AFWL Standards for Scientific and Technical Reports.

DTIC Science & Technology

1980-04-01

Air Force Weapons Laboratory , Kirtland Air Force Base, New Mexico, under...PROGRAM ELEMEN T PROJECT TASK AREA & WORK UNIT NUMBERS Air Force Weapons Laboratory (SUR) Kirtland Air Force Base, NM 87117 62601F/99930000 I. CONTROLLING...OFFICE NAME AND ADDRESS 12 REPORT DATE Air Force Weapons Laboratory (SUR) April 1980 Kirtland Air Force Base, NM 87117 13. NUMBER OF PAGES 72

Three degree-of-freedom force feedback control for robotic mating of umbilical lines

NASA Technical Reports Server (NTRS)

Fullmer, R. Rees

1988-01-01

The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.

5. "UNDERGROUND CONTROL ROOM AT TEST STAND 1A, DIRECTORATE OF ...

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

5. "UNDERGROUND CONTROL ROOM AT TEST STAND 1-A, DIRECTORATE OF MISSILE CAPTIVE TEST, EDWARDS AFB, 15 JAN 58, 3097.58." Two men working in the control room. Photo no. "3097 58; G-AFFTC 15 JAN 58, T.S. 1-A Control". - Edwards Air Force Base, Air Force Rocket Propulsion Laboratory, Control Center, Test Area 1-115, near Altair & Saturn Boulevards, Boron, Kern County, CA

Energetic costs of producing muscle work and force in a cyclical human bouncing task

PubMed Central

Kuo, Arthur D.

2011-01-01

Muscles expend energy to perform active work during locomotion, but they may also expend significant energy to produce force, for example when tendons perform much of the work passively. The relative contributions of work and force to overall energy expenditure are unknown. We therefore measured the mechanics and energetics of a cyclical bouncing task, designed to control for work and force. We hypothesized that near bouncing resonance, little work would be performed actively by muscle, but the cyclical production of force would cost substantial metabolic energy. Human subjects (n = 9) bounced vertically about the ankles at inversely proportional frequencies (1–4 Hz) and amplitudes (15–4 mm), such that the overall rate of work performed on the body remained approximately constant (0.30 ± 0.06 W/kg), but the forces varied considerably. We used parameter identification to estimate series elasticity of the triceps surae tendon, as well as the work performed actively by muscle and passively by tendon. Net metabolic energy expenditure for bouncing at 1 Hz was 1.15 ± 0.31 W/kg, attributable mainly to active muscle work with an efficiency of 24 ± 3%. But at 3 Hz (near resonance), most of the work was performed passively, so that active muscle work could account for only 40% of the net metabolic rate of 0.76 ± 0.28 W/kg. Near resonance, a cost for cyclical force that increased with both amplitude and frequency of force accounted for at least as much of the total energy expenditure as a cost for work. Series elasticity reduces the need for active work, but energy must still be expended for force production. PMID:21212245

Sliding mode-based lateral vehicle dynamics control using tyre force measurements

NASA Astrophysics Data System (ADS)

Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

2015-11-01

In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

A Study of the Relationship between User Attitudes and the Success of the MAJCOM and AFRCE Work Information Management System.

DTIC Science & Technology

1984-09-01

subsystems including labor reporting, Prime BEEF (Base Engineer Emergency Forces) composition, work order control, material control, cost accounting...AirComan IL ARCE BallsticLangey AB,24 Misl Supr)-FC Norton AF CA ( Estr Region) - AFRCE (United Kingdom) Ruislip AB UK UntdSae0i Fre nErp * Ramstein AB...Air Force personnel and minimize information burden on users, providers, and handlers, thereby reducing the costs, labor and intensiveness, and time

Validation of engineering methods for predicting hypersonic vehicle controls forces and moments

NASA Technical Reports Server (NTRS)

Maughmer, M.; Straussfogel, D.; Long, L.; Ozoroski, L.

1991-01-01

This work examines the ability of the aerodynamic analysis methods contained in an industry standard conceptual design code, the Aerodynamic Preliminary Analysis System (APAS II), to estimate the forces and moments generated through control surface deflections from low subsonic to high hypersonic speeds. Predicted control forces and moments generated by various control effectors are compared with previously published wind-tunnel and flight-test data for three vehicles: the North American X-15, a hypersonic research airplane concept, and the Space Shuttle Orbiter. Qualitative summaries of the results are given for each force and moment coefficient and each control derivative in the various speed ranges. Results show that all predictions of longitudinal stability and control derivatives are acceptable for use at the conceptual design stage.

Finite element analysis of deep wide-flanged pre-stressed girders to understand and control end cracking : [work plan].

DOT National Transportation Integrated Search

2011-01-01

Project -- Work Approach: The first phase will examine the critical problem of controlling cracking in the 82W : girders. This complex problem is controlled by effects of concentrated stresses, force : transfer from pre-tensioning strand, inelastic b...

Kriging modeling and SPSA adjusting PID with KPWF compensator control of IPMC gripper for mm-sized objects

NASA Astrophysics Data System (ADS)

Chen, Yang; Hao, Lina; Yang, Hui; Gao, Jinhai

2017-12-01

Ionic polymer metal composite (IPMC) as a new smart material has been widely concerned in the micromanipulation field. In this paper, a novel two-finger gripper which contains an IPMC actuator and an ultrasensitive force sensor is proposed and fabricated. The IPMC as one finger of the gripper for mm-sized objects can achieve gripping and releasing motion, and the other finger works not only as a support finger but also as a force sensor. Because of the feedback signal of the force sensor, this integrated actuating and sensing gripper can complete gripping miniature objects in millimeter scale. The Kriging model is used to describe nonlinear characteristics of the IPMC for the first time, and then the control scheme called simultaneous perturbation stochastic approximation adjusting a proportion integration differentiation parameter controller with a Kriging predictor wavelet filter compensator is applied to track the gripping force of the gripper. The high precision force tracking in the foam ball manipulation process is obtained on a semi-physical experimental platform, which demonstrates that this gripper for mm-sized objects can work well in manipulation applications.

Rotordynamic Instability Problems in High-Performance Turbomachinery

NASA Technical Reports Server (NTRS)

1982-01-01

Rotor dynamic instability problems in high performance turbomachinery are reviewed. Mechanical instability mechanisms are discussed. Seal forces and working fluid forces in turbomachinery are discussed. Control of rotor instability is also investigated.

Vertical and Horizontal Forces: A Framework for Understanding Airpower Command and Control

DTIC Science & Technology

2014-05-22

failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ...ABSTRACT The Air Force has long maintained the tenet of “centralized control , decentralized execution.” Changes in the contextual environment and...help commanders understand how command and control (C2) systems work best today. The proposed cognitive framework moves beyond centralization

Active vibrations and noise control for turboprop application research program activities

NASA Technical Reports Server (NTRS)

Paonessa, A.; Concilio, A.; Lecce, Leonardo V.

