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Sample records for compare manipulate curve

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

    NASA Technical Reports Server (NTRS)

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

    1975-01-01

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

  2. Manipulator comparative testing program

    SciTech Connect

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

    1986-01-01

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

  3. Manipulator comparative testing program

    SciTech Connect

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

    1986-01-01

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

  4. Curved singular beams for three-dimensional particle manipulation

    PubMed Central

    Zhao, Juanying; Chremmos, Ioannis D.; Song, Daohong; Christodoulides, Demetrios N.; Efremidis, Nikolaos K.; Chen, Zhigang

    2015-01-01

    For decades, singular beams carrying angular momentum have been a topic of considerable interest. Their intriguing applications are ubiquitous in a variety of fields, ranging from optical manipulation to photon entanglement, and from microscopy and coronagraphy to free-space communications, detection of rotating black holes, and even relativistic electrons and strong-field physics. In most applications, however, singular beams travel naturally along a straight line, expanding during linear propagation or breaking up in nonlinear media. Here, we design and demonstrate diffraction-resisting singular beams that travel along arbitrary trajectories in space. These curved beams not only maintain an invariant dark “hole” in the center but also preserve their angular momentum, exhibiting combined features of optical vortex, Bessel, and Airy beams. Furthermore, we observe three-dimensional spiraling of microparticles driven by such fine-shaped dynamical beams. Our findings may open up new avenues for shaped light in various applications. PMID:26166011

  5. Curved singular beams for three-dimensional particle manipulation.

    PubMed

    Zhao, Juanying; Chremmos, Ioannis D; Song, Daohong; Christodoulides, Demetrios N; Efremidis, Nikolaos K; Chen, Zhigang

    2015-07-13

    For decades, singular beams carrying angular momentum have been a topic of considerable interest. Their intriguing applications are ubiquitous in a variety of fields, ranging from optical manipulation to photon entanglement, and from microscopy and coronagraphy to free-space communications, detection of rotating black holes, and even relativistic electrons and strong-field physics. In most applications, however, singular beams travel naturally along a straight line, expanding during linear propagation or breaking up in nonlinear media. Here, we design and demonstrate diffraction-resisting singular beams that travel along arbitrary trajectories in space. These curved beams not only maintain an invariant dark "hole" in the center but also preserve their angular momentum, exhibiting combined features of optical vortex, Bessel, and Airy beams. Furthermore, we observe three-dimensional spiraling of microparticles driven by such fine-shaped dynamical beams. Our findings may open up new avenues for shaped light in various applications.

  6. Manipulator Comparative Testing Program: Final report

    SciTech Connect

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

    1987-02-01

    The manipulator systems tested included the Meidensha BILARM 83A, the Central Research Laboratories Model M-2, and the GCA PaR Systems Model 6000. Six manipulator and control mode combinations were evaluated: (1) the BILARM in master/slave mode without force reflection, (2) the BILARM in master/slave mode with force reflection, (3) the Model M-2 in master/slave mode without force reflection, (4) the Model M-2 in master/slave mode with force reflection, (5) the BILARM with switchbox controls, and (6) the PaR 6000 with switchbox controls. The experiments examined differences between master/slave systems with and without force reflection and differences between master/slave systems and switchbox-controlled systems. A fourth experiment examined the relative contributions of the remote viewing system and the manipulator system to the performance of remote handling tasks. Results of the experiments showed that operators using the Model M-2 in master/slave mode had significantly faster times to completion than operators using the BILARM in master/slave mode, with about the same error rate per trial. Operators were slower using the BILARM with force reflection than without it, and they committed more errors. There was no statistically significant difference between force-reflection and nonforce-reflection conditions for the M-2 manipulator for any of the performance criteria. Tasks and procedures used in this testing were not sensitive to differences within any single system. No inferences about the effect of force reflection on remote task performance should be made from these data. The two manipulator systems in switchbox mode had significantly slower times to completion than any system in master/slave mode, with approximately the same error rate per trial. There were no significant differences between the BILARM in switchbox mode and the PaR arm.

  7. Comparing kinetic curves in liquid chromatography

    NASA Astrophysics Data System (ADS)

    Kurganov, A. A.; Kanat'eva, A. Yu.; Yakubenko, E. E.; Popova, T. P.; Shiryaeva, V. E.

    2017-01-01

    Five equations for kinetic curves which connect the number of theoretical plates N and time of analysis t 0 for five different versions of optimization, depending on the parameters being varied (e.g., mobile phase flow rate, pressure drop, sorbent grain size), are obtained by means of mathematical modeling. It is found that a method based on the optimization of a sorbent grain size at fixed pressure is most suitable for the optimization of rapid separations. It is noted that the advantages of the method are limited by an area of relatively low efficiency, and the advantage of optimization is transferred to a method based on the optimization of both the sorbent grain size and the drop in pressure across a column in the area of high efficiency.

  8. Studying electrons on curved surfaces by trapping and manipulating multielectron bubbles in liquid helium.

    PubMed

    Vadakkumbatt, Vaisakh; Joseph, Emil; Pal, Anustuv; Ghosh, Ambarish

    2014-08-01

    Investigations of two-dimensional electron systems (2DES) have been achieved with two model experimental systems, covering two distinct, non-overlapping regimes of the 2DES phase diagram, namely the quantum liquid phase in semiconducting heterostructures and the classical phases observed in electrons confined above the surface of liquid helium. Multielectron bubbles in liquid helium offer an exciting possibility to bridge this gap in the phase diagram, as well as to study the properties of electrons on curved flexible surfaces. However, this approach has been limited because all experimental studies have so far been transient in nature. Here we demonstrate that it is possible to trap and manipulate multielectron bubbles in a conventional Paul trap for several hundreds of milliseconds, enabling reliable measurements of their physical properties and thereby gaining valuable insight to various aspects of curved 2DES that were previously unexplored.

  9. Experience curve compared with manufacturing processes for TKA.

    PubMed

    Sampath, Shameem A C; Davies, Howard; Voon, South

    2009-10-01

    In the experience curve concept set forth by the National Aeronautics and Space Administration (NASA), production time falls by a set percentage every time cumulative production doubles. NASA has established benchmark figures for different manufacturing processes, and we have used these figures in analyzing our first 240 navigated total knee arthroplasties for varus knees. Our experience curve was 93% (P < .001), which is similar to the experience curve (90%) for processes consisting of 25% hand assembly and 75% machining. We suggest that the experience curve may provide a guide for comparing different surgical teams and navigation systems and for resource allocation.

  10. Curve-centric volume reformation for comparative visualization.

    PubMed

    Daae Lampe, Ove; Correa, Carlos; Ma, Kwan-Liu; Hauser, Helwig

    2009-01-01

    We present two visualization techniques for curve-centric volume reformation with the aim to create compelling comparative visualizations. A curve-centric volume reformation deforms a volume, with regards to a curve in space, to create a new space in which the curve evaluates to zero in two dimensions and spans its arc-length in the third. The volume surrounding the curve is deformed such that spatial neighborhood to the curve is preserved. The result of the curve-centric reformation produces images where one axis is aligned to arc-length, and thus allows researchers and practitioners to apply their arc-length parameterized data visualizations in parallel for comparison. Furthermore we show that when visualizing dense data, our technique provides an inside out projection, from the curve and out into the volume, which allows for inspection what is around the curve. Finally we demonstrate the usefulness of our techniques in the context of two application cases. We show that existing data visualizations of arc-length parameterized data can be enhanced by using our techniques, in addition to creating a new view and perspective on volumetric data around curves. Additionally we show how volumetric data can be brought into plotting environments that allow precise readouts. In the first case we inspect streamlines in a flow field around a car, and in the second we inspect seismic volumes and well logs from drilling.

  11. Kinematic Modeling and Function Generation for Non-linear Curves Using 5R Double Arm Parallel Manipulator

    NASA Astrophysics Data System (ADS)

    Keshavkumar Kamaliya, Parth; Patel, Yashavant Kumar Dashrathlal

    2016-01-01

    Double arm configuration using parallel manipulator mimic the human arm motions either for planar or spatial space. These configurations are currently lucrative for researchers as it also replaces human workers without major redesign of work-place in industries. Humans' joint ranges limitation of arms can be resolved by replacement of either revolute or spherical joints in manipulator. Hence, the scope of maximum workspace utilization is prevailed. Planar configuration with five revolute joints (5R) is considered to imitate human arm motions in a plane using Double Arm Manipulator (DAM). Position analysis for tool that can be held in end links of configuration is carried out using Pro/mechanism in Creo® as well as SimMechanics. D-H parameters are formulated and its results derived using developed MATLAB programs are compared with mechanism simulation as well as SimMechanics results. Inverse kinematics model is developed for trajectory planning in order to trace tool trajectory in a continuous and smooth sequence. Polynomial functions are derived for position, velocity and acceleration for linear and non-linear curves in joint space. Analytical results obtained for trajectory planning are validated with simulation results of Creo®.

  12. A Note on Comparing the Elasticities of Demand Curves.

    ERIC Educational Resources Information Center

    Nieswiadomy, Michael

    1986-01-01

    Demonstrates a simple and useful way to compare the elasticity of demand at each price (or quantity) for different demand curves. The technique is particularly useful for the intermediate microeconomic course. (Author)

  13. Effects of moderate dietary manipulations on swim performance and on blood lactate-swimming velocity curves.

    PubMed

    Reilly, T; Woodbridge, V

    1999-02-01

    Blood lactate responses are commonly employed for evaluation and prescription of training programmes. The purpose of the present studies was to examine the effects of dietary manipulations on both swim performance and on the relationship between blood lactate and swimming velocity. The first study engaged 8 subjects in a regimen to reduce muscle glycogen by a combination of diet and training. Subjects were monitored under a normal mixed diet comprising 53.6+/-7.8% carbohydrate (CHO) and under a decreased CHO condition (39.4+/-10.7% CHO) over 3 days. Mean swim performance decreased significantly (P<0.05) over 400 yards as a result of the carbohydrate reduction regimen. Mean blood lactates were reduced as a consequence of the glycogen depletion regimen following swims at 85% and 100% of maximum velocities. The swimming velocity corresponding to 4 mM blood lactate (V-4 mM) was altered from 0.67+/-0.04 m x s(-1) on a mixed diet to 0.70+/-0.05 m x s(-1) on a CHO-reduced diet. The second study employed 7 subjects in a regimen to enhance muscle glycogen stores. Subjects were monitored over 3 days under a normal diet (52.7+/-4.4% CHO) and on a separate occasion under an increased CHO intake (59.2+/-3.7% CHO). In contrast to the first study, mean swim performance improved over 100 yards and 400 yards (P<0.05). Mean blood lactates were evaluated after the carbohydrate-rich regimen at both 85% and 100% swim velocities (P<0.05). The mean swim velocity associated with V-4mM was paradoxically reduced from 0.69+/-0.05 to 0.67+/-0.04 m x s(-1) as a result of the increased CHO condition. The results indicate that a moderate reduction in CHO intake alters swimming performance adversely whereas a moderate elevation in CHO intake above the normal diet improves performance. The dietary manipulations affected the response of blood lactate to both submaximal and maximal swimming velocities. The observations highlight the limitations of applying lactate response curves to swim training.

  14. Comparing survival curves using an easy to interpret statistic.

    PubMed

    Hess, Kenneth R

    2010-10-15

    Here, I describe a statistic for comparing two survival curves that has a clear and obvious meaning and has a long history in biostatistics. Suppose we are comparing survival times associated with two treatments A and B. The statistic operates in such a way that if it takes on the value 0.95, then the interpretation is that a randomly chosen patient treated with A has a 95% chance of surviving longer than a randomly chosen patient treated with B. This statistic was first described in the 1950s, and was generalized in the 1960s to work with right-censored survival times. It is a useful and convenient measure for assessing differences between survival curves. Software for computing the statistic is readily available on the Internet.

  15. Comparing mechanisms of host manipulation across host and parasite taxa

    USGS Publications Warehouse

    Lafferty, Kevin D.; Shaw, Jenny C.

    2013-01-01

    Parasites affect host behavior in several ways. They can alter activity, microhabitats or both. For trophically transmitted parasites (the focus of our study), decreased activity might impair the ability of hosts to respond to final-host predators, and increased activity and altered microhabitat choice might increase contact rates between hosts and final-host predators. In an analysis of trophically transmitted parasites, more parasite groups altered activity than altered microhabitat choice. Parasites that infected vertebrates were more likely to impair the host’s reaction to predators, whereas parasites that infected invertebrates were more likely to increase the host’s contact with predators. The site of infection might affect how parasites manipulate their hosts. For instance, parasites in the central nervous system seem particularly suited to manipulating host behavior. Manipulative parasites commonly occupy the body cavity, muscles and central nervous systems of their hosts. Acanthocephalans in the data set differed from other taxa in that they occurred exclusively in the body cavity of invertebrates. In addition, they were more likely to alter microhabitat choice than activity. Parasites in the body cavity (across parasite types) were more likely to be associated with increased host contact with predators. Parasites can manipulate the host through energetic drain, but most parasites use more sophisticated means. For instance, parasites target four physiological systems that shape behavior in both invertebrates and vertebrates: neural, endocrine, neuromodulatory and immunomodulatory. The interconnections between these systems make it difficult to isolate specific mechanisms of host behavioral manipulation.

  16. An alternative method for comparing and describing methacholine response curves.

    PubMed

    Sherrill, D L; Martinez, F D; Sears, M R; Lebowitz, M D

    1993-07-01

    Tests of nonspecific airway hyperresponsiveness are frequently used in the study of asthma both in the clinical settings and in epidemiologic studies. However, standard methods for characterizing individual tests and comparing results between subgroups have not been established. The most frequently used method of characterizing response curves is to report the dose that results in a 20% fall in FEV1 from the initial or baseline FEV1 value (PD20FEV1). Other investigators have suggested using the response slopes. In this study we demonstrate an alternative method of analysis that uses all of each subject's response data, makes comparisons between subgroups, and can include explanatory covariables. This approach is demonstrated using methacholine challenge data obtained in New Zealand children at 9 and 11 yr of age. The results showed significant differences between the mean dose-response curves of wheezers and nonwheezers, that responsiveness increased with the frequency of reported wheeze, and that initial pulmonary function and serum IgE are significantly related to responsiveness. These factors were not always significant using more traditional methods of analysis, indicating an increased sensitivity with this method of analysis.

  17. End of Life Disposal for Three Libration Point Missions through Manipulation of the Jacobi Constant and Zero Velocity Curves

    NASA Technical Reports Server (NTRS)

    Peterson, Jeremy D.; Brown, Jonathan M.

    2015-01-01

    The aim of this investigation is to determine the feasibility of mission disposal by inserting the spacecraft into a heliocentric orbit along the unstable manifold and then manipulating the Jacobi constant to prevent the spacecraft from returning to the Earth-Moon system. This investigation focuses around L1 orbits representative of ACE, WIND, and SOHO. It will model the impulsive delta-V necessary to close the zero velocity curves after escape through the L1 gateway in the circular restricted three body model and also include full ephemeris force models and higher fidelity finite maneuver models for the three spacecraft.

  18. Single domain wall manipulation in curved nanowires using a mobile, local, circular field

    NASA Astrophysics Data System (ADS)

    Shortt, Madeline; Bickel, Jessica; Khan, Mina; Tuominen, Mark; Aidala, Katherine

    2014-03-01

    Ferromagnetic nanostructures present exciting physics with a range of potential applications in data storage devices, such as magnetoresistive random access memory (MRAM). These proposals require precise control and understanding of domain wall (DW) movement and interactions. We developed a technique that generates a local circular Oersted field at a precise location by applying current through the tip of the atomic force microscope (AFM). We previously used this technique to control DW motion in nanorings. We extend this method to control individual DW movement in curved nanowires by placing the tip near a 180 DW at the vertex of a curved wire and generating a local field. In this way, we can examine the motion of domain walls through regions with different curvature and the effects of pinning. This work was supported in part by NSF DMR-1207924 and the UMass Center for Hierarchical Manufacturing, NSF CMMI-1025020.

  19. A comparative study of different aspects of manipulating ratio spectra applied for ternary mixtures: derivative spectrophotometry versus wavelet transform.

    PubMed

    Salem, Hesham; Lotfy, Hayam M; Hassan, Nagiba Y; El-Zeiny, Mohamed B; Saleh, Sarah S

    2015-01-25

    This work represents a comparative study of different aspects of manipulating ratio spectra, which are: double divisor ratio spectra derivative (DR-DD), area under curve of derivative ratio (DR-AUC) and its novel approach, namely area under the curve correction method (AUCCM) applied for overlapped spectra; successive derivative of ratio spectra (SDR) and continuous wavelet transform (CWT) methods. The proposed methods represent different aspects of manipulating ratio spectra of the ternary mixture of Ofloxacin (OFX), Prednisolone acetate (PA) and Tetryzoline HCl (TZH) combined in eye drops in the presence of benzalkonium chloride as a preservative. The proposed methods were checked using laboratory-prepared mixtures and were successfully applied for the analysis of pharmaceutical formulation containing the cited drugs. The proposed methods were validated according to the ICH guidelines. A comparative study was conducted between those methods regarding simplicity, limitation and sensitivity. The obtained results were statistically compared with those obtained from the reported HPLC method, showing no significant difference with respect to accuracy and precision.

  20. A comparative study of different aspects of manipulating ratio spectra applied for ternary mixtures: Derivative spectrophotometry versus wavelet transform

    NASA Astrophysics Data System (ADS)

    Salem, Hesham; Lotfy, Hayam M.; Hassan, Nagiba Y.; El-Zeiny, Mohamed B.; Saleh, Sarah S.

    2015-01-01

    This work represents a comparative study of different aspects of manipulating ratio spectra, which are: double divisor ratio spectra derivative (DR-DD), area under curve of derivative ratio (DR-AUC) and its novel approach, namely area under the curve correction method (AUCCM) applied for overlapped spectra; successive derivative of ratio spectra (SDR) and continuous wavelet transform (CWT) methods. The proposed methods represent different aspects of manipulating ratio spectra of the ternary mixture of Ofloxacin (OFX), Prednisolone acetate (PA) and Tetryzoline HCl (TZH) combined in eye drops in the presence of benzalkonium chloride as a preservative. The proposed methods were checked using laboratory-prepared mixtures and were successfully applied for the analysis of pharmaceutical formulation containing the cited drugs. The proposed methods were validated according to the ICH guidelines. A comparative study was conducted between those methods regarding simplicity, limitation and sensitivity. The obtained results were statistically compared with those obtained from the reported HPLC method, showing no significant difference with respect to accuracy and precision.

  1. Comparing the development of students' conceptions of pulleys using physical and virtual manipulatives

    NASA Astrophysics Data System (ADS)

    Rouinfar, Amy; Madsen, Adrian M.; Hoang, Tram Do Ngoc; Puntambekar, Sadhana; Rebello, N. S.

    2012-02-01

    Research has shown that the concept of force in a pulley is learned equally well by students using physical and virtual manipulatives. We report on a study in which students enrolled in a conceptual physics laboratory spent two weeks investigating pulley systems using either physical or virtual manipulatives. Students were given written materials which guided them through a series of activities which scaffolded the construction of their conceptions of pulleys. Students were required to make predictions and then test these predictions by building and comparing different pulley systems. They were presented with a challenge to design the best pulley system to lift a piano at the end of each week. We compare how the students' conceptions of pulleys develop between the physical and virtual treatments as well as investigate the ways in which they use the manipulatives while completing the scaffolding activities.

  2. Comparing the scaffolding provided by physical and virtual manipulatives for students' understanding of simple machines

    NASA Astrophysics Data System (ADS)

    Chini, Jacquelyn J.

    Conventional wisdom has long advised that students' learning is best supported by interaction with physical manipulatives. Thus, in the physics laboratory, students typically spend their time conducting experiments with physical equipment. However, computer simulations offer a tempting alternative to traditional physical experiments. In a virtual experiment, using a computer simulation, students can gather data quickly, and measurement errors and frictional effects can be explicitly controlled. This research investigates the relative support for students' learning offered by physical and virtual experimentation in the context of simple machines. Specifically, I have investigated students' learning as supported by experimentation with physical and virtual manipulatives from three different angles---what do students learn, how do students learn, and what do students think about their learning. The results indicate that the virtual manipulative better supported students' understanding of work and potential energy than the physical manipulative did. Specifically, in responding to data analysis questions, students who used the virtual manipulative before the physical manipulative were more likely to describe work as constant across different lengths of frictionless inclined planes (or pulley systems) and were more likely to adequately compare work and potential energy, whereas students who used the physical manipulative first were more likely to talk about work and potential energy separately. On the other hand, no strong support was found to indicate that the physical manipulative better supported students' understanding of a specific concept. In addition, students' responses to the survey questions indicate that students tend to value data from a computer simulation more than from a physical experiment. The interview analysis indicates that the virtual environment better supported the students to create new ideas than the physical environment did. These results

  3. Attitudes of Prairie Bible College Students toward Human Genetic Manipulation. A Survey and Comparative Study.

    ERIC Educational Resources Information Center

    Jordahl, Ron, Ed.

    This document reports a survey instituted to compare the attitudes of students at a Christian college (Prairie Bible College) in Alberta, Canada with those of college students in general concerning the possible use of genetic manipulation. Comparison was made with the findings of a 1990 study by Geremia Veglia, et al., "Public Attitudes…

  4. Revolute manipulator workspace optimization using a modified bacteria foraging algorithm: A comparative study

    NASA Astrophysics Data System (ADS)

    Panda, S.; Mishra, D.; Biswal, B. B.; Tripathy, M.

    2014-02-01

    Robotic manipulators with three-revolute (3R) motions to attain desired positional configurations are very common in industrial robots. The capability of these robots depends largely on the workspace of the manipulator in addition to other parameters. In this study, an evolutionary optimization algorithm based on the foraging behaviour of the Escherichia coli bacteria present in the human intestine is utilized to optimize the workspace volume of a 3R manipulator. The new optimization method is modified from the original algorithm for faster convergence. This method is also useful for optimization problems in a highly constrained environment, such as robot workspace optimization. The new approach for workspace optimization of 3R manipulators is tested using three cases. The test results are compared with standard results available using other optimization algorithms, i.e. the differential evolution algorithm, the genetic algorithm and the particle swarm optimization algorithm. The present method is found to be superior to the other methods in terms of computational efficiency.

  5. A comparative neutron activation analysis study of common generic manipulated and reference medicines commercialized in Brazil.

    PubMed

    Leal, A S; Menezes, M A B C; Rodrigues, R R; Andonie, O; Vermaercke, P; Sneyers, L

    2008-10-01

    In this work, a comparative study of neutron activation analysis (NAA) was performed by the nuclear institutes: CDTN/CNEN-Brazil, CCHEN-Chile and the SCK.CEN-Belgium aiming to investigate some generic, manipulated and reference medicines largely commercialized in Brazil. Some impurities such as: As, Ba, Br, Ce, Co, Cr, Eu, Fe, Hf, Sb, Sc, Sm, Ti and Zn were found, and the heterogeneity of the samples pointed out the lack of an efficient public system of quality control.

  6. Robot training of upper limb in multiple sclerosis: comparing protocols with or without manipulative task components.

    PubMed

    Carpinella, Ilaria; Cattaneo, Davide; Bertoni, Rita; Ferrarin, Maurizio

    2012-05-01

    In this pilot study, we compared two protocols for robot-based rehabilitation of upper limb in multiple sclerosis (MS): a protocol involving reaching tasks (RT) requiring arm transport only and a protocol requiring both objects' reaching and manipulation (RMT). Twenty-two MS subjects were assigned to RT or RMT group. Both protocols consisted of eight sessions. During RT training, subjects moved the handle of a planar robotic manipulandum toward circular targets displayed on a screen. RMT protocol required patients to reach and manipulate real objects, by moving the robotic arm equipped with a handle which left the hand free for distal tasks. In both trainings, the robot generated resistive and perturbing forces. Subjects were evaluated with clinical and instrumental tests. The results confirmed that MS patients maintained the ability to adapt to the robot-generated forces and that the rate of motor learning increased across sessions. Robot-therapy significantly reduced arm tremor and improved arm kinematics and functional ability. Compared to RT, RMT protocol induced a significantly larger improvement in movements involving grasp (improvement in Grasp ARAT sub-score: RMT 77.4%, RT 29.5%, p=0.035) but not precision grip. Future studies are needed to evaluate if longer trainings and the use of robotic handles would significantly improve also fine manipulation.

  7. Comparative Analysis of Biologically Relevant Response Curves in Gene Expression Experiments: Heteromorphy, Heterochrony, and Heterometry.

    PubMed

    Baker, Stuart G

    2014-02-14

    To gain biological insights, investigators sometimes compare sequences of gene expression measurements under two scenarios (such as two drugs or species). For this situation, we developed an algorithm to fit, identify, and compare biologically relevant response curves in terms of heteromorphy (different curves), heterochrony (different transition times), and heterometry (different magnitudes). The curves are flat, linear, sigmoid, hockey-stick (sigmoid missing a steady state), transient (sigmoid missing two steady states), impulse (with peak or trough), step (with intermediate-level plateau), impulse+ (impulse with an extra parameter), step+ (step with an extra parameter), further characterized by upward or downward trend. To reduce overfitting, we fit the curves to every other response, evaluated the fit in the remaining responses, and identified the most parsimonious curves that yielded a good fit. We measured goodness of fit using a statistic comparable over different genes, namely the square root of the mean squared prediction error as a percentage of the range of responses, which we call the relative prediction error (RPE). We illustrated the algorithm using data on gene expression at 14 times in the embryonic development in two species of frogs. Software written in Mathematica is freely available.

  8. COMPARING BEHAVIORAL DOSE-EFFECT CURVES FOR HUMANS AND LABORATORY ANIMALS ACUTELY EXPOSED TO TOLUENE.

    EPA Science Inventory

    The utility of laboratory animal data in toxicology depends upon the ability to generalize the results quantitatively to humans. To compare the acute behavioral effects of inhaled toluene in humans to those in animals, dose-effect curves were fitted by meta-analysis of published...

  9. Enhancing prediction power of chemometric models through manipulation of the fed spectrophotometric data: A comparative study.

    PubMed

    Saad, Ahmed S; Hamdy, Abdallah M; Salama, Fathy M; Abdelkawy, Mohamed

    2016-10-05

    Effect of data manipulation in preprocessing step proceeding construction of chemometric models was assessed. The same set of UV spectral data was used for construction of PLS and PCR models directly and after mathematically manipulation as per well known first and second derivatives of the absorption spectra, ratio spectra and first and second derivatives of the ratio spectra spectrophotometric methods, meanwhile the optimal working wavelength ranges were carefully selected for each model and the models were constructed. Unexpectedly, number of latent variables used for models' construction varied among the different methods. The prediction power of the different models was compared using a validation set of 8 mixtures prepared as per the multilevel multifactor design and results were statistically compared using two-way ANOVA test. Root mean squares error of prediction (RMSEP) was used for further comparison of the predictability among different constructed models. Although no significant difference was found between results obtained using Partial Least Squares (PLS) and Principal Component Regression (PCR) models, however, discrepancies among results was found to be attributed to the variation in the discrimination power of adopted spectrophotometric methods on spectral data.

  10. Enhancing prediction power of chemometric models through manipulation of the fed spectrophotometric data: A comparative study

    NASA Astrophysics Data System (ADS)

    Saad, Ahmed S.; Hamdy, Abdallah M.; Salama, Fathy M.; Abdelkawy, Mohamed

    2016-10-01

    Effect of data manipulation in preprocessing step proceeding construction of chemometric models was assessed. The same set of UV spectral data was used for construction of PLS and PCR models directly and after mathematically manipulation as per well known first and second derivatives of the absorption spectra, ratio spectra and first and second derivatives of the ratio spectra spectrophotometric methods, meanwhile the optimal working wavelength ranges were carefully selected for each model and the models were constructed. Unexpectedly, number of latent variables used for models' construction varied among the different methods. The prediction power of the different models was compared using a validation set of 8 mixtures prepared as per the multilevel multifactor design and results were statistically compared using two-way ANOVA test. Root mean squares error of prediction (RMSEP) was used for further comparison of the predictability among different constructed models. Although no significant difference was found between results obtained using Partial Least Squares (PLS) and Principal Component Regression (PCR) models, however, discrepancies among results was found to be attributed to the variation in the discrimination power of adopted spectrophotometric methods on spectral data.

  11. Inferring heat recirculation and albedo for exoplanetary atmospheres: Comparing optical phase curves and secondary eclipse data

    NASA Astrophysics Data System (ADS)

    von Paris, P.; Gratier, P.; Bordé, P.; Selsis, F.

    2016-03-01

    Context. Basic atmospheric properties, such as albedo and heat redistribution between day- and nightsides, have been inferred for a number of planets using observations of secondary eclipses and thermal phase curves. Optical phase curves have not yet been used to constrain these atmospheric properties consistently. Aims: We model previously published phase curves of CoRoT-1b, TrES-2b, and HAT-P-7b, and infer albedos and recirculation efficiencies. These are then compared to previous estimates based on secondary eclipse data. Methods: We use a physically consistent model to construct optical phase curves. This model takes Lambertian reflection, thermal emission, ellipsoidal variations, and Doppler boosting, into account. Results: CoRoT-1b shows a non-negligible scattering albedo (0.11 < AS < 0.3 at 95% confidence) as well as small day-night temperature contrasts, which are indicative of moderate to high re-distribution of energy between dayside and nightside. These values are contrary to previous secondary eclipse and phase curve analyses. In the case of HAT-P-7b, model results suggest a relatively high scattering albedo (AS ≈ 0.3). This confirms previous phase curve analysis; however, it is in slight contradiction to values inferred from secondary eclipse data. For TrES-2b, both approaches yield very similar estimates of albedo and heat recirculation. Discrepancies between recirculation and albedo values as inferred from secondary eclipse and optical phase curve analyses might be interpreted as a hint that optical and IR observations probe different atmospheric layers, hence temperatures.

  12. Motivation and manipulation capacities of the blue and yellow macaw and the tufted capuchin: a comparative approach.

    PubMed

    Brunon, Anaïs; Bovet, Dalila; Bourgeois, Aude; Pouydebat, Emmanuelle

    2014-09-01

    This study compared the motivation of the blue and yellow macaw (n=8) and the tufted capuchin (n=3) to manipulate objects that presented different features, their manipulative repertoires, and their ability to solve complex manipulation tasks. Results show that both species seem to be more motivated to manipulate objects that look like food items and that manipulative behavior may be considered as play behavior in the blue and yellow macaws, and would improve foraging motor skills. The tufted capuchins performed more different action styles than the macaws when manipulating objects, and performed substrate-use behavior - the object is put in relationship with a substrate - while the macaws did not. This is an interesting difference because these characteristics are supposed to be precursory of tool-use, behavior never observed in this macaw species. It may be due to the arboreal lifestyle of the macaw and its neophobic character that do not allow it to easily contact objects. Following the same method and using more individuals, further comparative studies should be conducted in order to test these hypotheses. Both species were able to solve complex manipulation tasks.

  13. COMPARING THE LIGHT CURVES OF SIMULATED TYPE Ia SUPERNOVAE WITH OBSERVATIONS USING DATA-DRIVEN MODELS

    SciTech Connect

    Diemer, Benedikt; Kessler, Richard; Graziani, Carlo; Jordan, George C. IV; Lamb, Donald Q.; Long, Min; Van Rossum, Daniel R.

    2013-08-20

    We propose a robust, quantitative method to compare the synthetic light curves of a Type Ia supernova (SN Ia) explosion model with a large set of observed SNe Ia, and derive a figure of merit for the explosion model's agreement with observations. The synthetic light curves are fit with the data-driven model SALT2 which returns values for stretch, color, and magnitude at peak brightness, as well as a goodness-of-fit parameter. Each fit is performed multiple times with different choices of filter bands and epoch range in order to quantify the systematic uncertainty on the fitted parameters. We use a parametric population model for the distribution of observed SN Ia parameters from large surveys, and extend it to represent red, dim, and bright outliers found in a low-redshift SN Ia data set. We discuss the potential uncertainties of this population model and find it to be reliable given the current uncertainties on cosmological parameters. Using our population model, we assign each set of fitted parameters a likelihood of being observed in nature, and a figure of merit based on this likelihood. We define a second figure of merit based on the quality of the light curve fit, and combine the two measures into an overall figure of merit for each explosion model. We compute figures of merit for a variety of one-, two-, and three-dimensional explosion models and show that our evaluation method allows meaningful inferences across a wide range of light curve quality and fitted parameters.

  14. Rotor equivalent wind speed for power curve measurement - comparative exercise for IEA Wind Annex 32

    NASA Astrophysics Data System (ADS)

    Wagner, R.; Cañadillas, B.; Clifton, A.; Feeney, S.; Nygaard, N.; Poodt, M.; St. Martin, C.; Tüxen, E.; Wagenaar, J. W.

    2014-06-01

    A comparative exercise has been organised within the International Energy Agency (IEA) Wind Annex 32 in order to test the Rotor Equivalent Wind Speed (REWS) method under various conditions of wind shear and measurement techniques. Eight organisations from five countries participated in the exercise. Each member of the group has derived both the power curve based on the wind speed at hub height and the power curve based on the REWS. This yielded results for different wind turbines, located in diverse types of terrain and where the wind speed profile was measured with different instruments (mast or various lidars). The participants carried out two preliminary steps in order to reach consensus on how to implement the REWS method. First, they all derived the REWS for one 10 minute wind speed profile. Secondly, they all derived the power curves for one dataset. The main point requiring consensus was the definition of the segment area used as weighting for the wind speeds measured at the various heights in the calculation of the REWS. This comparative exercise showed that the REWS method results in a significant difference compared to the standard method using the wind speed at hub height in conditions with large shear and low turbulence intensity.

  15. The Outcomes of Manipulation or Mobilization Therapy Compared with Physical Therapy or Exercise for Neck Pain: A Systematic Review

    PubMed Central

    Schroeder, Josh; Kaplan, Leon; Fischer, Dena J.; Skelly, Andrea C.

    2013-01-01

    Study Design Systematic review. Study Rationale Neck pain is a prevalent condition. Spinal manipulation and mobilization procedures are becoming an accepted treatment for neck pain. However, data on the effectiveness of these treatments have not been summarized. Objective To compare manipulation or mobilization of the cervical spine to physical therapy or exercise for symptom improvement in patients with neck pain. Methods A systematic review of the literature was performed using PubMed, the National Guideline Clearinghouse Database, and bibliographies of key articles, which compared spinal manipulation or mobilization therapy with physical therapy or exercise in patients with neck pain. Articles were included based on predetermined criteria and were appraised using a predefined quality rating scheme. Results From 197 citations, 7 articles met all inclusion and exclusion criteria. There were no differences in pain improvement when comparing spinal manipulation to exercise, and there were inconsistent reports of pain improvement in subjects who underwent mobilization therapy versus physical therapy. No disability improvement was reported between treatment groups in studies of acute or chronic neck pain patients. No functional improvement was found with manipulation therapy compared with exercise treatment or mobilization therapy compared with physical therapy groups in patients with acute pain. In chronic neck pain subjects who underwent spinal manipulation therapy compared to exercise treatment, results for short-term functional improvement were inconsistent. Conclusion The data available suggest that there are minimal short- and long-term treatment differences in pain, disability, patient-rated treatment improvement, treatment satisfaction, health status, or functional improvement when comparing manipulation or mobilization therapy to physical therapy or exercise in patients with neck pain. This systematic review is limited by the variability of

  16. The outcomes of manipulation or mobilization therapy compared with physical therapy or exercise for neck pain: a systematic review.

    PubMed

    Schroeder, Josh; Kaplan, Leon; Fischer, Dena J; Skelly, Andrea C

    2013-04-01

    Study Design Systematic review. Study Rationale Neck pain is a prevalent condition. Spinal manipulation and mobilization procedures are becoming an accepted treatment for neck pain. However, data on the effectiveness of these treatments have not been summarized. Objective To compare manipulation or mobilization of the cervical spine to physical therapy or exercise for symptom improvement in patients with neck pain. Methods A systematic review of the literature was performed using PubMed, the National Guideline Clearinghouse Database, and bibliographies of key articles, which compared spinal manipulation or mobilization therapy with physical therapy or exercise in patients with neck pain. Articles were included based on predetermined criteria and were appraised using a predefined quality rating scheme. Results From 197 citations, 7 articles met all inclusion and exclusion criteria. There were no differences in pain improvement when comparing spinal manipulation to exercise, and there were inconsistent reports of pain improvement in subjects who underwent mobilization therapy versus physical therapy. No disability improvement was reported between treatment groups in studies of acute or chronic neck pain patients. No functional improvement was found with manipulation therapy compared with exercise treatment or mobilization therapy compared with physical therapy groups in patients with acute pain. In chronic neck pain subjects who underwent spinal manipulation therapy compared to exercise treatment, results for short-term functional improvement were inconsistent. Conclusion The data available suggest that there are minimal short- and long-term treatment differences in pain, disability, patient-rated treatment improvement, treatment satisfaction, health status, or functional improvement when comparing manipulation or mobilization therapy to physical therapy or exercise in patients with neck pain. This systematic review is limited by the variability of

  17. Osteopathic manipulative treatment: A systematic review and critical appraisal of comparative effectiveness and health economics research.

    PubMed

    Steel, Amie; Sundberg, Tobias; Reid, Rebecca; Ward, Lesley; Bishop, Felicity L; Leach, Matthew; Cramer, Holger; Wardle, Jon; Adams, Jon

    2017-02-01

    In recent years, evidence has emerged regarding the effectiveness of osteopathic manipulative treatments (OMT). Despite growing evidence in this field, there is need for appropriate research designs that effectively reflect the person-centred system of care promoted in osteopathy and provide data which can inform policy decisions within the healthcare system. The purpose of this systematic review is to identify, appraise and synthesise the evidence from comparative effectiveness and economic evaluation research involving OMT. A database search was conducted using CINAHL, PubMed, PEDro, AMED, SCOPUS and OSTMED.DR, from their inception to May 2015. Two separate searches were undertaken to identify original research articles encompassing the economic evaluation and comparative effectiveness of OMT. Identified comparative effectives studies were evaluated using the Cochrane risk of bias tool and appraised using the Good Reporting of Comparative Effectiveness (GRACE) principles. Identified economic studies were assessed with the Consolidated Health Economic Evaluation Reporting Standards (CHEERS) guidelines. Sixteen studies reporting the findings of comparative effectiveness (n = 9) and economic evaluation (n = 7) research were included. The comparative effectiveness studies reported outcomes for varied health conditions and the majority (n = 6) demonstrated a high risk of bias. The economic evaluations included a range of analyses and considerable differences in the quality of reporting were evident. Despite some positive findings, published comparative effectiveness and health economic studies in OMT are of insufficient quality and quantity to inform policy and practice. High quality, well-designed, research that aligns with international best practice is greatly needed to build a pragmatic evidence base for OMT.

  18. Comparative Study on Two Melting Simulation Methods: Melting Curve of Gold

    NASA Astrophysics Data System (ADS)

    Liu, Zhong-Li; Sun, Jun-Sheng; Li, Rui; Zhang, Xiu-Lu; Cai, Ling-Cang

    2016-05-01

    Melting simulation methods are of crucial importance to determining melting temperature of materials efficiently. A high-efficiency melting simulation method saves much simulation time and computational resources. To compare the efficiency of our newly developed shock melting (SM) method with that of the well-established two-phase (TP) method, we calculate the high-pressure melting curve of Au using the two methods based on the optimally selected interatomic potentials. Although we only use 640 atoms to determine the melting temperature of Au in the SM method, the resulting melting curve accords very well with the results from the TP method using much more atoms. Thus, this shows that a much smaller system size in SM method can still achieve a fully converged melting curve compared with the TP method, implying the robustness and efficiency of the SM method. Supported by the National Natural Science Foundation of China under Grant No. 41574076 and the NSAF of China under Grant No. U1230201/A06, and the Young Core Teacher Scheme of Henan Province under Grant No. 2014GGJS-108

  19. Statistical properties of a utility measure of observer performance compared to area under the ROC curve

    NASA Astrophysics Data System (ADS)

    Abbey, Craig K.; Samuelson, Frank W.; Gallas, Brandon D.; Boone, John M.; Niklason, Loren T.

    2013-03-01

    The receiver operating characteristic (ROC) curve has become a common tool for evaluating diagnostic imaging technologies, and the primary endpoint of such evaluations is the area under the curve (AUC), which integrates sensitivity over the entire false positive range. An alternative figure of merit for ROC studies is expected utility (EU), which focuses on the relevant region of the ROC curve as defined by disease prevalence and the relative utility of the task. However if this measure is to be used, it must also have desirable statistical properties keep the burden of observer performance studies as low as possible. Here, we evaluate effect size and variability for EU and AUC. We use two observer performance studies recently submitted to the FDA to compare the EU and AUC endpoints. The studies were conducted using the multi-reader multi-case methodology in which all readers score all cases in all modalities. ROC curves from the study were used to generate both the AUC and EU values for each reader and modality. The EU measure was computed assuming an iso-utility slope of 1.03. We find mean effect sizes, the reader averaged difference between modalities, to be roughly 2.0 times as big for EU as AUC. The standard deviation across readers is roughly 1.4 times as large, suggesting better statistical properties for the EU endpoint. In a simple power analysis of paired comparison across readers, the utility measure required 36% fewer readers on average to achieve 80% statistical power compared to AUC.

  20. A comparative study of multiwavelength theoretical and observed light curves of Cepheid variables

    NASA Astrophysics Data System (ADS)

    Bhardwaj, Anupam; Kanbur, Shashi M.; Marconi, Marcella; Rejkuba, Marina; Singh, Harinder P.; Ngeow, Chow-Choong

    2017-04-01

    We analyse the theoretical light curves of Cepheid variables at optical (UBVRI) and near-infrared (JKL) wavelengths using the Fourier decomposition and principal component analysis methods. The Cepheid light curves are based on the full-amplitude, non-linear, convective hydrodynamical models for chemical compositions representative of Cepheids in the Galaxy (Y = 0.28, Z = 0.02), Large Magellanic Cloud (Y = 0.25, Z = 0.008) and Small Magellanic Cloud (Y = 0.25, Z = 0.004). We discuss the variation of light-curve parameters with different compositions and mass-luminosity levels as a function of period and wavelength, and compare our results with observations. For a fixed composition, the theoretical amplitude parameters decrease while the phase parameters increase with wavelength, similar to the observed Fourier parameters. The optical amplitude parameters obtained using canonical mass-luminosity Cepheid models exhibit a large offset with respect to the observations for periods between 7 and 11 d, when compared to the non-canonical mass-luminosity levels. The central minimum of the Hertzsprung progression for amplitude parameters shifts to the longer periods with decrease/increase in metallicity/wavelength for both theoretical and observed light curves. The principal components for Magellanic Cloud Cepheid models are consistent with observations at optical wavelengths. We also observe two distinct populations in the first principal component for optical and near-infrared wavelengths while the J band contributes to both populations. Finally, we take into account the variation in the convective efficiency by increasing the adopted mixing length parameter from the standard 1.5 to 1.8. This results in a zero-point offset in the bolometric mean magnitudes and in amplitude parameters (except close to 10 d), reducing the systematically large difference in theoretical amplitudes.

  1. A Comparative Study on DDF Curve with Bivariate and Univariate Model

    NASA Astrophysics Data System (ADS)

    Joo, K.; Choi, S.; Heo, J.

    2012-12-01

    DDF(or IDF) curve is consisted with rainfall depth(or intensity), duration and frequency, and it is useful to see how rainfall changes in various conditions. Furthermore, recently, multivariate frequency analysis is applied to hydrology because of its scalability. In this study, to obtain DDF curve, rainfall quantile is estimated by both of univariate and bivariate(rainfall depth and duration) frequency analysis. For bivariate model, three copula models which are Frank, Gumbel-Hougaard, and Joe, are used in this study. Copula model has been studied widely for various fields, and it is flexible for marginal distribution than other conventional bivariate models. Hourly recorded data(1961~2010) of Seoul weather station from Korea Meteorological Administration (KMA) is applied for frequency analysis, and inter-event time definition is used for identification of rainfall events. For estimate parameters of copula models, maximum pseudo-likelihood estimation method which is semi-parametric method is used. Gumbel distribution is examined and used for rainfall depth, and generalized extreme value (GEV) distribution is examined and used for duration. As a result, 4 DDF curves are obtained (univariate, 3 copula models). In compared to univariate model, rainfall quantile of bivariate model unaffected by duration. In detail, Frank model shows closest trend along the duration, and Joe model doesn`t show the little changes along the duration. Change of rainfall quantile from bivariate model along the duration is less significant than univariate model as varying nonexceedance probability.

  2. Urgent need for basic treatment data to make precipitation manipulation experiments comparable

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Differences in ecosystem process responses between experiments imposing the same manipulation remain attributable to differences in the perceived magnitude of the treatment as well as to differences in biological factors. Conversely, similar responses across sites could either indicate similar proce...

