, and the robot is regulated to track the desired trajectory using visual feedback. Trifocal tensor is exploited to obtain the orientation and scaled position information used in the control system, and it works for general scenes owing to the generality of trifocal tensor. In the previous works, the start, current, and final images are required to share enough visual information to estimate the trifocal tensor. However, this requirement can be easily violated for perspective cameras with limited field of view. In this paper, key frame strategy is proposed to loosen this requirement, extending the workspace of the visual servo system. Considering the unknown depth and extrinsic parameters (installing position of the camera), an adaptive controller is developed based on Lyapunov methods. The proposed control strategy works for almost all practical circumstances, including both trajectory tracking and pose regulation tasks. Simulations are made based on the virtual experimentation platform (V-REP) to evaluate the effectiveness of the proposed approach.

Conformal Robotic Stereolithography

PubMed Central

Stevens, Adam G.; Oliver, C. Ryan; Kirchmeyer, Matthieu; Wu, Jieyuan; Chin, Lillian; Polsen, Erik S.; Archer, Chad; Boyle, Casey; Garber, Jenna

2016-01-01

Abstract Additive manufacturing by layerwise photopolymerization, commonly called stereolithography (SLA), is attractive due to its high resolution and diversity of materials chemistry. However, traditional SLA methods are restricted to planar substrates and planar layers that are perpendicular to a single-axis build direction. Here, we present a robotic system that is capable of maskless layerwise photopolymerization on curved surfaces, enabling production of large-area conformal patterns and the construction of conformal freeform objects. The system comprises an industrial six-axis robot and a custom-built maskless projector end effector. Use of the system involves creating a mesh representation of the freeform substrate, generation of a triangulated toolpath with curved layers that represents the target object to be printed, precision mounting of the substrate in the robot workspace, and robotic photopatterning of the target object by coordinated motion of the robot and substrate. We demonstrate printing of conformal photopatterns on spheres of various sizes, and construction of miniature three-dimensional objects on spheres without requiring support features. Improvement of the motion accuracy and development of freeform toolpaths would enable construction of polymer objects that surpass the size and support structure constraints imparted by traditional SLA systems. PMID:29577062