1992-01-01

The objectives of this work include the following: (1) development of active noise control techniques to alleviate inefficiencies and drawbacks of passive noise control approach especially at low frequencies; (2) reduction of structurally radiated noise applying external forces to the vibrating structure by means of force actuators made of piezoelectric material; and (3) reduction of fuselage vibration levels in propeller driven aircraft by means of distributed piezoelectric actuators that are actively controlled.

Active vibrations and noise control for turboprop application research program activities

NASA Astrophysics Data System (ADS)

Paonessa, A.; Concilio, A.; Lecce, Leonardo V.

1992-07-01

The objectives of this work include the following: (1) development of active noise control techniques to alleviate inefficiencies and drawbacks of passive noise control approach especially at low frequencies; (2) reduction of structurally radiated noise applying external forces to the vibrating structure by means of force actuators made of piezoelectric material; and (3) reduction of fuselage vibration levels in propeller driven aircraft by means of distributed piezoelectric actuators that are actively controlled.

Adult Services in the Third Millennium.

ERIC Educational Resources Information Center

Monroe, Margaret E.

1979-01-01

Presents a four-step model for "planning" or "forecasting" future of adult services in public libraries: (1) identification of forces at work; (2) analysis of probable impacts of one force upon another; (3) identification of preferred (and rejected) elements of future with forces that control elements; and (4) strategies to be…

85. Command HQ. SAC control center (MOD) new work cross ...

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

85. Command HQ. SAC control center (MOD) new work cross section, drawing number AW-30-02-07, dated 7 February, 1962 - Offutt Air Force Base, Strategic Air Command Headquarters & Command Center, Headquarters Building, 901 SAC Boulevard, Bellevue, Sarpy County, NE

Performance evaluation of a six-axis generalized force-reflecting teleoperator

NASA Technical Reports Server (NTRS)

Hannaford, B.; Wood, L.; Guggisberg, B.; Mcaffee, D.; Zak, H.

1989-01-01

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

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

PubMed

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

2014-05-01

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

Acceleration control system for semi-active in-car crib with joint application of regular and inverted pendulum mechanisms

NASA Astrophysics Data System (ADS)

Kawashima, T.

2016-09-01

To reduce the risk of injury to an infant in an in-car crib (or in a child safety bed) collision shock during a car crash, it is necessary to maintain a constant force acting on the crib below a certain allowable value. To realize this objective, we propose a semi-active in-car crib system with the joint application of regular and inverted pendulum mechanisms. The arms of the proposed crib system support the crib like a pendulum while the pendulum system itself is supported like an inverted pendulum by the arms. In addition, the friction torque of each arm is controlled using a brake mechanism that enables the proposed in-car crib to decrease the acceleration of the crib gradually and maintain it around the target value. This system not only reduces the impulsive force but also transfers the force to the infant's back using a spin control system, i.e., the impulse force acts is made to act perpendicularly on the crib. The spin control system was developed in our previous work. This work focuses on the acceleration control system. A semi-active control law with acceleration feedback is introduced, and the effectiveness of the system is demonstrated using numerical simulation and model experiment.

Translations on People’s Republic of China, Number 379

DTIC Science & Technology

1977-05-03

TECHNOLOGICAL Family Planning, Birth Control Linked to Learning- From-Ta-chai (Various sources, various dates) 18 Family Planning Work Well Done in...Nan-kung-hsien Female Labor Force Liberated Through Birth Control Two Counties Hailed for Good Family Planning Work Careful Records Kept on Women...CSO: 4006 17 SCIENTIFIC AND TECHNOLOGICAL FAMILY PLANNING, BIRTH CONTROL LINKED TO LEARNING-FROM-TA-CHAI Family Planning Work Well Done in Nan-kung

Fluid film force control in lubricated journal bearings by means of a travelling wave generated with a piezoelectric actuators' system

NASA Astrophysics Data System (ADS)

Iula, Antonio; Lamberti, Nicola; Savoia, Alessandro; Caliano, Giosue

2012-05-01

In this work an experimental evaluation of the possiblity to influence and control the fluid film forces in the gap of a lubricated journal bearing by means of a rotating travelling wave is carried out. The travellig wave is generated by two power actuators opportunely positioned on the outer surface of the bearing and electrically driven with a phase shift of 90°. Each transducer is designed to work at the natural frequency of the radial nonaxisymmetrical mode 0-5 (23.6 kHz). Experimental results show that the travelling wave is capable to control the motion of an oil drop on the inner surface of the bearing and that it is capable to put in rotation a rotor layed on the drop oil via the viscous forces in the oil drop itself.

Pseudo-spectral control of a novel oscillating surge wave energy converter in regular waves for power optimization including load reduction

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

Tom, Nathan M.; Yu, Yi -Hsiang; Wright, Alan D.

The aim of this study is to describe a procedure to maximize the power-to-load ratio of a novel wave energy converter (WEC) that combines an oscillating surge wave energy converter with variable structural components. The control of the power-take-off torque will be on a wave-to-wave timescale, whereas the structure will be controlled statically such that the geometry remains the same throughout the wave period. Linear hydrodynamic theory is used to calculate the upper and lower bounds for the time-averaged absorbed power and surge foundation loads while assuming that the WEC motion remains sinusoidal. Previous work using pseudo-spectral techniques to solvemore » the optimal control problem focused solely on maximizing absorbed energy. This work extends the optimal control problem to include a measure of the surge foundation force in the optimization. The objective function includes two competing terms that force the optimizer to maximize power capture while minimizing structural loads. A penalty weight was included with the surge foundation force that allows control of the optimizer performance based on whether emphasis should be placed on power absorption or load shedding. Results from pseudo-spectral optimal control indicate that a unit reduction in time-averaged power can be accompanied by a greater reduction in surge-foundation force.« less

Pseudo-spectral control of a novel oscillating surge wave energy converter in regular waves for power optimization including load reduction

DOE PAGES

Tom, Nathan M.; Yu, Yi -Hsiang; Wright, Alan D.; ...

2017-04-18

The aim of this study is to describe a procedure to maximize the power-to-load ratio of a novel wave energy converter (WEC) that combines an oscillating surge wave energy converter with variable structural components. The control of the power-take-off torque will be on a wave-to-wave timescale, whereas the structure will be controlled statically such that the geometry remains the same throughout the wave period. Linear hydrodynamic theory is used to calculate the upper and lower bounds for the time-averaged absorbed power and surge foundation loads while assuming that the WEC motion remains sinusoidal. Previous work using pseudo-spectral techniques to solvemore » the optimal control problem focused solely on maximizing absorbed energy. This work extends the optimal control problem to include a measure of the surge foundation force in the optimization. The objective function includes two competing terms that force the optimizer to maximize power capture while minimizing structural loads. A penalty weight was included with the surge foundation force that allows control of the optimizer performance based on whether emphasis should be placed on power absorption or load shedding. Results from pseudo-spectral optimal control indicate that a unit reduction in time-averaged power can be accompanied by a greater reduction in surge-foundation force.« less

From Control to Commitment in the Workplace: In Factory after Factory, There Is a Revolution Under Way in the Management of Work. Readings on Labor-Management Relations.