  3. Enriching Project-Based Learning Environments with Virtual Manipulatives: A Comparative Study

    ERIC Educational Resources Information Center

    Çakiroglu, Ünal

    2014-01-01

    Problem statement: Although there is agreement on the potential of project based learning (PBL) and virtual manipulatives (VMs), their positive impact depends on how they are used. This study was based on supporting the use of online PBL environments and improving the efficacy of the instructional practices in PBL by combining the potentials of…

  4. Automatic motor cortex activation for natural as compared to awkward grips of a manipulable object.

    PubMed

    Petit, Leila S; Pegna, Alan J; Harris, Irina M; Michel, Christoph M

    2006-01-01

    It has been suggested that, relative to natural objects, man-made object representations in the brain are more specifically defined by functional properties that reflect how an object is used and/or what it is used for (Warrington and Shallice 1984). We recorded 123-channel event-related potentials (ERP) in healthy participants during a mental rotation task involving a manipulable (hammer) and a non-manipulable (church) object. Both stimuli had standard and mirror-image versions rotated in four different orientations, resulting for the manipulable object in some natural and some awkward grips. Using spatial cluster analysis, time periods were determined during which the ERP maps differed between stimulus conditions. Specific maps appeared for natural versus awkward grips with the manipulable object at a very early stage (60-116 ms) as well as during a later stage (180-280 ms). Source estimations derived from the topographic data indicated that during the second time window the left motor cortex was significantly activated in the case of natural grips. We argue that the motor programs that are semantically associated with the object are automatically activated when it is presented in graspable orientations.

  5. Comparing two types of engineering visualizations: task-related manipulations matter.

    PubMed

    Cölln, Martin C; Kusch, Kerstin; Helmert, Jens R; Kohler, Petra; Velichkovsky, Boris M; Pannasch, Sebastian

    2012-01-01

    This study focuses on the comparison of traditional engineering drawings with a CAD (computer aided design) visualization in terms of user performance and eye movements in an applied context. Twenty-five students of mechanical engineering completed search tasks for measures in two distinct depictions of a car engine component (engineering drawing vs. CAD model). Besides spatial dimensionality, the display types most notably differed in terms of information layout, access and interaction options. The CAD visualization yielded better performance, if users directly manipulated the object, but was inferior, if employed in a conventional static manner, i.e. inspecting only predefined views. An additional eye movement analysis revealed longer fixation durations and a stronger increase of task-relevant fixations over time when interacting with the CAD visualization. This suggests a more focused extraction and filtering of information. We conclude that the three-dimensional CAD visualization can be advantageous if its ability to manipulate is used.

  6. Comparative study of novel spectrophotometric methods manipulating ratio spectra: An application on pharmaceutical ternary mixture of omeprazole, tinidazole and clarithromycin

    NASA Astrophysics Data System (ADS)

    Lotfy, Hayam Mahmoud; Abdel-Monem Hagazy, Maha

    2012-10-01

    Three simple, specific, accurate and precise spectrophotometric methods manipulating ratio spectra are developed for simultaneous determination of omeprazole (OM), tinidazole (TN) and clarithromycin (CL) in tablets. Method A, is an extended ratio subtraction one (EXRSM). Method B is a ratio difference spectrophotometric one (RDSM), while method C is mean centering of ratio spectra (MCR). The calibration curves are linear over the concentration range of 1-20 μg/mL, 10-60 μg/mL and 0.25-1.0 mg/mL for OM, TN and CL, respectively. The specificity of the developed methods is investigated by analyzing laboratory prepared mixtures of the three drugs and their combined dosage form. Standard deviation values are less than 1.5 in the assay of raw materials and tablets. The three methods are validated as per ICH guidelines and accuracy, precision, repeatability and robustness are found to be within the acceptable limits.

  7. Comparing Angular and Curved Shapes in Terms of Implicit Associations and Approach/Avoidance Responses

    PubMed Central

    Palumbo, Letizia; Ruta, Nicole; Bertamini, Marco

    2015-01-01

    Most people prefer smoothly curved shapes over more angular shapes. We investigated the origin of this effect using abstract shapes and implicit measures of semantic association and preference. In Experiment 1 we used a multidimensional Implicit Association Test (IAT) to verify the strength of the association of curved and angular polygons with danger (safe vs. danger words), valence (positive vs. negative words) and gender (female vs. male names). Results showed that curved polygons were associated with safe and positive concepts and with female names, whereas angular polygons were associated with danger and negative concepts and with male names. Experiment 2 used a different implicit measure, which avoided any need to categorise the stimuli. Using a revised version of the Stimulus Response Compatibility (SRC) task we tested with a stick figure (i.e., the manikin) approach and avoidance reactions to curved and angular polygons. We found that RTs for approaching vs. avoiding angular polygons did not differ, even in the condition where the angles were more pronounced. By contrast participants were faster and more accurate when moving the manikin towards curved shapes. Experiment 2 suggests that preference for curvature cannot derive entirely from an association of angles with threat. We conclude that smoothly curved contours make these abstract shapes more pleasant. Further studies are needed to clarify the nature of such a preference. PMID:26460610

  8. Comparing Angular and Curved Shapes in Terms of Implicit Associations and Approach/Avoidance Responses.

    PubMed

    Palumbo, Letizia; Ruta, Nicole; Bertamini, Marco

    2015-01-01

    Most people prefer smoothly curved shapes over more angular shapes. We investigated the origin of this effect using abstract shapes and implicit measures of semantic association and preference. In Experiment 1 we used a multidimensional Implicit Association Test (IAT) to verify the strength of the association of curved and angular polygons with danger (safe vs. danger words), valence (positive vs. negative words) and gender (female vs. male names). Results showed that curved polygons were associated with safe and positive concepts and with female names, whereas angular polygons were associated with danger and negative concepts and with male names. Experiment 2 used a different implicit measure, which avoided any need to categorise the stimuli. Using a revised version of the Stimulus Response Compatibility (SRC) task we tested with a stick figure (i.e., the manikin) approach and avoidance reactions to curved and angular polygons. We found that RTs for approaching vs. avoiding angular polygons did not differ, even in the condition where the angles were more pronounced. By contrast participants were faster and more accurate when moving the manikin towards curved shapes. Experiment 2 suggests that preference for curvature cannot derive entirely from an association of angles with threat. We conclude that smoothly curved contours make these abstract shapes more pleasant. Further studies are needed to clarify the nature of such a preference.

  9. Comparing flow duration curve and rainfall-runoff modelling for predicting daily runoff in ungauged catchments

    NASA Astrophysics Data System (ADS)

    Zhang, Yongqiang; Vaze, Jai; Chiew, Francis H. S.; Li, Ming

    2015-06-01

    Predicting daily runoff time series in ungauged catchments is both important and challenging. For the last few decades, the rainfall-runoff (RR) modelling approach has been the method of choice. There have been very few studies reported in literature which attempt to use flow duration curve (FDC) to predict daily runoff time series. This study comprehensively compares the two approaches using an extensive dataset (228 catchments) for a large region of south-eastern Australia and provides guidelines for choosing the suitable method. For each approach we used the nearest neighbour method and two weightings - a 5-donor simple mathematical average (SA) and a 5-donor inverse-distance weighting (5-IDW) - to predict daily runoff time series. The results show that 5-IDW was noticeably better than a single donor to predict daily runoff time series, especially for the FDC approach. The RR modelling approach calibrated against daily runoff outperformed the FDC approach for predicting high flows. The FDC approach was better at predicting medium to low flows in traditional calibration against the Nash-Sutcliffe-Efficiency or Root Mean Square Error, but when calibrated against a low flow objective function, both the FDC and rainfall-runoff models performed equally well in simulating the low flows. These results indicate that both methods can be further improved to simulate daily hydrographs describing the range of flow metrics in ungauged catchments. Further studies should be carried out for improving the accuracy of predicted FDC in ungauged catchments, including improving the FDC model structure and parameter fitting.

  10. Stochastic or statistic? Comparing flow duration curve models in ungauged basins and changing climates

    NASA Astrophysics Data System (ADS)

    Müller, M. F.; Thompson, S. E.

    2015-09-01

    The prediction of flow duration curves (FDCs) in ungauged basins remains an important task for hydrologists given the practical relevance of FDCs for water management and infrastructure design. Predicting FDCs in ungauged basins typically requires spatial interpolation of statistical or model parameters. This task is complicated if climate becomes non-stationary, as the prediction challenge now also requires extrapolation through time. In this context, process-based models for FDCs that mechanistically link the streamflow distribution to climate and landscape factors may have an advantage over purely statistical methods to predict FDCs. This study compares a stochastic (process-based) and statistical method for FDC prediction in both stationary and non-stationary contexts, using Nepal as a case study. Under contemporary conditions, both models perform well in predicting FDCs, with Nash-Sutcliffe coefficients above 0.80 in 75 % of the tested catchments. The main drives of uncertainty differ between the models: parameter interpolation was the main source of error for the statistical model, while violations of the assumptions of the process-based model represented the main source of its error. The process-based approach performed better than the statistical approach in numerical simulations with non-stationary climate drivers. The predictions of the statistical method under non-stationary rainfall conditions were poor if (i) local runoff coefficients were not accurately determined from the gauge network, or (ii) streamflow variability was strongly affected by changes in rainfall. A Monte Carlo analysis shows that the streamflow regimes in catchments characterized by a strong wet-season runoff and a rapid, strongly non-linear hydrologic response are particularly sensitive to changes in rainfall statistics. In these cases, process-based prediction approaches are strongly favored over statistical models.

  11. SonTek IQ Plus Velocity Index Discharge Compared to Historical Stage Discharge Curve

    NASA Astrophysics Data System (ADS)

    Jones, I.

    2014-12-01

    The SonTek IQ Plus bottom-mounted, up-looking Doppler Current meter is relatively new, low profile instrument specifically designed to measure water velocity in open channels through a wide range of conditions and water depth. The predecessor to the IQ, the SonTek Argonaut SW, is a well-established tool for measuring discharge in open channels utilizing a velocity index equation. The IQ builds upon this with velocity indexing capabilities and the addition of two skew beams and the implementation of SmartPulseHD. The SonTek IQ Plus measures velocity with 4-acoustic transducers and the water level using a fifth vertically oriented transducer integrated with a pressure sensor. This improves upon previous and other bottom-mounted, up-looking, acoustic Doppler current meters by measuring the velocity at more points across the channel using its 4-monostatic acoustic transducers. Additionally, the vertically oriented transducer measures the water level and works in conjunction with the pressure sensor to provide a highly accurate water level/stage measurement. The implementation of SmartPulseHD enables the IQ to change ping type and processing technique based on water depth and velocity, in order to provide the most accurate velocity data possible. The IQ was designed specifically for measuring open channel flow in irrigation canals and similar open channels, either by utilizing SonTek's theoretical flow algorithm or using a velocity index equation. The study presented here demonstrates data collected by an IQ installed in an irrigation canal and the discharge computed using a developed index velocity equation. These data are then compared to discharge data determined by a conventional stage discharge curve developed over many years. The data presented demonstrate the capability of the SonTek IQ to compute accurate discharge values based on an index velocity equation that was developed over a relatively short period of time.

  12. [Centric registration relation in dentate patients using bilateral manipulation--comparative analysis of three techniques].

    PubMed

    De Paiva, H J; Bonfante, G; Lins do Valle, A; Bonachela, W C

    1989-01-01

    Three techniques of centric relation registration were compared using the "Jig" (LUCIA), the "Leaf-Gauge" (LONG JUNIOR) and an wax anterior guide. The casts were mounted and analysed in a Whip-Mix articulador. The results permitted to conclude that, from the statistical viewpoint, did not occurred significant differences among techniques and centric relation occurred in an area not in a point. Because of facility and quickness the technique advocated by LON JUNIOR is recommended.

  13. A New Method to Compare Statistical Tree Growth Curves: The PL-GMANOVA Model and Its Application with Dendrochronological Data

    PubMed Central

    Ricker, Martin; Peña Ramírez, Víctor M.; von Rosen, Dietrich

    2014-01-01

    Growth curves are monotonically increasing functions that measure repeatedly the same subjects over time. The classical growth curve model in the statistical literature is the Generalized Multivariate Analysis of Variance (GMANOVA) model. In order to model the tree trunk radius (r) over time (t) of trees on different sites, GMANOVA is combined here with the adapted PL regression model Q = A·T+E, where for and for , A =  initial relative growth to be estimated, , and E is an error term for each tree and time point. Furthermore, Ei[–b·r]  = , , with TPR being the turning point radius in a sigmoid curve, and at is an estimated calibrating time-radius point. Advantages of the approach are that growth rates can be compared among growth curves with different turning point radiuses and different starting points, hidden outliers are easily detectable, the method is statistically robust, and heteroscedasticity of the residuals among time points is allowed. The model was implemented with dendrochronological data of 235 Pinus montezumae trees on ten Mexican volcano sites to calculate comparison intervals for the estimated initial relative growth . One site (at the Popocatépetl volcano) stood out, with being 3.9 times the value of the site with the slowest-growing trees. Calculating variance components for the initial relative growth, 34% of the growth variation was found among sites, 31% among trees, and 35% over time. Without the Popocatépetl site, the numbers changed to 7%, 42%, and 51%. Further explanation of differences in growth would need to focus on factors that vary within sites and over time. PMID:25402427

  14. A comparative evaluation of gutta-percha filled areas in curved root canals obturated with different techniques.

    PubMed

    Schäfer, Edgar; Nelius, Birthe; Bürklein, Sebastian

    2012-02-01

    The aim of this study was to compare different obturation techniques in severely curved canals in terms of the percentage of gutta-percha filled area and voids. The obturation times and the incidence of extrusion of filling material were also compared. Curved root canals (curvature, 25-35°) of 48 extracted human teeth were enlarged with Mtwo rotary NiTi instruments and obturated as follows: Group A: 0.04/35 matched-single-cone; Group B: cold lateral compaction with 0.04/35 gutta-percha master cone; Group C: warm vertical compaction; Group D: lateral compaction with standardized gutta-percha master cone. In all groups AHPlus was used as sealer. The teeth were sectioned horizontally at 2, 3, 4, 6 and 8 mm from the apex. The total area of each canal segment was measured and the areas of gutta-percha, sealer and voids were converted to percentages of the total area. Data were subjected to the Kruskal-Wallis and post hoc Dunn test. Obturation times were compared using ANOVA and post hoc Student-Newman-Keuls test. The matched-single-cone obturation (group A) was significantly the fastest method while warm vertical compaction (group C) required significantly more time than all other techniques (p < 0.05). No significant differences were obtained between the groups in terms of percentage of voids at any level (p > 0.05). At all levels, groups B, C, and D produced significantly higher gutta-percha filled areas (p < 0.05) and lower sealer-filled areas (p < 0.05) than group A. No significant differences were found between groups B, C, and D (p > 0.05) regarding gutta-percha and sealer-filled areas. Within the limitations of the in vitro study, it can be concluded that lateral compaction of greater taper gutta-percha cones is a fast and efficient method for obturation of curved canals.

  15. RESPONSE OF LUMBAR PARASPINAL MUSCLES SPINDLES IS GREATER TO SPINAL MANIPULATIVE LOADING COMPARED WITH SLOWER LOADING UNDER LENGTH CONTROL

    PubMed Central

    Pickar, Joel G.; Sung, Paul S.; Kang, Yu-Ming; Ge, Weiqing

    2007-01-01

    arm was securely attached to the L6 spinous process via a forceps. Results As thrust duration became shorter the discharge of the lumbar paraspinal muscle spindles increased in a curvilinear fashion. A concave up inflection occurred near the 100ms duration eliciting both a higher frequency discharge compared to the longer durations and a substantially faster rate of change as thrust duration was shortened. This pattern was evident in paraspinal afferents with receptive fields both close and far from the midline. Paradoxically, spindle afferents were almost twice as sensitive to the 1mm compared to the 2mm amplitude thrust (6.2 vs 3.3 spikes/s/mm/s). This latter finding may be related to the small vs large signal range properties of muscle spindles. Conclusions . The results indicate that the duration and amplitude of a spinal manipulation elicits a pattern of discharge from paraspinal muscle spindles different from slower mechanical inputs. Clinically, these parameters may be important determinants of an HVLA-SM's therapeutic benefit. PMID:17905321

  16. Spectrophotometric methods manipulating ratio spectra for simultaneous determination of binary mixtures with sever overlapping spectra: a comparative study.

    PubMed

    Moustafa, H; Fayez, Y

    2014-12-10

    Three simple, specific and accurate spectrophotometric methods manipulating ratio spectra were developed and validated for simultaneous determination of Rabeprazole sodium (RB) and Domperidone (DP) in their binary mixture without prior separation. Method A, is constant center spectrophotometric method (CC). Method B is a ratio difference spectrophotometric one (RD), while method C is a combined ratio isoabsorptive point-ratio difference method (RIRD). Linear correlations were obtained in range of 4-44μg/mL for both Rabeprazole sodium and Domperidone. The mean percentage recoveries of RB were 99.69±0.504 for method A, 99.83±0.483 for (B) and 100.31±0.499 for (C), respectively, and that of DP were 99.52±0.474 for method A, 100.12±0.505 for (B) and 100.16±0.498 for (C), respectively. Specificity was investigated by analysis of laboratory prepared mixtures containing the cited drugs and their combined tablet dosage form. The obtained results were statistically compared with those obtained by the reported methods, showing no significant difference with respect to accuracy and precision. The three methods were validated as per ICH guidelines and can be applied for routine analysis in quality control laboratories.

  17. Comparative evaluation of shaping ability of different rotary NiTi instruments in curved canals using CBCT

    PubMed Central

    Arora, Anshul; Taneja, Sonali; Kumar, Mohit

    2014-01-01

    Aim: The aim of this study was to compare the canal transportation, canal centering ability, and time taken for preparation of curved root canals after instrumentation with ProFile GT Series X (GTX) files, Revo-S files, twisted files, and Mtwo files by using cone-beam computed tomography (CBCT). Materials and Methods: Forty mesiobuccal canals of mandibular molars with an angle of curvature ranging from 20 to 40 were divided according to the instrument used in canal preparation into four groups of 10 samples each: GTX (group I), Revo-S (group II), twisted file (group III), and Mtwo (group IV). The teeth were instrumented according to manufacturer's guidelines, with all groups being prepared to size 30, 0.06 taper master apical file. Canals were scanned using an i-CAT CBCT scanner (Imaging Science International, Hatfield, PA, USA) before and after preparation to evaluate the transportation and centering ratio at 3 mm, 5 mm, 7 mm, 9 mm, and 11 mm from the apex. The data collected were evaluated using one-way analysis of variance (ANOVA) with Tukey's honestly significant difference (HSD) test. Results: Twisted file system showed significantly least canal transportation and highest canal centering ability values as compared to GTX, Revo-S, and Mtwo file systems. Overall, GTX, Revo-S, and Mtwo showed comparable results with respect to canal transportation and centering ability. Conclusion: The innovative method of manufacturing the TF system resulted in superior shaping ability in curved canals, with the instruments remaining more centered and producing less canal transportation than GTX, Revo-S, and Mtwo file systems. PMID:24554858

  18. A Comparative Study of the Effects of Using Dynamic Geometry Software and Physical Manipulatives on the Spatial Visualisation Skills of Pre-Service Mathematics Teachers

    ERIC Educational Resources Information Center

    Baki, Adnan; Kosa, Temel; Guven, Bulent

    2011-01-01

    The study compared the effects of dynamic geometry software and physical manipulatives on the spatial visualisation skills of first-year pre-service mathematics teachers. A pre- and post-test quasi-experimental design was used. The Purdue Spatial Visualisation Test (PSVT) was used for the pre- and post-test. There were three treatment groups. The…

  19. Comparing the Effectiveness of Virtual and Concrete Manipulatives to Teach Algebra to Secondary Students with Learning Disabilities

    ERIC Educational Resources Information Center

    Satsangi, Rajiv; Bouck, Emily C.; Taber-Doughty, Teresa; Bofferding, Laura; Roberts, Carly A.

    2016-01-01

    A sizable body of literature exists studying various technologies and pedagogical practices for teaching secondary mathematics curriculum to students with a learning disability in mathematics. However, with the growing footprint of computer-based technologies in today's classrooms, some areas of study, such as the use of virtual manipulatives,…

  20. A comparative study of electric load curve changes in an urban low-voltage substation in Spain during the economic crisis (2008-2013).

    PubMed

    Lara-Santillán, Pedro M; Mendoza-Villena, Montserrat; Fernández-Jiménez, L Alfredo; Mañana-Canteli, Mario

    2014-01-01

    This paper presents a comparative study of the electricity consumption (EC) in an urban low-voltage substation before and during the economic crisis (2008-2013). This low-voltage substation supplies electric power to near 400 users. The EC was measured for an 11-year period (2002-2012) with a sampling time of 1 minute. The study described in the paper consists of detecting the changes produced in the load curves of this substation along the time due to changes in the behaviour of consumers. The EC was compared using representative curves per time period (precrisis and crisis). These representative curves were obtained after a computational process, which was based on a search for days with similar curves to the curve of a determined (base) date. This similitude was assessed by the proximity on the calendar, day of the week, daylight time, and outdoor temperature. The last selection parameter was the error between the nearest neighbour curves and the base date curve. The obtained representative curves were linearized to determine changes in their structure (maximum and minimum consumption values, duration of the daily time slot, etc.). The results primarily indicate an increase in the EC in the night slot during the summer months in the crisis period.

  1. A Comparative Study of Electric Load Curve Changes in an Urban Low-Voltage Substation in Spain during the Economic Crisis (2008–2013)

    PubMed Central

    Lara-Santillán, Pedro M.; Mendoza-Villena, Montserrat; Fernández-Jiménez, L. Alfredo; Mañana-Canteli, Mario

    2014-01-01

    This paper presents a comparative study of the electricity consumption (EC) in an urban low-voltage substation before and during the economic crisis (2008–2013). This low-voltage substation supplies electric power to near 400 users. The EC was measured for an 11-year period (2002–2012) with a sampling time of 1 minute. The study described in the paper consists of detecting the changes produced in the load curves of this substation along the time due to changes in the behaviour of consumers. The EC was compared using representative curves per time period (precrisis and crisis). These representative curves were obtained after a computational process, which was based on a search for days with similar curves to the curve of a determined (base) date. This similitude was assessed by the proximity on the calendar, day of the week, daylight time, and outdoor temperature. The last selection parameter was the error between the nearest neighbour curves and the base date curve. The obtained representative curves were linearized to determine changes in their structure (maximum and minimum consumption values, duration of the daily time slot, etc.). The results primarily indicate an increase in the EC in the night slot during the summer months in the crisis period. PMID:24895677

  2. Bilateral apical vertebral derotation technique by vertebral column manipulation compared with vertebral coplanar alignment technique in the correction of lenke type 1 idiopathic scoliosis

    PubMed Central

    2013-01-01

    Background Widely used rod rotation and translation techniques for idiopathic scoliosis (IS) are effective in correcting spinal coronal deformity. Bilateral apical vertebral derotation technique by vertebral column manipulation (VCM) and vertebral coplanar alignment (VCA) technique are two strategies for three-dimensional (3D) correction for IS. The purpose of this study is to compare the post-surgical results and technical features of the bilateral apical vertebral derotation technique by VCM against the VCA technique in patients with Lenke type 1 IS. Methods Forty-eight patients with Lenke type 1 IS were enrolled in the present prospective clinical assay. They were divided into groups A (bilateral apical vertebral derotation technique by VCM, n=24) and B (VCA technique, n=24). Radiographic parameters measured before and after surgery included the Cobb angle, thoracic kyphosis, and apical vertebral rotation. Scoliosis Research Society (SRS)-22 scores were evaluated during the final follow-up. The differences in the demographics, surgical details, and radiographic measurements between the two groups were determined using a T test. The Mann–Whitney U test was used to evaluate the differences in the SRS-22 scores. A value of P<0.05 was considered statistically significant. Results In the coronal plane, a significant difference was found in the correction rate of the major curve (group A: 84.8%, group B: 78.4%; P=0.045) and in the Cincinnati Correction Index between two groups (group A: 2.21, group B: 1.98; P=0.047). In the sagittal plane, no difference was found in the postoperative thoracic kyphosis between the two groups (P=0.328). In the transverse plane, no difference was found between the two groups in the correction rates of the rotation angle sagittal (P=0.298), rib hump (P=0.934), apical vertebral body-to-rib ratio (P=0.988), or apical rib spread difference (P=0.184). Patients underwent follow up for an average of 21.9 and 22.2 months in groups A and B

  3. Bradford Curves.

    ERIC Educational Resources Information Center

    Rousseau, Ronald

    1994-01-01

    Discussion of informetric distributions shows that generalized Leimkuhler functions give proper fits to a large variety of Bradford curves, including those exhibiting a Groos droop or a rising tail. The Kolmogorov-Smirnov test is used to test goodness of fit, and least-square fits are compared with Egghe's method. (Contains 53 references.) (LRW)

  4. Comparing statistical and process-based flow duration curve models in ungauged basins and changing rain regimes

    NASA Astrophysics Data System (ADS)

    Müller, M. F.; Thompson, S. E.

    2016-02-01

    The prediction of flow duration curves (FDCs) in ungauged basins remains an important task for hydrologists given the practical relevance of FDCs for water management and infrastructure design. Predicting FDCs in ungauged basins typically requires spatial interpolation of statistical or model parameters. This task is complicated if climate becomes non-stationary, as the prediction challenge now also requires extrapolation through time. In this context, process-based models for FDCs that mechanistically link the streamflow distribution to climate and landscape factors may have an advantage over purely statistical methods to predict FDCs. This study compares a stochastic (process-based) and statistical method for FDC prediction in both stationary and non-stationary contexts, using Nepal as a case study. Under contemporary conditions, both models perform well in predicting FDCs, with Nash-Sutcliffe coefficients above 0.80 in 75 % of the tested catchments. The main drivers of uncertainty differ between the models: parameter interpolation was the main source of error for the statistical model, while violations of the assumptions of the process-based model represented the main source of its error. The process-based approach performed better than the statistical approach in numerical simulations with non-stationary climate drivers. The predictions of the statistical method under non-stationary rainfall conditions were poor if (i) local runoff coefficients were not accurately determined from the gauge network, or (ii) streamflow variability was strongly affected by changes in rainfall. A Monte Carlo analysis shows that the streamflow regimes in catchments characterized by frequent wet-season runoff and a rapid, strongly non-linear hydrologic response are particularly sensitive to changes in rainfall statistics. In these cases, process-based prediction approaches are favored over statistical models.

  5. Towards more physiological manipulations of hormones in field studies: comparing the release dynamics of three kinds of testosterone implants, silastic tubing, time-release pellets and beeswax.

    PubMed

    Quispe, Rene; Trappschuh, Monika; Gahr, Manfred; Goymann, Wolfgang

    2015-02-01

    Hormone manipulations are of increasing interest in the areas of physiological ecology and evolution, because hormones are mediators of complex phenotypic changes. Often, however, hormone manipulations in field settings follow the approaches that have been used in classical endocrinology, potentially using supra-physiological doses. To answer ecological and evolutionary questions, it may be important to manipulate hormones within their physiological range. We compare the release dynamics of three kinds of implants, silastic tubing, time-release pellets, and beeswax pellets, each containing 3mg of testosterone. These implants were placed into female Japanese quail, and plasma levels of testosterone measured over a period of 30 days. Testosterone in silastic tubing led to supraphysiological levels. Also, testosterone concentrations were highly variable between individuals. Time-release pellets led to levels of testosterone that were slightly supraphysiological during the first days. Over the period of 30 days, however, testosterone concentrations were more consistent. Beeswax implants led to a physiological increase in testosterone and a relatively constant release. The study demonstrated that hormone implants in 10mm silastic tubing led to a supraphysiological peak in female quail. Thus, the use of similar-sized or even larger silastic implants in males or in other smaller vertebrates needs careful assessment. Time-release pellets and beeswax implants provide a more controlled release and degrade within the body. Thus, it is not necessary to recapture the animal to remove the implant. We propose beeswax implants as an appropriate procedure to manipulate testosterone levels within the physiological range. Hence, such implants may be an effective alternative for field studies.

  6. Comparing the precision 2009 and 2012 light curves of the precontact W UMa binary V1001 Cassiopeia

    SciTech Connect

    Samec, R. G.; Koenke, S. S.; Faulkner, D. R.

    2015-01-01

    A 2012 follow up to the analysis of 2009 observations is presented for the very short period (∼0.43 days) precontact W UMa binary (PCWB) V1001 Cassiopeia. Its short period, similar to the majority of W UMa binaries, and its distinct EA light curve make it a very rare and interesting system for continuing photometric investigation. Previous photometric VRI standard magnitudes give a K4 spectral type. Our solutions of light curves separated by some three years give approximately the same physical parameters. However, the spots have radically changed in temperature, area, and position. While only one dark spot was used to model the first curves, two hot spots are now needed. This affects the overall shape of the light curve, especially in the secondary eclipses in B and V. Additional eclipse timings now show that the orbital period is changing. We conclude that spots are very active on this solar-type dwarf system and that it may mimic its larger cousins, the RS CVn binaries. The conclusion is that analysis now needs to be directed at the continuous time evolution of PCWBs.

  7. Comparative study of spectrophotometric methods manipulating ratio spectra: an application on pharmaceutical binary mixture of cinnarizine and dimenhydrinate.

    PubMed

    Lamie, Nesrine T

    2015-04-15

    Four simple, specific, accurate and precise spectrophotometric methods are developed and validated for simultaneous determination of cinnarizine (CIN) and dimenhydrinate (DIM) in a binary mixture with overlapping spectra, without preliminary separation. The first method is dual wavelength spectrophotometry (DW), the second is a ratio difference spectrophotometric one (RD) which measures the difference in amplitudes between 250 and 270 nm of ratio spectrum, the third one is novel constant center spectrophotometric method (CC) and the fourth method is mean centering of ratio spectra (MCR). The calibration curve is linear over the concentration range of 4-20 and 10-45 μg/ml for CIN and DIM, respectively. These methods are tested by analyzing synthetic mixtures of the above drugs and they are applied to commercial pharmaceutical preparation of the subjected drugs. The validity of results was assessed by applying standard addition technique. The results obtained were found to agree statistically with those obtained by a reported method, showing no significant difference with respect to accuracy and precision.

  8. Comparative study of spectrophotometric methods manipulating ratio spectra: An application on pharmaceutical binary mixture of cinnarizine and dimenhydrinate

    NASA Astrophysics Data System (ADS)

    Lamie, Nesrine T.

    2015-04-01

    Four simple, specific, accurate and precise spectrophotometric methods are developed and validated for simultaneous determination of cinnarizine (CIN) and dimenhydrinate (DIM) in a binary mixture with overlapping spectra, without preliminary separation. The first method is dual wavelength spectrophotometry (DW), the second is a ratio difference spectrophotometric one (RD) which measures the difference in amplitudes between 250 and 270 nm of ratio spectrum, the third one is novel constant center spectrophotometric method (CC) and the fourth method is mean centering of ratio spectra (MCR). The calibration curve is linear over the concentration range of 4-20 and 10-45 μg/ml for CIN and DIM, respectively. These methods are tested by analyzing synthetic mixtures of the above drugs and they are applied to commercial pharmaceutical preparation of the subjected drugs. The validity of results was assessed by applying standard addition technique. The results obtained were found to agree statistically with those obtained by a reported method, showing no significant difference with respect to accuracy and precision.

  9. Robot Manipulators

    NASA Technical Reports Server (NTRS)

    1988-01-01

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

  10. No Differences in Outcomes in People with Low Back Pain Who Met the Clinical Prediction Rule for Lumbar Spine Manipulation When a Pragmatic Non-thrust Manipulation Was Used as the Comparator.

    PubMed

    Learman, Kenneth; Showalter, Christopher; O'Halloran, Bryan; Donaldson, Megan; Cook, Chad

    2014-01-01

    Objectif : Étudier les différences au niveau de la douleur et de la capacité entre les patients traités par manipulation avec pression (MP) et ceux qui sont traités par manipulation sans pression (MSP) chez un groupe de patients souffrant de lombalgie mécanique (LM) qui ont réagi au cours d'une séance après une évaluation initiale et satisfaisaient à la règle de prévision clinique (RPC). Méthodes : On a extrait des données sur 71 patients qui satisfaisaient à la RPC d'une base de données sur des patients d'un essai contrôlé randomisé de plus grande envergure comparant la MP et la MSP. Au cours des deux premières visites, le traitement a comporté une MP ou une MSP (selon l'affectation) et un programme normalisé d'exercice domicile. L'analyse des données a inclus des statistiques descriptives et une analyse bidirectionnelle des écarts portant sur les effets à l'intérieur d'un même groupe et entre les groupes en ce qui a trait à la douleur et à l'incapacité, ainsi que le nombre total de visites, le nombre total de jours de soins et la rapidité du rétablissement. Résultats : On n'a constaté aucune différence entre les groupes au niveau de la douleur ou de l'incapacité pour le traitement MSP par rapport au traitement MP (p=0,55), mais on a constaté des effets chez les mêmes sujets pour les deux groupes (p<0,001). Conclusions : Cette analyse secondaire indique que les patients qui satisfont aux critères de la RPC bénéficient autant d'une MSP que d'une MP.

  11. Effect of spinal manipulative therapy with stretching compared with stretching alone on full-swing performance of golf players: a randomized pilot trial☆

    PubMed Central

    Costa, Soraya M.V.; Chibana, Yumi E.T.; Giavarotti, Leandro; Compagnoni, Débora S.; Shiono, Adriana H.; Satie, Janice; Bracher, Eduardo S.B.

    2009-01-01

    Abstract Objective There has been a steady growth of chiropractic treatment using spinal manipulative therapy (SMT) that aims to increase the performance of athletes in various sports. This study evaluates the effect of SMT by chiropractors on the performance of golf players. Methods Golfers of 2 golf clubs in São Paulo, Brazil, participated in this study. They were randomized to 1 of 2 groups: Group I received a stretch program, and group II received a stretch program in addition to SMT. Participants in both groups performed the same standardized stretching program. Spinal manipulative therapy to dysfunctional spinal segments was performed on group II only. All golfers performed 3 full-swing maneuvers. Ball range was considered as the average distance for the 3 shots. Treatment was performed after the initial measurement, and the same maneuvers were performed afterward. Each participant repeated these procedures for a 4-week period. Student t test, Mann-Whitney nonparametric test, and 1-way analysis of variance for repeated measures with significance level of 5% were used to analyze the study. Results Forty-three golfers completed the protocol. Twenty participants were allocated to group I and 23 to group II. Average age, handicap, and initial swing were comparable. No improvement of full-swing performance was observed during the 4 sessions on group I (stretch only). An improvement was observed at the fourth session of group II (P = .005); when comparing the posttreatment, group II had statistical significance at all phases (P = .003). Conclusions Chiropractic SMT in association with muscle stretching may be associated with an improvement of full-swing performance when compared with muscle stretching alone. PMID:19948307

  12. Curved Beam Computed Tomography based Structural Rigidity Analysis of Bones with Simulated Lytic Defect: A Comparative Study with Finite Element Analysis

    PubMed Central

    Oftadeh, R.; Karimi, Z.; Villa-Camacho, J.; Tanck, E.; Verdonschot, N.; Goebel, R.; Snyder, B. D.; Hashemi, H. N.; Vaziri, A.; Nazarian, A.

    2016-01-01

    In this paper, a CT based structural rigidity analysis (CTRA) method that incorporates bone intrinsic local curvature is introduced to assess the compressive failure load of human femur with simulated lytic defects. The proposed CTRA is based on a three dimensional curved beam theory to obtain critical stresses within the human femur model. To test the proposed method, ten human cadaveric femurs with and without simulated defects were mechanically tested under axial compression to failure. Quantitative computed tomography images were acquired from the samples, and CTRA and finite element analysis were performed to obtain the failure load as well as rigidities in both straight and curved cross sections. Experimental results were compared to the results obtained from FEA and CTRA. The failure loads predicated by curved beam CTRA and FEA are in agreement with experimental results. The results also show that the proposed method is an efficient and reliable method to find both the location and magnitude of failure load. Moreover, the results show that the proposed curved CTRA outperforms the regular straight beam CTRA, which ignores the bone intrinsic curvature and can be used as a useful tool in clinical practices. PMID:27585495

  13. Underwater manipulator

    DOEpatents

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

    1993-04-20

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

  14. Underwater manipulator

    DOEpatents

    Schrum, Phillip B.; Cohen, George H.

    1993-01-01

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

  15. Underwater manipulator

    SciTech Connect

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

    1992-12-31

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

  16. REMOTE CONTROL MANIPULATOR

    DOEpatents

    Coffman, R.T.

    1962-11-27

    The patent covers a remote-control manipulator in which a tool is carried on a tube at an end thereof angularly related to the main portion of the tube and joined thereto by a curved section. The main portion of the tube is mounted for rotation and axial shifting in a wall separating safe and dangerous areas. The tool is actuated to grasp and release an object in the dangerous area by means of a compound shaft extending through the tube, the shaft having a flexible section extending through the curved section of the tube. The tool is moved about in the dangerous area by rotation and axial movement of the main portion of the tube. Additional movement of the tool is obtained through axial shifting of the shaft with respect to the tube through which it extends. (AEC)

  17. Comparative lethality kinetic curves and predictive models of F-value for Listeria monocytogenes using different sanitizers

    PubMed Central

    Beltrame, Cezar A; Kubiak, Gabriela B; Rottava, Ieda; Toniazzo, Geciane; Cansian, Rogério L; Lerin, Lindomar A; de Oliveira, Débora; Treichel, Helen

    2013-01-01

    The objective of this work was to evaluate the kinetic of inactivation of Listeria monocytogenes using peracetic acid, chlorhexidine, and organic acids as active agent, determining the respective D-, Z-, and F-values. From our knowledge, these important results from an industrial view point are not available in the current literature, mainly for organic acids, pointing out the main contribution of the present work. Lower D-values were obtained for peracetic acid and chlorhexidine, compared with the organic acids. For the reduction of 6 log10 of L. monocytogenes using peracetic acid, at 0.2, 0.1, and 0.05% are necessary 7.08, 31.08, and 130.44 min of contact, respectively. The mathematical models of F-values showed that at concentrations lower than 0.15% one can verify an exponential increase in F-values, for both de chlorhexidine and peracetic acid. The organic acids presented a linear behavior, showing slight variation in F-values, is even more effective in under dosage. The results obtained are of fundamental importance in terms of industrial strategy for sanitization procedure, permitting to choose the best relation product concentration/exposure time, aiming at reducing costs without compromising the disinfectant efficiency. PMID:24804011

  18. Comparative lethality kinetic curves and predictive models of F-value for Listeria monocytogenes using different sanitizers.

    PubMed

    Beltrame, Cezar A; Kubiak, Gabriela B; Rottava, Ieda; Toniazzo, Geciane; Cansian, Rogério L; Lerin, Lindomar A; de Oliveira, Débora; Treichel, Helen

    2013-01-01

    The objective of this work was to evaluate the kinetic of inactivation of Listeria monocytogenes using peracetic acid, chlorhexidine, and organic acids as active agent, determining the respective D-, Z-, and F-values. From our knowledge, these important results from an industrial view point are not available in the current literature, mainly for organic acids, pointing out the main contribution of the present work. Lower D-values were obtained for peracetic acid and chlorhexidine, compared with the organic acids. For the reduction of 6 log10 of L. monocytogenes using peracetic acid, at 0.2, 0.1, and 0.05% are necessary 7.08, 31.08, and 130.44 min of contact, respectively. The mathematical models of F-values showed that at concentrations lower than 0.15% one can verify an exponential increase in F-values, for both de chlorhexidine and peracetic acid. The organic acids presented a linear behavior, showing slight variation in F-values, is even more effective in under dosage. The results obtained are of fundamental importance in terms of industrial strategy for sanitization procedure, permitting to choose the best relation product concentration/exposure time, aiming at reducing costs without compromising the disinfectant efficiency.

  19. Comparative evaluation of a new lactation curve model for pasture-based Holstein-Friesian dairy cows.

    PubMed

    Adediran, S A; Ratkowsky, D A; Donaghy, D J; Malau-Aduli, A E O

    2012-09-01

    Fourteen lactation models were fitted to average and individual cow lactation data from pasture-based dairy systems in the Australian states of Victoria and Tasmania. The models included a new "log-quadratic" model, and a major objective was to evaluate and compare the performance of this model with the other models. Nine empirical and 5 mechanistic models were first fitted to average test-day milk yield of Holstein-Friesian dairy cows using the nonlinear procedure in SAS. Two additional semiparametric models were fitted using a linear model in ASReml. To investigate the influence of days to first test-day and the number of test-days, 5 of the best-fitting models were then fitted to individual cow lactation data. Model goodness of fit was evaluated using criteria such as the residual mean square, the distribution of residuals, the correlation between actual and predicted values, and the Wald-Wolfowitz runs test. Goodness of fit was similar in all but one of the models in terms of fitting average lactation but they differed in their ability to predict individual lactations. In particular, the widely used incomplete gamma model most displayed this failing. The new log-quadratic model was robust in fitting average and individual lactations, and was less affected by sampled data and more parsimonious in having only 3 parameters, each of which lends itself to biological interpretation.

  20. Evaluating the efficiency of spectral resolution of univariate methods manipulating ratio spectra and comparing to multivariate methods: an application to ternary mixture in common cold preparation.

    PubMed

    Moustafa, Azza Aziz; Salem, Hesham; Hegazy, Maha; Ali, Omnia

    2015-02-25

    Simple, accurate, and selective methods have been developed and validated for simultaneous determination of a ternary mixture of Chlorpheniramine maleate (CPM), Pseudoephedrine HCl (PSE) and Ibuprofen (IBF), in tablet dosage form. Four univariate methods manipulating ratio spectra were applied, method A is the double divisor-ratio difference spectrophotometric method (DD-RD). Method B is double divisor-derivative ratio spectrophotometric method (DD-RD). Method C is derivative ratio spectrum-zero crossing method (DRZC), while method D is mean centering of ratio spectra (MCR). Two multivariate methods were also developed and validated, methods E and F are Principal Component Regression (PCR) and Partial Least Squares (PLSs). The proposed methods have the advantage of simultaneous determination of the mentioned drugs without prior separation steps. They were successfully applied to laboratory-prepared mixtures and to commercial pharmaceutical preparation without any interference from additives. The proposed methods were validated according to the ICH guidelines. The obtained results were statistically compared with the official methods where no significant difference was observed regarding both accuracy and precision.

  1. Evaluating the efficiency of spectral resolution of univariate methods manipulating ratio spectra and comparing to multivariate methods: An application to ternary mixture in common cold preparation

    NASA Astrophysics Data System (ADS)

    Moustafa, Azza Aziz; Salem, Hesham; Hegazy, Maha; Ali, Omnia

    2015-02-01

    Simple, accurate, and selective methods have been developed and validated for simultaneous determination of a ternary mixture of Chlorpheniramine maleate (CPM), Pseudoephedrine HCl (PSE) and Ibuprofen (IBF), in tablet dosage form. Four univariate methods manipulating ratio spectra were applied, method A is the double divisor-ratio difference spectrophotometric method (DD-RD). Method B is double divisor-derivative ratio spectrophotometric method (DD-RD). Method C is derivative ratio spectrum-zero crossing method (DRZC), while method D is mean centering of ratio spectra (MCR). Two multivariate methods were also developed and validated, methods E and F are Principal Component Regression (PCR) and Partial Least Squares (PLSs). The proposed methods have the advantage of simultaneous determination of the mentioned drugs without prior separation steps. They were successfully applied to laboratory-prepared mixtures and to commercial pharmaceutical preparation without any interference from additives. The proposed methods were validated according to the ICH guidelines. The obtained results were statistically compared with the official methods where no significant difference was observed regarding both accuracy and precision.

  2. Analysis of water retention curve as a potential tool in comparing the effect of different soil management in two olive orchard in southern Spain

    NASA Astrophysics Data System (ADS)

    Guzmán, G.; Gómez, J. A.; Giráldez, J. V.

    2010-05-01

    Water soil erosion is one of the major concerns in agricultural areas in Southern Spain, and the use of cover crops has been recommended as an alternative to tillage to prevent, or mitigate, soil erosion. This change of soil management implies a progressive modification of soil chemical, biological and physical properties which to date, have been documented by a limited number of studies. In this communication we describe a methodology based on the modification of the water retention curves of intact cores, present the results obtained in two olive orchards in Southern Spain, and compare them with several chemical and physical properties measured simultaneously in the orchards. The experimental areas were located in Benacazón and Pedrera, Seville province in Southern Spain, and at each location two experimental plots were established. One of the plots was under traditional tillage management and the other under cover crop soil management. The slope at the plots was 12 and 4% respectively. Soil samples were taken at both plots differentiating between the inter tree areas and the under the olive canopy areas, between two different depths: 0-10 cm and 10-20 cm. These resulted in eight different sampling areas (2x2x2). Samples were taken three year after establishing the experiments. Water retention curves of soils were obtained as the average of replications per and using the Eijkelkamp Sand and Sand/Kaolin suction tables (0-500 hPa) and a Decagon's WP4-T dewpoint potentiometer (0-300•106 hPa). The latest was used to determine the residual water content. Experimental water retention curves were to two different models: van Genuchten (1980) and Kosugi (1994). Once modeling was done, the slope value of the curves at the inflexion point, proposed by Dexter (2004a, b, c) to estimate physical quality of soils, was calculated. This study presents and discusses the advantages and problems of the different approaches for determining the water retention curves, the

  3. Effectiveness of XP-endo Finisher, EndoActivator, and File agitation on debris and smear layer removal in curved root canals: a comparative study.