ERIC Educational Resources Information Center

Walton, Richard E.

A significant change is under way in the organization and management of work. The work force can be managed in two ways, one based on control and the other based on commitment. The traditional--or control-oriented--approach took shape in the early 1900s in response to the division of work into small, fixed jobs for which individuals were held…

Double-reed exhaust valve engine

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

Bennett, Charles L.

An engine based on a reciprocating piston engine that extracts work from pressurized working fluid. The engine includes a double reed outlet valve for controlling the flow of low-pressure working fluid out of the engine. The double reed provides a stronger force resisting closure of the outlet valve than the force tending to open the outlet valve. The double reed valve enables engine operation at relatively higher torque and lower efficiency at low speed, with lower torque, but higher efficiency at high speed.

Position and force control of a vehicle with two or more steerable drive wheels

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

Reister, D.B.; Unseren, M.A.

1992-10-01

When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach tomore » the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.« less

U.S. Air Force Research Laboratory's Need for Flow Physics and Control With Applications Involving Aero-Optics and Weapon Bay Cavities

NASA Technical Reports Server (NTRS)

Schmit, Ryan

2010-01-01

To develop New Flow Control Techniques: a) Knowledge of the Flow Physics with and without control. b) How does Flow Control Effect Flow Physics (What Works to Optimize the Design?). c) Energy or Work Efficiency of the Control Technique (Cost - Risk - Benefit Analysis). d) Supportability, e.g. (size of equipment, computational power, power supply) (Allows Designer to include Flow Control in Plans).

Applications of Traction Force Microscopy in Measuring Adhesion Molecule Dependent Cell Contractility

ERIC Educational Resources Information Center

Mann, Cynthia Marie

2009-01-01

This work describes the use of polyacrylamide hydrogels as controlled elastic modulus substrates for single cell traction force microscopy studies. The first section describes the use of EDC/NHS chemistry to convalently link microbeads to the hydrogel matrix for the purpose of performing long-term traction force studies (7 days). The final study…

Vibration control by limiting the maximum axial forces in space trusses

NASA Technical Reports Server (NTRS)

Chawla, Vikas; Utku, Senol; Wada, Ben K.

1993-01-01

Proposed here is a method of vibration control based on limiting the maximum axial forces in the active members of an adaptive truss. The actuators simulate elastic rigid-plastic behavior and consume the vibrational energy as work. The method is applicable to both statically determinate as well as indeterminate truss structures. However, for energy efficient control of statistically indeterminate trusses extra actuators may be provided on the redundant bars. An energy formulation relating the various control parameters is derived to get an estimate of the control time. Since the simulation of elastic rigid-plastic behavior requires a piecewise linear control law, a general analytical solution is not possible. Numerical simulation by step-by-step integration is performed to simulate the control of an example truss structure. The problems of application to statically indeterminate trusses and optimal actuator placement are identified for future work.

Actuator placement in prestressed adaptive trusses for vibration control

NASA Technical Reports Server (NTRS)

Jalihal, P.; Utku, Senol; Wada, Ben K.

1993-01-01

This paper describes the optimal location selection of actuators for vibration control in prestressed adaptive trusses. Since prestressed adaptive trusses are statically indeterminate, the actuators to be used for vibration control purposes must work against (1) existing static axial prestressing forces, (2) static axial forces caused by the actuation, and (3) dynamic axial forces caused by the motion of the mass. In statically determinate adaptive trusses (1) and (2) are non - existing. The actuator placement problem in statically indeterminate trusses is therefore governed by the actuation energy and the actuator strength requirements. Assuming output feedback type control of selected vibration modes in autonomous systems, a procedure is given for the placement of vibration controlling actuators in prestressed adaptive trusses.

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

Reister, D.B.; Unseren, M.A.

When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach tomore » the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.« less

Nonlinear robust controller design for multi-robot systems with unknown payloads

NASA Technical Reports Server (NTRS)

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

1992-01-01

This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.

Validity and reliability of a controlled pneumatic resistance exercise device.

PubMed

Paulus, David C; Reynolds, Michael C; Schilling, Brian K

2008-01-01

During the concentric portion of the free-weight squat exercise, accelerating the mass from rest results in a fluctuation in ground reaction force. It is characterized by an initial period of force greater than the load while accelerating from rest followed by a period of force lower than the external load during negative acceleration. During the deceleration phase, less force is exerted and muscles are loaded sub-optimally. Thus, using a reduced inertia form of resistance such as pneumatics has the capability to minimize these inertial effects as well as control the force in real time to maximize the force exerted over the exercise cycle. To improve the system response of a preliminary design, a squat device was designed with a reduced mass barbell and two smaller pneumatic cylinders. The resistance was controlled by regulating cylinder pressure such that it is capable of adjusting force within a repetition to maximize force exerted during the lift. The resistance force production of the machine was statically validated with the input voltage and output force R2 =0.9997 for at four increments of the range of motion, and the intraclass correlation coefficient (ICC) between trials at the different heights equaled 0.999. The slew rate at three forces was 749.3 N/s +/- 252.3. Dynamic human subject testing showed the desired input force correlated with average and peak ground reaction force with R2 = 0.9981 and R2 = 0.9315, respectively. The ICC between desired force and average and peak ground reaction force was 0.963. Thus, the system is able to deliver constant levels of static and dynamic force with validity and reliability. Future work will be required to develop the control strategy required for real-time control, and performance testing is required to determine its efficacy.

Customization, control, and characterization of a commercial haptic device for high-fidelity rendering of weak forces.

PubMed

Gurari, Netta; Baud-Bovy, Gabriel

2014-09-30

The emergence of commercial haptic devices offers new research opportunities to enhance our understanding of the human sensory-motor system. Yet, commercial device capabilities have limitations which need to be addressed. This paper describes the customization of a commercial force feedback device for displaying forces with a precision that exceeds the human force perception threshold. The device was outfitted with a multi-axis force sensor and closed-loop controlled to improve its transparency. Additionally, two force sensing resistors were attached to the device to measure grip force. Force errors were modeled in the frequency- and time-domain to identify contributions from the mass, viscous friction, and Coulomb friction during open- and closed-loop control. The effect of user interaction on system stability was assessed in the context of a user study which aimed to measure force perceptual thresholds. Findings based on 15 participants demonstrate that the system maintains stability when rendering forces ranging from 0-0.20 N, with an average maximum absolute force error of 0.041 ± 0.013 N. Modeling the force errors revealed that Coulomb friction and inertia were the main contributors to force distortions during respectively slow and fast motions. Existing commercial force feedback devices cannot render forces with the required precision for certain testing scenarios. Building on existing robotics work, this paper shows how a device can be customized to make it reliable for studying the perception of weak forces. The customized and closed-loop controlled device is suitable for measuring force perceptual thresholds. Copyright © 2014 Elsevier B.V. All rights reserved.

Balancing Power Absorption and Fatigue Loads in Irregular Waves for an Oscillating Surge Wave Energy Converter

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

Tom, Nathan M.; Yu, Yi-Hsiang; Wright, Alan D.

The aim of this paper is to describe how to control the power-to-load ratio of a novel wave energy converter (WEC) in irregular waves. The novel WEC that is being developed at the National Renewable Energy Laboratory combines an oscillating surge wave energy converter (OSWEC) with control surfaces as part of the structure; however, this work only considers one fixed geometric configuration. This work extends the optimal control problem so as to not solely maximize the time-averaged power, but to also consider the power-take-off (PTO) torque and foundation forces that arise because of WEC motion. The objective function of themore » controller will include competing terms that force the controller to balance power capture with structural loading. Separate penalty weights were placed on the surge-foundation force and PTO torque magnitude, which allows the controller to be tuned to emphasize either power absorption or load shedding. Results of this study found that, with proper selection of penalty weights, gains in time-averaged power would exceed the gains in structural loading while minimizing the reactive power requirement.« less

Balancing Power Absorption and Fatigue Loads in Irregular Waves for an Oscillating Surge Wave Energy Converter: Preprint

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

Tom, Nathan M.; Yu, Yi-Hsiang; Wright, Alan D.

The aim of this paper is to describe how to control the power-to-load ratio of a novel wave energy converter (WEC) in irregular waves. The novel WEC that is being developed at the National Renewable Energy Laboratory combines an oscillating surge wave energy converter (OSWEC) with control surfaces as part of the structure; however, this work only considers one fixed geometric configuration. This work extends the optimal control problem so as to not solely maximize the time-averaged power, but to also consider the power-take-off (PTO) torque and foundation forces that arise because of WEC motion. The objective function of themore » controller will include competing terms that force the controller to balance power capture with structural loading. Separate penalty weights were placed on the surge-foundation force and PTO torque magnitude, which allows the controller to be tuned to emphasize either power absorption or load shedding. Results of this study found that, with proper selection of penalty weights, gains in time-averaged power would exceed the gains in structural loading while minimizing the reactive power requirement.« less

Towards an on-chip platform for the controlled application of forces via magnetic particles: A novel device for mechanobiology

NASA Astrophysics Data System (ADS)

Monticelli, M.; Albisetti, E.; Petti, D.; Conca, D. V.; Falcone, M.; Sharma, P. P.; Bertacco, R.

2015-05-01

In-vitro tests and analyses are of fundamental importance for investigating biological mechanisms in cells and bio-molecules. The controlled application of forces to activate specific bio-pathways and investigate their effects, mimicking the role of the cellular environment, is becoming a prominent approach in this field. In this work, we present a non-invasive magnetic on-chip platform which allows for the manipulation of magnetic particles, through micrometric magnetic conduits of Permalloy patterned on-chip. We show, from simulations and experiments, that this technology permits to exert a finely controlled force on magnetic beads along the chip surface. This force can be tuned from few to hundreds pN by applying a variable external magnetic field.

Accurate fluid force measurement based on control surface integration

NASA Astrophysics Data System (ADS)

Lentink, David

2018-01-01

Nonintrusive 3D fluid force measurements are still challenging to conduct accurately for freely moving animals, vehicles, and deforming objects. Two techniques, 3D particle image velocimetry (PIV) and a new technique, the aerodynamic force platform (AFP), address this. Both rely on the control volume integral for momentum; whereas PIV requires numerical integration of flow fields, the AFP performs the integration mechanically based on rigid walls that form the control surface. The accuracy of both PIV and AFP measurements based on the control surface integration is thought to hinge on determining the unsteady body force associated with the acceleration of the volume of displaced fluid. Here, I introduce a set of non-dimensional error ratios to show which fluid and body parameters make the error negligible. The unsteady body force is insignificant in all conditions where the average density of the body is much greater than the density of the fluid, e.g., in gas. Whenever a strongly deforming body experiences significant buoyancy and acceleration, the error is significant. Remarkably, this error can be entirely corrected for with an exact factor provided that the body has a sufficiently homogenous density or acceleration distribution, which is common in liquids. The correction factor for omitting the unsteady body force, {{{ {ρ f}} {1 - {ρ f} ( {{ρ b}+{ρ f}} )}.{( {{{{ρ }}b}+{ρ f}} )}}} , depends only on the fluid, {ρ f}, and body, {{ρ }}b, density. Whereas these straightforward solutions work even at the liquid-gas interface in a significant number of cases, they do not work for generalized bodies undergoing buoyancy in combination with appreciable body density inhomogeneity, volume change (PIV), or volume rate-of-change (PIV and AFP). In these less common cases, the 3D body shape needs to be measured and resolved in time and space to estimate the unsteady body force. The analysis shows that accounting for the unsteady body force is straightforward to non-intrusively and accurately determine fluid force in most applications.

Closed-loop model identification of cooperative manipulators holding deformable objects

NASA Astrophysics Data System (ADS)

Alkathiri, A. A.; Akmeliawati, R.; Azlan, N. Z.

2017-11-01

This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%.

Employee Involvement - White-Collar Work Force

DTIC Science & Technology

1993-01-01

a currently valid OMB control number. 1. REPORT DATE JAN 1993 2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Employee ...Involvement - White-Collar Work Force 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER...34Persons acting on behalf of the Maritime Administration" includes any employee , contractor, or subcontractor to the contractor of the Maritime

ACOSS-16 (Active Control of Space Structures)

DTIC Science & Technology

1982-10-01

RADC-TR-82-225 Final Technical Report October 1982 SACOSS- 16 (ACTIVE CONTROL OF SPACE ~ STRUCTURES) Honeywell Sponsored by Defense Advanced Research ...Defense Ad. vanced Research Projects Agency or the U.S. Government. ROME AIR DEVELOPMENT CENTER Air Force Systems Command Griffiss Air Force Base, NY 13441...ELEMENT. PROJECT, TASK lo, .’ H _onevwell Systems & Research Center AREA & WORK UNIT NUMBERS 2600 Ridgway Parkway, P0 Box 312 62301E Minneapolis MN

Formation control of robotic swarm using bounded artificial forces.

PubMed

Qin, Long; Zha, Yabing; Yin, Quanjun; Peng, Yong

2013-01-01

Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions.

3D force control for robotic-assisted beating heart surgery based on viscoelastic tissue model.

PubMed

Liu, Chao; Moreira, Pedro; Zemiti, Nabil; Poignet, Philippe

2011-01-01

Current cardiac surgery faces the challenging problem of heart beating motion even with the help of mechanical stabilizer which makes delicate operation on the heart surface difficult. Motion compensation methods for robotic-assisted beating heart surgery have been proposed recently in literature, but research on force control for such kind of surgery has hardly been reported. Moreover, the viscoelasticity property of the interaction between organ tissue and robotic instrument further complicates the force control design which is much easier in other applications by assuming the interaction model to be elastic (industry, stiff object manipulation, etc.). In this work, we present a three-dimensional force control method for robotic-assisted beating heart surgery taking into consideration of the viscoelastic interaction property. Performance studies based on our D2M2 robot and 3D heart beating motion information obtained through Da Vinci™ system are provided.