    PubMed

    Elnaghy, Amr M; Mandorah, Ayman; Elsaka, Shaymaa E

    2017-04-01

    The purpose of this study was to assess the efficacy of the XP-endo Finisher (FKG Dentaire SA, La Chaux-de-Fonds, Switzerland) file on debris and smear layer removal in curved root canals in comparison to different irrigation regimens. Seventy-five freshly extracted human mandibular molar teeth with mesial root curved more than 20° were used in this study. The mesial root canals were mechanically prepared using the BT-Race rotary system (FKG Dentaire) and divided into five groups (n = 15) according to the following irrigation techniques: positive control, non-agitated, File agitation, XP-endo Finisher, and EndoActivator (Dentsply Tulsa Dental Specialities, Tulsa, OK, USA). Root canals were split longitudinally and evaluated by scanning electron microscopy. Five-grade scoring system was used to assess the presence of debris and smear layer at the coronal, middle, and apical regions. The XP-endo Finisher and EndoActivator groups revealed significantly lower debris and smear layer scores than the other groups at the coronal, middle, and apical regions (P < 0.05). There was no significant difference between XP-endo Finisher and EndoActivator groups (P > 0.05). The apical region had higher debris and smear layer scores compared with the coronal regions in all groups (P < 0.05), except for the positive control group; there was no significant difference between the three regions of the root canal (P > 0.05). Irrigation of curved root canals using XP-endo Finisher and EndoActivator methods appears to be more effective on debris and smear layer removal than the other tested groups.

  4. Comparing passive angle-torque curves recorded simultaneously with a load cell versus an isokinetic dynamometer during dorsiflexion stretch tolerance assessments.

    PubMed

    Buckner, Samuel L; Jenkins, Nathaniel D M; Costa, Pablo B; Ryan, Eric D; Herda, Trent J; Cramer, Joel T

    2015-05-01

    The purpose of the present study was to compare the passive angle-torque curves and the passive stiffness (PS, N m °(-)(1)) values recorded simultaneously from a load cell versus an isokinetic dynamometer during dorsiflexion stretch tolerance assessments in vivo. Nine healthy men (mean ± SD age = 21.4 ± 1.6 years) completed stretch tolerance assessments on a custom-built apparatus where passive torque was measured simultaneously from an isokinetic dynamometer and a load cell. Passive torque values that corresponded with the last 10° of dorsiflexion, verified by surface electromyographic amplitude, were analyzed for each device (θ1, θ2, θ3, …, θ10). Passive torque values measured with the load cell were greater (p ≤ 0.05) than the dynamometer torque values for θ4 through θ10. There were more statistical differentiations among joint angles for passive torque measured by the load cell, and the load cell measured a greater (p ≤ 0.01) increase in passive torque and PS than the isokinetic dynamometer. These findings suggested that when examining the angle-torque curves from passive dorsiflexion stretch tolerance tests, a load cell placed under the distal end of the foot may be more sensitive than the torque recorded from an isokinetic dynamometer.

  5. Light bullets in nonlinear periodically curved waveguide arrays

    SciTech Connect

    Matuszewski, Michal; Garanovich, Ivan L.; Sukhorukov, Andrey A.

    2010-04-15

    We predict that stable mobile spatiotemporal solitons can exist in arrays of periodically curved optical waveguides. We find two-dimensional light bullets in planar arrays with harmonic waveguide bending and three-dimensional bullets in square lattices with helical waveguide bending using variational formalism. Stability of the light-bullet solutions is confirmed by the direct numerical simulations which show that the light bullets can freely move across the curved arrays. This mobility property is a distinguishing characteristic compared to previously considered discrete light bullets which were trapped to a specific lattice site. These results suggest new possibilities for flexible spatiotemporal manipulation of optical pulses in photonic lattices.

  6. Learning curves of percutaneous endoscopic lumbar discectomy in transforaminal approach at the L4/5 and L5/S1 levels: a comparative study

    PubMed Central

    Wu, Xin-bo; Fan, Guo-xin; Gu, Xin; Shen, Tu-gang; Guan, Xiao-fei; Hu, An-nan; Zhang, Hai-long; He, Shi-sheng

    2016-01-01

    Objectives: This study aimed to compare the learning curves of percutaneous endoscopic lumbar discectomy (PELD) in a transforaminal approach at the L4/5 and L5/S1 levels. Methods: We retrospectively reviewed the first 60 cases at the L4/5 level (Group I) and the first 60 cases at the L5/S1 level (Group II) of PELD performed by one spine surgeon. The patients were divided into subgroups A, B, and C (Group I: A cases 1–20, B cases 21–40, C cases 41–60; Group II: A cases 1–20, B cases 21–40, C cases 41–60). Operation time was thoroughly analyzed. Results: Compared with the L4/5 level, the learning curve of transforaminal PELD at the L5/S1 level was flatter. The mean operation times of Groups IA, IB, and IC were (88.75±17.02), (67.75±6.16), and (64.85±7.82) min, respectively. There was a significant difference between Groups A and B (P<0.05), but no significant difference between Groups B and C (P=0.20). The mean operation times of Groups IIA, IIB, and IIC were (117.25±13.62), (109.50±11.20), and (92.15±11.94) min, respectively. There was no significant difference between Groups A and B (P=0.06), but there was a significant difference between Groups B and C (P<0.05). There were 6 cases of postoperative dysesthesia (POD) in Group I and 2 cases in Group IIA (P=0.27). There were 2 cases of residual disc in Group I, and 4 cases in Group II (P=0.67). There were 3 cases of recurrence in Group I, and 2 cases in Group II (P>0.05). Conclusions: Compared with the L5/S1 level, the learning curve of PELD in a transforaminal approach at the L4/5 level was steeper, suggesting that the L4/5 level might be easier to master after short-term professional training. PMID:27381732

  7. Comparative short-term effects of two thoracic spinal manipulation techniques in subjects with chronic mechanical neck pain: a randomized controlled trial.

    PubMed

    Casanova-Méndez, Amaloha; Oliva-Pascual-Vaca, Angel; Rodriguez-Blanco, Cleofás; Heredia-Rizo, Alberto Marcos; Gogorza-Arroitaonandia, Kristobal; Almazán-Campos, Ginés

    2014-08-01

    Spinal Manipulation (SM) has been purported to decrease pain and improve function in subjects with non-specific neck pain. Previous research has investigated which individuals with non-specific neck pain will be more likely to benefit from SM. It has not yet been proven whether or not the effectiveness of thoracic SM depends on the specific technique being used. This double-blind randomized trial has compared the short-term effects of two thoracic SM maneuvers in subjects with chronic non-specific neck pain. Sixty participants were distributed randomly into two groups. One group received the Dog technique (n = 30), with the subject in supine position, and the other group underwent the Toggle-Recoil technique (n = 30), with the participant lying prone, T4 being the targeted area in both cases. Evaluations were made of self-reported neck pain (Visual Analogue Scale); neck mobility (Cervical Range of Motion); and pressure pain threshold at the cervical and thoracic levels (C4 and T4 spinous process) and over the site described for location of tense bands of the upper trapezius muscle. Measurements were taken before intervention, immediately afterward, and 20 min later. Both maneuvers improved neck mobility and mechanosensitivity and reduced pain in the short term. No major or clinical differences were found between the groups. In the between-groups comparison slightly better results were observed in the Toggle-Recoil group only for cervical extension (p = 0.009), right lateral flexion (p = 0.004) and left rotation (p < 0.05).

  8. Efficacy of manipulation for non-specific neck pain of recent onset: design of a randomised controlled trial

    PubMed Central

    Leaver, Andrew M; Refshauge, Kathryn M; Maher, Christopher G; Latimer, Jane; Herbert, Rob D; Jull, Gwendolen; McAuley, James H

    2007-01-01

    Background Manipulation is a common treatment for non-specific neck pain. Neck manipulation, unlike gentler forms of manual therapy such as mobilisation, is associated with a small risk of serious neurovascular injury and can result in stroke or death. It is thought however, that neck manipulation provides better results than mobilisation where clinically indicated. There is long standing and vigorous debate both within and between the professions that use neck manipulation as well as the wider scientific community as to whether neck manipulation potentially does more harm than good. The primary aim of this study is to determine whether neck manipulation provides more rapid resolution of an episode of neck pain than mobilisation. Methods/Design 182 participants with acute and sub-acute neck pain will be recruited from physiotherapy, chiropractic and osteopathy practices in Sydney, Australia. Participants will be randomly allocated to treatment with either manipulation or mobilisation. Randomisation will occur after the treating practitioner decides that manipulation is an appropriate treatment for the individual participant. Both groups will receive at least 4 treatments over 2 weeks. The primary outcome is number of days taken to recover from the episode of neck pain. Cox regression will be used to compare survival curves for time to recovery for the manipulation and mobilisation treatment groups. Discussion This paper presents the rationale and design of a randomised controlled trial to compare the effectiveness of neck manipulation and neck mobilisation for acute and subacute neck pain. PMID:17324291

  9. Variations of high frequency parameter of heart rate variability following osteopathic manipulative treatment in healthy subjects compared to control group and sham therapy: randomized controlled trial

    PubMed Central

    Ruffini, Nuria; D'Alessandro, Giandomenico; Mariani, Nicolò; Pollastrelli, Alberto; Cardinali, Lucia; Cerritelli, Francesco

    2015-01-01

    Context: Heart Rate Variability (HRV) indicates how heart rate changes in response to inner and external stimuli. HRV is linked to health status and it is an indirect marker of the autonomic nervous system (ANS) function. Objective: To investigate the influence of osteopathic manipulative treatment (OMT) on cardiac autonomic modulation in healthy subjects, compared with sham therapy and control group. Methods: Sixty-six healthy subjects, both male and female, were included in the present 3-armed randomized placebo controlled within subject cross-over single blinded study. Participants were asymptomatic adults (26.7 ± 8.4 y, 51% male, BMI 18.5 ± 4.8), both smokers and non-smokers and not on medications. At enrollment subjects were randomized in three groups: A, B, C. Standardized structural evaluation followed by a patient need-based osteopathic treatment was performed in the first session of group A and in the second session of group B. Standardized evaluation followed by a protocoled sham treatment was provided in the second session of group A and in the first session of group B. No intervention was performed in the two sessions of group C, acting as a time-control. The trial was registered on clinicaltrials.gov identifier: NCT01908920. Main Outcomes Measures: HRV was calculated from electrocardiography before, during and after the intervention, for a total amount time of 25 min and considering frequency domain as well as linear and non-linear methods as outcome measures. Results: OMT engendered a statistically significant increase of parasympathetic activity, as shown by High Frequency power (p < 0.001), expressed in normalized and absolute unit, and possibly decrease of sympathetic activity, as revealed by Low Frequency power (p < 0.01); results also showed a reduction of Low Frequency/High Frequency ratio (p < 0.001) and Detrended fluctuation scaling exponent (p < 0.05). Conclusions: Findings suggested that OMT can influence ANS activity increasing

  10. The Comparative Effects of Spinal and Peripheral Thrust Manipulation and Exercise on Pain Sensitivity and the Relation to Clinical Outcome: A Mechanistic Trial Using a Shoulder Pain Model

    PubMed Central

    Coronado, Rogelio A.; Bialosky, Joel E.; Bishop, Mark D.; Riley, Joseph L.; Robinson, Michael E.; Michener, Lori A.; George, Steven Z.

    2016-01-01

    STUDY DESIGN Single-blind randomized trial. OBJECTIVES To compare the effects of cervical and shoulder thrust manipulation (TM) and exercise on pain sensitivity, and to explore associations with clinical outcomes in patients with shoulder pain. BACKGROUND Experimental studies indicate that spinal TM has an influence on central pain processes, supporting its application for treatment of extremity conditions. Direct comparison of spinal and peripheral TM on pain sensitivity has not been widely examined. METHODS Seventy-eight participants with shoulder pain (36 female; mean ± SD age, 39.0 ± 14.5 years) were randomized to receive 3 treatments of cervical TM (n = 26), shoulder TM (n = 27), or shoulder exercise (n = 25) over 2 weeks. Twenty-five healthy participants (13 female; mean ± SD age, 35.2 ± 11.1 years) were assessed to compare pain sensitivity with that in clinical participants at baseline. Primary outcomes were changes in local (eg, shoulder) and remote (eg, tibialis anterior) pressure pain threshold and heat pain threshold occurring over 2 weeks. Secondary outcomes were shoulder pain intensity and patient-rated function at 4, 8, and 12 weeks. Analysis-of-variance models and partial-correlation analyses were conducted to examine comparative effects and the relationship between measures. RESULTS At baseline, clinical participants demonstrated lower local (mean difference, −1.63 kg; 95% confidence interval [CI]: −2.40, −0.86) and remote pressure pain threshold (mean difference, −1.96 kg; 95% CI: −3.09, −0.82) and heat pain threshold (mean difference, −1.15°C; 95% CI: −2.06, −0.24) compared to controls, suggesting enhanced pain sensitivity. Following intervention, there were no between-group differences in pain sensitivity or clinical outcome (P>.05). However, improvements were noted, regardless of intervention, for pressure pain threshold (range of mean differences, 0.22–0.32 kg; 95% CI: 0.03, 0.43), heat pain threshold (range of mean

  11. Shaping ability of reciprocating motion of WaveOne and HyFlex in moderate to severe curved canals: A comparative study with cone beam computed tomography

    PubMed Central

    Simpsy, Gurram Samuel; Sajjan, Girija S.; Mudunuri, Padmaja; Chittem, Jyothi; Prasanthi, Nalam N. V. D.; Balaga, Pankaj

    2016-01-01

    Introduction: M-Wire and reciprocating motion of WaveOne and controlled memory (CM) wire) of HyFlex were the recent innovations using thermal treatment. Therefore, a study was planned to evaluate the shaping ability of reciprocating motion of WaveOne and HyFlex using cone beam computed tomography (CBCT). Methodology: Forty-five freshly extracted mandibular teeth were selected and stored in saline until use. All teeth were scanned pre- and post-operatively using CBCT (Kodak 9000). All teeth were accessed and divided into three groups. (1) Group 1 (control n = 15): Instrumented with ProTaper. (2) Group 2 (n = 15): Instrumented with primary file (8%/25) WaveOne. (3) Group 3 (n = 15): Instrumented with (4%/25) HyFlex CM. Sections at 1, 3, and 5 mm were obtained from the pre- and post-operative scans. Measurement was done using CS3D software and Adobe Photoshop software. Apical transportation and degree of straightening were measured and statistically analyzed. Results: HyFlex showed lesser apical transportation when compared to other groups at 1 and 3 mm. WaveOne showed lesser degree of straightening when compared to other groups. Conclusion: This present study concluded that all systems could be employed in routine endodontics whereas HyFlex and WaveOne could be employed in severely curved canals. PMID:27994323

  12. Using Fractal Geometry and Universal Growth Curves as Diagnostics for Comparing Tumor Vasculature and Metabolic Rate With Healthy Tissue and for Predicting Responses to Drug Therapies.

    PubMed

    Savage, Van M; Herman, Alexander B; West, Geoffrey B; Leu, Kevin

    2013-06-01

    Healthy vasculature exhibits a hierarchical branching structure in which, on average, vessel radius and length change systematically with branching order. In contrast, tumor vasculature exhibits less hierarchy and more variability in its branching patterns. Although differences in vasculature have been highlighted in the literature, there has been very little quantification of these differences. Fractal analysis is a natural tool for comparing tumor and healthy vasculature, especially because it has already been used extensively to model healthy tissue. In this paper, we provide a fractal analysis of existing vascular data, and we present a new mathematical framework for predicting tumor growth trajectories by coupling: (1) the fractal geometric properties of tumor vascular networks, (2) metabolic properties of tumor cells and host vascular systems, and (3) spatial gradients in resources and metabolic states within the tumor. First, we provide a new analysis for how the mean and variation of scaling exponents for ratios of vessel radii and lengths in tumors differ from healthy tissue. Next, we use these characteristic exponents to predict metabolic rates for tumors. Finally, by combining this analysis with general growth equations based on energetics, we derive universal growth curves that enable us to compare tumor and ontogenetic growth. We also extend these growth equations to include necrotic, quiescent, and proliferative cell states and to predict novel growth dynamics that arise when tumors are treated with drugs. Taken together, this mathematical framework will help to anticipate and understand growth trajectories across tumor types and drug treatments.

  13. Fluid Manipulation Utilizing Electrowetting Techniques

    NASA Astrophysics Data System (ADS)

    Kaiser, Laura; Pyrak-Nolte, Laura

    2014-03-01

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

  14. Earth orbital teleoperator manipulator system evaluation program

    NASA Technical Reports Server (NTRS)

    Brye, R. G.; Frederick, P. N.; Kirkpatrick, M., III; Shields, N. L., Jr.

    1977-01-01

    The operator's ability to perform five manipulator tip movements while using monoptic and stereoptic video systems was assessed. Test data obtained were compared with previous results to determine the impact of camera placement and stereoptic viewing on manipulator system performance. The tests were performed using the NASA MSFC extendible stiff arm Manipulator and an analog joystick controller. Two basic manipulator tasks were utilized. The minimum position change test required the operator to move the manipulator arm to touch a target contract. The dexterity test required removal and replacement of pegs.

  15. The existence of inflection points for generalized log-aesthetic curves satisfying G1 data

    NASA Astrophysics Data System (ADS)

    Karpagavalli, R.; Gobithaasan, R. U.; Miura, K. T.; Shanmugavel, Madhavan

    2015-12-01

    Log-Aesthetic (LA) curves have been implemented in a CAD/CAM system for various design feats. LA curves possess linear Logarithmic Curvature Graph (LCG) with gradient (shape parameter) denoted as α. In 2009, a generalized form of LA curves called Generalized Log-Aesthetic Curves (GLAC) has been proposed which has an extra shape parameter as ν compared to LA curves. Recently, G1 continuous GLAC algorithm has been proposed which utilizes the extra shape parameter using four control points. This paper discusses on the existence of inflection points in a GLAC segment satisfying G1 Hermite data and the effect of inflection point on convex hull property. It is found that the existence of inflection point can be avoided by manipulating the value of α. Numerical experiments show that the increase of α may remove the inflection point (if any) in a GLAC segment.

  16. Highly curved microchannel plates

    NASA Technical Reports Server (NTRS)

    Siegmund, O. H. W.; Cully, S.; Warren, J.; Gaines, G. A.; Priedhorsky, W.; Bloch, J.

    1990-01-01

    Several spherically curved microchannel plate (MCP) stack configurations were studied as part of an ongoing astrophysical detector development program, and as part of the development of the ALEXIS satellite payload. MCP pairs with surface radii of curvature as small as 7 cm, and diameters up to 46 mm have been evaluated. The experiments show that the gain (greater than 1.5 x 10 exp 7) and background characteristics (about 0.5 events/sq cm per sec) of highly curved MCP stacks are in general equivalent to the performance achieved with flat MCP stacks of similar configuration. However, gain variations across the curved MCP's due to variations in the channel length to diameter ratio are observed. The overall pulse height distribution of a highly curved surface MCP stack (greater than 50 percent FWHM) is thus broader than its flat counterpart (less than 30 percent). Preconditioning of curved MCP stacks gives comparable results to flat MCP stacks, but it also decreases the overall gain variations. Flat fields of curved MCP stacks have the same general characteristics as flat MCP stacks.

  17. COGNITION, ACTION, AND OBJECT MANIPULATION

    PubMed Central

    Rosenbaum, David A.; Chapman, Kate M.; Weigelt, Matthias; Weiss, Daniel J.; van der Wel, Robrecht

    2012-01-01

    Although psychology is the science of mental life and behavior, it has paid little attention to the means by which mental life is translated into behavior. One domain where links between cognition and action have been explored is the manipulation of objects. This article reviews psychological research on this topic, with special emphasis on the tendency to grasp objects differently depending on what one plans to do with the objects. Such differential grasping has been demonstrated in a wide range of object manipulation tasks, including grasping an object in a way that reveals anticipation of the object's future orientation, height, and required placement precision. Differential grasping has also been demonstrated in a wide range of behaviors, including one-hand grasps, two-hand grasps, walking, and transferring objects from place to place as well as from person to person. The populations in whom the tendency has been shown are also diverse, including nonhuman primates as well as human adults, children, and babies. Meanwhile, the tendency is compromised in a variety of clinical populations and in children of a surprisingly advanced age. Verbal working memory is compromised as well if words are memorized while object manipulation tasks are performed; the recency portion of the serial position curve is reduced in this circumstance. In general, the research reviewed here points to rich connections between cognition and action as revealed through the study of object manipulation. Other implications concern affordances, Donders' Law, and naturalistic observation and the teaching of psychology. PMID:22448912

  18. Unsteady fluid flow in a slightly curved pipe: A comparative study of a matched asymptotic expansions solution with a single analytical solution

    NASA Astrophysics Data System (ADS)

    Messaris, Gerasimos A. T.; Hadjinicolaou, Maria; Karahalios, George T.

    2016-08-01

    The present work is motivated by the fact that blood flow in the aorta and the main arteries is governed by large finite values of the Womersley number α and for such values of α there is not any analytical solution in the literature. The existing numerical solutions, although accurate, give limited information about the factors that affect the flow, whereas an analytical approach has an advantage in that it can provide physical insight to the flow mechanism. Having this in mind, we seek analytical solution to the equations of the fluid flow driven by a sinusoidal pressure gradient in a slightly curved pipe of circular cross section when the Womersley number varies from small finite to infinite values. Initially the equations of motion are expanded in terms of the curvature ratio δ and the resulting linearized equations are solved analytically in two ways. In the first, we match the solution for the main core to that for the Stokes boundary layer. This solution is valid for very large values of α. In the second, we derive a straightforward single solution valid to the entire flow region and for 8 ≤ α < ∞, a range which includes the values of α that refer to the physiological flows. Each solution contains expressions for the axial velocity, the stream function, and the wall stresses and is compared to the analogous forms presented in other studies. The two solutions give identical results to each other regarding the axial flow but differ in the secondary flow and the circumferential wall stress, due to the approximations employed in the matched asymptotic expansion process. The results on the stream function from the second solution are in agreement with analogous results from other numerical solutions. The second solution predicts that the atherosclerotic plaques may develop in any location around the cross section of the aortic wall unlike to the prescribed locations predicted by the first solution. In addition, it gives circumferential wall stresses

  19. Development and validation of different methods manipulating zero order and first order spectra for determination of the partially overlapped mixture benazepril and amlodipine: A comparative study

    NASA Astrophysics Data System (ADS)

    Hemdan, A.

    2016-07-01

    Three simple, selective, and accurate spectrophotometric methods have been developed and then validated for the analysis of Benazepril (BENZ) and Amlodipine (AML) in bulk powder and pharmaceutical dosage form. The first method is the absorption factor (AF) for zero order and amplitude factor (P-F) for first order spectrum, where both BENZ and AML can be measured from their resolved zero order spectra at 238 nm or from their first order spectra at 253 nm. The second method is the constant multiplication coupled with constant subtraction (CM-CS) for zero order and successive derivative subtraction-constant multiplication (SDS-CM) for first order spectrum, where both BENZ and AML can be measured from their resolved zero order spectra at 240 nm and 238 nm, respectively, or from their first order spectra at 214 nm and 253 nm for Benazepril and Amlodipine respectively. The third method is the novel constant multiplication coupled with derivative zero crossing (CM-DZC) which is a stability indicating assay method for determination of Benazepril and Amlodipine in presence of the main degradation product of Benazepril which is Benazeprilate (BENZT). The three methods were validated as per the ICH guidelines and the standard curves were found to be linear in the range of 5-60 μg/mL for Benazepril and 5-30 for Amlodipine, with well accepted mean correlation coefficient for each analyte. The intra-day and inter-day precision and accuracy results were well within the acceptable limits.

  20. Progress in nonprehensile manipulation

    SciTech Connect

    Mason, M.T.

    1999-11-01

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

  1. Birational maps that send biquadratic curves to biquadratic curves

    NASA Astrophysics Data System (ADS)

    Roberts, John A. G.; Jogia, Danesh

    2015-02-01

    Recently, many papers have begun to consider so-called non-Quispel-Roberts-Thompson (QRT) birational maps of the plane. Compared to the QRT family of maps which preserve each biquadratic curve in a fibration of the plane, non-QRT maps send a biquadratic curve to another biquadratic curve belonging to the same fibration or to a biquadratic curve from a different fibration of the plane. In this communication, we give the general form of a birational map derived from a difference equation that sends a biquadratic curve to another. The necessary and sufficient condition for such a map to exist is that the discriminants of the two biquadratic curves are the same (and hence so are the j-invariants). The result allows existing examples in the literature to be better understood and allows some statements to be made concerning their generality.

  2. Comparative study between recent methods manipulating ratio spectra and classical methods based on two-wavelength selection for the determination of binary mixture of antazoline hydrochloride and tetryzoline hydrochloride

    NASA Astrophysics Data System (ADS)

    Abdel-Halim, Lamia M.; Abd-El Rahman, Mohamed K.; Ramadan, Nesrin K.; EL Sanabary, Hoda F. A.; Salem, Maissa Y.

    2016-04-01

    A comparative study was developed between two classical spectrophotometric methods (dual wavelength method and Vierordt's method) and two recent methods manipulating ratio spectra (ratio difference method and first derivative of ratio spectra method) for simultaneous determination of Antazoline hydrochloride (AN) and Tetryzoline hydrochloride (TZ) in their combined pharmaceutical formulation and in the presence of benzalkonium chloride as a preservative without preliminary separation. The dual wavelength method depends on choosing two wavelengths for each drug in a way so that the difference in absorbance at those two wavelengths is zero for the other drug. While Vierordt's method, is based upon measuring the absorbance and the absorptivity values of the two drugs at their λmax (248.0 and 219.0 nm for AN and TZ, respectively), followed by substitution in the corresponding Vierordt's equation. Recent methods manipulating ratio spectra depend on either measuring the difference in amplitudes of ratio spectra between 255.5 and 269.5 nm for AN and 220.0 and 273.0 nm for TZ in case of ratio difference method or computing first derivative of the ratio spectra for each drug then measuring the peak amplitude at 250.0 nm for AN and at 224.0 nm for TZ in case of first derivative of ratio spectrophotometry. The specificity of the developed methods was investigated by analyzing different laboratory prepared mixtures of the two drugs. All methods were applied successfully for the determination of the selected drugs in their combined dosage form proving that the classical spectrophotometric methods can still be used successfully in analysis of binary mixture using minimal data manipulation rather than recent methods which require relatively more steps. Furthermore, validation of the proposed methods was performed according to ICH guidelines; accuracy, precision and repeatability are found to be within the acceptable limits. Statistical studies showed that the methods can be

  3. Comparative study between recent methods manipulating ratio spectra and classical methods based on two-wavelength selection for the determination of binary mixture of antazoline hydrochloride and tetryzoline hydrochloride.

    PubMed

    Abdel-Halim, Lamia M; Abd-El Rahman, Mohamed K; Ramadan, Nesrin K; El Sanabary, Hoda F A; Salem, Maissa Y

    2016-04-15

    A comparative study was developed between two classical spectrophotometric methods (dual wavelength method and Vierordt's method) and two recent methods manipulating ratio spectra (ratio difference method and first derivative of ratio spectra method) for simultaneous determination of Antazoline hydrochloride (AN) and Tetryzoline hydrochloride (TZ) in their combined pharmaceutical formulation and in the presence of benzalkonium chloride as a preservative without preliminary separation. The dual wavelength method depends on choosing two wavelengths for each drug in a way so that the difference in absorbance at those two wavelengths is zero for the other drug. While Vierordt's method, is based upon measuring the absorbance and the absorptivity values of the two drugs at their λ(max) (248.0 and 219.0 nm for AN and TZ, respectively), followed by substitution in the corresponding Vierordt's equation. Recent methods manipulating ratio spectra depend on either measuring the difference in amplitudes of ratio spectra between 255.5 and 269.5 nm for AN and 220.0 and 273.0 nm for TZ in case of ratio difference method or computing first derivative of the ratio spectra for each drug then measuring the peak amplitude at 250.0 nm for AN and at 224.0 nm for TZ in case of first derivative of ratio spectrophotometry. The specificity of the developed methods was investigated by analyzing different laboratory prepared mixtures of the two drugs. All methods were applied successfully for the determination of the selected drugs in their combined dosage form proving that the classical spectrophotometric methods can still be used successfully in analysis of binary mixture using minimal data manipulation rather than recent methods which require relatively more steps. Furthermore, validation of the proposed methods was performed according to ICH guidelines; accuracy, precision and repeatability are found to be within the acceptable limits. Statistical studies showed that the methods can be

  4. Impact of Spinal Manipulation on Cortical Drive to Upper and Lower Limb Muscles

    PubMed Central

    Haavik, Heidi; Niazi, Imran Khan; Jochumsen, Mads; Sherwin, Diane; Flavel, Stanley; Türker, Kemal S.

    2016-01-01

    This study investigates whether spinal manipulation leads to changes in motor control by measuring the recruitment pattern of motor units in both an upper and lower limb muscle and to see whether such changes may at least in part occur at the cortical level by recording movement related cortical potential (MRCP) amplitudes. In experiment one, transcranial magnetic stimulation input–output (TMS I/O) curves for an upper limb muscle (abductor pollicus brevis; APB) were recorded, along with F waves before and after either spinal manipulation or a control intervention for the same subjects on two different days. During two separate days, lower limb TMS I/O curves and MRCPs were recorded from tibialis anterior muscle (TA) pre and post spinal manipulation. Dependent measures were compared with repeated measures analysis of variance, with p set at 0.05. Spinal manipulation resulted in a 54.5% ± 93.1% increase in maximum motor evoked potential (MEPmax) for APB and a 44.6% ± 69.6% increase in MEPmax for TA. For the MRCP data following spinal manipulation there were significant difference for amplitude of early bereitschafts-potential (EBP), late bereitschafts potential (LBP) and also for peak negativity (PN). The results of this study show that spinal manipulation leads to changes in cortical excitability, as measured by significantly larger MEPmax for TMS induced input–output curves for both an upper and lower limb muscle, and with larger amplitudes of MRCP component post manipulation. No changes in spinal measures (i.e., F wave amplitudes or persistence) were observed, and no changes were shown following the control condition. These results are consistent with previous findings that have suggested increases in strength following spinal manipulation were due to descending cortical drive and could not be explained by changes at the level of the spinal cord. Spinal manipulation may therefore be indicated for the patients who have lost tonus of their muscle and/or are

  5. Impact of Spinal Manipulation on Cortical Drive to Upper and Lower Limb Muscles.

    PubMed

    Haavik, Heidi; Niazi, Imran Khan; Jochumsen, Mads; Sherwin, Diane; Flavel, Stanley; Türker, Kemal S

    2016-12-23

    This study investigates whether spinal manipulation leads to changes in motor control by measuring the recruitment pattern of motor units in both an upper and lower limb muscle and to see whether such changes may at least in part occur at the cortical level by recording movement related cortical potential (MRCP) amplitudes. In experiment one, transcranial magnetic stimulation input-output (TMS I/O) curves for an upper limb muscle (abductor pollicus brevis; APB) were recorded, along with F waves before and after either spinal manipulation or a control intervention for the same subjects on two different days. During two separate days, lower limb TMS I/O curves and MRCPs were recorded from tibialis anterior muscle (TA) pre and post spinal manipulation. Dependent measures were compared with repeated measures analysis of variance, with p set at 0.05. Spinal manipulation resulted in a 54.5% ± 93.1% increase in maximum motor evoked potential (MEPmax) for APB and a 44.6% ± 69.6% increase in MEPmax for TA. For the MRCP data following spinal manipulation there were significant difference for amplitude of early bereitschafts-potential (EBP), late bereitschafts potential (LBP) and also for peak negativity (PN). The results of this study show that spinal manipulation leads to changes in cortical excitability, as measured by significantly larger MEPmax for TMS induced input-output curves for both an upper and lower limb muscle, and with larger amplitudes of MRCP component post manipulation. No changes in spinal measures (i.e., F wave amplitudes or persistence) were observed, and no changes were shown following the control condition. These results are consistent with previous findings that have suggested increases in strength following spinal manipulation were due to descending cortical drive and could not be explained by changes at the level of the spinal cord. Spinal manipulation may therefore be indicated for the patients who have lost tonus of their muscle and/or are

  6. Selective Manipulation of Neural Circuits.

    PubMed

    Park, Hong Geun; Carmel, Jason B

    2016-04-01

    Unraveling the complex network of neural circuits that form the nervous system demands tools that can manipulate specific circuits. The recent evolution of genetic tools to target neural circuits allows an unprecedented precision in elucidating their function. Here we describe two general approaches for achieving circuit specificity. The first uses the genetic identity of a cell, such as a transcription factor unique to a circuit, to drive expression of a molecule that can manipulate cell function. The second uses the spatial connectivity of a circuit to achieve specificity: one genetic element is introduced at the origin of a circuit and the other at its termination. When the two genetic elements combine within a neuron, they can alter its function. These two general approaches can be combined to allow manipulation of neurons with a specific genetic identity by introducing a regulatory gene into the origin or termination of the circuit. We consider the advantages and disadvantages of both these general approaches with regard to specificity and efficacy of the manipulations. We also review the genetic techniques that allow gain- and loss-of-function within specific neural circuits. These approaches introduce light-sensitive channels (optogenetic) or drug sensitive channels (chemogenetic) into neurons that form specific circuits. We compare these tools with others developed for circuit-specific manipulation and describe the advantages of each. Finally, we discuss how these tools might be applied for identification of the neural circuits that mediate behavior and for repair of neural connections.

  7. Comparing model predictions and experimental data for the response of stomatal conductance and guard cell turgor to manipulations of cuticular conductance, leaf-to-air vapour pressure difference and temperature: feedback mechanisms are able to account for all observations.

    PubMed

    Eamus, Derek; Taylor, Daniel T; Macinnis-Ng, Catriona M O; Shanahan, Steve; De Silva, Lionel

    2008-03-01

    Stomata respond to increasing leaf-to-air vapour pressure difference (LAVPD) (D) by closing. The mechanism by which this occurs is debated. A role for feedback and peristomatal transpiration has been proposed. In this paper, we apply a recent mechanistic model of stomatal behaviour, and compare model and experimental data for the influence of increasing D on stomatal conductance. We manipulated cuticular conductance (g(c)) by three independent methods. First, we increased g(c) by using a solvent mixture applied to both leaf surfaces prior to determining stomatal responses to D; second, we increased g(c) by increasing leaf temperature at constant D; and third, we coated a small area of leaf with a light oil to decrease g(c). In all three experiments, experimental data and model outputs showed very close agreement. We conclude, from the close agreement between model and experimental data and the fact that manipulations of g(c), and hence cuticular transpiration, influenced g(s) in ways consistent with a feedback mechanism, that feedback is central in determining stomatal responses to D.

  8. Response of soil CO2 efflux to precipitation manipulation in a semiarid grassland.

    PubMed

    Wei, Xiaorong; Zhang, Yanjiang; Liu, Jian; Gao, Hailong; Fan, Jun; Jia, Xiaoxu; Cheng, Jimin; Shao, Mingan; Zhang, Xingchang

    2016-07-01

    Soil CO2 efflux (SCE) is an important component of ecosystem CO2 exchange and is largely temperature and moisture dependent, providing feedback between C cycling and the climate system. We used a precipitation manipulation experiment to examine the effects of precipitation treatment on SCE and its dependences on soil temperature and moisture in a semiarid grassland. Precipitation manipulation included ambient precipitation, decreased precipitation (-43%), or increased precipitation (+17%). The SCE was measured from July 2013 to December 2014, and CO2 emission during the experimental period was assessed. The response curves of SCE to soil temperature and moisture were analyzed to determine whether the dependence of SCE on soil temperature or moisture varied with precipitation manipulation. The SCE significantly varied seasonally but was not affected by precipitation treatments regardless of season. Increasing precipitation resulted in an upward shift of SCE-temperature response curves and rightward shift of SCE-moisture response curves, while decreasing precipitation resulted in opposite shifts of such response curves. These shifts in the SCE response curves suggested that increasing precipitation strengthened the dependence of SCE on temperature or moisture, and decreasing precipitation weakened such dependences. Such shifts affected the predictions in soil CO2 emissions for different precipitation treatments. When considering such shifts, decreasing or increasing precipitation resulted in 43 or 75% less change, respectively, in CO2 emission compared with changes in emissions predicted without considering such shifts. Furthermore, the effects of shifts in SCE response curves on CO2 emission prediction were greater during the growing than the non-growing season.

  9. Mouse Curve Biometrics

    SciTech Connect

    Schulz, Douglas A.

    2007-10-08

    A biometric system suitable for validating user identity using only mouse movements and no specialized equipment is presented. Mouse curves (mouse movements with little or no pause between them) are individually classied and used to develop classication histograms, which are representative of an individual's typical mouse use. These classication histograms can then be compared to validate identity. This classication approach is suitable for providing continuous identity validation during an entire user session.

  10. Giant optical manipulation.

    PubMed

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

    2010-09-10

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

  11. Microfluidics for manipulating cells.

    PubMed

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

    2013-01-14

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

  12. Manipulator mounted transfer platform

    DOEpatents

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

    1990-01-01

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

  13. Dynamics and Manipulation of Nanomagnets

    NASA Astrophysics Data System (ADS)

    Cai, Liufei

    This thesis presents my work on the spin dynamics of nanomagnets and investigates the possibility of manipulating nanomagnets by various means. Most of the work has been published. Some has been submitted for publication. The structure of this thesis is as follows. In Chapter 1, I present the theory of manipulation of a nanomagnet by rotating ac fields whose frequency is time dependent. Theory has been developed that maps the problem onto Landau-Zener problem. For the linear frequency sweep the switching phase diagrams are obtained on the amplitude of the ac field and the frequency sweep rate. Switching conditions have been obtained numerically and analytically. For the nonlinear frequency sweep, the optimal time dependence of the frequency is obtained analytically with account of damping that gives the fastest controllable switching of the magnetization. In Chapter 2, interaction between a nanomagnet and a Josephson junction has been studied. The I-V curve of the Josephson junction in the proximity of a nanomagnet shows Shapiro-like steps due to the ac field generated by the precessing magnetic moment. Possibility of switching of the magnetic moment by a time-linear voltage in the Josephson junction is demonstrated. Realization of the optimal switching is suggested that employs two perpendicular Josephson junctions with time-dependent voltage signals. The result is shown to be robust against voltage noises. Quantum-mechanical coupling between the nanomagnet considered as a two-level system and a Josephson junction has been studied and quantum oscillations of the populations of the spin states have been computed. In Chapter 3, the switching dynamics of a nanomagnet embedded in a torsional oscillator that serves as a conducting wire for a spin current has been investigated. Generalized Slonczewski's equation is derived. The coupling of the nanomagnet, the torsional oscillator and the spin current generates a number of interesting phenomena. The mechanically

  14. Actuability of Underactuated Manipulators

    DTIC Science & Technology

    1994-06-01

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

  15. Linearization of Robot Manipulators

    NASA Technical Reports Server (NTRS)

    Kreutz, Kenneth

    1987-01-01

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

  16. Cell manipulation in microfluidics.

    PubMed

    Yun, Hoyoung; Kim, Kisoo; Lee, Won Gu

    2013-06-01

    Recent advances in the lab-on-a-chip field in association with nano/microfluidics have been made for new applications and functionalities to the fields of molecular biology, genetic analysis and proteomics, enabling the expansion of the cell biology field. Specifically, microfluidics has provided promising tools for enhancing cell biological research, since it has the ability to precisely control the cellular environment, to easily mimic heterogeneous cellular environment by multiplexing, and to analyze sub-cellular information by high-contents screening assays at the single-cell level. Various cell manipulation techniques in microfluidics have been developed in accordance with specific objectives and applications. In this review, we examine the latest achievements of cell manipulation techniques in microfluidics by categorizing externally applied forces for manipulation: (i) optical, (ii) magnetic, (iii) electrical, (iv) mechanical and (v) other manipulations. We furthermore focus on history where the manipulation techniques originate and also discuss future perspectives with key examples where available.

  17. Osteopathic Manipulative Treatment

    PubMed Central

    Campbell, Shannon M.; Walkowski, Stevan

    2012-01-01

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

  18. A Comparative SEM Investigation of Smear Layer Remaining on Dentinal Walls by Three Rotary NiTi Files with Different Cross Sectional Designs in Moderately Curved Canals

    PubMed Central

    Kakkar, Pooja; Vats, Asit

    2015-01-01

    Objective: The objective of this study was to compare the smear layer formed on root canal walls during canal preparation of extracted human teeth by Twisted, Mtwo, and ProTaper rotary nickel titanium instruments. Materials and Methods: Sixty single rooted human premolar teeth with root curvature <250 were selected and randomly divided into three Groups (n= 20 teeth per Group). Three types of rotary nickel titanium instruments were used, Twisted (SybronEndo, Orange, CA, USA), Mtwo (VDW, Munich, Germany) and ProTaper (Dentsply Maillefer, Ballaigues, Switzerland) according to manufacturer’s instructions to instrument the root canals. Irrigation for all groups was performed after each instrument change with 3ml of 3% sodium hypochlorite followed by Glyde (File Prep, Dentsply, Maillefer, Ballaigues, Switzerland) as chelator paste and lubricant. Three different areas (coronal, middle and apical thirds) of the root canal were evaluated using scanning electron microscopy (SEM). The canal wall of each sample was assessed and compared using a predefined scale for the presence or absence of smear layer. Data were analysed statistically using ANOVA and Tukey HSD test Results: All three groups showed statistically significant more smear layer in the apical thirds of the canal as compared to the coronal and middle thirds (p<0.001). Mtwo rotary file system produced significantly less smear layer (p<0.001) compared to Twisted and ProTaper rotary instruments in the apical portion. Twisted Files resulted in less smear layer formation in the apical thirds of the canal compared to ProTaper rotary instruments but were statistically insignificant. Conclusion: Completely clean root canals were not found after instrumentation with any of the three instruments. Under the confines of this study Mtwo instruments produced significantly cleaner dentin wall surfaces throughout the canal length in comparison to Twisted and ProTaper rotary files. Twisted Files proved to be comparable to Pro

  19. Anthropomorphic Remote Manipulator

    NASA Technical Reports Server (NTRS)

    Jau, Bruno M.

    1991-01-01

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

  20. Update: Biochemistry of Genetic Manipulation.

    ERIC Educational Resources Information Center

    Barker, G. R.

    1983-01-01

    Various topics on the biochemistry of genetic manipulation are discussed. These include genetic transformation and DNA; genetic expression; DNA replication, repair, and mutation; technology of genetic manipulation; and applications of genetic manipulation. Other techniques employed are also considered. (JN)

  1. Dielectrophoresis for Bioparticle Manipulation

    PubMed Central

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

    2014-01-01

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

  2. Changes in H-reflex and V-waves following spinal manipulation.

    PubMed

    Niazi, Imran Khan; Türker, Kemal S; Flavel, Stanley; Kinget, Mat; Duehr, Jens; Haavik, Heidi

    2015-04-01

    This study investigates whether spinal manipulation leads to neural plastic changes involving cortical drive and the H-reflex pathway. Soleus evoked V-wave, H-reflex, and M-wave recruitment curves and maximum voluntary contraction (MVC) in surface electromyography (SEMG) signals of the plantar flexors were recorded from ten subjects before and after manipulation or control intervention. Dependent measures were compared with 2-way ANOVA and Tukey's HSD as post hoc test, p was set at 0.05. Spinal manipulation resulted in increased MVC (measured with SEMG) by 59.5 ± 103.4 % (p = 0.03) and force by 16.05 ± 6.16 4 % (p = 0.0002), increased V/M max ratio by 44.97 ± 36.02 % (p = 0.006), and reduced H-reflex threshold (p = 0.018). Following the control intervention, there was a decrease in MVC (measured with SEMG) by 13.31 ± 7.27 % (p = 0.001) and force by 11.35 ± 9.99 % (p = 0.030), decreased V/M max ratio (23.45 ± 17.65 %; p = 0.03) and a decrease in the median frequency of the power spectrum (p = 0.04) of the SEMG during MVC. The H-reflex pathway is involved in the neural plastic changes that occur following spinal manipulation. The improvements in MVC following spinal manipulation are likely attributed to increased descending drive and/or modulation in afferents. Spinal manipulation appears to prevent fatigue developed during maximal contractions. Spinal manipulation appears to alter the net excitability of the low-threshold motor units, increase cortical drive, and prevent fatigue.