Formation Control of Robotic Swarm Using Bounded Artificial Forces

PubMed Central

Zha, Yabing; Peng, Yong

2013-01-01

Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions. PMID:24453809

Micromanipulation and microfabrication for optical microrobotics

NASA Astrophysics Data System (ADS)

Palima, Darwin; Bañas, Andrew Rafael; Vizsnyiczai, Gaszton; Kelemen, Lóránd; Aabo, Thomas; Ormos, Pál.; Glückstad, Jesper

2012-10-01

Robotics can use optics feedback in vision-based control of intelligent robotic guidance systems. With light's miniscule momentum, shrinking robots down to the microscale regime creates opportunities for exploiting optical forces and torques in microrobotic actuation and control. Indeed, the literature on optical trapping and micromanipulation attests to the possibilities for optical microrobotics. This work presents an optical microrobotics perspective on the optical microfabrication and micromanipulation work that we performed. We designed different three-dimensional microstructures and fabricated them by two-photon polymerization. These microstructures were then handled using our biophotonics workstation (BWS) for proof-of-principle demonstrations of optical actuation, akin to 6DOF actuation of robotic micromanipulators. Furthermore, we also show an example of dynamic behavior of the trapped microstructure that can be achieved when using static traps in the BWS. This can be generalized, in the future, towards a structural shaping optimization strategy for optimally controlling microstructures to complement approaches based on lightshaping. We also show that light channeled to microfabricated, free-standing waveguides can be used not only to redirect light for targeted delivery of optical energy but can also for targeted delivery of optical force, which can serve to further extend the manipulation arms in optical robotics. Moreover, light deflection with waveguide also creates a recoil force on the waveguide, which can be exploited for controlling the optical force.

Volatile Organic Compounds in Blood as Biomarkers of Exposure to JP-8 Jet Fuel Among US Air Force Personnel.

PubMed

Maule, Alexis L; Proctor, Susan P; Blount, Benjamin C; Chambers, David M; McClean, Michael D

2016-01-01

This study aimed to evaluate blood volatile organic compound (VOC) levels as biomarkers of occupational jet propulsion fuel 8 (JP-8) exposure while controlling for smoking. Among 69 Air Force personnel, post-shift blood samples were analyzed for components of JP-8, including ethylbenzene, toluene, o-xylene, and m/p-xylene, and for the smoking biomarker, 2,5-dimethylfuran. JP-8 exposure was characterized based on self-report and measured work shift levels of total hydrocarbons in personal air. Multivariate regression was used to evaluate the relationship between JP-8 exposure and post-shift blood VOCs while controlling for potential confounding from smoking. Blood VOC concentrations were higher among US Air Force personnel who reported JP-8 exposure and work shift smoking. Breathing zone total hydrocarbons was a significant predictor of VOC blood levels, after controlling for smoking. These findings support the use of blood VOCs as a biomarker of occupational JP-8 exposure.

Introducing a new semi-active engine mount using force controlled variable stiffness

NASA Astrophysics Data System (ADS)

Azadi, Mojtaba; Behzadipour, Saeed; Faulkner, Gary

2013-05-01

This work introduces a new concept in designing semi-active engine mounts. Engine mounts are under continuous development to provide better and more cost-effective engine vibration control. Passive engine mounts do not provide satisfactory solution. Available semi-active and active mounts provide better solutions but they are more complex and expensive. The variable stiffness engine mount (VSEM) is a semi-active engine mount with a simple ON-OFF control strategy. However, unlike available semi-active engine mounts that work based on damping change, the VSEM works based on the static stiffness change by using a new fast response force controlled variable spring. The VSEM is an improved version of the vibration mount introduced by the authors in their previous work. The results showed significant performance improvements over a passive rubber mount. The VSEM also provides better vibration control than a hydromount at idle speed. Low hysteresis and the ability to be modelled by a linear model in low-frequency are the advantages of the VSEM over the vibration isolator introduced earlier and available hydromounts. These specifications facilitate the use of VSEM in the automotive industry, however, further evaluation and developments are needed for this purpose.

A comparative work on vibration control of a quarter car suspension system with two different magneto-rheological dampers

NASA Astrophysics Data System (ADS)

Park, Jhin Ha; Kim, Wan Ho; Shin, Cheol Soo; Choi, Seung-Bok

2017-01-01

This work compares the ride comfort of a passenger vehicle whose suspension system is equipped with two different magneto-rheological (MR) dampers: with and without bypass holes in the piston. In order to achieve this goal, two cylindrical type MR dampers, which otherwise have the same such geometrical dimensions as radius of piston, length of pole and distance between two poles, are designed based on a mathematical model and subsequently manufactured. One of MR dampers is then modified by making bypass holes in the piston bobbin structure to obtain a relatively low slope of damping force in the pre-yield region. The field-dependent damping force characteristics are investigated through both simulation and experiment. After characterizing the field-dependent damping force of the two MR dampers, a quarter car model is established to evaluate the ride comfort. In this work, a simple but very effective sky-hook controller is adopted, and vibration control performance is evaluated under two road profiles: bump and random road excitations. It is demonstrated through simulation and experiment that the MR damper with bypass holes provides better ride comfort to the car so equipped than that without.

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot.

PubMed

Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Bengoa, Pablo; Jung, Je Hyung

2017-07-01

In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robotmediated rehabilitation trainings.

Knee extensor dynamics in the volleyball approach jump: the influence of patellar tendinopathy.

PubMed

Sorenson, Shawn C; Arya, Shruti; Souza, Richard B; Pollard, Christine D; Salem, George J; Kulig, Kornelia

2010-09-01

Controlled laboratory study using a cross-sectional design. To evaluate knee joint dynamics in elite volleyball players with and without a history of patellar tendinopathy, focusing on mechanical energy absorption and generation. We hypothesized that tendinopathy would be associated withreduced net joint work and net joint power. Patellar tendinopathy is a common, debilitating injury affecting competitive volleyball players. Thirteen elite male players with and without a history of patellar tendinopathy (mean ± SD age, 27 ± 7 years) performed maximum-effort volleyball approach jumps. Sagittal plane knee joint kinematics, kinetics, and energetics were quantified in the lead limb, using data obtained from a force platform and an 8-camera motion analysis system. Vertical ground reaction forces and pelvis vertical velocity at takeoff were examined. Independent sample t tests were used to evaluate group differences (α = .05). The tendinopathy group, compared to controls, demonstrated significant reductions (approximately 30%) in net joint work and net joint power during the eccentric phase of the jump, with no differences in the concentric phase. Positive to-negative net joint work and net joint power ratios were significantly higher in the tendinopathy group, which had a net joint work ratio of 1.00 (95% CI: 0.77, 1.24) versus 0.76 (95% CI: 0.64, 0.88) for controls, and a net joint power ratio of 1.62 (95% CI: 1.15, 2.10) versus 1.00 (95% CI: 0.80, 1.21) for controls. There were no significant differences in net joint moment, angular velocity, or range of motion. Peak vertical ground reaction forces were lower for the tendinopathy group, while average vertical ground reaction forces and pelvis vertical velocity were similar. Patellar tendinopathy is associated with differences in sagittal plane mechanical energy absorption at the knee during maximum-effort volleyball approach jumps. Net joint work and net joint power may help define underlying mechanisms, adaptive effects, or rehabilitative strategies for individuals with patellar tendinopathy.

75 FR 4402 - Task Force on Community Preventive Services

Federal Register 2010, 2011, 2012, 2013, 2014

2010-01-27

... interventions to reduce inequalities in health outcomes. Agenda items are subject to change as priorities... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Task Force on... scientific evidence and current expertise regarding essential public health and what works in the delivery of...

Quantifying gait patterns in Parkinson's disease

NASA Astrophysics Data System (ADS)

Romero, Mónica; Atehortúa, Angélica; Romero, Eduardo

2017-11-01

Parkinson's disease (PD) is constituted by a set of motor symptoms, namely tremor, rigidity, and bradykinesia, which are usually described but not quantified. This work proposes an objective characterization of PD gait patterns by approximating the single stance phase a single grounded pendulum. This model estimates the force generated by the gait during the single support from gait data. This force describes the motion pattern for different stages of the disease. The model was validated using recorded videos of 8 young control subjects, 10 old control subjects and 10 subjects with Parkinson's disease in different stages. The estimated force showed differences among stages of Parkinson disease, observing a decrease of the estimated force for the advanced stages of this illness.

Force Model for Control of Tendon Driven Hands

NASA Technical Reports Server (NTRS)

Pena, Edward; Thompson, David E.

1997-01-01

Knowing the tendon forces generated for a given task such as grasping via a model, an artificial hand can be controlled. A two-dimensional force model for the index finger was developed. This system is assumed to be in static equilibrium, therefore, the equations of equilibrium were applied at each joint. Constraint equations describing the tendon branch connectivity were used. Gaussian elimination was used to solve for the unknowns of the Linear system. Results from initial work on estimating tendon forces in post-operative hands during active motion therapy were discussed. The results are important for understanding the effects of hand position on tendon tension, elastic effects on tendon tension, and overall functional anatomy of the hand.

Activity in the premotor area related to bite force control--a functional near-infrared spectroscopy study.

PubMed

Takeda, Tomotaka; Shibusawa, Mami; Sudal, Osamu; Nakajima, Kazunori; Ishigami, Keiichi; Sakatani, Kaoru

2010-01-01

The purpose of this study was to elucidate the influence of bite force control on oxygenated hemoglobin (OxyHb) levels in regional cerebral blood flow as an indicator of brain activity in the premotor area. Healthy right-handed volunteers with no subjective or objective symptoms of problems of the stomatognathic system or cervicofacial region were included. Functional near-infrared spectroscopy (fNIRS) was used to determine OxyHb levels in the premotor area during bite force control. A bite block equipped with an occlusal force sensor was prepared to measure clenching at the position where the right upper and lower canine cusps come into contact. Intensity of clenching was shown on a display and feedback was provided to the subjects. Intensity was set at 20, 50 and 80% of maximum voluntary teeth clenching force. To minimize the effect of the temporal muscle on the working side of the jaw, the fNIRS probes were positioned contralaterally, in the left region. The findings of this study are: activation of the premotor area with bite force control was noted in all subjects, and in the group analysis OxyHb in the premotor cortex was significantly increased as the clenching strengthened at 20, 50 and 80% of maximum voluntary clenching force. These results suggest there is a possibility that the premotor area is involved in bite force control.

The control of mono-articular muscles in multijoint leg extensions in man.

PubMed Central

van Ingen Schenau, G J; Dorssers, W M; Welter, T G; Beelen, A; de Groot, G; Jacobs, R

1995-01-01

1. Movements often require control of direction and a magnitude of force exerted externally on the environment. Bi-articular upper leg muscles appear to play a unique role in the regulation of the net torques about the hip and knee joints, necessary for the control of this external force. 2. The aim of this study was to test the hypothesis that the mono-articular muscles act as work generators in powerful dynamic leg extensions, which means that they should be activated primarily in the phases during which they can contribute to work, irrespective of the net joint torques required to control the external force. 3. Cycling movements of six trained subjects were analysed by means of inverse dynamics, yielding net joint torques as well as activity patterns and shortening velocities of four mono- and four bi-articular leg muscles. 4. The results show that the mono-articular muscles exert force only in the phase in which these muscles shorten, whereas this appears not to be the case for the bi-articular muscles. 5. Reciprocal patterns of activation of the rectus femoris and hamstring muscles appear to tune the distribution of net joint torques about the hip and knee joints, necessary to control the (changing) direction of the force on the pedal. 6. An analysis of running in man and additional related literature based on animal studies appears to provide further support for the hypothesis that mono- and bi-articular muscles have essentially different roles in these powerful multijoint leg extension tasks. PMID:7602524

Mechanism of force mode dip-pen nanolithography

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

Yang, Haijun, E-mail: yanghaijun@sinap.ac.cn, E-mail: swguo@sjtu.edu.cn, E-mail: wanghuabin@cigit.ac.cn; Interfacial Water Division and Key Laboratory of Interfacial Physics and Technology, Shanghai Institute of Applied Physics, CAS, Shanghai 201800; Xie, Hui

In this work, the underlying mechanism of the force mode dip-pen nanolithography (FMDPN) is investigated in depth by analyzing force curves, tapping mode deflection signals, and “Z-scan” voltage variations during the FMDPN. The operation parameters including the relative “trigger threshold” and “surface delay” parameters are vital to control the loading force and dwell time for ink deposition during FMDPN. A model is also developed to simulate the interactions between the atomic force microscope tip and soft substrate during FMDPN, and verified by its good performance in fitting our experimental data.

Association of work-related stress with mental health problems in a special police force unit.

PubMed

Garbarino, Sergio; Cuomo, Giovanni; Chiorri, Carlo; Magnavita, Nicola

2013-01-01

Law and order enforcement tasks may expose special force police officers to significant psychosocial risk factors. The aim of this work is to investigate the relationship between job stress and the presence of mental health symptoms while controlling sociodemographical, occupational and personality variables in special force police officers. At different time points, 292 of 294 members of the 'VI Reparto Mobile', a special police force engaged exclusively in the enforcement of law and order, responded to our invitation to complete questionnaires for the assessment of personality traits, work-related stress (using the Demand-Control-Support (DCS) and the Effort-Reward-Imbalance (ERI) models) and mental health problems such as depression, anxiety and burnout. Regression analyses showed that lower levels of support and reward and higher levels of effort and overcommitment were associated with higher levels of mental health symptoms. Psychological screening revealed 21 (7.3%) likely cases of mild depression (Beck Depression Inventory, BDI≥10). Officers who had experienced a discrepancy between work effort and rewards showed a marked increase in the risk of depression (OR 7.89, 95% CI 2.32 to 26.82) when compared with their counterparts who did not perceive themselves to be in a condition of distress. The findings of this study suggest that work-related stress may play a role in the development of mental health problems in police officers. The prevalence of mental health symptoms in the cohort investigated here was low, but not negligible in the case of depression. Since special forces police officers have to perform sensitive tasks for which a healthy psychological functioning is needed, the results of this study suggest that steps should be taken to prevent distress and improve the mental well-being of these workers.