  3. Remote manipulator dynamic simulation

    NASA Technical Reports Server (NTRS)

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

    1972-01-01

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

  4. Nanoparticle manipulation by thermal gradient

    PubMed Central

    2012-01-01

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

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

    SciTech Connect

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

    1995-02-01

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

  6. A new population curve for prehistoric Australia.

    PubMed

    Williams, Alan N

    2013-06-22

    This paper presents a new reconstruction of prehistoric population of Australia for the last 50 ka, using the most comprehensive radiocarbon database currently available for the continent. The application of new techniques to manipulate radiocarbon data (including correction for taphonomic bias), gives greater reliability to the reconstructed population curve. This shows low populations through the Late Pleistocene, before a slow stepwise increase in population beginning during the Holocene transition (approx. 12 ka) and continuing in pulses (approx. 8.3-6.6, 4.4-3.7 and 1.6-0.4 ka) through the Holocene. These data give no support for an early saturation of the continent, although the estimated population following initial landfall was probably greater than previously allowed (comparable with the Early Holocene). The greatest increase in population occurred in the Late Holocene, but in contrast to existing intensification models, changes in demography and diversification of economic activities began much earlier. Some demographic changes appear to be in response to major climatic events, most notably during the last glacial maximum, where the curve suggests that population fell by about 60 per cent between 21 and 18 ka. An application of statistical demographic methods to Australian ethnographic and genetic data suggests that a founding group of 1000-2000 at 50 ka would result in a population high of approximately 1.2 million at approximately 0.5 ka. Data suggests an 8 per cent decline to approximately 770 000-1.1 million at the time of European contact, giving a figure consistent with ethnographic estimates and with historical observations of the impact of smallpox, and other diseases introduced by Macassans and Europeans during and after AD 1788.

  7. Simulation of robot manipulators

    SciTech Connect

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

    1995-03-01

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

  8. Model based manipulator control

    NASA Technical Reports Server (NTRS)

    Petrosky, Lyman J.; Oppenheim, Irving J.

    1989-01-01

    The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

  9. ELECTRONIC MASTER SLAVE MANIPULATOR

    DOEpatents

    Goertz, R.C.; Thompson, Wm.M.; Olsen, R.A.

    1958-08-01

    A remote control manipulator is described in which the master and slave arms are electrically connected to produce the desired motions. A response signal is provided in the master unit in order that the operator may sense a feel of the object and may not thereby exert such pressures that would ordinarily damage delicate objects. This apparatus will permit the manipulation of objects at a great distance, that may be viewed over a closed TV circuit, thereby permitting a remote operator to carry out operations in an extremely dangerous area with complete safety.

  10. Osteopathic Manipulative Treatment

    MedlinePlus

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

  11. Manipulating the Gradient

    ERIC Educational Resources Information Center

    Gaze, Eric C.

    2005-01-01

    We introduce a cooperative learning, group lab for a Calculus III course to facilitate comprehension of the gradient vector and directional derivative concepts. The lab is a hands-on experience allowing students to manipulate a tangent plane and empirically measure the effect of partial derivatives on the direction of optimal ascent. (Contains 7…

  12. Robot Manipulator Control.

    DTIC Science & Technology

    1983-03-07

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

  13. 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.

  14. Computer Algebra versus Manipulation

    ERIC Educational Resources Information Center

    Zand, Hossein; Crowe, David

    2004-01-01

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

  15. 2D Mesh Manipulation

    DTIC Science & Technology

    2011-11-01

    PLATE A two-dimensional flat plate mesh was created using the Gridgen software package (Ref. 13). This mesh (shown in Fig. 10) closely resembled a...desired tolerance of the projection onto the surface. The geometry file on which the geometry surface is based can be easily generated using Gridgen ...by exporting a curve (or number of curves) under the INPUT/OUTPUT commands in the Gridgen interface (Ref. 13). Initially, the floating boundary

  16. Door breaching robotic manipulator

    NASA Astrophysics Data System (ADS)

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

    2008-04-01

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

  17. Equivalent Fraction Learning Trajectories for Students with Mathematical Learning Difficulties When Using Manipulatives

    ERIC Educational Resources Information Center

    Westenskow, Arla

    2012-01-01

    This study identified variations in the learning trajectories of Tier II students when learning equivalent fraction concepts using physical and virtual manipulatives. The study compared three interventions: physical manipulatives, virtual manipulatives, and a combination of physical and virtual manipulatives. The research used a sequential…

  18. REMOTELY OPERATED MANIPULATOR

    DOEpatents

    Hutto, E.L.

    1961-08-15

    A manipulator is described for performing, within an entirely enclosed cell containling radioactive materials, various mechanical operations. A rod with flexible fingers is encompassed by a tubular sleeve shorter than the rod. Relative movement between the rod and sleeve causes the fingers to open and close. This relative movement is effected by relative movement of permanent magnets in magnetic coupling relation to magnetic followers affixed to the ends of the rod and sleeve. The rod and its sleeve may be moved as a unit axially or may be rotated by means of the magnetic couplings. The manipulator is enclosed within a tubular member which is flexibly sealed to an opening in the cell. (AEC)

  19. Computer aided manipulator control

    NASA Technical Reports Server (NTRS)

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

    1980-01-01

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

  20. Microradiographic microsphere manipulator

    DOEpatents

    Singleton, R.M.

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

  1. Microradiographic microsphere manipulator

    DOEpatents

    Singleton, Russell M.

    1980-01-01

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

  2. Manipulation of quantum evolution

    NASA Technical Reports Server (NTRS)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

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

  3. MANIPULATOR FOR SLAVE ROBOT

    DOEpatents

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

    1961-04-01

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

  4. Endocavity Ultrasound Probe Manipulators

    PubMed Central

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

    2014-01-01

    We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure. PMID:24795525

  5. Endocavity Ultrasound Probe Manipulators.

    PubMed

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

    2013-06-01

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

  6. Welding nozzle position manipulator

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  7. Welding nozzle position manipulator

    NASA Astrophysics Data System (ADS)

    Gilbert, Jeffrey L.; Gutow, David A.

    1994-11-01

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

  8. Welding nozzle position manipulator

    NASA Astrophysics Data System (ADS)

    Gilbert, Jeffrey L.; Gutow, David A.

    1993-08-01

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

  9. Buckling Analysis of Anisotropic Curved Panels and Shells with Variable Curvature

    NASA Technical Reports Server (NTRS)

    Jaunky, Navin; Knight, Norman F., Jr.; Ambur, Damodar R.

    1998-01-01

    A buckling formulation for anisotropic curved panels with variable curvature is presented in this paper. The variable curvature panel is assumed to consists of two or more panels of constant but different curvatures. Bezier functions are used as Ritz functions Displacement (C(sup 0)), and slope (C(sup 1)) continuities between segments are imposed by manipulation of the Bezier control points. A first-order shear-deformation theory is used in the buckling formulation. Results obtained from the present formulation are compared with those from finite element simulations and are found to be in good agreement.

  10. The Skipping Rope Curve

    ERIC Educational Resources Information Center

    Nordmark, Arne; Essen, Hanno

    2007-01-01

    The equilibrium of a flexible inextensible string, or chain, in the centrifugal force field of a rotating reference frame is investigated. It is assumed that the end points are fixed on the rotation axis. The shape of the curve, the skipping rope curve or "troposkien", is given by the Jacobi elliptic function sn. (Contains 3 figures.)

  11. Anodic Polarization Curves Revisited

    ERIC Educational Resources Information Center

    Liu, Yue; Drew, Michael G. B.; Liu, Ying; Liu, Lin

    2013-01-01

    An experiment published in this "Journal" has been revisited and it is found that the curve pattern of the anodic polarization curve for iron repeats itself successively when the potential scan is repeated. It is surprising that this observation has not been reported previously in the literature because it immediately brings into…

  12. Flow-duration curves

    USGS Publications Warehouse

    Searcy, James Kincheon

    1959-01-01

    The flow-duration curve is a cumulative frequency curve that shows the percent of time specified discharges were equaled or exceeded during a given period. It combines in one curve the flow characteristics of a stream throughout the range of discharge, without regard to the sequence of occurrence. If the period upon which the curve is based represents the long-term flow of a stream, the curve may be used to predict the distribution of future flows for water- power, water-supply, and pollution studies. This report shows that differences in geology affect the low-flow ends of flow-duration curves of streams in adjacent basins. Thus, duration curves are useful in appraising the geologic characteristics of drainage basins. A method for adjusting flow-duration curves of short periods to represent long-term conditions is presented. The adjustment is made by correlating the records of a short-term station with those of a long-term station.

  13. Simulating Supernova Light Curves

    SciTech Connect

    Even, Wesley Paul; Dolence, Joshua C.

    2016-05-05

    This report discusses supernova light simulations. A brief review of supernovae, basics of supernova light curves, simulation tools used at LANL, and supernova results are included. Further, it happens that many of the same methods used to generate simulated supernova light curves can also be used to model the emission from fireballs generated by explosions in the earth’s atmosphere.

  14. Tornado-Shaped Curves

    ERIC Educational Resources Information Center

    Martínez, Sol Sáez; de la Rosa, Félix Martínez; Rojas, Sergio

    2017-01-01

    In Advanced Calculus, our students wonder if it is possible to graphically represent a tornado by means of a three-dimensional curve. In this paper, we show it is possible by providing the parametric equations of such tornado-shaped curves.

  15. CURVES: curve evolution for vessel segmentation.

    PubMed

    Lorigo, L M; Faugeras, O D; Grimson, W E; Keriven, R; Kikinis, R; Nabavi, A; Westin, C F

    2001-09-01

    The vasculature is of utmost importance in neurosurgery. Direct visualization of images acquired with current imaging modalities, however, cannot provide a spatial representation of small vessels. These vessels, and their branches which show considerable variations, are most important in planning and performing neurosurgical procedures. In planning they provide information on where the lesion draws its blood supply and where it drains. During surgery the vessels serve as landmarks and guidelines to the lesion. The more minute the information is, the more precise the navigation and localization of computer guided procedures. Beyond neurosurgery and neurological study, vascular information is also crucial in cardiovascular surgery, diagnosis, and research. This paper addresses the problem of automatic segmentation of complicated curvilinear structures in three-dimensional imagery, with the primary application of segmenting vasculature in magnetic resonance angiography (MRA) images. The method presented is based on recent curve and surface evolution work in the computer vision community which models the object boundary as a manifold that evolves iteratively to minimize an energy criterion. This energy criterion is based both on intensity values in the image and on local smoothness properties of the object boundary, which is the vessel wall in this application. In particular, the method handles curves evolving in 3D, in contrast with previous work that has dealt with curves in 2D and surfaces in 3D. Results are presented on cerebral and aortic MRA data as well as lung computed tomography (CT) data.

  16. Performance measurement of mobile manipulators

    NASA Astrophysics Data System (ADS)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

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

  17. Mechanics of Curved Folds

    NASA Astrophysics Data System (ADS)

    Dias, Marcelo A.; Santangelo, Christian D.

    2011-03-01

    Despite an almost two thousand year history, origami, the art of folding paper, remains a challenge both artistically and scientifically. Traditionally, origami is practiced by folding along straight creases. A whole new set of shapes can be explored, however, if, instead of straight creases, one folds along arbitrary curves. We present a mechanical model for curved fold origami in which the energy of a plastically-deformed crease is balanced by the bending energy of developable regions on either side of the crease. Though geometry requires that a sheet buckle when folded along a closed curve, its shape depends on the elasticity of the sheet. NSF DMR-0846582.

  18. Effects of Tools Inserted through Snake-like Surgical Manipulators

    PubMed Central

    Murphy, Ryan J.; Otake, Yoshito; Wolfe, Kevin C.; Taylor, Russell H.; Armand, Mehran

    2015-01-01

    Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally- and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and without a tool inserted in its lumen, images were recorded from an overhead camera in conjunction with actuation cable tension and length. To investigate the accuracy, the estimated manipulator configuration from the model and the ground-truth configuration measured from the image were compared. Additional analysis focused on the response differences for the manipulator with and without a tool inserted through the lumen. Results indicate that the energy minimization model predicts manipulator configuration with an error of 0.24 ± 0.22mm without tools in the lumen and 0.24 ± 0.19mm with tools in the lumen (no significant difference, p = 0.81). Moreover, tools did not introduce noticeable perturbations in the manipulator trajectory; however, there was an increase in requisite force required to reach a configuration. These results support the use of the proposed estimation method for calculating the shape of the manipulator with an tool inserted in its lumen when an accuracy range of at least 1mm is required. PMID:25571571

  19. Parasites and supernormal manipulation.

    PubMed Central

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

    2001-01-01

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

  20. Distinguishing manipulated stocks via trading network analysis

    NASA Astrophysics Data System (ADS)

    Sun, Xiao-Qian; Cheng, Xue-Qi; Shen, Hua-Wei; Wang, Zhao-Yang

    2011-10-01

    Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a trading network is constructed to characterize the relations among its investors. In trading networks, nodes represent investors and a directed link connects a stock seller to a buyer with the total trade size as the weight of the link, and the node strength is the sum of all edge weights of a node. For all these trading networks, we find that the node degree and node strength both have tails following a power-law distribution. Compared with non-manipulated stocks, manipulated stocks have a high lower bound of the power-law tail, a high average degree of the trading network and a low correlation between the price return and the seller-buyer ratio. These findings may help us to detect manipulated stocks.

  1. Accelerating Around an Unbanked Curve

    NASA Astrophysics Data System (ADS)

    Mungan, Carl E.

    2006-02-01

    The December 2004 issue of TPT presented a problem concerning how a car should accelerate around an unbanked curve of constant radius r starting from rest if it is to avoid skidding. Interestingly enough, two solutions were proffered by readers.2 The purpose of this note is to compare and contrast the two approaches. Further experimental investigation of various turning strategies using a remote-controlled car and overhead video analysis could make for an interesting student project.

  2. Cooperative control of multiple space manipulators

    NASA Astrophysics Data System (ADS)

    Nahon, M.; Angeles, J.

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

  3. Hydraulic manipulator research at ORNL

    SciTech Connect

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

    1997-03-01

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

  4. A global motion planner for curve-tracing robots

    SciTech Connect

    Hwang, Y.K.; Chen, P.C.; Neidigk, D.D.; Maciejewski, A.A.

    1993-11-01

    We present a global motion planner for tracing curves in three dimensions with robot manipulator tool frames. This planner generates an efficient motion satisfying three types of constraints; constraints on the tool tip for curve tracing, robot kinematic constraints and robot-link collision constraints. Motions are planned using a global search algorithm and a local planner based on a potential-field approach. This planner can be used with potential-field approach. This planner can be used with any robots including redundant manipulators, and can any robots including redundant manipulators, and can control the trade-offs between its algorithmic completeness and computation time. It can be applied in many robotic tasks such as seam welding, caulking, edge deburrring and chamfering, and is expected to reduce motion programming times from days to minutes.

  5. Vacuum tool manipulator

    SciTech Connect

    Zollinger, W.T.

    1992-12-31

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

  6. Vacuum tool manipulator

    DOEpatents

    Zollinger, W.T.

    1993-11-23

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

  7. Vacuum tool manipulator

    DOEpatents

    Zollinger, William T.

    1993-01-01

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

  8. Interactive protein manipulation

    SciTech Connect

    SNCrivelli@lbl.gov

    2003-07-01

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

  9. Advanced servo manipulator

    DOEpatents

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

    1988-10-25

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

  10. Advanced servo manipulator

    DOEpatents

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

    1988-01-01

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

  11. Ion manipulation device

    SciTech Connect

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

    2014-09-16

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

  12. A History of Manipulative Therapy

    PubMed Central

    Pettman, Erland

    2007-01-01

    Manipulative therapy has known a parallel development throughout many parts of the world. The earliest historical reference to the practice of manipulative therapy in Europe dates back to 400 BCE. Over the centuries, manipulative interventions have fallen in and out of favor with the medical profession. Manipulative therapy also was initially the mainstay of the two leading alternative health care systems, osteopathy and chiropractic, both founded in the latter part of the 19th century in response to shortcomings in allopathic medicine. With medical and osteopathic physicians initially instrumental in introducing manipulative therapy to the profession of physical therapy, physical therapists have since then provided strong contributions to the field, thereby solidifying the profession's claim to have manipulative therapy within in its legally regulated scope of practice. PMID:19066664

  13. Repeatability in redundant manipulator systems

    NASA Astrophysics Data System (ADS)

    Mukherjee, Ranjan

    1994-02-01

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

  14. Digital Control For Remote Manipulators

    NASA Technical Reports Server (NTRS)

    Bejczy, Antal K.; Dotson, Ronald S.

    1987-01-01

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

  15. A Load Shortening Curve Library for Longitudinally Stiffened Panels

    DTIC Science & Technology

    2010-08-01

    curves. These are compared with similar curves calculated using nonlinear FEA and using design formulas published by the International Association...of parameters values used in load-shortening curve libraries ........................... 7 Table 3: Nonlinear solution strategy...direct assessment with nonlinear finite element analysis (FEA) first reported by Chen et al. [9]. A recent study comparing the ultimate strengths of

  16. Optical Manipulation with Plasmonic Beam Shaping Antenna Structures

    DOE PAGES

    Jun, Young Chul; Brener, Igal

    2012-01-01

    Near-field optical trapping of objects using plasmonic antenna structures has recently attracted great attention. However, metal nanostructures also provide a compact platform for general wavefront engineering of intermediate and far-field beams. Here, we analyze optical forces generated by plasmonic beam shaping antenna structures and show that they can be used for general optical manipulation such as guiding of a dielectric particle along a linear or curved trajectory. This removes the need for bulky diffractive optical components and facilitates the integration of optical force manipulation into a highly functional, compact system.

  17. Manipulation hardware for microgravity research

    SciTech Connect

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

    1990-01-01

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

  18. Torque-Limiting Manipulation Device

    NASA Technical Reports Server (NTRS)

    Moetteli, John B. (Inventor)

    1999-01-01

    A device for manipulating a workpiece in space includes a fixture, a stanchion assembly, a manipulation mechanism, an actuation mechanism, and a reaction mechanism. The fixture has an end onto which the workpiece affixes. The stanchion assembly has an upper and a lower end. The manipulation mechanism connects the fixture and the upper end of the stanchion assembly. The lower end of the stanchion assembly mounts, via probe and a socket, to a structure. The actuation mechanism operably connects to the manipulation mechanism, and moves the fixture in space. The reaction mechanism provides a point through which force inputs into the actuation mechanism may react.

  19. Curved surface effect and emission on silicon nanostructures

    NASA Astrophysics Data System (ADS)

    Huang, Wei-Qi; Yin, Jun; Zhou, Nian-Jie; Huang, Zhong-Mei; Miao, Xin-Jian; Cheng, Han-Qiong; Su, Qin; Liu, Shi-Rong; Qin, Chao-Jian

    2013-10-01

    The curved surface (CS) effect on nanosilicon plays a main role in the activation for emission and photonic manipulation. The CS effect breaks the symmetrical shape of nanosilicon on which some bonds can produce localized electron states in the band gap. The investigation in calculation and experiment demonstrates that the different curvatures can form the characteristic electron states for some special bonding on the nanosilicon surface, which are related to a series of peaks in photoluminecience (PL), such as LN, LNO, LO1, and LO2 lines in PL spectra due to Si—N, Si—NO, Si=O, and Si—O—Si bonds on curved surface, respectively. Si—Yb bond on curved surface of Si nanostructures can provide the localized states in the band gap deeply and manipulate the emission wavelength into the window of optical communication by the CS effect, which is marked as the LYb line of electroluminescence (EL) emission.

  20. The sales learning curve.

    PubMed

    Leslie, Mark; Holloway, Charles A

    2006-01-01

    When a company launches a new product into a new market, the temptation is to immediately ramp up sales force capacity to gain customers as quickly as possible. But hiring a full sales force too early just causes the firm to burn through cash and fail to meet revenue expectations. Before it can sell an innovative product efficiently, the entire organization needs to learn how customers will acquire and use it, a process the authors call the sales learning curve. The concept of a learning curve is well understood in manufacturing. Employees transfer knowledge and experience back and forth between the production line and purchasing, manufacturing, engineering, planning, and operations. The sales learning curve unfolds similarly through the give-and-take between the company--marketing, sales, product support, and product development--and its customers. As customers adopt the product, the firm modifies both the offering and the processes associated with making and selling it. Progress along the manufacturing curve is measured by tracking cost per unit: The more a firm learns about the manufacturing process, the more efficient it becomes, and the lower the unit cost goes. Progress along the sales learning curve is measured in an analogous way: The more a company learns about the sales process, the more efficient it becomes at selling, and the higher the sales yield. As the sales yield increases, the sales learning process unfolds in three distinct phases--initiation, transition, and execution. Each phase requires a different size--and kind--of sales force and represents a different stage in a company's production, marketing, and sales strategies. Adjusting those strategies as the firm progresses along the sales learning curve allows managers to plan resource allocation more accurately, set appropriate expectations, avoid disastrous cash shortfalls, and reduce both the time and money required to turn a profit.

  1. Manipulating and Visualizing Proteins

    SciTech Connect

    Simon, Horst D.

    2003-12-05

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

  2. Dynamics of curved interfaces

    SciTech Connect

    Escudero, Carlos

    2009-08-15

    Stochastic growth phenomena on curved interfaces are studied by means of stochastic partial differential equations. These are derived as counterparts of linear planar equations on a curved geometry after a reparametrization invariance principle has been applied. We examine differences and similarities with the classical planar equations. Some characteristic features are the loss of correlation through time and a particular behavior of the average fluctuations. Dependence on the metric is also explored. The diffusive model that propagates correlations ballistically in the planar situation is particularly interesting, as this propagation becomes nonuniversal in the new regime.

  3. Are driving and overtaking on right curves more dangerous than on left curves?

    PubMed

    Othman, Sarbaz; Thomson, Robert; Lannér, Gunnar

    2010-01-01

    It is well known that crashes on horizontal curves are a cause for concern in all countries due to the frequency and severity of crashes at curves compared to road tangents. A recent study of crashes in western Sweden reported a higher rate of crashes in right curves than left curves. To further understand this result, this paper reports the results of novel analyses of the responses of vehicles and drivers during negotiating and overtaking maneuvers on curves for right hand traffic. The overall objectives of the study were to find road parameters for curves that affect vehicle dynamic responses, to analyze these responses during overtaking maneuvers on curves, and to link the results with driver behavior for different curve directions. The studied road features were speed, super-elevation, radius and friction including their interactions, while the analyzed vehicle dynamic factors were lateral acceleration and yaw angular velocity. A simulation program, PC-Crash, has been used to simulate road parameters and vehicle response interaction in curves. Overtaking maneuvers have been simulated for all road feature combinations in a total of 108 runs. Analysis of variances (ANOVA) was performed, using two sided randomized block design, to find differences in vehicle responses for the curve parameters. To study driver response, a field test using an instrumented vehicle and 32 participants was reviewed as it contained longitudinal speed and acceleration data for analysis. The simulation results showed that road features affect overtaking performance in right and left curves differently. Overtaking on right curves was sensitive to radius and the interaction of radius with road condition; while overtaking on left curves was more sensitive to super-elevation. Comparisons of lateral acceleration and yaw angular velocity during these maneuvers showed different vehicle response configurations depending on curve direction and maneuver path. The field test experiments also showed

  4. Electrostatic Transport and Manipulation of Lunar Soil and Dust

    SciTech Connect

    Kawamoto, Hiroyuki

    2008-01-21

    Transport and manipulation technologies of lunar soil and dust are under development utilizing the electrostatic force. Transport of particles is realized by an electrostatic conveyer consisting of parallel electrodes. Four-phase traveling electrostatic wave was applied to the electrodes to transport particles upon the conveyer and it was demonstrated that particles were efficiently transported under conditions of low frequency, high voltage, and the application of rectangular wave. Not only linear but also curved and closed transport was demonstrated. Numerical investigation was carried out with a three-dimensional hard-sphere model of the Distinct Element Method to clarify the mechanism of the transport and to predict performances in the lunar environment. This technology is expected to be utilized not only for the transport of bulk soil but also for the cleaning of a solar panel and an optical lens. Another technology is an electrostatic manipulation system to manipulate single particle. A manipulator consisted of two parallel pin electrodes. When voltage was applied between the electrodes, electrophoresis force generated in non-uniform electrostatic field was applied to the particle near the tip of the electrode. The particle was captured by the application of the voltage and released from the manipulator by turning off the voltage. It was possible to manipulate not only insulative but also conductive particles. Three-dimensional electrostatic field calculation was conducted to calculate the electrophoresis force and the Coulomb force.

  5. Image Manipulation: Then and Now.

    ERIC Educational Resources Information Center

    Sutton, Ronald E.

    The images of photography have been manipulated almost from the moment of their discovery. The blending together in the studio and darkroom of images not found in actual scenes from life has been a regular feature of modern photography in both art and advertising. Techniques of photograph manipulation include retouching; blocking out figures or…

  6. Modeling Manipulation in Medical Education

    ERIC Educational Resources Information Center

    Dailey, Jason I.

    2010-01-01

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

  7. Thermoelectrical manipulation of nanomagnets

    NASA Astrophysics Data System (ADS)

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

    2010-06-01

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

  8. Stereoscopically Observing Manipulative Actions

    PubMed Central

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

    2016-01-01

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

  9. Genetic Manipulations in Dermatophytes.

    PubMed

    Alshahni, Mohamed Mahdi; Yamada, Tsuyoshi

    2017-02-01

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

  10. Graphing Polar Curves

    ERIC Educational Resources Information Center

    Lawes, Jonathan F.

    2013-01-01

    Graphing polar curves typically involves a combination of three traditional techniques, all of which can be time-consuming and tedious. However, an alternative method--graphing the polar function on a rectangular plane--simplifies graphing, increases student understanding of the polar coordinate system, and reinforces graphing techniques learned…

  11. Textbook Factor Demand Curves.

    ERIC Educational Resources Information Center

    Davis, Joe C.

    1994-01-01

    Maintains that teachers and textbook graphics follow the same basic pattern in illustrating changes in demand curves when product prices increase. Asserts that the use of computer graphics will enable teachers to be more precise in their graphic presentation of price elasticity. (CFR)

  12. Curve Fit Challenge

    ERIC Educational Resources Information Center

    Harper, Suzanne R.; Driskell, Shannon

    2005-01-01

    Graphic tips for using the Geometer's Sketchpad (GSP) are described. The methods to import an image into GSP, define a coordinate system, plot points and curve fit the function using a graphical calculator are demonstrated where the graphic features of GSP allow teachers to expand the use of the technology application beyond the classroom.

  13. The Bacterial Growth Curve.

    ERIC Educational Resources Information Center

    Paulton, Richard J. L.

    1991-01-01

    A procedure that allows students to view an entire bacterial growth curve during a two- to three-hour student laboratory period is described. Observations of the lag phase, logarithmic phase, maximum stationary phase, and phase of decline are possible. A nonpathogenic, marine bacterium is used in the investigation. (KR)

  14. Kinematic analysis of platform-type robotic manipulators

    NASA Astrophysics Data System (ADS)

    Shi, Xiaolun

    New methods are developed for the kinematic analysis of serial and platform-type parallel robotic manipulators, including forward and inverse kinematic solutions, singularity identifications and workspace evaluation. Differences between serial and platform-type parallel manipulators, which can provide substantially improved end-point rigidity compared with the conventional serial robotic arms, are addressed. The problem of determining the screw parameters of rigid body motion from initial and final position data is discussed, as a basis to search for a general and efficient procedure to solve the complex forward kinematics problem of platform-type manipulators. Several Screw-Theory based approaches for solving the inverse instantaneous problem of 6 DOF serial manipulators are studied and compared in terms of their computational efficiency, accuracy, sensitivity to data error and capability of dealing with singularities. A modified Vector Decomposition method is then proposed for solving the IIK problem and for singularity analysis of serial kinematic chains, the method is especially effective when applied to the wrist partitioned serial manipulators, which are essential components to any platform-type parallel manipulators. By using the data of three point positions, velocities, and accelerations of the end effector a general method is developed for solving the forward kinematics problem, including position, velocity and acceleration kinematics, of platform-type manipulators. The solution procedure can be applied to a wide variety of platform-type manipulators such as the 6 DOF Steward Platform manipulator and other models. It is found that while the solution for the forward position kinematics of a platform-type manipulator can be obtained by solving a non-linear system of equations, the closed-form solutions for forward rate and acceleration kinematics can be found by solving a system of linear equations. Based on the proposed kinematic formulations, an algorithm

  15. Multiple Optical Traps with a Single-Beam Optical Tweezer Utilizing Surface Micromachined Planar Curved Grating

    NASA Astrophysics Data System (ADS)

    Kuo, Ju-Nan; Chen, Kuan-Yu

    2010-11-01

    In this paper, we present a single-beam optical tweezer integrated with a planar curved diffraction grating for microbead manipulation. Various curvatures of the surface micromachined planar curved grating are systematically investigated. The planar curved grating was fabricated using multiuser micro-electro-mechanical-system (MEMS) processes (MUMPs). The angular separation and the number of diffracted orders were determined. Experimental results indicate that the diffraction patterns and curvature of the planar curved grating are closely related. As the curvature of the planar curved grating increases, the vertical diffraction angle increases, resulting in the strip patterns of the planar curved grating. A single-beam optical tweezer integrated with a planar curved diffraction grating was developed. We demonstrate a technique for creating multiple optical traps from a single laser beam using the developed planar curved grating. The strip patterns of the planar curved grating that resulted from diffraction were used to trap one row of polystyrene beads.

  16. Manipulability, force, and compliance analysis for planar continuum manipulators.

    PubMed

    Gravagne, Ian A; Walker, Ian D

    2002-06-01

    Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as one of the foremost analytical tools available to the robotics researcher, and the purpose of this paper is to first formulate, and then to examine, three types of ellipsoids for continuum robots: manipulability, force, and compliance.

  17. Manipulability, force, and compliance analysis for planar continuum manipulators

    NASA Technical Reports Server (NTRS)

    Gravagne, Ian A.; Walker, Ian D.

    2002-01-01

    Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as one of the foremost analytical tools available to the robotics researcher, and the purpose of this paper is to first formulate, and then to examine, three types of ellipsoids for continuum robots: manipulability, force, and compliance.

  18. Sound propagation over curved barriers

    NASA Technical Reports Server (NTRS)

    Pierce, Allan D.; Main, Geoffrey L.; Kearns, James A.; Hsieh, H.-A.

    1986-01-01

    Wide barriers with curved tops are studied with emphasis placed on circumstances whereby the local radius of curvature R of the barrier is continuous along the surface and is large compared to a wavelength. Results analogous to those given by Hayek et al. (1978) are reviewed and extended to cases where the radius of curvature and the surface impedance may vary with position. Circumstances not easily interpreted within the framework of the model proposed by Keller (1956) and Hayek et al. are also considered.

  19. Sound propagation over curved barriers

    NASA Astrophysics Data System (ADS)

    Pierce, Allan D.; Main, Geoffrey L.; Kearns, James A.; Hsieh, H.-A.

    Wide barriers with curved tops are studied with emphasis placed on circumstances whereby the local radius of curvature R of the barrier is continuous along the surface and is large compared to a wavelength. Results analogous to those given by Hayek et al. (1978) are reviewed and extended to cases where the radius of curvature and the surface impedance may vary with position. Circumstances not easily interpreted within the framework of the model proposed by Keller (1956) and Hayek et al. are also considered.

  20. Direct Manipulation in Virtual Reality

    NASA Technical Reports Server (NTRS)

    Bryson, Steve

    2003-01-01

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

  1. Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator

    PubMed Central

    Katzschmann, Robert K.; Marchese, Andrew D.

    2015-01-01

    Abstract This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multilayer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities. PMID:27625916

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

    PubMed

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

    2015-12-01

    This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multilayer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities.

  3. Active damping of oscillations in a long compliant manipulator link

    NASA Astrophysics Data System (ADS)

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

    1993-07-01

    A flexible manipulator test bed consisting of a fifteen foot long fixed-free compliant beam (representing a compliant manipulator link) with a Shilling Titan II dextrous manipulator mounted on its free end has been constructed at Pacific Northwest Laboratory (PNL). A comprehensive dynamic model which includes flexible body effects has been developed at PNL using a commercially available multibody dynamics code. A linearized version of the model is used to develop control strategies which use inertial forces generated by movements of the dextrous manipulator to damp out induced oscillations in the beam. These control strategies are tested on the model and shown to be feasible, and then implemented in the flexible manipulator testbed. Results from the hardware experiments are analyzed and compared with the model results.

  4. Trishear for curved faults

    NASA Astrophysics Data System (ADS)

    Brandenburg, J. P.

    2013-08-01

    Fault-propagation folds form an important trapping element in both onshore and offshore fold-thrust belts, and as such benefit from reliable interpretation. Building an accurate geologic interpretation of such structures requires palinspastic restorations, which are made more challenging by the interplay between folding and faulting. Trishear (Erslev, 1991; Allmendinger, 1998) is a useful tool to unravel this relationship kinematically, but is limited by a restriction to planar fault geometries, or at least planar fault segments. Here, new methods are presented for trishear along continuously curved reverse faults defining a flat-ramp transition. In these methods, rotation of the hanging wall above a curved fault is coupled to translation along a horizontal detachment. Including hanging wall rotation allows for investigation of structures with progressive backlimb rotation. Application of the new algorithms are shown for two fault-propagation fold structures: the Turner Valley Anticline in Southwestern Alberta, and the Alpha Structure in the Niger Delta.

  5. Atlas of fatigue curves

    SciTech Connect

    Boyer, H.E.

    1986-01-01

    This Atlas was developed to serve engineers who are looking for fatigue data on a particular metal or alloy. Having these curves compiled in a single book will also facilitate the computerization of the involved data. It is pointed out that plans are under way to make the data in this book available in ASCII files for analysis by computer programs. S-N curves which typify effects of major variables are considered along with low-carbon steels, medium-carbon steels, alloy steels, HSLA steels, high-strength alloy steels, heat-resisting steels, stainless steels, maraging steels, cast irons, and heat-resisting alloys. Attention is also given to aluminum alloys, copper alloys, magnesium alloys, molybdenum, tin alloys, titanium and titanium alloys, zirconium, steel castings, closed-die forgings, powder metallurgy parts, composites, effects of surface treatments, and test results for component parts.

  6. Manipulator control by exact linearization

    NASA Technical Reports Server (NTRS)

    Kruetz, K.

    1987-01-01

    Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.

  7. Quantization on Curves

    NASA Astrophysics Data System (ADS)

    Frønsdal, Christian; Kontsevich, Maxim

    2007-02-01

    Deformation quantization on varieties with singularities offers perspectives that are not found on manifolds. The Harrison component of Hochschild cohomology, vanishing on smooth manifolds, reflects information about singularities. The Harrison 2-cochains are symmetric and are interpreted in terms of abelian *-products. This paper begins a study of abelian quantization on plane curves over mathbb{C}, being algebraic varieties of the form {mathbb{C}}^2/R, where R is a polynomial in two variables; that is, abelian deformations of the coordinate algebra mathbb{C}[x,y]/(R). To understand the connection between the singularities of a variety and cohomology we determine the algebraic Hochschild (co)homology and its Barr Gerstenhaber Schack decomposition. Homology is the same for all plane curves mathbb{C}[x,y]/R, but the cohomology depends on the local algebra of the singularity of R at the origin. The Appendix, by Maxim Kontsevich, explains in modern mathematical language a way to calculate Hochschild and Harrison cohomology groups for algebras of functions on singular planar curves etc. based on Koszul resolutions.

  8. Spider diffraction: a comparison of curved and straight legs

    SciTech Connect

    Richter, J.L.

    1984-06-15

    It has been known for some time that, if curved legs rather than the usual straight ones are used in the spider that supports the secondary optics in certain telescopes, the visible diffraction effect is reduced. Fraunhofer theory is used to calculate the diffraction effects due to the curved leg spider. Calculated and photographic diffraction patterns are compared for straight and curved leg spiders.

  9. Microfluidic particle manipulation using high frequency surface acoustic waves

    NASA Astrophysics Data System (ADS)

    Ai, Ye; Collins, David J.

    2016-11-01

    Precise manipulation of particles and biological cells remains a very active research area in microfluidics. Among various force fields applied for microfluidic manipulations, acoustic waves have superior propagating properties in solids and fluids, which can readily enable non-contact cell manipulation in long operating distances. Exploiting acoustic waves for fluid and cell manipulation in microfluidics has led to a newly emerging research area, acoustofluidics. In this work, I will present particle and cell manipulation in microfluidics using high frequency surface acoustic waves (SAW). In particular, I will discuss a unique design of a focused IDT (FIDT) structure, which is able to generate a highly localized SAW field on the order of 20 µm wide. This highly focused acoustic beam has an effective manipulation area size that is comparable to individual micron-sized particles. Here, I demonstrate the use of this highly localized SAW field for single particle level sorting with sub-millisecond pulses and selective capture of particles. Based on the presented studies on acoustic particle manipulation, I envision that the merging of acoustics and microfluidics could enable various particle and cell manipulations needed in microfluidic applications. We acknowledge the support received from Singapore University of Technology and Design (SUTD)-Massachusetts Institute of Technology (MIT) International Design Center (IDG11300101) and SUTD Startup Research Grant (SREP13053) awarded to Y.A.

  10. A Meta-Analysis of the Efficacy of Teaching Mathematics with Concrete Manipulatives

    ERIC Educational Resources Information Center

    Carbonneau, Kira J.; Marley, Scott C.; Selig, James P.

    2013-01-01

    The use of manipulatives to teach mathematics is often prescribed as an efficacious teaching strategy. To examine the empirical evidence regarding the use of manipulatives during mathematics instruction, we conducted a systematic search of the literature. This search identified 55 studies that compared instruction with manipulatives to a control…

  11. Building Fractal Models with Manipulatives.

    ERIC Educational Resources Information Center

    Coes, Loring

    1993-01-01

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

  12. Machine intelligence for autonomous manipulation.

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.

    1973-01-01

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

  13. Dynamic Scaling of Manipulator Trajectories.

    DTIC Science & Technology

    1983-01-01

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

  14. Manipulation: description, identification and ambiguity.

    PubMed

    Bowers, L

    2003-06-01

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

  15. Rotation Curves of Galaxies

    NASA Astrophysics Data System (ADS)

    Kalnajs, Agris J.

    One can obtain a fairly good understanding of the relation between axially symmetric mass distributions and the rotation curves they produce without resorting to calculations. However it does require a break with tradition. The first step consists of replacing quantities such as surface density, volume density, and circular velocity with the mass in a ring, mass in a spherical shell, and the square of the circular velocity, or more precisely with 2 pi G r mu(r), 4 pi G r^2 rho(r), and Vc^2 (r). These three quantities all have the same dimensions, and are related to each other by scale-free linear operators. The second step consists of introducing ln(r) as the coordinate. On the log scale the scale-free operators becomes the more familiar convolution operations. Convolutions are easily handled by Fourier techniques and a surface density can be converted into a rotation curve or volume density in a small fraction of a second. A simple plot of 2 pi G r mu(r) as a function of ln(r) reveals the relative contributions of different radii to Vc^2(r). Such a plot also constitutes a sanity test for the fitting of various laws to photometric data. There are numerous examples in the literature of excellent fits to the tails that lack data or are poor fits around the maximum of 2 pi G r mu(r). I will discuss some exact relations between the above three quantities as well as some empirical observations such as the near equality of the maxima of 2 pi G r mu(r) and Vc^2 (r) curves for flat mass distributions.

  16. Curved PVDF airborne transducer.

    PubMed

    Wang, H; Toda, M

    1999-01-01

    In the application of airborne ultrasonic ranging measurement, a partially cylindrical (curved) PVDF transducer can effectively couple ultrasound into the air and generate strong sound pressure. Because of its geometrical features, the ultrasound beam angles of a curved PVDF transducer can be unsymmetrical (i.e., broad horizontally and narrow vertically). This feature is desired in some applications. In this work, a curved PVDF air transducer is investigated both theoretically and experimentally. Two resonances were observed in this transducer. They are length extensional mode and flexural bending mode. Surface vibration profiles of these two modes were measured by a laser vibrometer. It was found from the experiment that the surface vibration was not uniform along the curvature direction for both vibration modes. Theoretical calculations based on a model developed in this work confirmed the experimental results. Two displacement peaks were found in the piezoelectric active direction of PVDF film for the length extensional mode; three peaks were found for the flexural bending mode. The observed peak positions were in good agreement with the calculation results. Transient surface displacement measurements revealed that vibration peaks were in phase for the length extensional mode and out of phase for the flexural bending mode. Therefore, the length extensional mode can generate a stronger ultrasound wave than the flexural bending mode. The resonance frequencies and vibration amplitudes of the two modes strongly depend on the structure parameters as well as the material properties. For the transducer design, the theoretical model developed in this work can be used to optimize the ultrasound performance.

  17. Magnetism in curved geometries

    NASA Astrophysics Data System (ADS)

    Streubel, Robert; Fischer, Peter; Kronast, Florian; Kravchuk, Volodymyr P.; Sheka, Denis D.; Gaididei, Yuri; Schmidt, Oliver G.; Makarov, Denys

    2016-09-01

    Extending planar two-dimensional structures into the three-dimensional space has become a general trend in multiple disciplines, including electronics, photonics, plasmonics and magnetics. This approach provides means to modify conventional or to launch novel functionalities by tailoring the geometry of an object, e.g. its local curvature. In a generic electronic system, curvature results in the appearance of scalar and vector geometric potentials inducing anisotropic and chiral effects. In the specific case of magnetism, even in the simplest case of a curved anisotropic Heisenberg magnet, the curvilinear geometry manifests two exchange-driven interactions, namely effective anisotropy and antisymmetric exchange, i.e. Dzyaloshinskii-Moriya-like interaction. As a consequence, a family of novel curvature-driven effects emerges, which includes magnetochiral effects and topologically induced magnetization patterning, resulting in theoretically predicted unlimited domain wall velocities, chirality symmetry breaking and Cherenkov-like effects for magnons. The broad range of altered physical properties makes these curved architectures appealing in view of fundamental research on e.g. skyrmionic systems, magnonic crystals or exotic spin configurations. In addition to these rich physics, the application potential of three-dimensionally shaped objects is currently being explored as magnetic field sensorics for magnetofluidic applications, spin-wave filters, advanced magneto-encephalography devices for diagnosis of epilepsy or for energy-efficient racetrack memory devices. These recent developments ranging from theoretical predictions over fabrication of three-dimensionally curved magnetic thin films, hollow cylinders or wires, to their characterization using integral means as well as the development of advanced tomography approaches are in the focus of this review.

  18. Magnetism in curved geometries

    SciTech Connect

    Streubel, Robert; Fischer, Peter; Kronast, Florian; Kravchuk, Volodymyr P.; Sheka, Denis D.; Gaididei, Yuri; Schmidt, Oliver G.; Makarov, Denys

    2016-08-17

    Extending planar two-dimensional structures into the three-dimensional space has become a general trend in multiple disciplines, including electronics, photonics, plasmonics and magnetics. This approach provides means to modify conventional or to launch novel functionalities by tailoring the geometry of an object, e.g. its local curvature. In a generic electronic system, curvature results in the appearance of scalar and vector geometric potentials inducing anisotropic and chiral effects. In the specific case of magnetism, even in the simplest case of a curved anisotropic Heisenberg magnet, the curvilinear geometry manifests two exchange-driven interactions, namely effective anisotropy and antisymmetric exchange, i.e. Dzyaloshinskii–Moriya-like interaction. As a consequence, a family of novel curvature-driven effects emerges, which includes magnetochiral effects and topologically induced magnetization patterning, resulting in theoretically predicted unlimited domain wall velocities, chirality symmetry breaking and Cherenkov-like effects for magnons. The broad range of altered physical properties makes these curved architectures appealing in view of fundamental research on e.g. skyrmionic systems, magnonic crystals or exotic spin configurations. In addition to these rich physics, the application potential of three-dimensionally shaped objects is currently being explored as magnetic field sensorics for magnetofluidic applications, spin-wave filters, advanced magneto-encephalography devices for diagnosis of epilepsy or for energy-efficient racetrack memory devices. Finally, these recent developments ranging from theoretical predictions over fabrication of three-dimensionally curved magnetic thin films, hollow cylinders or wires, to their characterization using integral means as well as the development of advanced tomography approaches are in the focus of this review.

  19. Magnetism in curved geometries

    DOE PAGES

    Streubel, Robert; Fischer, Peter; Kronast, Florian; ...

    2016-08-17

    Extending planar two-dimensional structures into the three-dimensional space has become a general trend in multiple disciplines, including electronics, photonics, plasmonics and magnetics. This approach provides means to modify conventional or to launch novel functionalities by tailoring the geometry of an object, e.g. its local curvature. In a generic electronic system, curvature results in the appearance of scalar and vector geometric potentials inducing anisotropic and chiral effects. In the specific case of magnetism, even in the simplest case of a curved anisotropic Heisenberg magnet, the curvilinear geometry manifests two exchange-driven interactions, namely effective anisotropy and antisymmetric exchange, i.e. Dzyaloshinskii–Moriya-like interaction. Asmore » a consequence, a family of novel curvature-driven effects emerges, which includes magnetochiral effects and topologically induced magnetization patterning, resulting in theoretically predicted unlimited domain wall velocities, chirality symmetry breaking and Cherenkov-like effects for magnons. The broad range of altered physical properties makes these curved architectures appealing in view of fundamental research on e.g. skyrmionic systems, magnonic crystals or exotic spin configurations. In addition to these rich physics, the application potential of three-dimensionally shaped objects is currently being explored as magnetic field sensorics for magnetofluidic applications, spin-wave filters, advanced magneto-encephalography devices for diagnosis of epilepsy or for energy-efficient racetrack memory devices. Finally, these recent developments ranging from theoretical predictions over fabrication of three-dimensionally curved magnetic thin films, hollow cylinders or wires, to their characterization using integral means as well as the development of advanced tomography approaches are in the focus of this review.« less

  20. Complementary Curves of Descent

    DTIC Science & Technology

    2012-11-16

    provision of law , no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid...curves of descent 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR( S ) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT...NUMBER 7. PERFORMING ORGANIZATION NAME( S ) AND ADDRESS(ES) US Naval Academy,Physics Department,Annapolis,MD,21402-1363 8. PERFORMING ORGANIZATION

  1. Curved cap corrugated sheet

    NASA Technical Reports Server (NTRS)

    Davis, R. C.; Bales, T. T.; Royster, D. M.; Jackson, L. R. (Inventor)

    1984-01-01

    The report describes a structure for a strong, lightweight corrugated sheet. The sheet is planar or curved and includes a plurality of corrugation segments, each segment being comprised of a generally U-shaped corrugation with a part-cylindrical crown and cap strip, and straight side walls and with secondary corrugations oriented at right angles to said side walls. The cap strip is bonded to the crown and the longitudinal edge of said cap strip extends beyond edge at the intersection between said crown and said side walls. The high strength relative to weight of the structure makes it desirable for use in aircraft or spacecraft.

  2. Repetitive control of electrically driven robot manipulators

    NASA Astrophysics Data System (ADS)

    Fateh, Mohammad Mehdi; Ahsani Tehrani, Hojjat; Karbassi, Seyed Mehdi

    2013-04-01

    This article presents a novel robust discrete repetitive control of electrically driven robot manipulators for tracking of a periodic trajectory. We propose a novel model, which presents the highly non-linear dynamics of robot manipulator in the form of linear discrete-time time-varying system. Based on the proposed model, we develop a two-term control law. The first term is an ordinary time-optimal and minimum-norm (TOMN) control by employing parametric controllers to guarantee stability. The second term is a novel robust control to improve the control performance in the face of uncertainties. The robust control estimates and compensates uncertainties including the parametric uncertainty, unmodelled dynamics and external disturbances. Performance of the proposed method is compared with two discrete methods, namely the TOMN control and an adaptive iterative learning (AIL) control. Simulation results confirm superiority of the proposed method in terms of the convergence speed and precision.

  3. Is manipulative therapy more effective than sham manipulation in adults?: a systematic review and meta-analysis

    PubMed Central

    2013-01-01

    Background Manipulative therapy is widely used in the treatment of spinal disorders. Manipulative techniques are under debate because of the possibility of adverse events. To date, the efficacy of manipulations compared to sham manipulations is unclear. The purpose of the study is: to assess the efficacy of manipulative therapy compared to sham in adults with a variety of complaints. Study design Systematic review and meta-analysis. Methods Bibliographic databases (PubMed, EMBASE, CINAHL, PEDro, Central) along with a hand search of selected bibliographies were searched from inception up to April 2012. Two reviewers independently selected randomized clinical trials (RCTs) that evaluated manipulative therapy compared to sham manipulative therapy in adults, assessed risk of bias and extracted data concerning participants, intervention, kind of sham, outcome measures, duration of follow-up, profession, data on efficacy and adverse events. Pooled (standardized) mean differences or risk differences were calculated were possible using a random effects model. The primary outcomes were pain, disability, and perceived recovery. The overall quality of the body of evidence was evaluated using GRADE. Results In total 965 references were screened for eligibility and 19 RCTs (n = 1080) met the selection criteria. Eight studies were considered of low risk of bias. There is moderate level of evidence that manipulative therapy has a significant effect in adults on pain relief immediately after treatment (standardized mean difference [SMD] - 0.68, 95% confidence interval (-1.06 to -0.31). There is low level of evidence that manipulative therapy has a significant effect in adults on pain relief (SMD - 0.37, -0.69 to -0.04) at short- term follow-up. In patients with musculoskeletal disorders, we found moderate level of evidence for pain relief (SMD - 0.73, -1.21 to -0.25) immediate after treatment and low level of evidence for pain relief (SMD - 0.52, -0.87 to -0.17) at short term

  4. Study to design and develop remote manipulator system

    NASA Technical Reports Server (NTRS)

    Hill, J. W.; Sword, A. J.

    1973-01-01

    Human performance measurement techniques for remote manipulation tasks and remote sensing techniques for manipulators are described for common manipulation tasks, performance is monitored by means of an on-line computer capable of measuring the joint angles of both master and slave arms as a function of time. The computer programs allow measurements of the operator's strategy and physical quantities such as task time and power consumed. The results are printed out after a test run to compare different experimental conditions. For tracking tasks, we describe a method of displaying errors in three dimensions and measuring the end-effector position in three dimensions.

  5. Transforming Curves into Curves with the Same Shape.

    ERIC Educational Resources Information Center

    Levine, Michael V.

    Curves are considered to have the same shape when they are related by a similarity transformation of a certain kind. This paper extends earlier work on parallel curves to curves with the same shape. Some examples are given more or less explicitly. A generalization is used to show that the theory is ordinal and to show how the theory may be applied…

  6. Experimental verification of a large flexible manipulator

    NASA Technical Reports Server (NTRS)

    Lee, Jac Won; Huggins, James D.; Book, Wayne J.

    1988-01-01

    A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure, such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. A verification of the modeling using the assumed mode method is presented. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator is verified.

  7. The Characteristic Curves of Water

    NASA Astrophysics Data System (ADS)

    Neumaier, Arnold; Deiters, Ulrich K.

    2016-09-01

    In 1960, E. H. Brown defined a set of characteristic curves (also known as ideal curves) of pure fluids, along which some thermodynamic properties match those of an ideal gas. These curves are used for testing the extrapolation behaviour of equations of state. This work is revisited, and an elegant representation of the first-order characteristic curves as level curves of a master function is proposed. It is shown that Brown's postulate—that these curves are unique and dome-shaped in a double-logarithmic p, T representation—may fail for fluids exhibiting a density anomaly. A careful study of the Amagat curve (Joule inversion curve) generated from the IAPWS-95 reference equation of state for water reveals the existence of an additional branch.

  8. Manual control of the Langley Laboratory telerobotic manipulator

    NASA Technical Reports Server (NTRS)

    Hankins, Walter W., III; Mixon, Randolph W.

    1989-01-01

    Langley's new Laboratory Teleoperator Manipulator (LTM) provides manual control of seven-degree-of-freedom, replica, force-reflecting, master/slave manipulator arms in two arms simultaneously. This paper describes the LTM, its installation, and plans for a comparable evaluation study of various control input devices to the system. The comparison includes control using the system's master arms, six-degree-of-freedom hand controllers, minimasters, and a force-reflecting hand controller.

  9. High precision redundant robotic manipulator

    DOEpatents

    Young, Kar-Keung David

    1998-01-01

    A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.

  10. High precision redundant robotic manipulator

    DOEpatents

    Young, K.K.D.

    1998-09-22

    A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs.

  11. Mobile camera-space manipulation

    NASA Technical Reports Server (NTRS)

    Seelinger, Michael J. (Inventor); Yoder, John-David S. (Inventor); Skaar, Steven B. (Inventor)

    2001-01-01

    The invention is a method of using computer vision to control systems consisting of a combination of holonomic and nonholonomic degrees of freedom such as a wheeled rover equipped with a robotic arm, a forklift, and earth-moving equipment such as a backhoe or a front-loader. Using vision sensors mounted on the mobile system and the manipulator, the system establishes a relationship between the internal joint configuration of the holonomic degrees of freedom of the manipulator and the appearance of features on the manipulator in the reference frames of the vision sensors. Then, the system, perhaps with the assistance of an operator, identifies the locations of the target object in the reference frames of the vision sensors. Using this target information, along with the relationship described above, the system determines a suitable trajectory for the nonholonomic degrees of freedom of the base to follow towards the target object. The system also determines a suitable pose or series of poses for the holonomic degrees of freedom of the manipulator. With additional visual samples, the system automatically updates the trajectory and final pose of the manipulator so as to allow for greater precision in the overall final position of the system.

  12. Multiple CubicBezier Curves.

    ERIC Educational Resources Information Center

    Khonsari, Michael M.; Horn, Douglas

    1990-01-01

    An algorithm is described for generating smooth curves of first-order continuity. The algorithm is composed of several cubic Bezier curves joined together at the user defined control points. Introduced is a tension control parameter which can be set thus providing additional flexibility in the design of free-form curves. (KR)

  13. Titration Curves: Fact and Fiction.

    ERIC Educational Resources Information Center

    Chamberlain, John

    1997-01-01

    Discusses ways in which datalogging equipment can enable titration curves to be measured accurately and how computing power can be used to predict the shape of curves. Highlights include sources of error, use of spreadsheets to generate titration curves, titration of a weak acid with a strong alkali, dibasic acids, weak acid and weak base, and…

  14. A comparison of force sensing techniques for planetary manipulation

    NASA Technical Reports Server (NTRS)

    Helmick, Daniel; Okon, Avi; DiCicco, Matt

    2006-01-01

    Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability fo each technique is quantified and compared.

  15. Quantum relative Lorenz curves

    NASA Astrophysics Data System (ADS)

    Buscemi, Francesco; Gour, Gilad

    2017-01-01

    The theory of majorization and its variants, including thermomajorization, have been found to play a central role in the formulation of many physical resource theories, ranging from entanglement theory to quantum thermodynamics. Here we formulate the framework of quantum relative Lorenz curves, and show how it is able to unify majorization, thermomajorization, and their noncommutative analogs. In doing so, we define the family of Hilbert α divergences and show how it relates with other divergences used in quantum information theory. We then apply these tools to the problem of deciding the existence of a suitable transformation from an initial pair of quantum states to a final one, focusing in particular on applications to the resource theory of athermality, a precursor of quantum thermodynamics.

  16. Multipulse phase resetting curves

    NASA Astrophysics Data System (ADS)

    Krishnan, Giri P.; Bazhenov, Maxim; Pikovsky, Arkady

    2013-10-01

    In this paper, we introduce and study systematically, in terms of phase response curves, the effect of dual-pulse excitation on the dynamics of an autonomous oscillator. Specifically, we test the deviations from linear summation of phase advances resulting from two small perturbations. We analytically derive a correction term, which generally appears for oscillators whose intrinsic dimensionality is >1. The nonlinear correction term is found to be proportional to the square of the perturbation. We demonstrate this effect in the Stuart-Landau model and in various higher dimensional neuronal models. This deviation from the superposition principle needs to be taken into account in studies of networks of pulse-coupled oscillators. Further, this deviation could be used in the verification of oscillator models via a dual-pulse excitation.

  17. Manipulation strategies for massive space payloads

    NASA Technical Reports Server (NTRS)

    Book, Wayne J.

    1991-01-01

    Motion planning and control for the joints of flexible manipulators are discussed. Specific topics covered include control of a flexible braced manipulator, control of a small working robot on a large flexible manipulator to suppress vibrations, control strategies for ensuring cooperation among disparate manipulators, and motion planning for robots in free-fall.

  18. Learning Area and Perimeter with Virtual Manipulatives

    ERIC Educational Resources Information Center

    Bouck, Emily; Flanagan, Sara; Bouck, Mary

    2015-01-01

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

  19. A Research on the Primary Mirror Manipulator of Large Segmented-mirror Telescope

    NASA Astrophysics Data System (ADS)

    Zuo, H.

    2012-09-01

    Since Galileo firstly used the telescope to observe the sky 400 years ago, the aperture of the telescope has become larger and larger to observe the deeper universe, and the segmented-mirror telescope is becoming more and more popular with increasing aperture. In the early 21st century, a series of segmented-mirror telescopes have been constructed including the Large Sky Area Multi-object Fiber Spectroscopic Telescope (LAMOST) of China. LAMOST is a meridian reflecting Schmidt telescope, and the dimension of the primary mirror is about 6.7 m× 6 m, which is composed of 37 hexagonal sub-mirrors. However, a problem about the mirror installation appears with the increasing aperture. If there are hundreds of sub-mirrors in the telescope, it is a challenging job to mount and dismount them to the truss. This problem is discussed in this paper and a manipulator for the primary mirror of LAMOST is designed to perform the mount and dismount work. In chapter 1, all the segmented-mirror telescopes in the world are introduced and how the sub-mirrors of these telescopes are installed has been investigated. After comparing with the serial and the parallel robot, a serial robot manipulator proposal, which has several redundant degrees of freedom (DOFs), has been chosen from a series of design proposals. In chapter 2, the theoretical analysis has been carried out on the basis of the design proposal, which includes the forward kinematics and the inverse kinematics. Firstly the D-H coordinate is built according to the structure of the manipulator, so it is possible to obtain the end-effector position and orientation from the individual joint motion thanks to the forward kinematics. Because of the redundant DOFs of the manipulator, the inverse kinematics solution can be a very trick task, and the result may not be only, therefore a kind of simulation is carried out to get the numerical solution using ADAMS (Automatic Dynamic Analysis of Mechanical System). In the dynamics analysis the

  20. The biomechanics of spinal manipulation.

    PubMed

    Herzog, Walter

    2010-07-01

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

  1. Employee involvement: motivation or manipulation?

    PubMed

    McConnell, C R

    1998-03-01

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

  2. Manipulating Complex Light with Metamaterials

    PubMed Central

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

    2013-01-01

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

  3. A novel manipulator technology for space applications

    NASA Technical Reports Server (NTRS)

    Schmitz, Donald; Khosia, Pradeep; Kanade, Takeo

    1988-01-01

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

  4. Understanding pharmaceutical research manipulation in the context of accounting manipulation.

    PubMed

    Brown, Abigail

    2013-01-01

    The problem of the manipulation of data that arises when there is both opportunity and incentive to mislead is better accepted and studied - though by no means solved - in financial accounting than in medicine. This article analyzes pharmaceutical company manipulation of medical research as part of a broader problem of corporate manipulation of data in the creation of accounting profits. The article explores how our understanding of accounting fraud and misinformation helps us understand the risk of similar information manipulation in the medical sciences. This understanding provides a framework for considering how best to improve the quality of medical research and analysis in light of the current system of medical information production. I offer three possible responses: (1) use of the Dodd-Frank whistleblower provisions to encourage reporting of medical research fraud; (2) a two-step academic journal review process for clinical trials; and (3) publicly subsidized trial-failure insurance. These would improve the release of negative information about drugs, thereby increasing the reliability of positive information.

  5. Precision Manipulation with Cooperative Robots

    NASA Technical Reports Server (NTRS)

    Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghzarian, Hrand

    2005-01-01

    This work addresses several challenges of cooperative transportThis work addresses several challenges of cooperative transport and precision manipulation. Precision manipulation requires a rigid grasp, which places a hard constraint on the relative rover formation that must be accommodated, even though the rovers cannot directly observe their relative poses. Additionally, rovers must jointly select appropriate actions based on all available sensor information. Lastly, rovers cannot act on independent sensor information, but must fuse information to move jointly; the methods for fusing information must be determined.

  6. Automated reasoning about cubic curves.

    SciTech Connect

    Padmanabhan, R.; McCune, W.; Mathematics and Computer Science; Univ. of Manitoba

    1995-01-01

    It is well known that the n-ary morphisms defined on projective algebraic curves satisfy some strong local-to-global equational rules of derivation not satisfied in general by universal algebras. For example, every rationally defined group law on a cubic curve must be commutative. Here we extract from the geometry of curves a first order property (gL) satisfied by all morphisms defined on these curves such that the equational consequences known for projective curves can be derived automatically from a set of six rules (stated within the first-order logic with equality). First, the rule (gL) is implemented in the theorem-proving program Otter. Then we use Otter to automatically prove some incidence theorems on projective curves without any further reference to the underlying geometry or topology of the curves.

  7. Manipulators inspired by the tongue of the chameleon.

    PubMed

    Debray, Alexis

    2011-06-01

    Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s(-1) and accelerations 350 m s(-2), with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s(-1) with an acceleration of 573 m s(-2) while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

  8. From Laboratory Manipulations To Earth System Models

    NASA Astrophysics Data System (ADS)

    Ridgwell, A.; Schmidt, D.

    2008-12-01

    The apparent incongruence between coccolithophore calcification responses observed across different experimental manipulations, particularly those involving Emiliania huxleyi, raises new challenges particularly for modellers. This is because the global models used for predicting future fossil fuel CO2 uptake by the ocean base their parameterizations for plankton calcification and carbonate export from the ocean surface closely on laboratory results. Predictions of such models will be unreliable if rooted in unrepresentative and/or poorly understood laboratory experiments. The difficulty in making sense of the differing responses reported and thus correctly informing models is compounded by fundamental differences between laboratory culture studies, particularly in the strain (ecotype or likely even genotype) of E. huxleyi cultured. However, two pertinent observations offer the promise of resolving these difficulties: (1) experiments using other coccolithophore species have delineated the existence of a calcification 'optimum' in environmental conditions (pH), and (2) there is an unambiguous direction to the calcification-CO2 response in mesocosm and shipboard incubations. We propose that an equivalence can be drawn between species or even ecosystem integrated phytoplankton calcification rate as a function of pH (or saturation), and widely used descriptions of plankton growth rate vs. temperature (the Eppley curve). An 'Eppley' like calcification formulation provides not only a conceptual framework for reconciling the results of available experimental manipulations of coccolithophores, but also a means of constructing a simple quasi-empirical relationship for describing ocean acidification impacts on planktonic carbonate production in carbon cycle models. The implications of this for future fossil fuel CO2 uptake by the ocean are assessed in an Earth system model.

  9. Dynamic manipulation of particles via transformative optofluidic waveguides

    PubMed Central

    Lee, Kang Soo; Lee, Kyung Heon; Kim, Sang Bok; Ha, Byung Hang; Jung, Jin Ho; Sung, Hyung Jin; Kim, Sang Soo

    2015-01-01

    Optofluidics is one of the most remarkable areas in the field of microfluidic research. Particle manipulation with optofluidic platforms has become central to optical chromatography, biotechnology, and μ-total analysis systems. Optical manipulation of particles depends on their sizes and refractive indices (n), which occasionally leads to undesirable separation consequences when their optical mobilities are identical. Here, we demonstrate rapid and dynamic particle manipulation according to n, regardless of size. Integrated liquid-core/solid-cladding (LS) and liquid-core/liquid-cladding (L2) waveguides were fabricated and their characteristics were experimentally and theoretically determined. The high and low n particles showed the opposite behaviors by controlling the contrast of their n values to those of the working fluids. The LS waveguide was found to successfully manipulate particles according to n, and the L2 waveguide was found to provide additional system stability and flexibility, compared to the LS system. PMID:26471003

  10. Object impedance control for cooperative manipulation - Theory and experimental results

    NASA Technical Reports Server (NTRS)

    Schneider, Stanley A.; Cannon, Robert H., Jr.

    1992-01-01

    This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

  11. Behavior of horizontally curved steel tubular-flange bridge girders

    NASA Astrophysics Data System (ADS)

    Fan, Zhuo

    A new type of curved steel bridge girder, called a curved tubular-flange girder, with rectangular tubes as flanges, is proposed and studied in this dissertation. A curved steel tubular-flange girder has much larger torsional stiffness than a curved I-girder and less potential for cross section distortion than a curved box-girder. Therefore, it has potential advantages compared to curved I-girders and box-girders. A theoretical analysis method for systems of curved tubular-flange girders braced by cross frames is presented. A stress analysis method for tubular-flange girders is also provided. The behavior of curved tubular-flange girder systems is studied using the theoretical analysis method and compared to the behavior of the corresponding curved I-girder systems. A parametric study is performed using the theoretical analysis method to investigate the effects of geometric parameters on the behavior of curved tubular-flange girder systems. The studied parameters include tubular-flange width, tubular-flange depth, cross section depth, girder curvature, and the number of cross frames. Finite element analyses are conducted to verify the theoretical analysis method, to study the behavior of a curved tubular-flange girder system under dead load, and to study the behavior of a curved tubular-flange girder system with a composite concrete deck under dead and live load. The study shows that a curved tubular-flange girder system develops much less warping normal stress and cross section rotation than a corresponding curved I-girder system. The difference is especially significant for a single curved girder under its own weight, suggesting that curved tubular-flange girders would be much easier to transport and erect than curved I-girders. As girder curvature increases, the rate of increase in the stresses and displacements for a single I-girder is much greater than for a single curved tubular-flange girder. Smaller cross frame forces develop in a tubular-flange girder

  12. Manipulation for stiffness following total knee arthroplasty: when and how often to do it?

    PubMed

    Desai, Aravind S; Karmegam, Anand; Dramis, Asterios; Board, Tim N; Raut, Videsh

    2014-10-01

    Stiffness following total knee arthroplasty is a disabling complication. One of the management options of stiffness includes manipulation under anaesthesia, but no real consensus exist on appropriate timing of intervention, and the timing and results of the manipulation under anaesthesia (MUA) are under debate in the literature. Our aim was to determine the efficacy of single and multiple manipulations under anaesthesia following total knee arthroplasty and to determine the most appropriate timing for manipulation. We retrospectively reviewed 86 patients who underwent manipulation for stiffness following primary total knee replacement with at least 1-year follow-up. Range of motion before surgery, at the time of the MUA, immediately after MUA and at 6 weeks and 1 year post-MUA were recorded. At the end of 1 year post-manipulation, manipulations performed at less than 20 weeks, following primary total knee arthroplasty, showed 31° of flexion gain as compared to only 1.5° of flexion gain when manipulation was undertaken after 20 weeks. Of the 86 patients, 21 had multiple manipulations with no significant difference in flexion gain after the second manipulation. Patients on warfarin (26%) had an increased incidence of stiffness and poor flexion gain. This study showed that better results were achieved when manipulation was performed at less than 20 weeks (particularly between 12 and 14 weeks) from primary surgery with no added benefit from re-manipulations.

  13. Master/slave manipulator system

    NASA Technical Reports Server (NTRS)

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

    1973-01-01

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

  14. Manipulating Genetic Material in Bacteria

    NASA Technical Reports Server (NTRS)

    1998-01-01

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

  15. Optical manipulation of valley pseudospin

    NASA Astrophysics Data System (ADS)

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

    2017-01-01

    The coherent manipulation of spin and pseudospin underlies existing and emerging quantum technologies, including quantum communication and quantum computation. Valley polarization, associated with the occupancy of degenerate, but quantum mechanically distinct valleys in momentum space, closely resembles spin polarization and has been proposed as a pseudospin carrier for the future quantum electronics. Valley exciton polarization has been created in the transition metal dichalcogenide monolayers using excitation by circularly polarized light and has been detected both optically and electrically. In addition, the existence of coherence in the valley pseudospin has been identified experimentally. The manipulation of such valley coherence has, however, remained out of reach. Here we demonstrate all-optical control of the valley coherence by means of the pseudomagnetic field associated with the optical Stark effect. Using below-bandgap circularly polarized light, we rotate the valley exciton pseudospin in monolayer WSe2 on the femtosecond timescale. Both the direction and speed of the rotation can be manipulated optically by tuning the dynamic phase of excitons in opposite valleys. This study unveils the possibility of generation, manipulation, and detection of the valley pseudospin by coupling to photons.

  16. Data manipulation in heterogeneous databases

    SciTech Connect

    Chatterjee, A.; Segev, A.

    1991-10-01

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

  17. Mapping and Manipulating Facial Expression

    ERIC Educational Resources Information Center

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

    2009-01-01

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

  18. Ants: the supreme soil manipulators

    Technology Transfer Automated Retrieval System (TEKTRAN)

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

  19. DYMAFLEX: DYnamic Manipulation FLight EXperiment

    DTIC Science & Technology

    2013-09-03

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

  20. Teaching Integration Applications Using Manipulatives

    ERIC Educational Resources Information Center

    Bhatia, Kavita; Premadasa, Kirthi; Martin, Paul

    2014-01-01

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

  1. Temporal dynamics of activation of thematic and functional knowledge during conceptual processing of manipulable artifacts.

    PubMed

    Kalénine, Solène; Mirman, Daniel; Middleton, Erica L; Buxbaum, Laurel J

    2012-09-01

    The current research aimed at specifying the activation time course of different types of semantic information during object conceptual processing and the effect of context on this time course. We distinguished between thematic and functional knowledge and the specificity of functional similarity. Two experiments were conducted with healthy older adults using eye tracking in a word-to-picture matching task. The time course of gaze fixations was used to assess activation of distractor objects during the identification of manipulable artifact targets (e.g., broom). Distractors were (a) thematically related (e.g., dustpan), (b) related by a specific function (e.g., vacuum cleaner), or (c) related by a general function (e.g., sponge). Growth curve analyses were used to assess competition effects when target words were presented in isolation (Experiment 1) and embedded in contextual sentences of different generality levels (Experiment 2). In the absence of context, there was earlier and shorter lasting activation of thematically related as compared to functionally related objects. The time course difference was more pronounced for general functions than specific functions. When contexts were provided, functional similarities that were congruent with context generality level increased in salience with earlier activation of those objects. Context had little impact on thematic activation time course. These data demonstrate that processing a single manipulable artifact concept implicitly activates thematic and functional knowledge with different time courses and that context speeds activation of context-congruent functional similarity.

  2. Control over hysteresis curves and thresholds of optical bistability in different semiconductor double quantum wells

    NASA Astrophysics Data System (ADS)

    H, R. Hamedi; M, R. Mehmannavaz; Hadi, Afshari

    2015-08-01

    The effects of optical field on the phenomenon of optical bistability (OB) are investigated in a K-type semiconductor double quantum well (SDQW) under various parametric conditions. It is shown that the OB threshold can be manipulated by increasing the intensity of coupling field. The dependence of the shift of OB hysteresis curve on probe wavelength detuning is then explored. In order to demonstrate controllability of the OB in this SDQW, we compare the OB features of three different configurations which could arise in this SDQW scheme, i.e., K-type, Y-type, and inverted Y-type systems. The controllability of this semiconductor nanostructure medium makes the presented OB scheme more valuable for applications in all-optical switches, information storage, and logic circuits of all optical information processing. Project supported by the Lithuanian Research Council (Grant No. VP1-3.1-ŠM-01-V-03-001).

  3. Elegant Gaussian beams for enhanced optical manipulation

    SciTech Connect

    Alpmann, Christina Schöler, Christoph; Denz, Cornelia

    2015-06-15

    Generation of micro- and nanostructured complex light beams attains increasing impact in photonics and laser applications. In this contribution, we demonstrate the implementation and experimental realization of the relatively unknown, but highly versatile class of complex-valued Elegant Hermite- and Laguerre-Gaussian beams. These beams create higher trapping forces compared to standard Gaussian light fields due to their propagation changing properties. We demonstrate optical trapping and alignment of complex functional particles as nanocontainers with standard and Elegant Gaussian light beams. Elegant Gaussian beams will inspire manifold applications in optical manipulation, direct laser writing, or microscopy, where the design of the point-spread function is relevant.

  4. Measuring Systematic Error with Curve Fits

    ERIC Educational Resources Information Center

    Rupright, Mark E.

    2011-01-01

    Systematic errors are often unavoidable in the introductory physics laboratory. As has been demonstrated in many papers in this journal, such errors can present a fundamental problem for data analysis, particularly when comparing the data to a given model. In this paper I give three examples in which my students use popular curve-fitting software…

  5. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    SciTech Connect

    Joseph W. Geisinger, Ph.D.

    2001-07-31

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

  6. Performance monitoring during a minimal group manipulation.

    PubMed

    Pfabigan, Daniela M; Holzner, Marie-Theres; Lamm, Claus

    2016-10-01

    The on-going (self-)monitoring of our behaviour is inextricably intertwined with the surrounding social context. In this study, we investigated whether a minimal group paradigm assigning individuals to arbitrary group categories is powerful enough to induce changes in behavioural, psychophysiological and event-related potential correlates of performance monitoring. Following arbitrary group assignment based on ostensible task performance and a group identification task, 22 volunteers performed a flanker-task during both in-group and out-group contexts, while electroencephalography was performed. More errors were committed in the out-group compared with the in-group context. Error-related negativity amplitudes were larger for in-group compared with out-group errors. However, subsequent processing reflected in late Pe amplitudes and stimulus-driven conflict reflected in N2 amplitudes were not affected by the group context. Heart rate deceleration (during both correct and incorrect trials) tended to be more pronounced during the out-group compared with the in-group context. This surprising observation was corroborated by subjective ratings of performance satisfaction, in which participants reported higher satisfaction with their out-group performance. This study identified specific stimulus evaluation processes to be affected by a minimal group manipulation and demonstrated thereby transient top-down effects of a social context manipulation on performance monitoring.

  7. Diversity and evolution of bodyguard manipulation.

    PubMed

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

    2013-01-01

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

  8. Serpentine manipulator planning and control for NASA Space-Shuttle payload servicing

    NASA Astrophysics Data System (ADS)

    Herman, Herman; Schempf, Hagen

    1992-10-01

    The use of a highly-redundant manipulator, so-called 'serpentine' manipulator, is proposed as a solution for servicing space-payloads during the payload installation process before launch on the Space-Shuttle. The staging of the system would be inside a large cleanroom area, the Payload Changeout Room (PCR), which sits on the Rotating Service Structure (RSS), allowing it to be swung into mated contact with the Space-Shuttle as it sits on the launchpad at the John F. Kennedy Space Center in Cape Canaveral, Florida. This report is not so much concerned with the design and implementation issues associated with a serpentine manipulator, but rather with the planning, control and user-interface issues. We thus present a brief introduction to the actual application environment and its restrictions, followed by the theoretical background and implementation issues of planning and control algorithms developed specifically for a serpentine manipulator operating within the confined spaces of the PCR and the Space-Shuttle cargo-bay. The approach used to generate a continuous path is to develop and use a minimizing continuous energy curve for the manipulator, and then fit the discretized link-sections to that curve. The operator is then able to modify this curve directly, allowing for shaping of the serpentine, and for the placement of obstacles that can then be avoided. This algorithm can be implemented in real-time, and curve-parameters can also be adjusted such as flexibility and curvature of the curve. An A* method is used to search for the shortest distance between two goal points in order to construct the curve. In order to avoid obstacles (real and artificial), available from a database or which can be placed by the operator using the operator interface display, we use an obstacle potential field FIRAS function.

  9. Langevin Equation on Fractal Curves

    NASA Astrophysics Data System (ADS)

    Satin, Seema; Gangal, A. D.

    2016-07-01

    We analyze random motion of a particle on a fractal curve, using Langevin approach. This involves defining a new velocity in terms of mass of the fractal curve, as defined in recent work. The geometry of the fractal curve, plays an important role in this analysis. A Langevin equation with a particular model of noise is proposed and solved using techniques of the Fα-Calculus.

  10. Position control of robot manipulators manipulating a flexible payload

    SciTech Connect

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

    1999-03-01

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

  11. Reflection of curved shock waves

    NASA Astrophysics Data System (ADS)

    Mölder, S.

    2017-03-01

    Shock curvatures are related to pressure gradients, streamline curvatures and vorticity in flows with planar and axial symmetry. Explicit expressions, in an influence coefficient format, are used to relate post-shock pressure gradient, streamline curvature and vorticity to pre-shock gradients and shock curvature in steady flow. Using higher order, von Neumann-type, compatibility conditions, curved shock theory is applied to calculate the flow near singly and doubly curved shocks on curved surfaces, in regular shock reflection and in Mach reflection. Theoretical curved shock shapes are in good agreement with computational fluid dynamics calculations and experiment.

  12. Shape Preserving Interpolation by Curves

    DTIC Science & Technology

    2001-07-01

    curves Given data 1i E R2 , i = 0,..., N, we consider a curve r : [a, b] -- R2 satisfying r(ti) = Ii , i = 0,..., N, (3.1) for values a = to < tj...tN = b. For a closed curve the situation is extended periodically so that Ii +N =10, ti+N =ti, i E Z, r(t+b-a) =r(t), tc R. 3.1 Desirable properties...para- meterisation). When all vi = 0, r will reduce to the usual C2 cubic spline interpolant. As vi --+ oc, the curve is ’pulled tight’ at Ii and as

  13. Waveguide finite elements for curved structures

    NASA Astrophysics Data System (ADS)

    Finnveden, Svante; Fraggstedt, Martin

    2008-05-01

    A waveguide finite element formulation for the analysis of curved structures is introduced. The formulation is valid for structures that along one axis have constant properties. It is based on a modified Hamilton's principle valid for general linear viscoelastic motion, which is derived here. Using this principle, material properties such as losses may be distributed in the system and may vary with frequency. Element formulations for isoparametric solid elements and deep shell elements are presented for curved waveguides as well as for straight waveguides. In earlier works, the curved elements have successfully been used to model a passenger car tyre. Here a simple validation example and convergence study is presented, which considers a finite length circular cylinder and all four elements presented are used, in turn, to model this structure. Calculated results compare favourably to those in the literature.

  14. Flexibility effects on the control system performance of large scale robotic manipulators

    NASA Technical Reports Server (NTRS)

    Cetinkunt, Sabri; Book, Wayne J.

    1990-01-01

    Structural flexibility of robotic manipulators becomes significant and limits the performance of a control system when manipulators are large structures, manipulating on large payloads, and/or operating at high speeds. The question of when a manipulator can be considered rigid or must be considered flexible is studied as a function of manipulator dynamics and task characteristics. Results are interpreted in simple quantitative forms which can be used as design and analysis tools to decide whether or not the manipulator flexibility will be a significant factor for a given task condition. The limitations imposed by the manipulator flexibility on the joint variable feedback control system performance is determined using linear and nonlinear methods. The closed loop eigenstructure behavior of finite dimensional models under joint variable feedback is studied and results are compared with the previously reported results.

  15. An inverse kinematics algorithm for a highly redundant variable-geometry-truss manipulator

    NASA Technical Reports Server (NTRS)

    Naccarato, Frank; Hughes, Peter

    1989-01-01

    A new class of robotic arm consists of a periodic sequence of truss substructures, each of which has several variable-length members. Such variable-geometry-truss manipulator (VGTMs) are inherently highly redundant and promise a significant increase in dexterity over conventional anthropomorphic manipulators. This dexterity may be exploited for both obstacle avoidance and controlled deployment in complex workspaces. The inverse kinematics problem for such unorthodox manipulators, however, becomes complex because of the large number of degrees of freedom, and conventional solutions to the inverse kinematics problem become inefficient because of the high degree of redundancy. A solution is presented to this problem based on a spline-like reference curve for the manipulator's shape. Such an approach has a number of advantages: (1) direct, intuitive manipulation of shape; (2) reduced calculation time; and (3) direct control over the effective degree of redundancy of the manipulator. Furthermore, although the algorithm was developed primarily for variable-geometry-truss manipulators, it is general enough for application to a number of manipulator designs.

  16. Acoustic devices for particle and cell manipulation and sensing.

    PubMed

    Qiu, Yongqiang; Wang, Han; Demore, Christine E M; Hughes, David A; Glynne-Jones, Peter; Gebhardt, Sylvia; Bolhovitins, Aleksandrs; Poltarjonoks, Romans; Weijer, Kees; Schönecker, Andreas; Hill, Martyn; Cochran, Sandy

    2014-08-13

    An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz) ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed.

  17. Acoustic Devices for Particle and Cell Manipulation and Sensing

    PubMed Central

    Qiu, Yongqiang; Wang, Han; Demore, Christine E. M.; Hughes, David A.; Glynne-Jones, Peter; Gebhardt, Sylvia; Bolhovitins, Aleksandrs; Poltarjonoks, Romans; Weijer, Kees; Schönecker, Andreas; Hill, Martyn; Cochran, Sandy

    2014-01-01

    An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz) ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed. PMID:25123465

  18. Cooperation and conflict in host-manipulating parasites

    PubMed Central

    Brown, S. P.

    1999-01-01

    The existence of adaptive host manipulation by parasites has received increasing empirical support in recent years. Here I develop an optimality model of the extent of host manipulation, incorporating within-host group size, relatedness and a range of realistic cost–benefit functions. The model highlights the cooperative nature of host manipulation, and the potential for cheating this entails. When relatedness in parasite groups is minimal, manipulation is suppressed, but not eradicated, reflecting the importance of interhost selection. A distinctive threshold phenomenon is predicted for a wide range of parameter values. Below the group size threshold, manipulation is zero. Above the threshold, the predicted behaviour depends critically on the biological details of the individual–group interaction. The host-manipulation model is discussed in the light of two potential applications. If parasite group size is assumed to be a static characteristic of a parasite species or strain, the model generates a set of comparative predictions best suited to macroparasite systems. Additionally, the model can be used to predict density-dependent behavioural changes in expanding groups of parasites, as seen in quorum-sensing bacteria.

  19. The laboratory telerobotic manipulator program

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  20. Adaptive hybrid control of manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1987-01-01

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

  1. Manipulating the edge of instability

    PubMed Central

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

    2009-01-01

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

  2. Towards Manipulation-Driven Vision

    DTIC Science & Technology

    2001-01-01

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

  3. Visualizing Three-Dimensional Calculus Concepts: The Study of a Manipulative's Effectiveness

    ERIC Educational Resources Information Center

    McGee, Daniel, Jr.; Moore-Russo, Deborah; Ebersole, Dennis; Lomen, David O.; Quintero, Maider Marin

    2012-01-01

    With the help of the National Science Foundation, the Department of Mathematics at the University of Puerto Rico in Mayaguez has developed a set of manipulatives to help students of science and engineering visualize concepts relating to points, surfaces, curves, contours, and vectors in three dimensions. This article will present the manipulatives…

  4. Model reduction of flexible manipulators

    NASA Astrophysics Data System (ADS)

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

    1992-06-01

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

  5. What is 'manipulation'? A reappraisal.

    PubMed

    Evans, David W; Lucas, Nicholas

    2010-06-01

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

  6. Manipulation of Biofilm Microbial Ecology

    SciTech Connect

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

    1998-08-15

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

  7. Visualizing Motion Patterns in Acupuncture Manipulation.

    PubMed

    Lee, Ye-Seul; Jung, Won-Mo; Lee, In-Seon; Lee, Hyangsook; Park, Hi-Joon; Chae, Younbyoung

    2016-07-16

    Acupuncture manipulation varies widely among practitioners in clinical settings, and it is difficult to teach novice students how to perform acupuncture manipulation techniques skillfully. The Acupuncture Manipulation Education System (AMES) is an open source software system designed to enhance acupuncture manipulation skills using visual feedback. Using a phantom acupoint and motion sensor, our method for acupuncture manipulation training provides visual feedback regarding the actual movement of the student's acupuncture manipulation in addition to the optimal or intended movement, regardless of whether the manipulation skill is lifting, thrusting, or rotating. Our results show that students could enhance their manipulation skills by training using this method. This video shows the process of manufacturing phantom acupoints and discusses several issues that may require the attention of individuals interested in creating phantom acupoints or operating this system.

  8. Learning curves in health care.

    PubMed

    Waldman, J Deane; Yourstone, Steven A; Smith, Howard L

    2003-01-01

    This article explores the uses of learning curve theory in medicine. Though effective application of learning curve theory in health care can result in higher quality and lower cost, it is seldom methodically applied in clinical practice. Fundamental changes are necessary in the corporate culture of medicine in order to capitalize maximally on the benefits of learning.

  9. Comparison of dynamic analysis of a Schilling hydraulic manipulator with experimental results

    SciTech Connect

    Baker, C.P.; Lew, J.Y.; Evans, M.S.; Magee, D.P.

    1993-07-01

    Two independent models of the dynamics of a Schilling Titan II hydraulic manipulator were developed and compared in order to obtain an accurate model of the manipulator dynamics. These models will be used in the development of feedback control laws and active damping algorithms. One of the model is an analytical model which was developed {open_quotes}by hand{close_quotes} with the assistance of computer symbolic manipulation. The other is a numerical model developed using a commercially available dynamics code. The data from these models were then compared with experimental data from an actual Titan II manipulator.

  10. Do the Kepler AGN light curves need reprocessing?

    NASA Astrophysics Data System (ADS)

    Kasliwal, Vishal P.; Vogeley, Michael S.; Richards, Gordon T.; Williams, Joshua; Carini, Michael T.

    2015-10-01

    We gauge the impact of spacecraft-induced effects on the inferred variability properties of the light curve of the Seyfert 1 AGN Zw 229-15 observed by Kepler. We compare the light curve of Zw 229-15 obtained from the Kepler MAST data base with a reprocessed light curve constructed from raw pixel data. We use the first-order structure function, SF(δt), to fit both light curves to the damped power-law PSD (power spectral density) of Kasliwal et al. On short time-scales, we find a steeper log PSD slope (γ = 2.90 to within 10 per cent) for the reprocessed light curve as compared to the light curve found on MAST (γ = 2.65 to within 10 per cent) - both inconsistent with a damped random walk (DRW) which requires γ = 2. The log PSD slope inferred for the reprocessed light curve is consistent with previous results that study the same reprocessed light curve. The turnover time-scale is almost identical for both light curves (27.1 and 27.5 d for the reprocessed and MAST data base light curves). Based on the obvious visual difference between the two versions of the light curve and on the PSD model fits, we conclude that there remain significant levels of spacecraft-induced effects in the standard pipeline reduction of the Kepler data. Reprocessing the light curves will change the model inferenced from the data but is unlikely to change the overall scientific conclusions reached by Kasliwal et al. - not all AGN light curves are consistent with the DRW.

  11. A comparative evaluation of the increase in root canal surface area and canal transportation in curved root canals by three rotary systems: A cone-beam computed tomographic study

    PubMed Central

    Prasanthi, Nalam NVD; Rambabu, Tanikonda; Sajjan, Girija S; Varma, K Madhu; Satish, R Kalyan; Padmaja, M

    2016-01-01

    Aim: The aim of this study was to measure the increase in root canal surface area and canal transportation after biomechanical preparation at 1, 3, and 5 mm short of the apex with three different rotary systems in both continuous rotary and reciprocating rotary motions. Materials and Methods: Sixty freshly extracted human mandibular molars with mesial root canal curvatures between 20° and 30° were included in the study. Teeth were randomly distributed into three groups (n = 20). Biomechanical preparations were done in all the mesial canals. In Group 1, instrumentation was done with ProTaper universal rotary files, Group 2, with K3XF rotary files, and Group 3, with LSX rotary files. Each group was further subdivided into subgroups A and B (n = 10) where instrumentation was done by continuous rotary and reciprocating rotary techniques, respectively. Increase in root canal surface area and canal transportation was measured using the preoperative and postoperative cone-beam computed tomography scans. Statistical Analysis: The data were analyzed by one-way ANOVA followed by Tukey pairwise multiple comparison tests. Results: Increase in root canal surface area was significantly more (P < 0.05) in ProTaper and K3XF groups when compared to LSX group. Canal transportation was significantly more (P < 0.05) in ProTaper group when compared to K3XF and LSX groups. There was no significant difference (P > 0.05) in increase of root canal surface area and canal transportation between continuous rotary and reciprocating rotary techniques for ProTaper Universal, K3XF and LSX groups. Conclusion: LSX rotary system showed minimal increase of root canal surface area and minimal canal transportation when compared to ProTaper and K3XF rotary systems. PMID:27656062

  12. Direct manipulation of virtual objects

    NASA Astrophysics Data System (ADS)

    Nguyen, Long K.

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

  13. Fatigue design curves for 6061-T6 aluminum

    SciTech Connect

    Yahr, G.T.

    1993-06-01

    A request has been made to the ASME Boiler and Pressure Vessel Committee that 6061-T6 aluminum be approved for use in the construction of Class 1 welded nuclear vessels so it can be used for the pressure vessel of the Advanced Neutron Source research reactor. Fatigue design curves with and without mean stress effects have been proposed. A knock-down factor of two is applied to the design curve for evaluation of welds. The basis of the curves is explained. The fatigue design curves are compared to fatigue data from base metal and weldments.

  14. Fatigue design curves for 6061-T6 aluminum

    SciTech Connect

    Yahr, G.T.

    1993-01-01

    A request has been made to the ASME Boiler and Pressure Vessel Committee that 6061-T6 aluminum be approved for use in the construction of Class 1 welded nuclear vessels so it can be used for the pressure vessel of the Advanced Neutron Source research reactor. Fatigue design curves with and without mean stress effects have been proposed. A knock-down factor of two is applied to the design curve for evaluation of welds. The basis of the curves is explained. The fatigue design curves are compared to fatigue data from base metal and weldments.

  15. Host specificity of parasite manipulation: Zombie ant death location in Thailand vs. Brazil.

    PubMed

    Andersen, Sandra; Hughes, David

    2012-03-01

    Recently we presented how Camponotus ants in Thailand infected with the fungus Ophiocordyceps unilateralis are behaviorally manipulated into dying where the conditions are optimal for fungal development. Death incurred in a very narrow zone of space and here we compare this highly specific manipulation with a related system in Brazil. We show that the behavioral manipulation is less fine-tuned and discuss the potential explanations for this by examining differences in ant host and environmental characteristics.

  16. Place-pitch manipulations with cochlear implants

    PubMed Central

    Macherey, Olivier; Carlyon, Robert P.