Flow Modulation and Force Control in Insect Fast Maneuver

NASA Astrophysics Data System (ADS)

Li, Chengyu; Dong, Haibo; Zhang, Wen; Gai, Kuo

2012-11-01

In this work, an integrated study combining high-speed photogrammetry and direct numerical simulation (DNS) is used to study free flying insects in fast maneuver. Quantitative measurement has shown the significant differences between quad-winged flyers such as dragonfly and damselfly and two-winged flyers such as cicada. Comparisons of unsteady 3D vortex formation and associated aerodynamic force production reveal the different mechanisms used by insects in fast turn. This work is supported by NSF CBET-1055949.

A force-controllable macro-micro manipulator and its application to medical robots

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

1994-01-01

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.

11th Annual Systems Engineering Conference

DTIC Science & Technology

2008-10-23

effectiveness for force structure architecture studies – Problem of interest was Layered Intelligence, Surveillance and Reconnaissance ( LISR ) with Integrated...Cleared for Public Release, Control No. 08-110, dtd. 10-1-0811 LISR CET Typical Products 1 Satellite_A; 1 Satellite_B; 3 VehA; 1 VehB (50%) 2 VehA; 3...the means to support LISR force structure architecture studies: Stand-alone and as a lead-in to detailed work Cleared for Public Release, Control No

Methodological standards and functional correlates of depth in vivo electrophysiological recordings in control rodents. A TASK1-WG3 report of the AES/ILAE Translational Task Force of the ILAE.

PubMed

Hernan, Amanda E; Schevon, Catherine A; Worrell, Gregory A; Galanopoulou, Aristea S; Kahane, Philippe; de Curtis, Marco; Ikeda, Akio; Quilichini, Pascale; Williamson, Adam; Garcia-Cairasco, Norberto; Scott, Rod C; Timofeev, Igor

2017-11-01

This paper is a result of work of the AES/ILAE Translational Task Force of the International League Against Epilepsy. The aim is to provide acceptable standards and interpretation of results of electrophysiological depth recordings in vivo in control rodents. Wiley Periodicals, Inc. © 2017 International League Against Epilepsy.

Individual and Work Factors Related to Perceived Work Ability and Labor Force Outcomes

PubMed Central

McGonagle, Alyssa K.; Fisher, Gwenith G.; Barnes-Farrell, Janet L.; Grosch, James W.

2015-01-01

Perceived work ability refers to a worker's assessment of his or her ability to continue working in his or her job, given characteristics of the job along with his or her personal resources. Perceived work ability is a critical variable to study in the U.S., given an aging workforce, trends to delay retirement, and U.S. policy considerations to delay the age at which full Social Security retirement benefits may be obtained. Based on the Job Demands-Resources Model, cognitive appraisal theory of stress and push/pull factors related to retirement, we proposed and tested a conceptual model of antecedents and outcomes of perceived work ability using three independent samples of U.S. working adults. Data regarding workers’ job characteristics were from self-report and O*NET measures. Results from relative importance analysis indicated that health and sense of control were consistently and most strongly related to work ability perceptions relative to other job demands and job resources when perceived work ability was measured concurrently or two weeks later in samples with varying occupations. Job demands (along with health and sense of control) were most strongly related to work ability perceptions when perceived work ability was measured in a manufacturing worker sample 1.6 years later. Perceived work ability also predicted lagged labor force outcomes (absence, retirement, and disability leave) while controlling for other known predictors of each. Consistent indirect effects were observed from health status and sense of control to all three of these outcomes via perceived work ability. PMID:25314364

Individual and work factors related to perceived work ability and labor force outcomes.

PubMed

McGonagle, Alyssa K; Fisher, Gwenith G; Barnes-Farrell, Janet L; Grosch, James W

2015-03-01

Perceived work ability refers to a worker's assessment of his or her ability to continue working in his or her job, given characteristics of the job along with his or her resources. Perceived work ability is a critical variable to study in the United States, given an aging workforce, trends to delay retirement, and U.S. policy considerations to delay the age at which full Social Security retirement benefits may be obtained. Based on the job demands-resources model, cognitive appraisal theory of stress, and push/pull factors related to retirement, we proposed and tested a conceptual model of antecedents and outcomes of perceived work ability using 3 independent samples of U.S. working adults. Data regarding workers' job characteristics were from self-report and Occupational Information Network measures. Results from relative importance analysis indicated that health and sense of control were consistently and most strongly related to work ability perceptions relative to other job demands and job and personal resources when perceived work ability was measured concurrently or 2 weeks later in samples with varying occupations. Job demands (along with health and sense of control) were most strongly related to work ability perceptions when perceived work ability was measured in a manufacturing worker sample 1.6 years later. Perceived work ability also predicted lagged labor force outcomes (absence, retirement, and disability leave) while controlling for other known predictors of each. Consistent indirect effects were observed from health status and sense of control to all 3 of these outcomes via perceived work ability. PsycINFO Database Record (c) 2015 APA, all rights reserved.

Employee Warriors and the Future of the American Fighting Force

DTIC Science & Technology

2002-06-01

Employee Warriors and the Future of the American Fighting Force HUGH S. VEST Major, USAF Fairchild Paper Air University Press Maxwell Air Force...control number. 1. REPORT DATE 00 JUN 2002 2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Employee Warriors and the Future of the...American Fighting Force 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK

Open-loop control of quasiperiodic thermoacoustic oscillations

NASA Astrophysics Data System (ADS)

Guan, Yu; Gupta, Vikrant; Kashinath, Karthik; Li, Larry K. B.

2017-11-01

The open-loop application of periodic acoustic forcing has been shown to be a potentially effective strategy for controlling periodic thermoacoustic oscillations, but its effectiveness on aperiodic thermoacoustic oscillations is less clear. In this experimental study, we apply periodic acoustic forcing to a ducted premixed flame oscillating quasiperiodically at two incommensurate natural frequencies, f1 and f2. We find that (i) above a critical forcing amplitude, the system locks into the forcing by oscillating only at the forcing frequency ff, producing a closed periodic orbit in phase space with no evidence of the original T2 torus attractor; (ii) the critical forcing amplitude required for lock-in decreases as ff approaches either f1 or f2, resulting in characteristic ∨-shaped lock-in boundaries around the two natural modes; and (iii) for a wide range of forcing frequencies, the system's oscillation amplitude can be reduced to less than 20% of that of the unforced system. These findings show that the open-loop application of periodic acoustic forcing can be an effective strategy for controlling aperiodic thermoacoustic oscillations. This work was supported by the Research Grants Council of Hong Kong (Project No. 16235716 and 26202815).