    2012-01-01

    Pitch can be conveyed to cochlear implant (CI) listeners via both place of excitation and temporal cues. The transmission of place cues may be hampered by several factors including limitations on the insertion depth and number of implanted electrodes, and the broad current spread produced by monopolar stimulation. The following series of experiments investigate several methods to partially overcome these limitations. Experiment 1 compares two recently published techniques that aim to activate more apical fibers than produced by monopolar or bipolar stimulation of the most apical contacts. The first technique (phantom stimulation) manipulates the current spread by simultaneously stimulating two electrodes with opposite-polarity pulses of different amplitudes. The second technique manipulates the neural spread of excitation by using asymmetric pulses and exploiting the polarity-sensitive properties of auditory nerve fibers. The two techniques yielded similar results and were shown to produce lower place pitch percepts than stimulation of monopolar and bipolar symmetric pulses. Furthermore, combining these two techniques may be advantageous in a clinical setting. Experiment 2 proposes a novel method to create place pitches intermediate to those produced by physical electrodes by using charge-balanced asymmetric pulses in bipolar mode with different degrees of asymmetry. PMID:22423718

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

    NASA Astrophysics Data System (ADS)

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

    2016-03-01

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

  18. Models of remote manipulation in space

    NASA Technical Reports Server (NTRS)

    Hannaford, Blake

    1991-01-01

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

  19. Accelerating Around an Unbanked Curve

    DTIC Science & Technology

    2006-02-01

    FEB 2006 2. REPORT TYPE 3. DATES COVERED 00-00-2006 to 00-00-2006 4. TITLE AND SUBTITLE Accelerating Around an Unbanked Curve 5a. CONTRACT...December 2004 issue of TPT presented a problem concerning how a car should acceler-ate around an unbanked curve of constant radius r starting from rest...Accelerating Around an Unbanked Curve Carl E. Mungan, U.S. Naval Academy, Annapolis, MD 100 THE PHYSICS TEACHER ◆ Vol. 44, February 2006 The shapes

  20. Curved conveyor section guide assembly

    SciTech Connect

    Truszczinski, H.

    1981-02-03

    A guide assembly for a curved conveyor section of a scraperchain conveyor guides the scraper assembly from a first straight conveyor portion round the curved conveyor section to a second straight conveyor portion. This guiding is accomplished by a pair of independently rotatable pulley wheels. A further pair of independently rotatable pulley wheels are provided to guide the drive chain of a plough round the curved conveyor section. This enables the plough to be driven to and fro along the first straight conveyor portion by a drive station attached to the second straight conveyor portion adjacent to the guide assembly.

  1. Spin-manipulating polarized deuterons

    SciTech Connect

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

    2011-03-01

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

  2. From Micro- to Nanoparticle Manipulation

    NASA Astrophysics Data System (ADS)

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

    2000-12-01

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

  3. Covariance Manipulation for Conjunction Assessment

    NASA Technical Reports Server (NTRS)

    Hejduk, M. D.

    2016-01-01

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

  4. Lumbopelvic manipulation in patients with patellofemoral pain syndrome

    PubMed Central

    Crowell, Michael S; Wofford, Nancy H

    2012-01-01

    Objectives: A recent clinical prediction rule (CPR) identified characteristics that may predict an immediate reduction in pain following lumbopelvic manipulation in patients with patellofemoral pain syndrome. The purpose of this single-arm cohort study was to replicate the proposed CPR in a different population and investigate changes in self-reported pain, hip range of motion, strength, and function immediately following lumbopelvic manipulation. Methods: Forty-four subjects (63·6% female; mean age 27·4 years) met inclusion criteria. Hip internal rotation range of motion, lower extremity strength using a handheld dynamometer, and single/triple hop tests were assessed prior to and immediately following a spinal manipulation. A global rating of change questionnaire was administered after testing and telephonically at 1 week. Paired t-tests compared pre- and post-manipulation range of motion, strength, and hop test limb symmetry indices (α = 0·05). Results: Fifty-seven percent of subjects had a successful outcome measured by the numerical pain rating scale immediately following manipulation. Twenty-five of subjects experienced a successful outcome as measured by the global rating of change questionnaire at 1 week. No single individual or combination of predictor variables predicted a positive outcome immediately following the lumbopelvic manipulation (+likelihood ratio 0·7 with three of five predictor variables present). Statistically significant differences (P<0·05) were found in hip extension and abduction strength and hip internal rotation symmetry post-manipulation, but do not appear to be clinically meaningful. Discussion: The previously identified CPR was not able to be replicated and no clinically meaningful changes in range of motion, strength, or function were apparent. Future research should focus on a comprehensive impairment-based treatment approach in patients with patellofemoral pain syndrome. PMID:23904749

  5. Sacroiliac joint manipulation decreases the H-reflex.

    PubMed

    Murphy, B A; Dawson, N J; Slack, J R

    1995-03-01

    Joint manipulation is widely utilized clinically to decrease pain and increase the range of motion of joints displaying limited mobility. Evidence of efficacy is based on subjective reports of symptom improvement as well as on the results of clinical trials. Experiments were designed to determine whether or not sacroiliac joint manipulation affects the amplitude of the Hoffman (H) reflex. Surface EMG recordings of the reflex response to electrical stimulation of the tibial nerve in the popliteal fossa were made from the soleus muscle. The averaged amplitudes of H-reflexes were compared on both legs before and after either sacroiliac joint manipulation or a sham procedure. H-reflex amplitude was significantly decreased (12.9%) in the ipsilateral leg (p < 0.001) following a sacroiliac joint manipulation while there was no significant alteration following the sham intervention. There was no significant alteration in reflex excitability in the contralateral leg to the sacroiliac joint manipulation. To further investigate the mechanism of these reflex alterations, the local anaesthetic cream EMLA (Astra Pharmaceuticals) was applied to the skin overlying the sacroiliac joint and the experiments were repeated on a different group of subjects. This was intended to determine if excitation of cutaneous afferents was responsible for the reflex excitability changes. There was still a significant decrease in reflex excitability (10.6%) following sacroiliac joint manipulation (p < 0.001). These findings indicate that joint manipulation exerts physiological effects on the central nervous system, probably at the segmental level. The fact that the changes persisted in the presence of cutaneous anaesthesia suggests that the reflex changes are likely to be mediated by joint and/or muscle afferents.

  6. Delamination Analysis Of Composite Curved Bars

    NASA Technical Reports Server (NTRS)

    Ko, William L.; Jackson, Raymond H.

    1990-01-01

    Classical anisotropic elasticity theory used to construct "multilayer" composite semicircular curved bar subjected to end forces and end moments. Radial location and intensity of open-mode delamination stress calculated and compared with results obtained from anisotropic continuum theory and from finite element method. Multilayer theory gave more accurate predictions of location and intensity of open-mode delamination stress. Currently being applied to predict open-mode delamination stress concentrations in horse-shoe-shaped composite test coupons.

  7. Potential Energy Curves of Hydrogen Fluoride

    NASA Technical Reports Server (NTRS)

    Fallon, Robert J.; Vanderslice, Joseph T.; Mason, Edward A.

    1960-01-01

    Potential energy curves for the X(sup 1)sigma+ and V(sup 1)sigma+ states of HF and DF have been calculated by the Rydberg-Klein-Rees method. The results calculated from the different sets of data for HF and DF are found to be in very good agreement. The theoretical results of Karo are compared to the experimental results obtained here.

  8. PyCS : Python Curve Shifting

    NASA Astrophysics Data System (ADS)

    Tewes, Malte

    2015-09-01

    PyCS is a software toolbox to estimate time delays between multiple images of strongly lensed quasars, from resolved light curves such as obtained by the COSMOGRAIL monitoring program. The pycs package defines a collection of classes and high level functions, that you can script in a flexible way. PyCS makes it easy to compare different point estimators (including your own) without much code integration. The package heavily depends on numpy, scipy, and matplotlib.

  9. Liquefaction probability curves for surficial geologic deposits

    USGS Publications Warehouse

    Holzer, Thomas L.; Noce, Thomas E.; Bennett, Michael J.

    2011-01-01

    Liquefaction probability curves that predict the probability of surface manifestations of earthquake-induced liquefaction are developed for 14 different types of surficial geologic units. The units consist of alluvial fan, beach ridge, river delta topset and foreset beds, eolian dune, point bar, flood basin, natural river and alluvial fan levees, abandoned river channel, deep-water lake, lagoonal, sandy artificial fill, and valley train deposits. Probability is conditioned on earthquake magnitude and peak ground acceleration. Curves are developed for water table depths of 1.5 and 5.0 m. Probabilities are derived from complementary cumulative frequency distributions of the liquefaction potential index (LPI) that were computed from 927 cone penetration tests. For natural deposits with a water table at 1.5 m and subjected to a M7.5 earthquake with peak ground acceleration (PGA)  =  0.25g, probabilities range from 0.5 for beach ridge, point bar, and deltaic deposits. The curves also were used to assign ranges of liquefaction probabilities to the susceptibility categories proposed previously for different geologic deposits. For the earthquake described here, probabilities for susceptibility categories have ranges of 0–0.08 for low, 0.09–0.30 for moderate, 0.31–0.62 for high, and 0.63–1.00 for very high. Retrospective predictions of liquefaction during historical earthquakes based on the curves compare favorably to observations.

  10. Light extraction block with curved surface

    DOEpatents

    Levermore, Peter; Krall, Emory; Silvernail, Jeffrey; Rajan, Kamala; Brown, Julia J.

    2016-03-22

    Light extraction blocks, and OLED lighting panels using light extraction blocks, are described, in which the light extraction blocks include various curved shapes that provide improved light extraction properties compared to parallel emissive surface, and a thinner form factor and better light extraction than a hemisphere. Lighting systems described herein may include a light source with an OLED panel. A light extraction block with a three-dimensional light emitting surface may be optically coupled to the light source. The three-dimensional light emitting surface of the block may includes a substantially curved surface, with further characteristics related to the curvature of the surface at given points. A first radius of curvature corresponding to a maximum principal curvature k.sub.1 at a point p on the substantially curved surface may be greater than a maximum height of the light extraction block. A maximum height of the light extraction block may be less than 50% of a maximum width of the light extraction block. Surfaces with cross sections made up of line segments and inflection points may also be fit to approximated curves for calculating the radius of curvature.

  11. Phylogenetic Approach to Object Manipulation in Human and Ape Infants.

    ERIC Educational Resources Information Center

    Vauclair, Jacques

    1984-01-01

    Parker and Gibson's developmental model of evolution of language and intelligence in early hominids is described and discussed; data from a comparative study of object manipulation in two apes and a human infant are reported; and, human ontogenic developmental retardation in locomotion is discussed in terms of its implications for the differential…

  12. Object Manipulation: An Interactional Strategy with Autistic Children.

    ERIC Educational Resources Information Center

    Tiegerman, Ellen Morris; Primavera, Louis

    1981-01-01

    The research compared the effect of three play procedures upon the frequency and duration of object manipulation by six autistic children (four to six years old). The interaction procedure, in which the experimenter imitated both the material and the method of play chosen by the autistic child, resulted in greater frequency and duration of object…

  13. Resolution of seven-axis manipulator redundancy: A heuristic issue

    NASA Technical Reports Server (NTRS)

    Chen, I.

    1990-01-01

    An approach is presented for the resolution of the redundancy of a seven-axis manipulator arm from the AI and expert systems point of view. This approach is heuristic, analytical, and globally resolves the redundancy at the position level. When compared with other approaches, this approach has several improved performance capabilities, including singularity avoidance, repeatability, stability, and simplicity.

  14. Flow over riblet curved surfaces

    NASA Astrophysics Data System (ADS)

    Loureiro, J. B. R.; Silva Freire, A. P.

    2011-12-01

    The present work studies the mechanics of turbulent drag reduction over curved surfaces by riblets. The effects of surface modification on flow separation over steep and smooth curved surfaces are investigated. Four types of two-dimensional surfaces are studied based on the morphometric parameters that describe the body of a blue whale. Local measurements of mean velocity and turbulence profiles are obtained through laser Doppler anemometry (LDA) and particle image velocimetry (PIV).

  15. Manipulating expression of tonoplast transporters.

    PubMed

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

    2012-01-01

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

  16. Mobile remote manipulator vehicle system

    NASA Technical Reports Server (NTRS)

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

    1987-01-01

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

  17. Actuators for a space manipulator

    NASA Technical Reports Server (NTRS)

    Chun, W.; Brunson, P.

    1987-01-01

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

  18. Covariance Manipulation for Conjunction Assessment

    NASA Technical Reports Server (NTRS)

    Hejduk, M. D.

    2016-01-01

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

  19. Semantics of directly manipulating spatializations.

    PubMed

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

    2013-12-01

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

  20. Self mobile space manipulator project

    NASA Technical Reports Server (NTRS)

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

    1992-01-01

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

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

    SciTech Connect

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

    1994-09-01

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

  2. Analysis of the Rotopod: An all revolute parallel manipulator

    SciTech Connect

    Schmitt, D.J.; Benavides, G.L.; Bieg, L.F.; Kozlowski, D.M.

    1998-05-16

    This paper introduces a new configuration of parallel manipulator call the Rotopod which is constructed from all revolute type joints. The Rotopod consists of two platforms connected by six legs and exhibits six Cartesian degrees of freedom. The Rotopod is initially compared with other all revolute joint parallel manipulators to show its similarities and differences. The inverse kinematics for this mechanism are developed and used to analyze the accessible workspace of the mechanism. Optimization is performed to determine the Rotopod design configurations which maximum the accessible workspace based on desirable functional constraints.

  3. Localized non-contact manipulation using artificial bacterial flagella

    NASA Astrophysics Data System (ADS)

    Peyer, Kathrin E.; Zhang, Li; Nelson, Bradley J.

    2011-10-01

    Artificial bacterial flagella (ABFs) are swimming microrobots that mimic the propulsion method of bacteria, such as Escherichia coli. Microrobots have the potential to act as wireless manipulation tools for invitro applications. This paper investigates the micro-flows induced by ABFs for localized contact-free manipulation of micro-objects. The flow is simulated using the method of fundamental solutions and compared to experimental data where the tangential flow was measured by means of tracking polystyrene microbeads. Good agreement with the experimental data was found, and preliminary results show the contact-free rotation away from and the translation of micro-objects near a solid wall.

  4. Characterizing the Morphologies of Mechanically Manipulated Multiwall Carbon Nanotube Films by Small-Angle X-ray Scattering

    SciTech Connect

    Wang,B.; Bennett, R.; Verploegen, E.; Hart, A.; Cohen, R.

    2007-01-01

    We used small-angle X-ray scattering (SAXS) to quantitatively characterize the morphological characteristics of pristine and mechanically manipulated multiwall carbon nanotube (MWCNT) films. We determined that CNT diameters measured near the edges of a film were smaller compared to those measured in the interior. Uniaxially compressed MWCNT films exhibited a buckling deformation that was observable both in scanning electron microscopy (SEM) and SAXS. CNT films were also converted into cellular foams of CNTs through capillarity-induced densification. By examining spatially- and time-resolved SAXS data for the cellular foams, we identified low angle features in the scattering curves that correspond to the average spacing between CNTs, demonstrating that SAXS is a useful method for monitoring the packing density of CNTs in a film. For all of the morphologies that were examined (aligned, disordered, compressed, and densified), SAXS data showed good correspondence with SEM images.

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

    NASA Technical Reports Server (NTRS)

    Lewis, R. A.

    1974-01-01

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

  6. More Unusual Light Curves from Kepler

    NASA Astrophysics Data System (ADS)

    Kohler, Susanna

    2017-03-01

    -main-sequence stars ever obtained.In these light curves, Stauffer and collaborators found a set of 23 very low-mass, mid-to-late-type M dwarfs with unusual variability in their light curves. The variability is consistent with the stars rotation period where measured which suggests that whatever causes the dips in the light curve, its orbiting at the same rate as the star spins.Causes of Variability?These plots show how the properties of these 23 stars compare to those of the rest of the stars in their cluster (click for a closer look!). For all but the rotation rate, they are typical. But the stars with scallop-shaped light curves have among the shortest periods in Upper Sco, with somenear the theoretical break-up for stars of their age. [Stauffer et al. 2017]The authors categorize the 23 stars into two main groups.The first group consists of 19 stars with short periods; more than half of them rotate within a factor of two of their predicted breakup period! Many of these show sudden changes in their light-curve morphology, often after a stellar flare. The authors propose that the variability in these light curves might be caused by warm coronal gas clouds that are organized into a structured toroidal shape around the star.The second group consists of the remaining four stars, which have slightly longer periods. The light curves show a single short-duration flux dip with highly variable depth and shape superposed on normal, spotted-star light curves. The authors best guess for these four stars is that there are clouds of dusty debris circling the star, possibly orbiting a close-in planet or resulting from a recent collisional event.Stauffer and collaborators are currently developing more detailed models for these stars based on the possible variability scenarios. The next step, they state, is to determine if the gas in these structures have properties necessary to generate the light-curve features we see.CitationJohn Stauffer et al 2017 AJ 153 152. doi:10.3847/1538-3881/aa5eb9

  7. Manipulating Polymer Connectivity to Control Interfacial Fracture

    SciTech Connect

    Stevens, Mark J.

    1999-08-23

    By studying model polymeric networks which only differ in their connectivity, the connectivity is shown to strongly control the stress-strain response and failure modes. The sequence of molecular structural deformations that lead to failure are strongly dependent upon the network connectivity. A set of ideal, ordered networks are constructed to manipulate the deformation sequence to achieve a variety of adhesive qualities. Compared to random, dynamically formed networks, these ideal networks can be made to have either much larger or smaller failure stresses and strains. Unlike the random networks, the failure stress of an ideal network can be made close to the ideal stress equal to breaking all bonds to the substrate. By varying the number of bonds to the surface, the failure mode can be controlled to be either adhesive or cohesive.

  8. Diffraction manipulation by four-wave mixing.

    PubMed

    Katzir, Itay; Ron, Amiram; Firstenberg, Ofer

    2015-03-09

    We suggest a scheme to manipulate paraxial diffraction by utilizing the dependency of a four-wave mixing process on the relative angle between the light fields. A microscopic model for four-wave mixing in a Λ-type level structure is introduced and compared to recent experimental data. We show that images with feature size as low as 10 μm can propagate with very little or even negative diffraction. The mechanism is completely different from that conserving the shape of spatial solitons in nonlinear media, as here diffraction is suppressed for arbitrary spatial profiles. At the same time, the gain inherent to the nonlinear process prevents loss and allows for operating at high optical depths. Our scheme does not rely on atomic motion and is thus applicable to both gaseous and solid media.

  9. Manipulating magnetic moments by superconducting currents

    NASA Astrophysics Data System (ADS)

    Chudnovsky, Eugene M.

    2017-03-01

    We show that the interaction between a superconducting order parameter and the magnetic moment of an atomic cluster in a two-dimensional s -wave superconductor with Rashba spin-orbit coupling generates magnetic anisotropy that can be stronger or comparable to the magnetic anisotropy due to the crystal field and the shape of the cluster. Transport current through the superconductor produces the effective magnetic field acting on the cluster's magnetic moment. The direction of the effective field depends on the direction of the current, thus allowing one to manipulate the magnetic moment by the superconducting current. Due to the large density of the superconducting current this method of magnetization reversal can be more advantageous at low temperatures than the spin-transfer torque method that requires a large spin-polarized current through a normal metal.

  10. Development of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

    NASA Technical Reports Server (NTRS)

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

    2014-01-01

    An invention of a new and novel space robotic manipulator is described. By using a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening, this new robotic manipulator architecture achieves compact packaging, high strength, stiffness and dexterity while being very lightweight compared to conventional manipulators. The manipulator is also very modular; easy to scale for different reach, load and stiffness requirements; enabling customization for a diverse set of applications. Novel features of the new manipulator concept are described as well as some of the approaches to implement these design features. Two diverse applications are presented to show the versatility of the concept. First generation prototype hardware was designed, manufactured and has been assembled into a working manipulator that is being used to refine and extend development efforts.

  11. Modeling and Fitting Exoplanet Transit Light Curves

    NASA Astrophysics Data System (ADS)

    Millholland, Sarah; Ruch, G. T.

    2013-01-01

    We present a numerical model along with an original fitting routine for the analysis of transiting extra-solar planet light curves. Our light curve model is unique in several ways from other available transit models, such as the analytic eclipse formulae of Mandel & Agol (2002) and Giménez (2006), the modified Eclipsing Binary Orbit Program (EBOP) model implemented in Southworth’s JKTEBOP code (Popper & Etzel 1981; Southworth et al. 2004), or the transit model developed as a part of the EXOFAST fitting suite (Eastman et al. in prep.). Our model employs Keplerian orbital dynamics about the system’s center of mass to properly account for stellar wobble and orbital eccentricity, uses a unique analytic solution derived from Kepler’s Second Law to calculate the projected distance between the centers of the star and planet, and calculates the effect of limb darkening using a simple technique that is different from the commonly used eclipse formulae. We have also devised a unique Monte Carlo style optimization routine for fitting the light curve model to observed transits. We demonstrate that, while the effect of stellar wobble on transit light curves is generally small, it becomes significant as the planet to stellar mass ratio increases and the semi-major axes of the orbits decrease. We also illustrate the appreciable effects of orbital ellipticity on the light curve and the necessity of accounting for its impacts for accurate modeling. We show that our simple limb darkening calculations are as accurate as the analytic equations of Mandel & Agol (2002). Although our Monte Carlo fitting algorithm is not as mathematically rigorous as the Markov Chain Monte Carlo based algorithms most often used to determine exoplanetary system parameters, we show that it is straightforward and returns reliable results. Finally, we show that analyses performed with our model and optimization routine compare favorably with exoplanet characterizations published by groups such as the

  12. Spinal manipulation and mobilisation for back and neck pain: a blinded review.

    PubMed Central

    Koes, B W; Assendelft, W J; van der Heijden, G J; Bouter, L M; Knipschild, P G

    1991-01-01

    OBJECTIVE--To assess the efficacy of spinal manipulation for patients with back or neck pain. DESIGN--Computer aided search for published papers and blinded assessment of the methods of the studies. SUBJECTS--35 randomised clinical trials comparing spinal manipulation with other treatments. MAIN OUTCOME MEASURES--Score for quality of methods (based on four main categories: study population, interventions, measurement of effect, and data presentation and analysis) and main conclusion of author(s) with regard to spinal manipulation. RESULTS--No trial scored 60 or more points (maximum score 100) suggesting that most were of poor quality. Eighteen studies (51%) showed favourable results for manipulation. In addition, five studies (14%) reported positive results in one or more subgroups. Of the four studies with 50-60 points, one reported that manipulation was better, two reported that manipulation was better in only a subgroup, and one reported that manipulation was no better or worse than reference treatment. Eight trials attempted to compare manipulation with some placebo, with inconsistent results. CONCLUSIONS--Although some results are promising, the efficacy of manipulation has not been convincingly shown. Further trials are needed, but much more attention should be paid to the methods of study. PMID:1836153

  13. How verbal and spatial manipulation networks contribute to calculation: an fMRI study.

    PubMed

    Zago, Laure; Petit, Laurent; Turbelin, Marie-Renée; Andersson, Frédéric; Vigneau, Mathieu; Tzourio-Mazoyer, Nathalie

    2008-01-01

    The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intraparietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and nonsymbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with nonsymbolic material.

  14. Cochlear microphonic broad tuning curves

    NASA Astrophysics Data System (ADS)

    Ayat, Mohammad; Teal, Paul D.; Searchfield, Grant D.; Razali, Najwani

    2015-12-01

    It is known that the cochlear microphonic voltage exhibits much broader tuning than does the basilar membrane motion. The most commonly used explanation for this is that when an electrode is inserted at a particular point inside the scala media, the microphonic potentials of neighbouring hair cells have different phases, leading to cancelation at the electrodes location. In situ recording of functioning outer hair cells (OHCs) for investigating this hypothesis is exceptionally difficult. Therefore, to investigate the discrepancy between the tuning curves of the basilar membrane and those of the cochlear microphonic, and the effect of phase cancellation of adjacent hair cells on the broadness of the cochlear microphonic tuning curves, we use an electromechanical model of the cochlea to devise an experiment. We explore the effect of adjacent hair cells (i.e., longitudinal phase cancellation) on the broadness of the cochlear microphonic tuning curves in different locations. The results of the experiment indicate that active longitudinal coupling (i.e., coupling with active adjacent outer hair cells) only slightly changes the broadness of the CM tuning curves. The results also demonstrate that there is a π phase difference between the potentials produced by the hair bundle and the soma near the place associated with the characteristic frequency based on place-frequency maps (i.e., the best place). We suggest that the transversal phase cancellation (caused by the phase difference between the hair bundle and the soma) plays a far more important role than longitudinal phase cancellation in the broadness of the cochlear microphonic tuning curves. Moreover, by increasing the modelled longitudinal resistance resulting the cochlear microphonic curves exhibiting sharper tuning. The results of the simulations suggest that the passive network of the organ of Corti determines the phase difference between the hair bundle and soma, and hence determines the sharpness of the

  15. Inducing vortex formation in multilayered circular dots using remanent curves

    NASA Astrophysics Data System (ADS)

    Kim, Dong-Ok; Ryeol Lee, Dong; Choi, Yongseong; Metlushko, Vitali; Park, Jihwey; Kim, Jae-Young; Bong Lee, Ki

    2012-11-01

    We report field manipulation of magnetic vortex states in Co(30 nm)/Cu(3 nm)/Ni80Fe20 (20 nm)-multilayer dot arrays via remanent curve. The element-resolved resonant x-ray magnetic measurements, combined with micromagnetic simulations, show vortex formation in the Co layer but not in the NiFe layer along the major hysteresis loop. Although the two magnetic layers are not directly coupled due to the presence of the Cu interlayer, the NiFe layer is strongly influenced by the dipolar field from uncompensated magnetic poles in the Co layer. Using remanent curves, we demonstrate that the single vortex state can be induced simultaneously in both layers.

  16. Closed timelike curves in asymmetrically warped brane universes

    SciTech Connect

    Paes, Heinrich; Pakvasa, Sandip; Dent, James; Weiler, Thomas J.

    2009-08-15

    In asymmetrically-warped spacetimes different warp factors are assigned to space and to time. We discuss causality properties of these warped brane universes and argue that scenarios with two extra dimensions may allow for timelike curves which can be closed via paths in the extra-dimensional bulk. In particular, necessary and sufficient conditions on the metric for the existence of closed timelike curves are presented. We find a six-dimensional warped metric which satisfies the CTC conditions, and where the null, weak and dominant energy conditions are satisfied on the brane (although only the former remains satisfied in the bulk). Such scenarios are interesting, since they open the possibility of experimentally testing the chronology protection conjecture by manipulating on our brane initial conditions of gravitons or hypothetical gauge-singlet fermions (''sterile neutrinos'') which then propagate in the extra dimensions.

  17. A Comparison of Concrete and Virtual Manipulative Use in Third- and Fourth-Grade Mathematics

    ERIC Educational Resources Information Center

    Burns, Barbara A.; Hamm, Ellen M.

    2011-01-01

    The primary purpose of this classroom experiment was to examine the effectiveness of concrete (hands-on) manipulatives as compared with virtual (computer-based) manipulatives on student review of fraction concepts in third grade and introduction of symmetry concepts in fourth grade. A pretest-posttest design was employed with a sample of 91…

  18. COMPARISON OF THE EFFECTS OF NICOTINE AND NON-PHARMACOLOGICAL MANIPULATIONS ON REPEATED ACQUISITION IN RATS.

    EPA Science Inventory

    Non-pharmacological manipulations may be useful in identifying the behavioral mechanisms of drug action. We therefore compared the effect of nicotine with several manipulations of reinforcer efficacy on the repeated acquisition of response sequences in rats. Adult male Long-Eva...

  19. Effects of Experimenting with Physical and Virtual Manipulatives on Students' Conceptual Understanding in Heat and Temperature

    ERIC Educational Resources Information Center

    Zacharia, Zacharias C.; Olympiou, Georgios; Papaevripidou, Marios

    2008-01-01

    This study aimed to investigate the comparative value of experimenting with physical manipulatives (PM) in a sequential combination with virtual manipulatives (VM), with the use of PM preceding the use of VM, and of experimenting with PM alone, with respect to changes in students' conceptual understanding in the domain of heat and temperature. A…

  20. Fault-tolerant analysis and control of SSRMS-type manipulators with single-joint failure

    NASA Astrophysics Data System (ADS)

    She, Yu; Xu, Wenfu; Su, Haijun; Liang, Bin; Shi, Hongliang

    2016-03-01

    Several space manipulators, whose configurations are similar to that of the Space Station Remote Manipulator System (SSRMS, also called Canadarm2), are playing important roles in the construction and maintenance of the International Space Station. Working in the harsh orbital environment, they are at high risk of single-joint failure. Fault-tolerant capability is critical for those manipulators to complete their on-orbital tasks. In this paper, we analysed and compared the manipulation capability of SSRMS-type manipulators with joints locked at arbitrary positions, and proposed efficient path planning via a fault-tolerant control method. First, a unified kinematic model of this type of manipulators was established. Second, the manipulation capability of the original 7-DOF (degrees of freedom) redundant manipulator was analysed and compared with its degraded 6-DOF counterparts formed by different joint locking configurations. Then, we identified those joints with large sensitivity to fault tolerance performance. The influences of different positions of all joints were also determined by numerical computation. Based on the analysis, the relatively safe and dangerous regions for each joint failure were identified. Finally, we proposed a path planning strategy and realized by a H∞ controller which enables the failure joint locked in the safe region, and simulations were carried on a degraded 3-DOF planar redundant manipulator to verify the planning strategy and control approach. This paper provided important analysis results and efficient methods to address the possible problems of SSRMS-type manipulators caused by single-joint failure that can be extended to other types of manipulators. Moreover, the proposed method is useful for designing the optimal configuration of a redundant manipulator.

  1. Sperm cells manipulation employing dielectrophoresis.

    PubMed

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

    2013-10-01

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

  2. Controlling multiple manipulators using RIPS

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  3. Research on a Reconfigurable Modular Manipulator System

    SciTech Connect

    Khosla, P.K.; Kanade, T.

    1992-01-01

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

  4. Virus manipulation of cell cycle.

    PubMed

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

    2012-07-01

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

  5. Note: Application of a novel 2(3HUS+S) parallel manipulator for simulation of hip joint motion

    NASA Astrophysics Data System (ADS)

    Shan, X. L.; Cheng, G.; Liu, X. Z.

    2016-07-01

    In the paper, a novel 2(3HUS+S) parallel manipulator, which has two moving platforms, is proposed. The parallel manipulator is adopted to simulate hip joint motion and can conduct an experiment for two hip joints simultaneously. Motion experiments are conducted in the paper, and the recommended hip joint motion curves from ISO14242 and actual hip joint motions during jogging and walking are selected as the simulated motions. The experimental results indicate that the 2(3HUS+S) parallel manipulator can realize the simulation of many kinds of hip joint motions without changing the structure size.

  6. Spatial-Operator Algebra For Robotic Manipulators

    NASA Technical Reports Server (NTRS)

    Rodriguez, Guillermo; Kreutz, Kenneth K.; Milman, Mark H.

    1991-01-01

    Report discusses spatial-operator algebra developed in recent studies of mathematical modeling, control, and design of trajectories of robotic manipulators. Provides succinct representation of mathematically complicated interactions among multiple joints and links of manipulator, thereby relieving analyst of most of tedium of detailed algebraic manipulations. Presents analytical formulation of spatial-operator algebra, describes some specific applications, summarizes current research, and discusses implementation of spatial-operator algebra in the Ada programming language.

  7. Bracing micro/macro manipulators control

    SciTech Connect

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

    1994-05-01

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

  8. Measuring Model Rocket Engine Thrust Curves

    NASA Astrophysics Data System (ADS)

    Penn, Kim; Slaton, William V.

    2010-12-01

    This paper describes a method and setup to quickly and easily measure a model rocket engine's thrust curve using a computer data logger and force probe. Horst describes using Vernier's LabPro2 and force probe to measure the rocket engine's thrust curve; however, the method of attaching the rocket to the force probe is not discussed. We show how a simple engine holder can be constructed and used with Vernier's LabPro and force probe to record data that students can use to compare to sample data from the rocket manufacturer or the National Association of Rocketry's3 engine certification sheets, calculate total impulse, and make predictions for model rocket launches. PASCO markets a rocket engine test bracket4 that mounts to its PASPORT force sensor for similar measurements. The engine holder described here is very economical, and all the parts can be obtained from a local hardware store or home center.

  9. Modeling Light Curves for Improved Classification

    NASA Astrophysics Data System (ADS)

    Faraway, Julian; Mahabal, Ashish; Sun, Jiayang; Wang, Xiaofeng; Yi; Zhang, Lingsong

    2016-02-01

    Many synoptic surveys are observing large parts of the sky multiple times. The resulting lightcurves provide a wonderful window to the dynamic nature of the universe. However, there are many significant challenges in analyzing these light curves. These include heterogeneity of the data, irregularly sampled data, missing data, censored data, known but variable measurement errors, and most importantly, the need to classify in astronomical objects in real time using these imperfect light curves. We describe a modeling-based approach using Gaussian process regression for generating critical measures representing features for the classification of such lightcurves. We demonstrate that our approach performs better by comparing it with past methods. Finally, we provide future directions for use in sky-surveys that are getting even bigger by the day.

  10. Relative Locality in Curved Spacetime

    NASA Astrophysics Data System (ADS)

    Kowalski-Glikman, Jerzy; Rosati, Giacomo

    2013-07-01

    In this paper we construct the action describing dynamics of the particle moving in curved spacetime, with a nontrivial momentum space geometry. Curved momentum space is the core feature of theories where relative locality effects are present. So far aspects of nonlinearities in momentum space have been studied only for flat or constantly expanding (de Sitter) spacetimes, relying on their maximally symmetric nature. The extension of curved momentum space frameworks to arbitrary spacetime geometries could be relevant for the opportunities to test Planck-scale curvature/deformation of particles momentum space. As a first example of this construction we describe the particle with κ-Poincaré momentum space on a circular orbit in Schwarzschild spacetime, where the contributes of momentum space curvature turn out to be negligible. The analysis of this problem relies crucially on the solution of the soccer ball problem.

  11. Phase nucleation in curved space

    NASA Astrophysics Data System (ADS)

    Gómez, Leopoldo; García, Nicolás; Vitelli, Vincenzo; Lorenzana, José; Daniel, Vega

    Nucleation and growth is the dominant relaxation mechanism driving first-order phase transitions. In two-dimensional flat systems, nucleation has been applied to a wide range of problems in physics, chemistry and biology. Here we study nucleation and growth of two-dimensional phases lying on curved surfaces and show that curvature modifies both critical sizes of nuclei and paths towards the equilibrium phase. In curved space, nucleation and growth becomes inherently inhomogeneous and critical nuclei form faster on regions of positive Gaussian curvature. Substrates of varying shape display complex energy landscapes with several geometry-induced local minima, where initially propagating nuclei become stabilized and trapped by the underlying curvature (Gómez, L. R. et al. Phase nucleation in curved space. Nat. Commun. 6:6856 doi: 10.1038/ncomms7856 (2015).).

  12. Supply curves of conserved energy

    NASA Astrophysics Data System (ADS)

    Meier, A. K.

    1982-05-01

    Supply curves of conserved energy provide an accounting framework that expresses the potential for energy conservation. The economic worthiness of a conservation measure is expressed in terms of the cost of conserved energy, and a measure is considered economical when the cost of conserved energy is less than the price of the energy it replaces. A supply curve of conserved energy is independent of energy prices; however, the economical reserves of conserved energy will depend on energy prices. Double-counting of energy savings and error propagation are common problems when estimating conservation potentials, but supply curves minimize these difficulties and make their consequences predictable. The sensitivity of the cost of conserved energy is examined, as are variations in the optimal investment strategy in response to changes in inputs. Guidelines are presented for predicting the consequences of such changes.

  13. Compliant Gripper for a Robotic Manipulator

    NASA Technical Reports Server (NTRS)

    Cipra, Raymond; Das, Hari

    2003-01-01

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

  14. Culture and Manipulation of Embryonic Cells

    PubMed Central

    Edgar, Lois G.; Goldstein, Bob

    2012-01-01

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

  15. Earth orbital teleoperator manipulator system evaluation program

    NASA Technical Reports Server (NTRS)

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

    1975-01-01

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

  16. Curve Fit Technique for a Smooth Curve Using Gaussian Sections.

    DTIC Science & Technology

    1983-08-01

    curve-fitting. Furthermore, the algorithm that does the fitting is simple enough to be used on a programmable calculator . 8 -I.F , A X i 4. Y-14 .4. - -* F.J OR;r IF 17 r*~~ , ac ~J ’a vt. . S ~ :.. *~All, a-4k .16’.- a1 1, t

  17. Harmonic Measure of Critical Curves

    SciTech Connect

    Bettelheim, E.; Rushkin, I.; Gruzberg, I.A.; Wiegmann, P.

    2005-10-21

    Fractal geometry of critical curves appearing in 2D critical systems is characterized by their harmonic measure. For systems described by conformal field theories with central charge c{<=}1, scaling exponents of the harmonic measure have been computed by Duplantier [Phys. Rev. Lett. 84, 1363 (2000)] by relating the problem to boundary two-dimensional gravity. We present a simple argument connecting the harmonic measure of critical curves to operators obtained by fusion of primary fields and compute characteristics of the fractal geometry by means of regular methods of conformal field theory. The method is not limited to theories with c{<=}1.

  18. Active particles on curved surfaces

    NASA Astrophysics Data System (ADS)

    Fily, Yaouen; Baskaran, Aparna; Hagan, Michael

    Active systems have proved to be very sensitive to the geometry of their environment. This is often achieved by spending significant time at the boundary, probing its shape by gliding along it. I will discuss coarse graining the microscopic dynamics of self-propelled particles on a general curved surface to predict the way the density profile on the surface depends on its geometry. Beyond confined active particles, this formalism is a natural starting point to study objects that cannot leave the boundary at all, such as cells crawling on a curved substrate, animals running on uneven ground, or active colloids trapped at an interface.

  19. Shock detachment from curved wedges

    NASA Astrophysics Data System (ADS)

    Mölder, S.

    2017-03-01

    Curved shock theory is used to show that the flow behind attached shocks on doubly curved wedges can have either positive or negative post-shock pressure gradients depending on the freestream Mach number, the wedge angle and the two wedge curvatures. Given enough wedge length, the flow near the leading edge can choke to force the shock to detach from the wedge. This local choking can preempt both the maximum deflection and the sonic criteria for shock detachment. Analytical predictions for detachment by local choking are supported by CFD results.

  20. NEXT Performance Curve Analysis and Validation

    NASA Technical Reports Server (NTRS)

    Saripalli, Pratik; Cardiff, Eric; Englander, Jacob

    2016-01-01

    Performance curves of the NEXT thruster are highly important in determining the thruster's ability in performing towards mission-specific goals. New performance curves are proposed and examined here. The Evolutionary Mission Trajectory Generator (EMTG) is used to verify variations in mission solutions based on both available thruster curves and the new curves generated. Furthermore, variations in BOL and EOL curves are also examined. Mission design results shown here validate the use of EMTG and the new performance curves.

  1. Estimating thumb-index finger precision grip and manipulation potential in extant and fossil primates.

    PubMed

    Feix, Thomas; Kivell, Tracy L; Pouydebat, Emmanuelle; Dollar, Aaron M

    2015-05-06

    Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb-index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon.

  2. Estimating thumb–index finger precision grip and manipulation potential in extant and fossil primates

    PubMed Central

    Feix, Thomas; Kivell, Tracy L.; Pouydebat, Emmanuelle; Dollar, Aaron M.

    2015-01-01

    Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb–index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. PMID:25878134

  3. Kinematics and Control of Robot Manipulators

    NASA Astrophysics Data System (ADS)

    Paden, Bradley Evan

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

  4. Supply Curves of Conserved Energy

    SciTech Connect

    Meier, Alan Kevin

    1982-05-01

    Supply curves of conserved energy provide an accounting framework that expresses the potential for energy conservation. The economic worthiness of a conservation measure is expressed in terms of the cost of conserved energy, and a measure is considered economical when the cost of conserved energy is less than the price of the energy it replaces. A supply curve of conserved energy is independent of energy prices; however, the economical reserves of conserved energy will depend on energy prices. Double-counting of energy savings and error propagation are common problems when estimating conservation potentials, but supply curves minimize these difficulties and make their consequences predictable. The sensitivity of the cost of conserved energy is examined, as are variations in the optimal investment strategy in response to changes in inputs. Guidelines are presented for predicting the consequences of such changes. The conservation supply curve concept can be applied to peak power, water, pollution, and other markets where consumers demand a service rather than a particular good.

  5. Interpolation and Polynomial Curve Fitting

    ERIC Educational Resources Information Center

    Yang, Yajun; Gordon, Sheldon P.

    2014-01-01

    Two points determine a line. Three noncollinear points determine a quadratic function. Four points that do not lie on a lower-degree polynomial curve determine a cubic function. In general, n + 1 points uniquely determine a polynomial of degree n, presuming that they do not fall onto a polynomial of lower degree. The process of finding such a…

  6. Variability among polysulphone calibration curves

    NASA Astrophysics Data System (ADS)

    Casale, G. R.; Borra, M.; Colosimo, A.; Colucci, M.; Militello, A.; Siani, A. M.; Sisto, R.

    2006-09-01

    Within an epidemiological study regarding the correlation between skin pathologies and personal ultraviolet (UV) exposure due to solar radiation, 14 field campaigns using polysulphone (PS) dosemeters were carried out at three different Italian sites (urban, semi-rural and rural) in every season of the year. A polysulphone calibration curve for each field experiment was obtained by measuring the ambient UV dose under almost clear sky conditions and the corresponding change in the PS film absorbance, prior and post exposure. Ambient UV doses were measured by well-calibrated broad-band radiometers and by electronic dosemeters. The dose-response relation was represented by the typical best fit to a third-degree polynomial and it was parameterized by a coefficient multiplying a cubic polynomial function. It was observed that the fit curves differed from each other in the coefficient only. It was assessed that the multiplying coefficient was affected by the solar UV spectrum at the Earth's surface whilst the polynomial factor depended on the photoinduced reaction of the polysulphone film. The mismatch between the polysulphone spectral curve and the CIE erythemal action spectrum was responsible for the variability among polysulphone calibration curves. The variability of the coefficient was related to the total ozone amount and the solar zenith angle. A mathematical explanation of such a parameterization was also discussed.

  7. Breakpoint chlorination curves of greywater.

    PubMed

    March, J G; Gual, M

    2007-08-01

    A study on chlorination of raw greywater with hypochlorite is reported in this paper. Samples were chlorinated in a variety of conditions, and residual chlorine (Cl2) was measured spectrophotometrically. For each sample, the chlorination curve (chlorine residuals versus chlorine dose) was obtained. Curves showed the typical hump-and-dip profile attributable to the formation and destruction of chloramines. It was observed that, after reactions with strong reductants and chloramines-forming compounds, the remaining organic matter exerted a certain demand of chlorine. The evolution of chlorination curves with addition of ammonia and dodecylbencene sulfonate sodium salt and with dilution of the greywater sample were studied. In addition, chlorination curves at several contact times have been obtained, resulting in slower chlorine decay in the hump zone than in the dip zone. In addition, the decay of coliforms in chlorinated samples was also investigated. It was found that, for a chlorination dosage corresponding to the maximum of the hump zone (average 8.9 mg Cl2/ L), samples were negative in coliforms after 10 to 30 minutes of contact time. After-growth was not observed within 3 days after chlorination. Implications in chlorination treatments of raw greywater can be derived from these results.

  8. Serial position curves in free recall.

    PubMed

    Laming, Donald

    2010-01-01

    The scenario for free recall set out in Laming (2009) is developed to provide models for the serial position curves from 5 selected sets of data, for final free recall, and for multitrial free recall. The 5 sets of data reflect the effects of rate of presentation, length of list, delay of recall, and suppression of rehearsal. Each model accommodates the serial position curve for first recalls (where those data are available) as well as that for total recalls. Both curves are fit with the same parameter values, as also (with 1 exception) are all of the conditions compared within each experiment. The distributions of numbers of recalls are also examined and shown to have variances increased above what would be expected if successive recalls were independent. This is taken to signify that, in those experiments in which rehearsals were not recorded, the retrieval of words for possible recall follows the same pattern that is observed following overt rehearsal, namely, that retrieval consists of runs of consecutive elements from memory. Finally, 2 sets of data are examined that the present approach cannot accommodate. It is argued that the problem with these data derives from an interaction between the patterns of (covert) rehearsal and the parameters of list presentation.

  9. Spinal manipulative therapy in sports medicine.

    PubMed

    Haldeman, S

    1986-04-01

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

  10. Teachers' Beliefs and Teaching Mathematics with Manipulatives

    ERIC Educational Resources Information Center

    Golafshani, Nahid

    2013-01-01

    To promote the implementation of manipulatives into mathematics instruction, this research project examined how the instructional practices of four Grade 9 applied mathematics teachers related to their beliefs about the use of manipulatives in teaching mathematics, its effects on students' learning, and enabling and disabling factors. Teacher…

  11. Manipulating Language: A Strategy for Teaching Literature.

    ERIC Educational Resources Information Center

    Byers, Prudence P.

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

  12. Cervical epidural hematoma after chiropractic spinal manipulation.

    PubMed

    Heiner, Jason D

    2009-10-01

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

  13. Count on It: Congruent Manipulative Displays

    ERIC Educational Resources Information Center

    Morin, Joe; Samelson, Vicki M.

    2015-01-01

    Representations that create informative visual displays are powerful tools for communicating mathematical concepts. The National Council of Teachers of Mathematics encourages the use of manipulatives (NCTM 2000). Manipulative materials are often used to present initial representations of basic numerical principles to young children, and it is…

  14. Welding torch and wire feed manipulator

    NASA Technical Reports Server (NTRS)

    Williams, R. T.

    1967-01-01

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

  15. On stiffening cables of a long reach manipulator

    SciTech Connect

    Wang, S.L.; Santiago, P.

    1996-02-01

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

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

    SciTech Connect

    Baker, C.P.

    1994-08-01

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

  17. Genetic manipulation of Giardia lamblia.

    PubMed

    Davis-Hayman, Sara R; Nash, Theodore E

    2002-06-01

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

  18. Coanda-assisted Spray Manipulation

    NASA Astrophysics Data System (ADS)

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

    2009-11-01

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

  19. Light Manipulation in Organic Photovoltaics.

    PubMed

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

    2016-07-01

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

  20. Light Manipulation in Organic Photovoltaics

    PubMed Central

    Ou, Qing‐Dong

    2016-01-01

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

  1. Genetic manipulation of Coxiella burnetii.

    PubMed

    Beare, Paul A

    2012-01-01

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

  2. Interactive digital image manipulation system

    NASA Technical Reports Server (NTRS)

    Henze, J.; Dezur, R.

    1975-01-01

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

  3. Microcrystal manipulation with laser tweezers

    SciTech Connect

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

    2013-07-01

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

  4. Optical Phase Curves of Kepler Exoplanets

    NASA Astrophysics Data System (ADS)

    Esteves, Lisa J.; De Mooij, Ernst J. W.; Jayawardhana, Ray

    2013-07-01

    We conducted a comprehensive search for optical phase variations of all close-in (a/R sstarf < 10) planet candidates in 15 quarters of Kepler space telescope data. After correcting for systematics, we found eight systems that show secondary eclipses as well as phase variations. Of these, five (Kepler-5, Kepler-6, Kepler-8, KOI-64, and KOI-2133) are new and three (TrES-2, HAT-P-7, and KOI-13) have published phase curves, albeit with many fewer observations. We model the full phase curve of each planet candidate, including the primary and secondary transits, and derive their albedos, dayside and nightside temperatures, ellipsoidal variations, and Doppler beaming. We find that KOI-64 and KOI-2133 have nightside temperatures well above their equilibrium values (while KOI-2133 also has an albedo, >1), so we conclude that they are likely to be self-luminous objects rather than planets. The other six candidates have characteristics consistent with their being planets with low geometric albedos (<0.3). For TrES-2 and KOI-13, the Kepler bandpass appears to probe atmospheric layers hotter than the planet's equilibrium temperature. For KOI-13, we detect a never-before-seen third cosine harmonic with an amplitude of 6.7 ± 0.3 ppm and a phase shift of -1.1 ± 0.1 rad in the phase curve residual, possibly due to its spin-orbit misalignment. We report derived planetary parameters for all six planets, including masses from ellipsoidal variations and Doppler beaming, and compare our results to published values when available. Our results nearly double the number of Kepler exoplanets with measured phase curve variations, thus providing valuable constraints on the properties of hot Jupiters.

  5. OPTICAL PHASE CURVES OF KEPLER EXOPLANETS

    SciTech Connect

    Esteves, Lisa J.; De Mooij, Ernst J. W.; Jayawardhana, Ray E-mail: demooij@astro.utoronto.ca

    2013-07-20

    We conducted a comprehensive search for optical phase variations of all close-in (a/R{sub *} < 10) planet candidates in 15 quarters of Kepler space telescope data. After correcting for systematics, we found eight systems that show secondary eclipses as well as phase variations. Of these, five (Kepler-5, Kepler-6, Kepler-8, KOI-64, and KOI-2133) are new and three (TrES-2, HAT-P-7, and KOI-13) have published phase curves, albeit with many fewer observations. We model the full phase curve of each planet candidate, including the primary and secondary transits, and derive their albedos, dayside and nightside temperatures, ellipsoidal variations, and Doppler beaming. We find that KOI-64 and KOI-2133 have nightside temperatures well above their equilibrium values (while KOI-2133 also has an albedo, >1), so we conclude that they are likely to be self-luminous objects rather than planets. The other six candidates have characteristics consistent with their being planets with low geometric albedos (<0.3). For TrES-2 and KOI-13, the Kepler bandpass appears to probe atmospheric layers hotter than the planet's equilibrium temperature. For KOI-13, we detect a never-before-seen third cosine harmonic with an amplitude of 6.7 {+-} 0.3 ppm and a phase shift of -1.1 {+-} 0.1 rad in the phase curve residual, possibly due to its spin-orbit misalignment. We report derived planetary parameters for all six planets, including masses from ellipsoidal variations and Doppler beaming, and compare our results to published values when available. Our results nearly double the number of Kepler exoplanets with measured phase curve variations, thus providing valuable constraints on the properties of hot Jupiters.

  6. Lower extremity kinematics of athletics curve sprinting.

    PubMed

    Alt, Tobias; Heinrich, Kai; Funken, Johannes; Potthast, Wolfgang

    2015-01-01

    Curve running requires the generation of centripetal force altering the movement pattern in comparison to the straight path run. The question arises which kinematic modulations emerge while bend sprinting at high velocities. It has been suggested that during curve sprints the legs fulfil different functions. A three-dimensional motion analysis (16 high-speed cameras) was conducted to compare the segmental kinematics of the lower extremity during the stance phases of linear and curve sprints (radius: 36.5 m) of six sprinters of national competitive level. Peak joint angles substantially differed in the frontal and transversal plane whereas sagittal plane kinematics remained unchanged. During the prolonged left stance phase (left: 107.5 ms, right: 95.7 ms, straight: 104.4 ms) the maximum values of ankle eversion (left: 12.7°, right: 2.6°, straight: 6.6°), hip adduction (left: 13.8°, right: 5.5°, straight: 8.8°) and hip external rotation (left: 21.6°, right: 12.9°, straight: 16.7°) were significantly higher. The inside leg seemed to stabilise the movement in the frontal plane (eversion-adduction strategy) whereas the outside leg provided and controlled the motion in the horizontal plane (rotation strategy). These results extend the principal understanding of the effects of curve sprinting on lower extremity kinematics. This helps to increase the understanding of nonlinear human bipedal locomotion, which in turn might lead to improvements in athletic performance and injury prevention.

  7. Simulation and analysis of flexibly jointed manipulators

    NASA Technical Reports Server (NTRS)

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

    1990-01-01

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

  8. Comparison of Two Algebraic Methods for Curve/curve Intersection

    NASA Technical Reports Server (NTRS)

    Demontaudouin, Y.; Tiller, W.

    1985-01-01

    Most geometric modeling systems use either polynomial or rational functions to represent geometry. In such systems most computational problems can be formulated as systems of polynomials in one or more variables. Classical elimination theory can be used to solve such systems. Here Cayley's method of elimination is summarized and it is shown how it can best be used to solve the curve/curve intersection problem. Cayley's method was found to be a more straightforward approach. Furthermore, it is computationally simpler, since the elements of the Cayley matrix are one variable instead of two variable polynomials. Researchers implemented and tested both methods and found Cayley's to be more efficient. Six pairs of curves, representing mixtures of lines, circles, and cubic arcs were used. Several examples had multiple intersection points. For all six cases Cayley's required less CPU time than the other method. The average time ratio of method 1 to method 2 was 3.13:1, the least difference was 2.33:1, and the most dramatic was 6.25:1. Both of the above methods can be extended to solve the surface/surface intersection problem.

  9. Curve fitting for RHB Islamic Bank annual net profit

    NASA Astrophysics Data System (ADS)

    Nadarajan, Dineswary; Noor, Noor Fadiya Mohd

    2015-05-01

    The RHB Islamic Bank net profit data are obtained from 2004 to 2012. Curve fitting is done by assuming the data are exact or experimental due to smoothing process. Higher order Lagrange polynomial and cubic spline with curve fitting procedure are constructed using Maple software. Normality test is performed to check the data adequacy. Regression analysis with curve estimation is conducted in SPSS environment. All the eleven models are found to be acceptable at 10% significant level of ANOVA. Residual error and absolute relative true error are calculated and compared. The optimal model based on the minimum average error is proposed.

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

    SciTech Connect

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

    1993-06-01

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

  11. Calibrating Curved Crystals Used for Plasma Spectroscopy

    SciTech Connect

    Haugh, M. J., Jacoby, K. D., Ross, P. W., Rochau, G. Wu, M., Regan, S. P., Barrios, M. A.

    2012-10-29

    The throughput and resolving power of an X-ray spectrometer that uses a curved crystal as the diffraction element is determined primarily by the crystal X-ray reflectivity properties. This poster presents a measurement technique for these crystal parameters using a simple diode source to produce a narrow spectral band. The results from measurements on concave elliptical polyethylene terephthalate (PET) crystals and convex potassium acid phthalate (KAP) crystals show large variations in the key parameters compared to those from the flat crystal.

  12. New Horizons approach photometry of Pluto and Charon: light curves and Solar phase curves

    NASA Astrophysics Data System (ADS)

    Zangari, A. M.; Buie, M. W.; Buratti, B. J.; Verbiscer, A.; Howett, C.; Weaver, H. A., Jr.; Olkin, C.; Ennico Smith, K.; Young, L. A.; Stern, S. A.

    2015-12-01

    While the most captivating images of Pluto and Charon were shot by NASA's New Horizons probe on July 14, 2015, the spacecraft also imaged Pluto with its LOng Range Reconnaissance Imager ("LORRI") during its Annual Checkouts and Approach Phases, with campaigns in July 2013, July 2014, January 2015, March 2015, April 2015, May 2015 and June 2015. All but the first campaign provided full coverage of Pluto's 6.4 day rotation. Even though many of these images were taken when surface features on Pluto and Charon were unresolved, these data provide a unique opportunity to study Pluto over a timescale of several months. Earth-based data from an entire apparition must be combined to create a single light curve, as Pluto is never otherwise continuously available for observing due to daylight, weather and scheduling. From the spacecraft, Pluto's sub-observer latitude remained constant to within 0.05 degrees of 43.15 degrees, comparable to a week's worth of change as seen from Earth near opposition. During the July 2013 to June 2015 period, Pluto's solar phase curve increased from 11 degrees to 15 degrees, a small range, but large compared to Earth's 2 degree limit. The slope of the solar phase curve hints at properties such as surface roughness. Using PSF photometry that takes into account the ever-increasing sizes of Pluto and Charon as seen from New Horizons, as well as surface features discovered at closest approach, we present rotational light curves and solar phase curves of Pluto and Charon. We will connect these observations to previous measurements of the system from Earth.

  13. Additive manufacturing of patient-specific tubular continuum manipulators

    NASA Astrophysics Data System (ADS)

    Amanov, Ernar; Nguyen, Thien-Dang; Burgner-Kahrs, Jessica

    2015-03-01

    Tubular continuum robots, which are composed of multiple concentric, precurved, elastic tubes, provide more dexterity than traditional surgical instruments at the same diameter. The tubes can be precurved such that the resulting manipulator fulfills surgical task requirements. Up to now the only material used for the component tubes of those manipulators is NiTi, a super-elastic shape-memory alloy of nickel and titan. NiTi is a cost-intensive material and fabrication processes are complex, requiring (proprietary) technology, e.g. for shape setting. In this paper, we evaluate component tubes made of 3 different thermoplastic materials (PLA, PCL and nylon) using fused filament fabrication technology (3D printing). This enables quick and cost-effective production of custom, patient-specific continuum manipulators, produced on site on demand. Stress-strain and deformation characteristics are evaluated experimentally for 16 fabricated tubes of each thermoplastic with diameters and shapes equivalent to those of NiTi tubes. Tubes made of PCL and nylon exhibit properties comparable to those made of NiTi. We further demonstrate a tubular continuum manipulator composed of 3 nylon tubes in a transnasal, transsphenoidal skull base surgery scenario in vitro.

  14. Parallel methods for dynamic simulation of multiple manipulator systems

    NASA Technical Reports Server (NTRS)

    Mcmillan, Scott; Sadayappan, P.; Orin, David E.

    1993-01-01

    In this paper, efficient dynamic simulation algorithms for a system of m manipulators, cooperating to manipulate a large load, are developed; their performance, using two possible forms of parallelism on a general-purpose parallel computer, is investigated. One form, temporal parallelism, is obtained with the use of parallel numerical integration methods. A speedup of 3.78 on four processors of CRAY Y-MP8 was achieved with a parallel four-point block predictor-corrector method for the simulation of a four manipulator system. These multi-point methods suffer from reduced accuracy, and when comparing these runs with a serial integration method, the speedup can be as low as 1.83 for simulations with the same accuracy. To regain the performance lost due to accuracy problems, a second form of parallelism is employed. Spatial parallelism allows most of the dynamics of each manipulator chain to be computed simultaneously. Used exclusively in the four processor case, this form of parallelism in conjunction with a serial integration method results in a speedup of 3.1 on four processors over the best serial method. In cases where there are either more processors available or fewer chains in the system, the multi-point parallel integration methods are still advantageous despite the reduced accuracy because both forms of parallelism can then combine to generate more parallel tasks and achieve greater effective speedups. This paper also includes results for these cases.

  15. Manipulation of Liquids Using Phased Array Generation of Acoustic Radiation Pressure

    NASA Technical Reports Server (NTRS)

    Oeftering, Richard C. (Inventor)

    2000-01-01

    A phased array of piezoelectric transducers is used to control and manipulate contained as well as uncontained fluids in space and earth applications. The transducers in the phased array are individually activated while being commonly controlled to produce acoustic radiation pressure and acoustic streaming. The phased array is activated to produce a single pulse, a pulse burst or a continuous pulse to agitate, segregate or manipulate liquids and gases. The phased array generated acoustic radiation pressure is also useful in manipulating a drop, a bubble or other object immersed in a liquid. The transducers can be arranged in any number of layouts including linear single or multi- dimensional, space curved and annular arrays. The individual transducers in the array are activated by a controller, preferably driven by a computer.

  16. K2 Mission Light Curves

    NASA Astrophysics Data System (ADS)

    Smith, Jeffrey C.; morris, robert; Bryson, Steve; Jenkins, Jon Michael; Caldwell, Douglas

    2015-08-01

    The K2 mission is now generating light curves for its ecliptic-field campaigns. Producing good photometry for K2 is more challenging than for Kepler’s prime mission because periodic thruster firings are used to compensate for the loss of two reaction wheels. These firings, referred to as "roll tweaks", result in spacecraft rotation along the barrel axis and high corresponding image motion. The resulting motion-dominated systematic errors are dramatically different than the focus-dominated systematic errors experienced during the prime mission. They also make it challenging to properly identify and remove flux from background objects present in the optimal apertures. We summarize these challenges and describe the resulting modifications to the Kepler pipeline for the processing of K2 data. The quality of the K2 mission light curves is characterized.

  17. Infinite swapping in curved spaces

    NASA Astrophysics Data System (ADS)

    Curotto, E.; Mella, Massimo

    2014-01-01

    We develop an extension of the infinite swapping and partial infinite swapping techniques [N. Plattner, J. D. Doll, P. Dupuis, H. Wang, Y. Liu, and J. E. Gubernatis, J. Chem. Phys. 135, 134111 (2011)] to curved spaces. Furthermore, we test the performance of infinite swapping and partial infinite swapping in a series of flat spaces characterized by the same potential energy surface model. We develop a second order variational algorithm for general curved spaces without the extended Lagrangian formalism to include holonomic constraints. We test the new methods by carrying out NVT classical ensemble simulations on a set of multidimensional toroids mapped by stereographic projections and characterized by a potential energy surface built from a linear combination of decoupled double wells shaped purposely to create rare events over a range of temperatures.

  18. Infinite swapping in curved spaces.

    PubMed

    Curotto, E; Mella, Massimo

    2014-01-07

    We develop an extension of the infinite swapping and partial infinite swapping techniques [N. Plattner, J. D. Doll, P. Dupuis, H. Wang, Y. Liu, and J. E. Gubernatis, J. Chem. Phys. 135, 134111 (2011)] to curved spaces. Furthermore, we test the performance of infinite swapping and partial infinite swapping in a series of flat spaces characterized by the same potential energy surface model. We develop a second order variational algorithm for general curved spaces without the extended Lagrangian formalism to include holonomic constraints. We test the new methods by carrying out NVT classical ensemble simulations on a set of multidimensional toroids mapped by stereographic projections and characterized by a potential energy surface built from a linear combination of decoupled double wells shaped purposely to create rare events over a range of temperatures.

  19. Analysis of Exoplanet Light Curves

    NASA Astrophysics Data System (ADS)

    Erdem, A.; Budding, E.; Rhodes, M. D.; Püsküllü, Ç.; Soydugan, F.; Soydugan, E.; Tüysüz, M.; Demircan, O.

    2015-07-01

    We have applied the close binary system analysis package WINFITTER to a variety of exoplanet transiting light curves taken both from the NASA Exoplanet Archive and our own ground-based observations. WINFitter has parameter options for a realistic physical model, including gravity brightening and structural parameters derived from Kopal's applications of the relevant Radau equation, and it includes appropriate tests for determinacy and adequacy of its best fitting parameter sets. We discuss a number of issues related to empirical checking of models for stellar limb darkening, surface maculation, Doppler beaming, microvariability, and transit time variation (TTV) effects. The Radau coefficients used in the light curve modeling, in principle, allow structural models of the component stars to be tested.

  20. Propagation of waves of acoustic frequencies in curved ducts

    NASA Technical Reports Server (NTRS)

    Rostafinski, W.

    1973-01-01

    The propagation of waves of acoustic frequencies in curved ducts is studied for the first four modes. The analysis makes use of Bessel functions to construct curves of wave number in the duct versus imposed wave number. The results apply to ducts of arbitrary width and arbitrary radii of curvature. The characteristics of motion in a bend are compared with propagation of waves in a straight duct, and important differences in the behavior of waves are noted.

  1. Modeling and Validating Chronic Pharmacological Manipulation of Circadian Rhythms

    PubMed Central

    Kim, J K; Forger, D B; Marconi, M; Wood, D; Doran, A; Wager, T; Chang, C; Walton, K M

    2013-01-01

    Circadian rhythms can be entrained by a light-dark (LD) cycle and can also be reset pharmacologically, for example, by the CK1δ/ε inhibitor PF-670462. Here, we determine how these two independent signals affect circadian timekeeping from the molecular to the behavioral level. By developing a systems pharmacology model, we predict and experimentally validate that chronic CK1δ/ε inhibition during the earlier hours of a LD cycle can produce a constant stable delay of rhythm. However, chronic dosing later during the day, or in the presence of longer light intervals, is not predicted to yield an entrained rhythm. We also propose a simple method based on phase response curves (PRCs) that predicts the effects of a LD cycle and chronic dosing of a circadian drug. This work indicates that dosing timing and environmental signals must be carefully considered for accurate pharmacological manipulation of circadian phase. PMID:23863866

  2. Task based synthesis of serial manipulators

    PubMed Central

    Patel, Sarosh; Sobh, Tarek

    2015-01-01

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

  3. Dynamic control of kinematically redundant manipulators

    NASA Astrophysics Data System (ADS)

    Lin, Zhengcheng

    1993-03-01

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

  4. Fuzzy logic control of telerobot manipulators

    NASA Technical Reports Server (NTRS)

    Franke, Ernest A.; Nedungadi, Ashok

    1992-01-01

    Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

  5. Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application.

    PubMed

    Liu, Quanquan; Kobayashi, Yo; Noguchi, Takahiko; Inko, Elgezua; Sekiguchi, Yuta; Zhang, Bo; Ye, Jing; Toyoda, Kazutaka; Hashizume, Makoto; Fujie, Masakatsu G

    2013-01-01

    This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with "flexible shaft and Double Screw Drive (DSD) mechanism" structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts for power transmission are connected to the base of the manipulator. Universal joints are used for power transmission to realize distal motion. The improvement done with the design of the second prototype reduced the torque necessary to drive the flexible shafts during motion in surgical interventions. Experiment results show that the manipulator has enough range of movement for surgical intervention.

  6. W-026, acceptance test report manipulator system

    SciTech Connect

    Watson, T.L.

    1997-04-15

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

  7. Mobile manipulation: a challenge in integration

    NASA Astrophysics Data System (ADS)

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

    2008-04-01

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

  8. Osteopathic manipulative medicine for carpal tunnel syndrome.

    PubMed

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

    2012-03-01

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

  9. Dynamically consistent Jacobian inverse for mobile manipulators

    NASA Astrophysics Data System (ADS)

    Ratajczak, Joanna; Tchoń, Krzysztof

    2016-06-01

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

  10. Large planar maneuvers for articulated flexible manipulators

    NASA Technical Reports Server (NTRS)

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

    1988-01-01

    An articulated flexible manipulator carried on a translational cart is maneuvered by an active controller to perform certain position control tasks. The nonlinear dynamics of the articulated flexible manipulator are derived and a transformation matrix is formulated to localize the nonlinearities in the inertia matrix. Then a feeback linearization scheme is introduced to linearize the dynamic equations for controller design. Through a pole placement technique, a robust controller design is obtained by properly assigning a set of closed-loop desired eigenvalues to meet performance requirements. Numerical simulations for the articulated flexible manipulators are given to demonstrate the feasibility and effectiveness of the proposed position control algorithms.

  11. Large planar maneuvers for articulated flexible manipulators

    NASA Technical Reports Server (NTRS)

    Huang, Jen-Kuang; Yang, Li-Farn

    1988-01-01

    An articulated flexible manipulator carried on a translational cart is maneuvered by an active controller to perform certain position control tasks. The nonlinear dynamics of the articulated flexible manipulator are derived and a transformation matrix is formulated to localize the nonlinearities within the inertia matrix. Then a feedback linearization scheme is introduced to linearize the dynamic equations for controller design. Through a pole placement technique, a robust controller design is obtained by properly assigning a set of closed-loop desired eigenvalues to meet performance requirements. Numerical simulations for the articulated flexible manipulators are given to demonstrate the feasibility and effectiveness of the proposed position control algorithms.

  12. Diminished suture strength after robotic needle driver manipulation.

    PubMed

    Ricchiuti, Daniel; Cerone, Jeffrey; Shie, Scott; Jetley, Ajay; Noe, Donald; Kovacik, Mark

    2010-09-01

    Robot-assisted minimally invasive surgery has become a routine surgical option for the treatment of prostate cancer. Despite its technical advancements, the da Vinci(®) Surgical System still lacks haptic feedback to the surgeon, resulting in a maximally applied compressive force by the robotic needle driver during every grasping maneuver. Without this perceptional sense of touch and grip control, repetitive robotic needle driver manipulation may unknowingly lead to irreparable damage to fine sutures used during delicate anastomotic repairs. For robotic prostatectomy, any such loss of integrity can potentially lead to premature breakdown of the urethrovesical anastomosis and urine extravasation, especially important for a less-than-perfectly fashioned anastomotic repair. Although it has already been established that overhandling of sutures using handheld laparoscopic instruments can lead to reduced suture strength, it has not been established to what extent this may occur after robotic surgical procedures. We present analytical data and analyses concerning the failure strength of fine sutures commonly used for urethrovesical anastomotic repair during robotic prostatectomy, after repetitive robotic needle driver manipulation. When compared with noncompromised monofilament suture controls, the average maximal failure force after repetitive robotic manipulation was significantly reduced by 35% (p < 0.0001). Similarly, the average maximal failure force of braided sutures was significantly reduced after repetitive robotic manipulation by 3% (p = 0.009). This work demonstrates that significant reductions in monofilament and braided suture strength integrity can occur after customary repetitive manipulation by robotic needle drivers in an ex vivo model, with further research warranted in the in vivo setting.

  13. Preliminary Structural Design Considerations and Mass Efficiencies for Lunar Surface Manipulator Concepts

    NASA Technical Reports Server (NTRS)

    Dorsey, John T.; Mikulas, Martin M.; Doggett, William R.

    2008-01-01

    The mass and sizing characteristics of manipulators for Lunar and Mars planetary surface applications are investigated by analyzing three structural configurations: a simple cantilevered boom with a square tubular cross-section; a hybrid cable/boom configuration with a square tubular cross-section support structure; and a hybrid cable/boom configuration with a square truss cross-section support structure. Design procedures are developed for the three configurations and numerical examples are given. A new set of performance parameters are developed that relate the mass of manipulators and cranes to a loading parameter. These parameters enable the masses of different manipulator configurations to be compared over a wide range of design loads and reach envelopes (radii). The use of these parameters is demonstrated in the form of a structural efficiency chart using the newly considered manipulator configurations. To understand the performance of Lunar and Mars manipulators, the design procedures were exercised on the three manipulator configurations assuming graphite/epoxy materials for the tubes and trusses. It is also assumed that the actuators are electric motor, gear reduction systems. Numerical results for manipulator masses and sizes are presented for a variety of manipulator reach and payload mass capabilities. Results are presented that demonstrate the sensitivity of manipulator mass to operational radius, tip force, and actuator efficiency. The effect of the value of gravitational force on the ratio of manipulator-mass to payload-mass is also shown. Finally, results are presented to demonstrate the relative mass reduction for the use of graphite/epoxy compared to aluminum for the support structure.

  14. Dielectrophoresis of micro/nano particles using curved microelectrodes

    NASA Astrophysics Data System (ADS)

    Khoshmanesh, Khashayar; Tovar-Lopez, Francisco J.; Baratchi, Sara; Zhang, Chen; Kayani, Aminuddin A.; Chrimes, Adam F.; Nahavandi, Saeid; Wlodkowic, Donald; Mitchell, Arnan; Kalantar-zadeh, Kourosh

    2011-12-01

    Dielectrophoresis, the induced motion of polarisable particles in non-homogenous electric field, has been proven as a versatile mechanism to transport, immobilise, sort and characterise micro/nano scale particle in microfluidic platforms. The performance of dielectrophoretic (DEP) systems depend on two parameters: the configuration of microelectrodes designed to produce the DEP force and the operating strategies devised to employ this force in such processes. This work summarises the unique features of curved microelectrodes for the DEP manipulation of target particles in microfluidic systems. The curved microelectrodes demonstrate exceptional capabilities including (i) creating strong electric fields over a large portion of their structure, (ii) minimising electro-thermal vortices and undesired disturbances at their tips, (iii) covering the entire width of the microchannel influencing all passing particles, and (iv) providing a large trapping area at their entrance region, as evidenced by extensive numerical and experimental analyses. These microelectrodes have been successfully applied for a variety of engineering and biomedical applications including (i) sorting and trapping model polystyrene particles based on their dimensions, (ii) patterning carbon nanotubes to trap low-conductive particles, (iii) sorting live and dead cells based on their dielectric properties, (iv) real-time analysis of drug-induced cell death, and (v) interfacing tumour cells with environmental scanning electron microscopy to study their morphological properties. The DEP systems based on curved microelectrodes have a great potential to be integrated with the future lab-on-achip systems.

  15. Cocaine Versus Food Choice Procedure in Rats: Environmental Manipulations and Effects of Amphetamine

    PubMed Central

    Thomsen, Morgane; Barrett, Andrew C.; Negus, S. Stevens; Caine, S. Barak

    2014-01-01

    We have adapted a nonhuman primate model of cocaine versus food choice to the rat species. To evaluate the procedure, we tested cocaine versus food choice under a variety of environmental manipulations as well as pharmacological pretreatments. Complete cocaine-choice dose-effect curves (0–1.0 mg/kg/infusion) were obtained for each condition under concurrent fixed ratio schedules of reinforcement. Percentage of responding emitted on the cocaine-reinforced lever was not affected significantly by removal of cocaine-associated visual or auditory cues, but it was decreased after removal of response-contingent or response-independent cocaine infusions. Cocaine choice was sensitive to the magnitude and fixed ratio requirement of both the cocaine and food reinforcers. We also tested the effects of acute (0.32, 0.56, 1.0, 1.8 mg/kg) and chronic (0.1, 0.32 mg/kg/hr) d-amphetamine treatment on cocaine choice. Acute and chronic d-amphetamine had opposite effects, with acute increasing and chronic decreasing cocaine choice, similar to observations in humans and in nonhuman primates. The results suggest feasibility and utility of the choice procedure in rats and support its comparability to similar procedures used in humans and monkeys. PMID:23319458

  16. Cocaine versus food choice procedure in rats: environmental manipulations and effects of amphetamine.

    PubMed

    Thomsen, Morgane; Barrett, Andrew C; Negus, S Stevens; Caine, S Barak

    2013-03-01

    We have adapted a nonhuman primate model of cocaine versus food choice to the rat species. To evaluate the procedure, we tested cocaine versus food choice under a variety of environmental manipulations as well as pharmacological pretreatments. Complete cocaine-choice dose-effect curves (0-1.0 mg/kg/infusion) were obtained for each condition under concurrent fixed ratio schedules of reinforcement. Percentage of responding emitted on the cocaine-reinforced lever was not affected significantly by removal of cocaine-associated visual or auditory cues, but it was decreased after removal of response-contingent or response-independent cocaine infusions. Cocaine choice was sensitive to the magnitude and fixed ratio requirement of both the cocaine and food reinforcers. We also tested the effects of acute (0.32, 0.56, 1.0, 1.8 mg/kg) and chronic (0.1, 0.32 mg/kg/hr) d-amphetamine treatment on cocaine choice. Acute and chronic d-amphetamine had opposite effects, with acute increasing and chronic decreasing cocaine choice, similar to observations in humans and in nonhuman primates. The results suggest feasibility and utility of the choice procedure in rats and support its comparability to similar procedures used in humans and monkeys.

  17. Perspectives on object manipulation and action grammar for percussive actions in primates

    PubMed Central

    Hayashi, Misato

    2015-01-01

    The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of object manipulation in naive chimpanzees after nut-cracking demonstrations revealed the cause of difficulties in learning nut-cracking behaviour. Various types of behaviours exhibited within a nut-cracking context can be examined in terms of the application of problem-solving strategies, focusing on their basis in causal understanding or insightful intentionality. Captive chimpanzees also exhibit complex forms of combinatory manipulation, which is the precursor of tool use. A new notation system of object manipulation was invented to assess grammatical rules in manipulative actions. The notation system of action grammar enabled direct comparisons to be made between primates including humans in a variety of object-manipulation tasks, including percussive-tool use. PMID:26483528

  18. Perspectives on object manipulation and action grammar for percussive actions in primates.

    PubMed

    Hayashi, Misato

    2015-11-19

    The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of object manipulation in naive chimpanzees after nut-cracking demonstrations revealed the cause of difficulties in learning nut-cracking behaviour. Various types of behaviours exhibited within a nut-cracking context can be examined in terms of the application of problem-solving strategies, focusing on their basis in causal understanding or insightful intentionality. Captive chimpanzees also exhibit complex forms of combinatory manipulation, which is the precursor of tool use. A new notation system of object manipulation was invented to assess grammatical rules in manipulative actions. The notation system of action grammar enabled direct comparisons to be made between primates including humans in a variety of object-manipulation tasks, including percussive-tool use.

  19. Pneumatic artificial muscle actuators for compliant robotic manipulators

    NASA Astrophysics Data System (ADS)

    Robinson, Ryan Michael

    Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

  20. Progress Report on Alloy 617 Isochronous Stress-Strain Curves

    SciTech Connect

    Jill K. Wright; Richard N. Wright; Nancy J. Lybeck

    2014-03-01

    Isochronous stress-strain curves for Alloy 617 up to a temperature of 1000°C will be required to qualify the material for elevated temperature design in Section III, Division 1, Subsection NH of the ASME Boiler and Pressure Vessel Code. Several potential methods for developing these curves are reviewed in this report. It is shown that in general power-law creep is the rate controlling deformation mechanism for a wide range of alloy heats, test temperatures and stresses. Measurement of the strain rate sensitivity of Alloy 617 indicates that the material is highly strain rate sensitive in the tensile deformation range above about 750°C. This suggests that the concept of a hot tensile curve as a bounding case on the isochronous stress-strain diagrams is problematic. The impact of strain rate on the hot tensile curves is examined and it is concluded that incorporating such a curve is only meaningful if a single tensile strain rate (typically the ASTM standard rate of 0.5%/min) is arbitrarily defined. Current experimentally determined creep data are compared to isochronous stress-strain curves proposed previously by the German programs in the 1980s and by the 1990 draft ASME Code Case. Variability in how well the experimental data are represented by the proposed design curves that suggests further analysis is necessary prior to completing a new draft Code Case.

  1. Spitzer Space Telescope Mid-IR Light Curves of Neptune

    NASA Technical Reports Server (NTRS)

    Stauffer, John; Marley, Mark S.; Gizis, John E.; Rebull, Luisa; Carey, Sean J.; Krick, Jessica; Ingalls, James G.; Lowrance, Patrick; Glaccum, William; Kirkpatrick, J. Davy; Simon, Amy A.; Wong, Michael H.

    2016-01-01

    We have used the Spitzer Space Telescope in 2016 February to obtain high cadence, high signal-to-noise, 17 hr duration light curves of Neptune at 3.6 and 4.5 microns. The light curve duration was chosen to correspond to the rotation period of Neptune. Both light curves are slowly varying with time, with full amplitudes of 1.1 mag at 3.6 microns and 0.6 mag at 4.5 microns. We have also extracted sparsely sampled 18 hr light curves of Neptune at W1 (3.4 microns) and W2 (4.6 microns) from the Wide-field Infrared Survey Explorer (WISE)/NEOWISE archive at six epochs in 2010-2015. These light curves all show similar shapes and amplitudes compared to the Spitzer light curves but with considerable variation from epoch to epoch. These amplitudes are much larger than those observed with Kepler/K2 in the visible (amplitude approximately 0.02 mag) or at 845 nm with the Hubble Space Telescope (HST) in 2015 and at 763 nm in 2016 (amplitude approximately 0.2 mag). We interpret the Spitzer and WISE light curves as arising entirely from reflected solar photons, from higher levels in Neptune's atmosphere than for K2. Methane gas is the dominant opacity source in Neptune's atmosphere, and methane absorption bands are present in the HST 763 and 845 nm, WISE W1, and Spitzer 3.6 micron filters.

  2. Adaptive zero-tree structure for curved wavelet image coding

    NASA Astrophysics Data System (ADS)

    Zhang, Liang; Wang, Demin; Vincent, André

    2006-02-01

    We investigate the issue of efficient data organization and representation of the curved wavelet coefficients [curved wavelet transform (WT)]. We present an adaptive zero-tree structure that exploits the cross-subband similarity of the curved wavelet transform. In the embedded zero-tree wavelet (EZW) and the set partitioning in hierarchical trees (SPIHT), the parent-child relationship is defined in such a way that a parent has four children, restricted to a square of 2×2 pixels, the parent-child relationship in the adaptive zero-tree structure varies according to the curves along which the curved WT is performed. Five child patterns were determined based on different combinations of curve orientation. A new image coder was then developed based on this adaptive zero-tree structure and the set-partitioning technique. Experimental results using synthetic and natural images showed the effectiveness of the proposed adaptive zero-tree structure for encoding of the curved wavelet coefficients. The coding gain of the proposed coder can be up to 1.2 dB in terms of peak SNR (PSNR) compared to the SPIHT coder. Subjective evaluation shows that the proposed coder preserves lines and edges better than the SPIHT coder.

  3. Dielectrophoretic manipulation of nematic and isotropic droplets

    NASA Astrophysics Data System (ADS)

    Lee, Bomi; Song, Jang-Kun

    2016-03-01

    Dielectrophoresis can provide a delicate tool to control electrically neutral particles in colloid. The dielectrophoresis is usually applied to solid particles or heterogeneous liquid droplet in continuous liquid, but we devised and investigated the dielectrophoresis of isotropic droplets within nematic phase or vice versa. Using multi-components liquid crystal mixtures that exhibit relatively wide temperature range of nematic-isotropic coexistence, we achieved a field-induced phase separation between isotropic and nematic. We also fabricated the isotropic-nematic filaments that was achieved using a biased surface preference for either isotropic or nematic phase of the alignment layer [1]. The dielectrophoresis manipulations of isotropic and nematic droplets required much lower voltage compared to that for the electro wetting type devices. In addition, we observed the bi-directional actuation of isotropic droplets using anisotropic dielectric property of liquid crystal, which is not possible in usual dielectrophoresis. The bidirectional actuation was achieved by controlling the LC director within the cell so as to change the sign of the difference between the effective dielectric constant of nematic and isotropic liquid crystals. We simulated the bi-directional dielectrophoresis by performing the LC director calculation and the corresponding dielectrophoresis. The simulation results matched well with the experimental data. Thus, the bi-directional dielectrophoresis using isotropic and nematic droplets may open new possibility of electro- optical applications using liquid crystals.

  4. Artificial life approach to color contrast manipulation

    NASA Astrophysics Data System (ADS)

    Oliver, William R.

    1999-02-01

    Contrast enhancement methods have a long history of use in image processing for forensics and have been used to effect in the evaluation patterned injury of the skin. Most contrast enhancement methods, however, were developed for the evaluation of greyscale images and involve the manipulation of one dimension of data at a time. Contrast enhancement in a three- or more dimensional space poses challenges to the implementation of histogram equalization and similar algorithms. A number of approaches to dealing with this problem have been suggested, including performing operations on each channel independently or by various color `explosion' methods. Our laboratory has been investigating dispersion- and diffusion-based methods by modeling changes in color space as biological processes. In short, we model the migration and dispersion of points in color space as migration and differentiation. In this model, biological differentiation signals are used for segmentation in color space (color quantization) and chemoattractant and diffusion models are used for swarming and dispersal. The results of this method are compared with more traditional methods. Implementation issues are discussed. Extensions to the use of reaction-diffusion equations for color-space segmentation are discussed.

  5. Compression of contour data through exploiting curve-to-curve dependence

    NASA Technical Reports Server (NTRS)

    Yalabik, N.; Cooper, D. B.

    1975-01-01

    An approach to exploiting curve-to-curve dependencies in order to achieve high data compression is presented. One of the approaches to date of along curve compression through use of cubic spline approximation is taken and extended by investigating the additional compressibility achievable through curve-to-curve structure exploitation. One of the models under investigation is reported on.

  6. Optoelectronic tweezers for microparticle and cell manipulation

    NASA Technical Reports Server (NTRS)

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

    2009-01-01

    An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 .mu.m or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or groups of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

  7. Which Colles' fractures should be manipulated?

    PubMed

    Dixon, Sean; Allen, Patricia; Bannister, Gordon

    2005-01-01

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

  8. What is morally new in genetic manipulation?

    PubMed

    Keenan, J F

    1990-01-01

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

  9. Brachioradial pruritus and cervical spine manipulation.

    PubMed

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

    1998-08-01

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

  10. Reconfigurable mobile manipulation for accident response

    SciTech Connect

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

    2000-06-06

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

  11. The Frankfurt School's Theory of Manipulation

    ERIC Educational Resources Information Center

    Petryszak, Nicholas

    1977-01-01

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

  12. Tension Stiffened and Tendon Actuated Manipulator

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

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

  13. Optoelectronic Tweezers for Microparticle and Cell Manipulation

    NASA Technical Reports Server (NTRS)

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

    2014-01-01

    An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 micromillimeters or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or group of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

  14. Manipulatives Make Math Meaningful for Middle Schoolers.

    ERIC Educational Resources Information Center

    Scheer, Janet K.

    1985-01-01

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

  15. Hybrid Image-Plane/Stereo Manipulation

    NASA Technical Reports Server (NTRS)

    Baumgartner, Eric; Robinson, Matthew

    2004-01-01

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

  16. NLINEAR - NONLINEAR CURVE FITTING PROGRAM

    NASA Technical Reports Server (NTRS)

    Everhart, J. L.

    1994-01-01

    A common method for fitting data is a least-squares fit. In the least-squares method, a user-specified fitting function is utilized in such a way as to minimize the sum of the squares of distances between the data points and the fitting curve. The Nonlinear Curve Fitting Program, NLINEAR, is an interactive curve fitting routine based on a description of the quadratic expansion of the chi-squared statistic. NLINEAR utilizes a nonlinear optimization algorithm that calculates the best statistically weighted values of the parameters of the fitting function and the chi-square that is to be minimized. The inputs to the program are the mathematical form of the fitting function and the initial values of the parameters to be estimated. This approach provides the user with statistical information such as goodness of fit and estimated values of parameters that produce the highest degree of correlation between the experimental data and the mathematical model. In the mathematical formulation of the algorithm, the Taylor expansion of chi-square is first introduced, and justification for retaining only the first term are presented. From the expansion, a set of n simultaneous linear equations are derived, which are solved by matrix algebra. To achieve convergence, the algorithm requires meaningful initial estimates for the parameters of the fitting function. NLINEAR is written in Fortran 77 for execution on a CDC Cyber 750 under NOS 2.3. It has a central memory requirement of 5K 60 bit words. Optionally, graphical output of the fitting function can be plotted. Tektronix PLOT-10 routines are required for graphics. NLINEAR was developed in 1987.

  17. Efficient Kinematic Computations For 7-DOF Manipulators

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  18. Ecological consequences of manipulative parasites: chapter 9

    USGS Publications Warehouse

    Lafferty, Kevin D.; Kuris, A. M.

    2012-01-01

    Parasitic "puppet masters", with their twisted, self-serving life history strategies and impressive evolutionary takeovers of host minds, capture the imagination of listeners—even those that might not normally fi nd the topic of parasitism appealing (which includes most everyone). A favorite anecdote concerns the trematode Leucochloridium paradoxum migrating to the eyestalks of its intermediate host snail and pulsating its colored body, presumably to attract the predatory birds that are the final hosts for the worm. Identifying a parasite as “manipulative” infers that a change in host behavior or appearance is a direct consequence of the parasite’s adaptive actions that, on average, will increase the fi tness of the parasite. The list of parasites that manipulate their hosts is long and growing. Holmes and Bethel (1972) presented the earliest comprehensive review and brought the subject to mainstream ecologists. Over two decades ago, Andy Dobson (1988) listed seven cestodes, seven trematodes, ten acanthocephalans, and three nematodes that manipulated host behavior. Fifteen years later, Janice Moore (2002) filled a book with examples. The five infectious trophic strategies, typical parasites (macroparasites), pathogens, trophically transmitted parasites, parasitic castrators, and parasitoids (Kuris and Lafferty 2000; Lafferty and Kuris 2002, 2009) can modify host behavior, but the likelihood that a parasite manipulates behavior differs among strategies. The most studied infectious agents, non-trophically transmitted pathogens and macroparasites, have enormous public health, veterinary, and wildlife disease importance, yet few manipulate host behavior. The beststudied manipulative infectious agents are trophically transmitted parasites in their prey intermediate hosts. Parasitoids and parasitic castrators can also manipulate host behavior, but for different purposes and with different implications. Several studies of manipulative parasites conclude with

  19. On the manipulability of dual cooperative robots

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  20. Intrarenal stone manipulation: summary of recent experience.

    PubMed

    Ball, T P

    1978-01-01

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

  1. Dirac's aether in curved spacetime.

    PubMed

    Oliveira; Teixeira

    2000-06-01

    Proca's equations for two types of fields in a Dirac's aether with electric conductivity sigma are solved exactly. The Proca electromagnetic fields are assumed with cylindrical symmetry. The background is a static, curved spacetime whose spatial section is homogeneous and has the topology of either the three-sphere S 3 or the projective three-space P 3. Simple relations between the range of Proca field lambda, the Universe radius R, the limit of photon rest mass mgamma and the conductivity sigma are written down.

  2. Curved microchannels and bacterial streamers

    NASA Astrophysics Data System (ADS)

    Rusconi, Roberto; Lecuyer, Sigolene; Guglielmini, Laura; Stone, Howard

    2010-03-01

    Bacterial biofilms are commonly identified as microbial communities attached to a surface and encased in a self-secreted extracellular matrix. Due to their increased resistance to antimicrobial agents, biofilms have an enormous impact on health and medicine (e.g., wound healing, implant-associated infections, disease transmission). On the other hand, they constitute a major component of the stream ecosystem by increasing transport of nutrients and retention of suspended particles. In this talk, we present an experimental study of bacterial biofilm development in a microfluidic device. In particular, we show the formation of filamentous structures, or streamers, in curved channels and how these suspended biofilms are linked to the underlying hydrodynamics.

  3. EVEREST: Pixel Level Decorrelation of K2 Light Curves

    NASA Astrophysics Data System (ADS)

    Luger, Rodrigo; Agol, Eric; Kruse, Ethan; Barnes, Rory; Becker, Andrew; Foreman-Mackey, Daniel; Deming, Drake

    2016-10-01

    We present EPIC Variability Extraction and Removal for Exoplanet Science Targets (EVEREST), an open-source pipeline for removing instrumental noise from K2 light curves. EVEREST employs a variant of pixel level decorrelation to remove systematics introduced by the spacecraft’s pointing error and a Gaussian process to capture astrophysical variability. We apply EVEREST to all K2 targets in campaigns 0-7, yielding light curves with precision comparable to that of the original Kepler mission for stars brighter than {K}p≈ 13, and within a factor of two of the Kepler precision for fainter targets. We perform cross-validation and transit injection and recovery tests to validate the pipeline, and compare our light curves to the other de-trended light curves available for download at the MAST High Level Science Products archive. We find that EVEREST achieves the highest average precision of any of these pipelines for unsaturated K2 stars. The improved precision of these light curves will aid in exoplanet detection and characterization, investigations of stellar variability, asteroseismology, and other photometric studies. The EVEREST pipeline can also easily be applied to future surveys, such as the TESS mission, to correct for instrumental systematics and enable the detection of low signal-to-noise transiting exoplanets. The EVEREST light curves and the source code used to generate them are freely available online.

  4. Fragility curves of concrete bridges retrofitted by column jacketing

    NASA Astrophysics Data System (ADS)

    Shinozuka, Masanobu; Kim, Sang-Hoon; Kushiyama, Shigeru; Yi, Jin-Hak

    2002-12-01

    The Northridge earthquake inflicted various levels of damage upon a large number of Caltrans’ bridges not retrofitted by column jacketing. In this respect, this study represents results of fragility curve development for two (2) sample bridges typical in southern California, strengthened for seismic retrofit by means of steel jacketing of bridge columns. Monte Carlo simulation is performed to study nonlinear dynamic responses of the bridges before and after column retrofit. Fragility curves in this study are represented by lognormal distribution functions with two parameters and developed as a function of PGA. The sixty (60) ground acceleration time histories for the Los Angeles area developed for the Federal Emergency Management Agcncy (FEMA) SAC (SEAOC-ATC-CUREe) steel project are used for the dynamic analysis of the bridges. The improvement in the fragility with steel jacketing is quantified by comparing fragility curves of the bridge before and after column retrofit. In this first attempt to formulate the problem of fragility enhancement, the quantification is made by comparing the median values of the fragility curves before and after the retrofit. Under the hypothesis that this quantification also applies to empirical fragility curves developed on the basis of Northridge earthquake damage, the enhanced version of the empirical curves is developed for the ensuing analysis to determine the enhancement of transportation network performance due to the retrofit.

  5. Curved-channel microchannel array plates. [photoelectric detectors

    NASA Technical Reports Server (NTRS)

    Timothy, J. G.

    1981-01-01

    The microchannel array plate (MCP) is a photoelectric detector with an imaging capability comparable to that of a photographic plate. Recently MCPs in which the channels are curved to inhibit ion feedback have become available. These devices represent a major advance in MCP technology, since a single curved-channel MCP can be operated stably at high gain in the pulse-counting mode without any of the problems of stability of response or short lifetime reported for 'chevron' MCP detectors. Attention is given to the mode of operation of channel electron multipliers (CEM) and MCP, curved-channel MCP, test procedures, and performance characteristics. The accumulated test data show that the fundamental operating characteristics of the curved-channel MCP are directly related to those for the CEM.

  6. Intelligent modular manipulation for mobile robots

    NASA Astrophysics Data System (ADS)

    Culbertson, John

    2008-04-01

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

  7. Manipulator control for rover planetary exploration

    NASA Astrophysics Data System (ADS)

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

    1992-11-01

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

  8. Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

    NASA Technical Reports Server (NTRS)

    Kwon, Dong-Soo

    1991-01-01

    All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

  9. Miniature curved artificial compound eyes

    PubMed Central

    Floreano, Dario; Pericet-Camara, Ramon; Viollet, Stéphane; Ruffier, Franck; Brückner, Andreas; Leitel, Robert; Buss, Wolfgang; Menouni, Mohsine; Expert, Fabien; Juston, Raphaël; Dobrzynski, Michal Karol; L’Eplattenier, Geraud; Recktenwald, Fabian; Mallot, Hanspeter A.; Franceschini, Nicolas

    2013-01-01

    In most animal species, vision is mediated by compound eyes, which offer lower resolution than vertebrate single-lens eyes, but significantly larger fields of view with negligible distortion and spherical aberration, as well as high temporal resolution in a tiny package. Compound eyes are ideally suited for fast panoramic motion perception. Engineering a miniature artificial compound eye is challenging because it requires accurate alignment of photoreceptive and optical components on a curved surface. Here, we describe a unique design method for biomimetic compound eyes featuring a panoramic, undistorted field of view in a very thin package. The design consists of three planar layers of separately produced arrays, namely, a microlens array, a neuromorphic photodetector array, and a flexible printed circuit board that are stacked, cut, and curved to produce a mechanically flexible imager. Following this method, we have prototyped and characterized an artificial compound eye bearing a hemispherical field of view with embedded and programmable low-power signal processing, high temporal resolution, and local adaptation to illumination. The prototyped artificial compound eye possesses several characteristics similar to the eye of the fruit fly Drosophila and other arthropod species. This design method opens up additional vistas for a broad range of applications in which wide field motion detection is at a premium, such as collision-free navigation of terrestrial and aerospace vehicles, and for the experimental testing of insect vision theories. PMID:23690574

  10. Improved capacitive melting curve measurements

    NASA Astrophysics Data System (ADS)

    Sebedash, Alexander; Tuoriniemi, Juha; Pentti, Elias; Salmela, Anssi

    2009-02-01

    Sensitivity of the capacitive method for determining the melting pressure of helium can be enhanced by loading the empty side of the capacitor with helium at a pressure nearly equal to that desired to be measured and by using a relatively thin and flexible membrane in between. This way one can achieve a nanobar resolution at the level of 30 bar, which is two orders of magnitude better than that of the best gauges with vacuum reference. This extends the applicability of melting curve thermometry to lower temperatures and would allow detecting tiny anomalies in the melting pressure, which must be associated with any phenomena contributing to the entropy of the liquid or solid phases. We demonstrated this principle in measurements of the crystallization pressure of isotopic helium mixtures at millikelvin temperatures by using partly solid pure 4He as the reference substance providing the best possible universal reference pressure. The achieved sensitivity was good enough for melting curve thermometry on mixtures down to 100 μK. Similar system can be used on pure isotopes by virtue of a blocked capillary giving a stable reference condition with liquid slightly below the melting pressure in the reference volume. This was tested with pure 4He at temperatures 0.08-0.3 K. To avoid spurious heating effects, one must carefully choose and arrange any dielectric materials close to the active capacitor. We observed some 100 pW loading at moderate excitation voltages.

  11. Wrinkling Crystallography on Curved Surfaces

    NASA Astrophysics Data System (ADS)

    Reis, Pedro; Brojan, Miha; Terwagne, Denis; Lagrange, Romain

    2014-03-01

    We present results on an experimental analysis of the morphology of wrinkling patterns on curved surfaces. Our experimental hemispherical samples are fabricated using rapid prototyping and consist of a thin-stiff shell adhered to a soft-thick substrate, both made out of silicone-based rubbers. Pressurizing an inner spherical air cavity enables compression of the samples, thereby morphing the outer thin shell from its initially smooth configuration into a wrinkled state. A variety of patterns with different morphologies can be observed depending on the combination of the sample's geometric and material properties. We focus our attention on the specific pattern mode of hexagonal-like dimples, which we characterize by analyzing their surface profile using a digital 3D scanner. Through digital image processing, we skeletonize these patterns by identifying both the location of the ridges and determining the positions of the dimples. We give emphasis to the effect of curvature on the morphology and topology of these wrinkled patterns and focus on the tiling of the wrinkling units and their statistics of defects. Our results are contrasted with other crystalline planar and curved systems.

  12. Miniature curved artificial compound eyes.

    PubMed

    Floreano, Dario; Pericet-Camara, Ramon; Viollet, Stéphane; Ruffier, Franck; Brückner, Andreas; Leitel, Robert; Buss, Wolfgang; Menouni, Mohsine; Expert, Fabien; Juston, Raphaël; Dobrzynski, Michal Karol; L'Eplattenier, Geraud; Recktenwald, Fabian; Mallot, Hanspeter A; Franceschini, Nicolas

    2013-06-04

    In most animal species, vision is mediated by compound eyes, which offer lower resolution than vertebrate single-lens eyes, but significantly larger fields of view with negligible distortion and spherical aberration, as well as high temporal resolution in a tiny package. Compound eyes are ideally suited for fast panoramic motion perception. Engineering a miniature artificial compound eye is challenging because it requires accurate alignment of photoreceptive and optical components on a curved surface. Here, we describe a unique design method for biomimetic compound eyes featuring a panoramic, undistorted field of view in a very thin package. The design consists of three planar layers of separately produced arrays, namely, a microlens array, a neuromorphic photodetector array, and a flexible printed circuit board that are stacked, cut, and curved to produce a mechanically flexible imager. Following this method, we have prototyped and characterized an artificial compound eye bearing a hemispherical field of view with embedded and programmable low-power signal processing, high temporal resolution, and local adaptation to illumination. The prototyped artificial compound eye possesses several characteristics similar to the eye of the fruit fly Drosophila and other arthropod species. This design method opens up additional vistas for a broad range of applications in which wide field motion detection is at a premium, such as collision-free navigation of terrestrial and aerospace vehicles, and for the experimental testing of insect vision theories.

  13. Robot Kinematics Identification: KUKA LWR4+ Redundant Manipulator Example

    NASA Astrophysics Data System (ADS)

    Kolyubin, Sergey; Paramonov, Leonid; Shiriaev, Anton

    2015-11-01

    This work is aimed at a comprehensive discussion of algorithms for the kinematic parameters identification of robotic manipulators. We deal with an open-loop geometric calibration task, when a full 6D robot's end-effector pose is measured. Effective solutions of such a task is of high interest in many practical applications, because it can dramatically improve key robot characteristics. On the first step, we select optimal calibration configurations. A comparative analysis of three different algorithms and two observability indexes used for numerical optimization is provided. Afterwards, using the acquired and pre-processed experimental data we identify modified Denavit-Hartenberg parameters of the manipulator. Estimates are obtained resolving original nonlinear forward kinematics relations. Finally, we compare nominal and calibrated geometric parameters and show how much deviations in these parameters affect robot positioning accuracy. To the best of our knowledge, such integrated efforts are new for the KUKA LWR4+ robot and Nikon K610 optical coordinate measuring machine (CMM), which were used in the study. Discussion of practical issues on how to organise the experiment is an additional contribution of this work. The proposed procedure is highly automated and can be implemented to improve manipulator's performance on a periodic basis.

  14. Multidimensionality in host manipulation mimicked by serotonin injection

    PubMed Central

    Perrot-Minnot, Marie-Jeanne; Sanchez-Thirion, Kevin; Cézilly, Frank

    2014-01-01

    Manipulative parasites often alter the phenotype of their hosts along multiple dimensions. ‘Multidimensionality’ in host manipulation could consist in the simultaneous alteration of several physiological pathways independently of one another, or proceed from the disruption of some key physiological parameter, followed by a cascade of effects. We compared multidimensionality in ‘host manipulation’ between two closely related amphipods, Gammarus fossarum and Gammarus pulex, naturally and experimentally infected with Pomphorhynchus laevis (Acanthocephala), respectively. To that end, we calculated in each host–parasite association the effect size of the difference between infected and uninfected individuals for six different traits (activity, phototaxis, geotaxis, attraction to conspecifics, refuge use and metabolic rate). The effects sizes were highly correlated between host–parasite associations, providing evidence for a relatively constant ‘infection syndrome’. Using the same methodology, we compared the extent of phenotypic alterations induced by an experimental injection of serotonin (5-HT) in uninfected G. pulex to that induced by experimental or natural infection with P. laevis. We observed a significant correlation between effect sizes across the six traits, indicating that injection with 5-HT can faithfully mimic the ‘infection syndrome’. This is, to our knowledge, the first experimental evidence that multidimensionality in host manipulation can proceed, at least partly, from the disruption of some major physiological mechanism. PMID:25339729

  15. The effect of spinal manipulation on imbalances in leg strength.

    PubMed

    Chilibeck, Philip D; Cornish, Stephen M; Schulte, Al; Jantz, Nathan; Magnus, Charlene R A; Schwanbeck, Shane; Juurlink, Bernhard H J

    2011-09-01

    We hypothesized that spinal manipulation (SM) would reduce strength imbalances between legs. Using an un-blinded randomized design, 28 males and 21 females (54 ± 19y) with at least a 15% difference in isometric strength between legs for hip flexion, extension, abduction, or knee flexion were randomized to treatment or placebo (mock spinal manipulation). Strength of the stronger and weaker legs for hip flexion, extension, abduction, and/or knee flexion was assessed before and after the intervention. SM reduced the relative strength difference between legs for knee flexion (mean ± SD 57 ± 53 to 5 ± 14%) and hip flexion (24 ± 12 to 11 ± 15%) compared to placebo (34 ± 29 to 24 ± 36%, and 20 ± 18 to 22 ± 26%, respectively) (p = 0.05). SM also improved strength in the weak leg for hip abduction (104 ± 43 to 116 ± 43 Nm) compared to placebo (84 ± 24 to 85 ± 31 Nm) (p = 0.03). This study suggests that spinal manipulation may reduce imbalances in strength between legs for knee and hip flexion.

  16. Recent Data Sets on Object Manipulation: A Survey.

    PubMed

    Huang, Yongqiang; Bianchi, Matteo; Liarokapis, Minas; Sun, Yu

    2016-12-01

    Data sets is crucial not only for model learning and evaluation but also to advance knowledge on human behavior, thus fostering mutual inspiration between neuroscience and robotics. However, choosing the right data set to use or creating a new data set is not an easy task, because of the variety of data that can be found in the related literature. The first step to tackle this issue is to collect and organize those that are available. In this work, we take a significant step forward by reviewing data sets that were published in the past 10 years and that are directly related to object manipulation and grasping. We report on modalities, activities, and annotations for each individual data set and we discuss our view on its use for object manipulation. We also compare the data sets and summarize them. Finally, we conclude the survey by providing suggestions and discussing the best practices for the creation of new data sets.

  17. Why join groups? Lessons from parasite-manipulated Artemia.

    PubMed

    Rode, Nicolas O; Lievens, Eva J P; Flaven, Elodie; Segard, Adeline; Jabbour-Zahab, Roula; Sanchez, Marta I; Lenormand, Thomas

    2013-04-01

    Grouping behaviours (e.g. schooling, shoaling and swarming) are commonly explicated through adaptive hypotheses such as protection against predation, access to mates or improved foraging. However, the hypothesis that aggregation can result from manipulation by parasites to increase their transmission has never been demonstrated. We investigated this hypothesis using natural populations of two crustacean hosts (Artemia franciscana and Artemia parthenogenetica) infected with one cestode and two microsporidian parasites. We found that swarming propensity increased in cestode-infected hosts and that red colour intensity was higher in swarming compared with non-swarming infected hosts. These effects likely result in increased cestode transmission to its final avian host. Furthermore, we found that microsporidian-infected hosts had both increased swarming propensity and surfacing behaviour. Finally, we demonstrated using experimental infections that these concurrent manipulations result in increased spore transmission to new hosts. Hence, this study suggests that parasites can play a prominent role in host grouping behaviours.

  18. Ankle injury manipulation before or after X-ray--does it influence success?

    PubMed

    Hastie, G R; Divecha, H; Javed, S; Zubairy, A

    2014-03-01

    Many acute, deformed ankle injuries are manipulated in the Emergency Department (ED) before X-rays are taken to confirm the nature of the injury. This often occurs in the absence of neurovascular or skin compromise without consideration of other possible injuries such as talar, subtalar or calcaneal injuries. We believe that an inappropriate manipulation of an unknown injury pattern may place the patient at increased risk. A balance needs to be struck between making the correct diagnosis and preventing any further neurovascular or skin compromise. We prospectively reviewed 197 patients admitted to the Royal Blackburn Hospital with acute ankle injuries. Their ED notes were reviewed, specifically assessing whether a manipulation was performed; if so, was it performed before X-rays and the documented reasons. A total of 90 ankle fractures were manipulated and 31 of these were performed before X-ray. One manipulation was performed for vascular compromise, one for nerve symptoms, three for critical skin and 25 for undocumented reasons. Outcomes (re-manipulation, delay to surgery and need for open reduction and internal fixation (ORIF)) were compared between injuries manipulated before or after X-ray. Re-manipulation was found to be significant (44% before X-ray vs. 18% after X-ray; chi-squared test: p=0.03; relative risk (RR)=2.72; 95% confidence interval (CI): 1.15-6.44). Delay to surgery and need for ORIF were not statistically different. We conclude that performing ankle injury X-rays before an attempt at manipulation, in the absence of neurovascular deficit or critical skin, may constitute best practice as it provides a better assessment of fracture configuration, guides initial reduction and significantly lowers the risk of re-manipulation and the potential risks associated with sedation without delaying surgery.

  19. Radius surgical system and conventional laparoscopic instruments in abdominal surgery: application, learning curve and ergonomy.

    PubMed

    Di Lorenzo, N; Camperchioli, I; Gaspari, A L

    2007-12-01

    We illustrate our experience with a new class of instruments, the mechanical manipulators (MM), whose main features are an improved mobility, and ergonomy and a modular structure. A specific MM, the Radius Surgical System (RADIUS), has been used both for educational purposes as well as in clinical studies, demonstrating that it can represent an efficient tool to support surgeons performing surgical complex procedures, with a short learning curve for the postural attitude.

  20. Influence of horizontally curved roadway section characteristics on motorcycle-to-barrier crash frequency.

    PubMed

    Gabauer, Douglas J; Li, Xiaolong

    2015-04-01

    The purpose of this study was to investigate motorcycle-to-barrier crash frequency on horizontally curved roadway sections in Washington State using police-reported crash data linked with roadway data and augmented with barrier presence information. Data included 4915 horizontal curved roadway sections with 252 of these sections experiencing 329 motorcycle-to-barrier crashes between 2002 and 2011. Negative binomial regression was used to predict motorcycle-to-barrier crash frequency using horizontal curvature and other roadway characteristics. Based on the model results, the strongest predictor of crash frequency was found to be curve radius. This supports a motorcycle-to-barrier crash countermeasure placement criterion based, at the very least, on horizontal curve radius. With respect to the existing horizontal curve criterion of 820 feet or less, curves meeting this criterion were found to increase motorcycle-to-barrier crash frequency rate by a factor of 10 compared to curves not meeting this criterion. Other statistically significant predictors were curve length, traffic volume and the location of adjacent curves. Assuming curves of identical radius, the model results suggest that longer curves, those with higher traffic volume, and those that have no adjacent curved sections within 300 feet of either curve end would likely be better candidates for a motorcycle-to-barrier crash countermeasure.

  1. Automated curved planar reformation of 3D spine images

    NASA Astrophysics Data System (ADS)

    Vrtovec, Tomaz; Likar, Bostjan; Pernus, Franjo

    2005-10-01

    Traditional techniques for visualizing anatomical structures are based on planar cross-sections from volume images, such as images obtained by computed tomography (CT) or magnetic resonance imaging (MRI). However, planar cross-sections taken in the coordinate system of the 3D image often do not provide sufficient or qualitative enough diagnostic information, because planar cross-sections cannot follow curved anatomical structures (e.g. arteries, colon, spine, etc). Therefore, not all of the important details can be shown simultaneously in any planar cross-section. To overcome this problem, reformatted images in the coordinate system of the inspected structure must be created. This operation is usually referred to as curved planar reformation (CPR). In this paper we propose an automated method for CPR of 3D spine images, which is based on the image transformation from the standard image-based to a novel spine-based coordinate system. The axes of the proposed spine-based coordinate system are determined on the curve that represents the vertebral column, and the rotation of the vertebrae around the spine curve, both of which are described by polynomial models. The optimal polynomial parameters are obtained in an image analysis based optimization framework. The proposed method was qualitatively and quantitatively evaluated on five CT spine images. The method performed well on both normal and pathological cases and was consistent with manually obtained ground truth data. The proposed spine-based CPR benefits from reduced structural complexity in favour of improved feature perception of the spine. The reformatted images are diagnostically valuable and enable easier navigation, manipulation and orientation in 3D space. Moreover, reformatted images may prove useful for segmentation and other image analysis tasks.

  2. The Aggregate Demand Curve: A Reply.

    ERIC Educational Resources Information Center

    Hansen, Richard B.; And Others

    1987-01-01

    Responds to claims about the instructional value of the downward-sloping aggregate demand curve in teaching principles of macroeconomics. Examines the effects of interest-rates and the role of money on demand curves. Concludes by arguing against the use of downward-sloping aggregate demand curves in textbooks. (RKM)

  3. Cubic spline functions for curve fitting

    NASA Technical Reports Server (NTRS)

    Young, J. D.

    1972-01-01

    FORTRAN cubic spline routine mathematically fits curve through given ordered set of points so that fitted curve nearly approximates curve generated by passing infinite thin spline through set of points. Generalized formulation includes trigonometric, hyperbolic, and damped cubic spline fits of third order.

  4. Curved film cooling admission tube

    NASA Technical Reports Server (NTRS)

    Graham, R. W.; Papell, S. S. (Inventor)

    1980-01-01

    Effective film cooling to protect a wall surface from a hot fluid which impinges on or flows along the surface is provided. A film of cooling fluid having increased area is provided by changing the direction of a stream of cooling fluid through an angle of from 135 deg. to 165 deg. before injecting it through the wall into the hot flowing gas. The 1, cooling fluid is injected from an orifice through a wall into a hot flowing gas at an angle to form a cooling fluid film. Cooling fluid is supplied to the orifice from a cooling fluid source via a turbulence control passageway having a curved portion between two straight portions. The angle through which the direction of the cooling fluid is turned results in less mixing of the cooling fluid with the hot gas, thereby substantially increasing the length of the film in a downstream direction.

  5. Laser-induced magnetization curve

    NASA Astrophysics Data System (ADS)

    Takayoshi, Shintaro; Sato, Masahiro; Oka, Takashi

    2014-12-01

    We propose an all optical ultrafast method to highly magnetize general quantum magnets using a circularly polarized terahertz laser. The key idea is to utilize a circularly polarized laser and its chirping. Through this method, one can obtain magnetization curves of a broad class of quantum magnets as a function of time even without any static magnetic field. We numerically demonstrate the laser-induced magnetization process in realistic quantum spin models and find a condition for the realization. The onset of magnetization can be described by a many-body version of Landau-Zener mechanism. In a particular model, we show that a plateau state with topological properties can be realized dynamically.

  6. Bacterial streamers in curved microchannels

    NASA Astrophysics Data System (ADS)

    Rusconi, Roberto; Lecuyer, Sigolene; Guglielmini, Laura; Stone, Howard

    2009-11-01

    Biofilms, generally identified as microbial communities embedded in a self-produced matrix of extracellular polymeric substances, are involved in a wide variety of health-related problems ranging from implant-associated infections to disease transmissions and dental plaque. The usual picture of these bacterial films is that they grow and develop on surfaces. However, suspended biofilm structures, or streamers, have been found in natural environments (e.g., rivers, acid mines, hydrothermal hot springs) and are always suggested to stem from a turbulent flow. We report the formation of bacterial streamers in curved microfluidic channels. By using confocal laser microscopy we are able to directly image and characterize the spatial and temporal evolution of these filamentous structures. Such streamers, which always connect the inner corners of opposite sides of the channel, are always located in the middle plane. Numerical simulations of the flow provide evidences for an underlying hydrodynamic mechanism behind the formation of the streamers.

  7. Caloric curve of star clusters.

    PubMed

    Casetti, Lapo; Nardini, Cesare

    2012-06-01

    Self-gravitating systems, such as globular clusters or elliptical galaxies, are the prototypes of many-body systems with long-range interactions, and should be the natural arena in which to test theoretical predictions on the statistical behavior of long-range-interacting systems. Systems of classical self-gravitating particles can be studied with the standard tools of equilibrium statistical mechanics, provided the potential is regularized at small length scales and the system is confined in a box. The confinement condition looks rather unphysical in general, so that it is natural to ask whether what we learn with these studies is relevant to real self-gravitating systems. In order to provide an answer to this question, we consider a basic, simple, yet effective model of globular clusters: the King model. This model describes a self-consistently confined system, without the need of any external box, but the stationary state is a nonthermal one. In particular, we consider the King model with a short-distance cutoff on the interactions, and we discuss how such a cutoff affects the caloric curve, i.e., the relation between temperature and energy. We find that the cutoff stabilizes a low-energy phase, which is absent in the King model without cutoff; the caloric curve of the model with cutoff turns out to be very similar to that of previously studied confined and regularized models, but for the absence of a high-energy gaslike phase. We briefly discuss the possible phenomenological as well as theoretical implications of these results.

  8. Caloric curve of star clusters

    NASA Astrophysics Data System (ADS)

    Casetti, Lapo; Nardini, Cesare

    2012-06-01

    Self-gravitating systems, such as globular clusters or elliptical galaxies, are the prototypes of many-body systems with long-range interactions, and should be the natural arena in which to test theoretical predictions on the statistical behavior of long-range-interacting systems. Systems of classical self-gravitating particles can be studied with the standard tools of equilibrium statistical mechanics, provided the potential is regularized at small length scales and the system is confined in a box. The confinement condition looks rather unphysical in general, so that it is natural to ask whether what we learn with these studies is relevant to real self-gravitating systems. In order to provide an answer to this question, we consider a basic, simple, yet effective model of globular clusters: the King model. This model describes a self-consistently confined system, without the need of any external box, but the stationary state is a nonthermal one. In particular, we consider the King model with a short-distance cutoff on the interactions, and we discuss how such a cutoff affects the caloric curve, i.e., the relation between temperature and energy. We find that the cutoff stabilizes a low-energy phase, which is absent in the King model without cutoff; the caloric curve of the model with cutoff turns out to be very similar to that of previously studied confined and regularized models, but for the absence of a high-energy gaslike phase. We briefly discuss the possible phenomenological as well as theoretical implications of these results.

  9. AKLSQF - LEAST SQUARES CURVE FITTING

    NASA Technical Reports Server (NTRS)

    Kantak, A. V.

    1994-01-01

    The Least Squares Curve Fitting program, AKLSQF, computes the polynomial which will least square fit uniformly spaced data easily and efficiently. The program allows the user to specify the tolerable least squares error in the fitting or allows the user to specify the polynomial degree. In both cases AKLSQF returns the polynomial and the actual least squares fit error incurred in the operation. The data may be supplied to the routine either by direct keyboard entry or via a file. AKLSQF produces the least squares polynomial in two steps. First, the data points are least squares fitted using the orthogonal factorial polynomials. The result is then reduced to a regular polynomial using Sterling numbers of the first kind. If an error tolerance is specified, the program starts with a polynomial of degree 1 and computes the least squares fit error. The degree of the polynomial used for fitting is then increased successively until the error criterion specified by the user is met. At every step the polynomial as well as the least squares fitting error is printed to the screen. In general, the program can produce a curve fitting up to a 100 degree polynomial. All computations in the program are carried out under Double Precision format for real numbers and under long integer format for integers to provide the maximum accuracy possible. AKLSQF was written for an IBM PC X/AT or compatible using Microsoft's Quick Basic compiler. It has been implemented under DOS 3.2.1 using 23K of RAM. AKLSQF was developed in 1989.

  10. The robust application of computed torque control to manipulators subject to saturation

    NASA Technical Reports Server (NTRS)

    Lokshin, Anatole; Lee, Sukhan

    1988-01-01

    A technique is presented which allows use of an exact linearization (EL) control for robot manipulators for those cases when actuator saturation cannot be ignored. A modification of a nonlinear dynamic compensation technique that has been successfully used in the feedback amplifiers is applied to a case of a nonredundant manipulator. Computer simulation for a two-link planar robot arm illustrates the advantages of the modified computed torque technique compared to the traditional linear full state control.

  11. Precision manipulation with a dextrous robot hand

    NASA Astrophysics Data System (ADS)

    Michelman, Paul

    1994-01-01

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

  12. Estimation of earthquake risk curves of physical building damage

    NASA Astrophysics Data System (ADS)

    Raschke, Mathias; Janouschkowetz, Silke; Fischer, Thomas; Simon, Christian

    2014-05-01

    In this study, a new approach to quantify seismic risks is presented. Here, the earthquake risk curves for the number of buildings with a defined physical damage state are estimated for South Africa. Therein, we define the physical damage states according to the current European macro-seismic intensity scale (EMS-98). The advantage of such kind of risk curve is that its plausibility can be checked more easily than for other types. The earthquake risk curve for physical building damage can be compared with historical damage and their corresponding empirical return periods. The number of damaged buildings from historical events is generally explored and documented in more detail than the corresponding monetary losses. The latter are also influenced by different economic conditions, such as inflation and price hikes. Further on, the monetary risk curve can be derived from the developed risk curve of physical building damage. The earthquake risk curve can also be used for the validation of underlying sub-models such as the hazard and vulnerability modules.

  13. Evaluation of viewing experiences induced by curved 3D display

    NASA Astrophysics Data System (ADS)

    Mun, Sungchul; Park, Min-Chul; Yano, Sumio

    2015-05-01

    As advanced display technology has been developed, much attention has been given to flexible panels. On top of that, with the momentum of the 3D era, stereoscopic 3D technique has been combined with the curved displays. However, despite the increased needs for 3D function in the curved displays, comparisons between curved and flat panel displays with 3D views have rarely been tested. Most of the previous studies have investigated their basic ergonomic aspects such as viewing posture and distance with only 2D views. It has generally been known that curved displays are more effective in enhancing involvement in specific content stories because field of views and distance from the eyes of viewers to both edges of the screen are more natural in curved displays than in flat panel ones. For flat panel displays, ocular torsions may occur when viewers try to move their eyes from the center to the edges of the screen to continuously capture rapidly moving 3D objects. This is due in part to differences in viewing distances from the center of the screen to eyes of viewers and from the edges of the screen to the eyes. Thus, this study compared S3D viewing experiences induced by a curved display with those of a flat panel display by evaluating significant subjective and objective measures.

  14. Better with Byzantine: Manipulation-Optimal Mechanisms

    NASA Astrophysics Data System (ADS)

    Othman, Abraham; Sandholm, Tuomas

    A mechanism is manipulable if it is in some agents’ best interest to misrepresent their private information. The revelation principle establishes that, roughly, anything that can be accomplished by a manipulable mechanism can also be accomplished with a truthful mechanism. Yet agents often fail to play their optimal manipulations due to computational limitations or various flavors of incompetence and cognitive biases. Thus, manipulable mechanisms in particular should anticipate byzantine play. We study manipulation-optimal mechanisms: mechanisms that are undominated by truthful mechanisms when agents act fully rationally, and do better than any truthful mechanism if any agent fails to act rationally in any way. This enables the mechanism designer to do better than the revelation principle would suggest, and obviates the need to predict byzantine agents’ irrational behavior. We prove a host of possibility and impossibility results for the concept which have the impression of broadly limiting possibility. These results are largely in line with the revelation principle, although the considerations are more subtle and the impossibility not universal.

  15. Maximum-speed curve-running biomechanics of sprinters with and without unilateral leg amputations.

    PubMed

    Taboga, Paolo; Kram, Rodger; Grabowski, Alena M

    2016-03-01

    On curves, non-amputees' maximum running speed is slower on smaller radii and thought to be limited by the inside leg's mechanics. Similar speed decreases would be expected for non-amputees in both counterclockwise and clockwise directions because they have symmetric legs. However, sprinters with unilateral leg amputation have asymmetric legs, which may differentially affect curve-running performance and Paralympic competitions. To investigate this and understand the biomechanical basis of curve running, we compared maximum curve-running (radius 17.2 m) performance and stride kinematics of six non-amputee sprinters and 11 sprinters with a transtibial amputation. Subjects performed randomized, counterbalanced trials: two straight, two counterclockwise curves and two clockwise curves. Non-amputees and sprinters with an amputation all ran slower on curves compared with straight running, but with different kinematics. Non-amputees ran 1.9% slower clockwise compared with counterclockwise (P<0.05). Sprinters with an amputation ran 3.9% slower with their affected leg on the inside compared with the outside of the curve (P<0.05). Non-amputees reduced stride length and frequency in both curve directions compared with straight running. Sprinters with an amputation also reduced stride length in both curve-running directions, but reduced stride frequency only on curves with the affected leg on the inside. During curve running, non-amputees and athletes with an amputation had longer contact times with their inside compared with their outside leg, suggesting that the inside leg limits performance. For sprinters with an amputation, the prolonged contact times of the affected versus unaffected leg seem to limit maximum running speed during both straight running and running on curves with the affected leg on the inside.

  16. Cellular manipulation and patterning using ferromagnetic nanowires

    NASA Astrophysics Data System (ADS)

    Hultgren, Anne

    Ferromagnetic nanowires are demonstrated as an effective tool to apply forces to living cells. Both magnetic cell separations and the magnetic patterning of cells on a substrate will be accomplished through the use of cell-nanowire interactions as well as nanowire-magnetic field interactions. When introduced into cultures of NIH-3T3 cells, the nanowires are internalized by cells via the integrin-mediated adhesion pathway without inflicting any toxic effects on the cell cycle over the course of several days. In addition, the length of the nanowires was found to have an effect on the cell-nanowire interactions when the cells were dissociated from the tissue culture dish. To compare the effectiveness of the nanowires as a means of manipulating cells to the current technology which is based on superparamagnetic beads, magnetic cell separations were performed with electrodeposited Ni nanowires 350 nm in diameter and 5--35 mum long in field gradients of 80 T/m. Single-pass separations of NIH-3T3 cells bound to nanowires achieve up to 81% purity with 85% yield, a dramatic improvement over the 55% purity and 20% yield obtained with the beads. The yield for the separations were found to be dependent on the length of the nanowires, and was maximized when the length of the nanowires equaled the diameter of the cells. This dependence was exploited to perform a size-selective magnetic separation. Substrates containing arrays of micro-magnets, fabricated using photolithography, were placed in cell cultures. These micro-magnet arrays create regions of locally strong magnetic field gradients to trap nanowires in specific locations on the substrate. These substrates were used in conjunction with fluid flow and a weak, externally applied magnetic field to create and control patterns of cells bound to nanowires. Controlled isolation of heterogeneous pairs and groups of cells will enable the study of the biochemistry of cell-cell contacts.

  17. Bolometric Light Curves of Peculiar Type II-P Supernovae

    NASA Astrophysics Data System (ADS)

    Lusk, Jeremy A.; Baron, E.

    2017-04-01

    We examine the bolometric light curves of five Type II-P supernovae (SNe 1998A, 2000cb, 2006V, 2006au, and 2009E), which are thought to originate from blue supergiant progenitors like that of SN 1987A, using a new python package named SuperBoL. With this code, we calculate SNe light curves using three different common techniques common from the literature: the quasi-bolometric method, which integrates the observed photometry, the direct integration method, which additionally corrects for unobserved flux in the UV and IR, and the bolometric correction method, which uses correlations between observed colors and V-band bolometric corrections. We present here the light curves calculated by SuperBoL, along with previously published light curves, as well as peak luminosities and 56Ni yields. We find that the direct integration and bolometric correction light curves largely agree with previously published light curves, but with what we believe to be more robust error calculations, with 0.2≲ δ {L}{bol}/{L}{bol}≲ 0.5. Peak luminosities and 56Ni masses are similarly comparable to previous work. SN 2000cb remains an unusual member of this sub-group, owing to the faster rise and flatter plateau than the other supernovae in the sample. Initial comparisons with the NLTE atmosphere code PHOENIX show that the direct integration technique reproduces the luminosity of a model supernova spectrum to ∼5% when given synthetic photometry of the spectrum as input. Our code is publicly available. The ability to produce bolometric light curves from observed sets of broadband light curves should be helpful in the interpretation of other types of supernovae, particularly those that are not well characterized, such as extremely luminous supernovae and faint fast objects.

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

    DTIC Science & Technology

    2014-05-12

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

  19. A Molecular Analysis of Training Multiple versus Single Manipulations to Establish a Generalized Manipulative Imitation Repertoire

    ERIC Educational Resources Information Center

    Hartley, Breanne K.

    2009-01-01

    This study evaluates the necessity of training multiple versus single manipulative-imitations per object in order to establish generalized manipulative-imitation. Training took place in Croyden Avenue School's Early Childhood Developmental Delay preschool classroom in Kalamazoo, MI. Two groups of 3 children each were trained to imitate in order to…

  20. ENERGY SOURCES AND LIGHT CURVES OF MACRONOVAE

    SciTech Connect

    Kisaka, Shota; Ioka, Kunihito; Takami, Hajime E-mail: takami@post.kek.jp

    2015-04-01

    A macronova (kilonova) was discovered with a short gamma-ray burst, GRB 130603B, which is widely believed to be powered by the radioactivity of r-process elements synthesized in the ejecta of a neutron star (NS)–binary merger. As an alternative, we propose that macronovae are energized by the central engine, i.e., a black hole or NS, and the injected energy is emitted after the adiabatic expansion of ejecta. This engine model is motivated by extended emission of short GRBs. In order to compare the theoretical models with observations, we develop analytical formulae for the light curves of macronovae. The engine model allows a wider parameter range, especially smaller ejecta mass, and a better fit to observations than the r-process model. Future observations of electromagnetic counterparts of gravitational waves should distinguish energy sources and constrain the activity of the central engine and the r-process nucleosynthesis.

  1. Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

    NASA Technical Reports Server (NTRS)

    Hannan, Michael W.; Walker, Ian D.

    2003-01-01

    Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

  2. Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots.

    PubMed

    Hannan, Michael W; Walker, Ian D

    2003-02-01

    Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model.

  3. Pilot study of the impact sacroiliac joint manipulation has on walking kinematics using motion analysis technology

    PubMed Central

    Ward, John S.; Coats, Jesse; Sorrels, Kenneth; Walters, Mathew; Williams, Trevor

    2013-01-01

    Objective The purpose of this study was to evaluate the feasibility of engaging in a series of larger studies measuring the effect of sacroiliac joint manipulation on walking kinematics using motion analysis technology. Methods Twelve college students engaged in a baseline 90-second gait analysis at 1.5 mph using infrared VICON cameras. Following this, they underwent a prone heel comparison test for functional leg length inequality. Upon examination, participants were then classified as follows: left short leg, right short leg, or no short leg. Participants in each of the 2 short leg branches of this study were then randomized to receive either chiropractic manipulative therapy to the posterior superior iliac spine on the short limb side or no manipulation. Recruitment was ongoing for this pilot study until 1 participant was recruited in each of the following 5 comparative study groups: left short leg—manipulation, left short leg—no manipulation (control 1), right short leg—manipulation, right short leg—no manipulation (control 2), and no short leg (control 3). All participants then underwent another 90-second gait analysis. Data were then grouped and submitted to a blinded biomechanist to determine if there were any unique biomechanical differences between the groups. Results No statistically significant differences were measured because of this being a pilot study with a small sample size. Conclusions The data from this study indicate that a series of larger studies with this design is feasible. PMID:24396314

  4. Visualization of Growth Curve Data from Phenotype MicroarrayExperiments

    SciTech Connect

    Jacobsen, Janet S.; Joyner, Dominique C.; Borglin, Sharon E.; Hazen, Terry C.; Arkin, Adam P.; Bethel, E. Wes

    2007-04-19

    Phenotype microarrays provide a technology to simultaneouslysurvey the response of an organism to nearly 2,000 substrates, includingcarbon, nitrogen and potassium sources; varying pH; varying saltconcentrations; and antibiotics. In order to more quickly and easily viewand compare the large number of growth curves produced by phenotypemicroarray experiments, we have developed software to produce and displaycolor images, each of which corresponds to a set of 96 growth curves.Using color images to represent growth curves data has proven to be avaluable way to assess experiment quality, compare replicates, facilitatecomparison of the responses of different organisms, and identifysignificant phenotypes. The color images are linked to traditional plotsof growth versus time, as well as to information about the experiment,organism, and substrate. In order to share and view information and dataproject-wide, all information, plots, and data are accessible using onlya Web browser.

  5. Tensile properties of a ZnS nanowire determined with a nano-manipulator and force sensor

    NASA Astrophysics Data System (ADS)

    Jang, Hoon-Sik; Nahm, Seung Hoon; Lee, Hak Joo; Kim, Jung Han; Oh, Kyu Hwan

    2012-08-01

    Tensile tests of an individual ZnS nanowire with a cubic structure were performed with a nano-manipulator inside a scanning electron microscope (SEM). To perform the tensile test of ZnS nanowires, a mechanical testing system was installed in the SEM. A nano-manipulator was set up in the SEM, and a cantilever force sensor was mounted on the nano-manipulator. The force sensor could be controlled with the nano-manipulator. The ZnS nanowires were dispersed on the transmission electron microscope (TEM) grid; then, the ends of the ZnS nanowires were welded to the TEM grid and the tip of force sensor by exposing them to the E-beam of the SEM. The tensile tests of the ZnS nanowires were performed by controlling the nano-manipulator in the SEM. The load response during the tensile tests was obtained with a force sensor. The strain-stress curve was obtained from the tensile load-displacement curve after the tensile test. The tensile strengths for nanowires 1, 2, and 3 were 364.7 ± 5.2, 146.2 ± 5.2, and 234.4 ± 5.2 MPa, respectively, and the elastic moduli for nanowires 1, 2, and 3 were 39 ± 5.2, 33.4 ± 5.2, and 37.4 ± 5.2 GPa, respectively.

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

    PubMed

    Heil, Martin

    2015-09-01

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

  7. IMU-based online kinematic calibration of robot manipulator.

    PubMed

    Du, Guanglong; Zhang, Ping

    2013-01-01

    Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

  8. A novel adaptive force control method for IPMC manipulation

    NASA Astrophysics Data System (ADS)

    Hao, Lina; Sun, Zhiyong; Li, Zhi; Su, Yunquan; Gao, Jianchao

    2012-07-01

    IPMC is a type of electro-active polymer material, also called artificial muscle, which can generate a relatively large deformation under a relatively low input voltage (generally speaking, less than 5 V), and can be implemented in a water environment. Due to these advantages, IPMC can be used in many fields such as biomimetics, service robots, bio-manipulation, etc. Until now, most existing methods for IPMC manipulation are displacement control not directly force control, however, under most conditions, the success rate of manipulations for tiny fragile objects is limited by the contact force, such as using an IPMC gripper to fix cells. Like most EAPs, a creep phenomenon exists in IPMC, of which the generated force will change with time and the creep model will be influenced by the change of the water content or other environmental factors, so a proper force control method is urgently needed. This paper presents a novel adaptive force control method (AIPOF control—adaptive integral periodic output feedback control), based on employing a creep model of which parameters are obtained by using the FRLS on-line identification method. The AIPOF control method can achieve an arbitrary pole configuration as long as the plant is controllable and observable. This paper also designs the POF and IPOF controller to compare their test results. Simulation and experiments of micro-force-tracking tests are carried out, with results confirming that the proposed control method is viable.

  9. The use of spatial manipulation to examine goalkeepers' anticipation.

    PubMed

    Woolley, T L; Crowther, R G; Doma, K; Connor, J D

    2015-01-01

    This study investigated whether anticipation and search strategies of goalkeepers are influenced by temporally and spatially manipulated video of a penalty. Participants were clustered into three groups depending on skill: goalkeepers (n = 17), field players (n = 20) and control group (n = 20). An eye tracker was worn whilst watching 40 videos of a striker kicking to four corners of a goal in random order. All 40 videos were temporally occluded at foot-to-ball contact, and the non-kicking leg of 20 videos was spatially manipulated. Results showed that goalkeepers had significantly better predictions than the two groups with no differences between the two testing conditions. According to effect size, the percentage of fixation location and viewing time of the kicking leg and ball were greater for the goalkeepers and field players group than the control group irrespective of testing conditions. The fixations on the kicking leg and ball in conjunction with comparable predictions between spatially manipulated and control conditions suggest that goalkeepers may not rely on the non-kicking leg. Furthermore, goalkeepers appear to use a global perceptual approach by anchoring on a distal fixation point/s of the penalty taker whilst using peripheral vision to obtain additional information.

  10. Ultrasonic resonator for manipulation of bacteria

    NASA Astrophysics Data System (ADS)

    Schwarz, T.; Dual, J.

    2012-05-01

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

  11. Design of multivariable controllers for robot manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1986-01-01

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

  12. Force reflecting hand controller for manipulator teleoperation

    NASA Technical Reports Server (NTRS)

    Bryfogle, Mark D.

    1991-01-01

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

  13. Manipulating cyanobacteria: Spirulina for potential CELSS diet

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  14. Sensing Temperatures Via Prostheses And Manipulators

    NASA Technical Reports Server (NTRS)

    Zerkus, Mike

    1991-01-01

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

  15. Space station erectable manipulator placement system

    NASA Technical Reports Server (NTRS)

    Grimaldi, Margaret E. (Inventor)

    1988-01-01

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

  16. Television systems for remote manipulation. [in space

    NASA Technical Reports Server (NTRS)

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

    1975-01-01

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

  17. Manipulator system for constructing overhead distribution lines

    SciTech Connect

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

    1993-04-01

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

  18. Manipulation of microfluidic droplets by electrorheological fluid.

    PubMed

    Zhang, Menying; Gong, Xiuqing; Wen, Weijia

    2009-09-01

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

  19. Coordinated Control Of Mobile Robotic Manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1995-01-01

    Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

  20. Electrochemical Processes Enhanced by Acoustic Liquid Manipulation

    NASA Technical Reports Server (NTRS)

    Oeftering, Richard C.

    2004-01-01

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