Gaining Control of Occupational Injury and Illness in the U.S. Navy Civilian Work Force

DTIC Science & Technology

1990-01-16

developing survey instruments, interviews were conducted with key participants at the naval shipyards, naval public works center, naval air repair...currently in place at naval shipyards. After compiling data on those processes, NAVCAMPRO was developed in an effort to take control of the management of...physician. The attending physician participates with the physical therapist and supervisor in the development of a work -hardening program for the

A three-axis force sensor for dual finger haptic interfaces.

PubMed

Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo

2012-10-10

In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor.

Kinesthetic Force Feedback and Belt Control for the Treadport Locomotion Interface.

PubMed

Hejrati, Babak; Crandall, Kyle L; Hollerbach, John M; Abbott, Jake J

2015-01-01

This paper describes an improved control system for the Treadport immersive locomotion interface, with results that generalize to any treadmill that utilizes an actuated tether to enable self-selected walking speed. A new belt controller is implemented to regulate the user's position; when combined with the user's own volition, this controller also enables the user to naturally self-select their walking speed as they would when walking over ground. A new kinesthetic-force-feedback controller is designed for the tether that applies forces to the user's torso. This new controller is derived based on maintaining the user's sense of balance during belt acceleration, rather than by rendering an inertial force as was done in our prior work. Based on the results of a human-subjects study, the improvements in both controllers significantly contribute to an improved perception of realistic walking on the Treadport. The improved control system uses intuitive dynamic-system and anatomical parameters and requires no ad hoc gain tuning. The control system simply requires three measurements to be made for a given user: the user's mass, the user's height, and the height of the tether attachment point on the user's torso.

Adhesion switch on a gecko-foot inspired smart nanocupule surface

NASA Astrophysics Data System (ADS)

Song, Wenlong

2014-10-01

A gecko-foot inspired nanocupule surface prepared by an AAO template covering method was composed of poly(N-isopropylacrylamide) and polystyrene blend. Both superhydrophobicity and high adhesion force were exhibited on the PNIPAm/PS film at room temperature. Moreover, by controlling the temperature, the wettability of the film could be switched between 138.1 +/- 5.5° and 150.6 +/- 1.5°, and the adhesion force could also be correspondingly tuned accurately by temperature. This reversibility in both wettability and adhesion force could be used to construct smart devices for fine selection of water droplets. The proof-of-concept was demonstrated by the selective catching of precise weight controlled water droplets at different temperatures. This work could help us to design new type of devices for blood bioanalysis or lossless drug transportation.A gecko-foot inspired nanocupule surface prepared by an AAO template covering method was composed of poly(N-isopropylacrylamide) and polystyrene blend. Both superhydrophobicity and high adhesion force were exhibited on the PNIPAm/PS film at room temperature. Moreover, by controlling the temperature, the wettability of the film could be switched between 138.1 +/- 5.5° and 150.6 +/- 1.5°, and the adhesion force could also be correspondingly tuned accurately by temperature. This reversibility in both wettability and adhesion force could be used to construct smart devices for fine selection of water droplets. The proof-of-concept was demonstrated by the selective catching of precise weight controlled water droplets at different temperatures. This work could help us to design new type of devices for blood bioanalysis or lossless drug transportation. Electronic supplementary information (ESI) available. See DOI: 10.1039/c4nr04090b

Civilian Manpower Cost Controls Automated Data System: Functional Description,

DTIC Science & Technology

1984-12-07

1.2 Project References 1-1 1.3 Terms and Abbreviations 1-3 2 SYSTEM SUMMARY 2-1 2.1 Background 2-1 2.2 Objective 2-2 2.3 Existing Methods and...Procedures 2-3 2.4 Proposed Methods and Procedures 2-18 2.5 Assumptions and Constraints 2-33 3 DETAILED CHARACTERISTICS 3-1 3.1 Specific Performance...of the most critical of Army resources and a key partner is the civilian work force. Maintanance of the large professional civilian work force

Recent National Transonic Facility Test Process Improvements (Invited)

NASA Technical Reports Server (NTRS)

Kilgore, W. A.; Balakrishna, S.; Bobbitt, C. W., Jr.; Adcock, J. B.

2001-01-01

This paper describes the results of two recent process improvements; drag feed-forward Mach number control and simultaneous force/moment and pressure testing, at the National Transonic Facility. These improvements have reduced the duration and cost of testing. The drag feed-forward Mach number control reduces the Mach number settling time by using measured model drag in the Mach number control algorithm. Simultaneous force/moment and pressure testing allows simultaneous collection of force/moment and pressure data without sacrificing data quality thereby reducing the overall testing time. Both improvements can be implemented at any wind tunnel. Additionally the NTF is working to develop and implement continuous pitch as a testing option as an additional method to reduce costs and maintain data quality.

Recent National Transonic Facility Test Process Improvements (Invited)

NASA Technical Reports Server (NTRS)

Kilgore, W. A.; Balakrishna, S.; Bobbitt, C. W., Jr.; Adcock, J. B.

2001-01-01

This paper describes the results of two recent process improvements; drag feed-forward Mach number control and simultaneous force/moment and pressure testing, at the National Transonic Facility. These improvements have reduced the duration and cost of testing. The drag feedforward Mach number control reduces the Mach number settling time by using measured model drag in the Mach number control algorithm. Simultaneous force/moment and pressure testing allows simultaneous collection of force/moment and pressure data without sacrificing data quality thereby reducing the overall testing time. Both improvements can be implemented at any wind tunnel. Additionally the NTF is working to develop and implement continuous pitch as a testing option as an additional method to reduce costs and maintain data quality.

Dynamic curvature regulation accounts for the symmetric and asymmetric beats of Chlamydomonas flagella

PubMed Central

Sartori, Pablo; Geyer, Veikko F; Scholich, Andre; Jülicher, Frank; Howard, Jonathon

2016-01-01

Cilia and flagella are model systems for studying how mechanical forces control morphology. The periodic bending motion of cilia and flagella is thought to arise from mechanical feedback: dynein motors generate sliding forces that bend the flagellum, and bending leads to deformations and stresses, which feed back and regulate the motors. Three alternative feedback mechanisms have been proposed: regulation by the sliding forces, regulation by the curvature of the flagellum, and regulation by the normal forces that deform the cross-section of the flagellum. In this work, we combined theoretical and experimental approaches to show that the curvature control mechanism is the one that accords best with the bending waveforms of Chlamydomonas flagella. We make the surprising prediction that the motors respond to the time derivative of curvature, rather than curvature itself, hinting at an adaptation mechanism controlling the flagellar beat. DOI: http://dx.doi.org/10.7554/eLife.13258.001 PMID:27166516

Ecological Relevance Determines Task Priority in Older Adults' Multitasking.

PubMed

Doumas, Michail; Krampe, Ralf Th

2015-05-01

Multitasking is a challenging aspect of human behavior, especially if the concurrently performed tasks are different in nature. Several studies demonstrated pronounced performance decrements (dual-task costs) in older adults for combinations of cognitive and motor tasks. However, patterns of costs among component tasks differed across studies and reasons for participants' resource allocation strategies remained elusive. We investigated young and older adults' multitasking of a working memory task and two sensorimotor tasks, one with low (finger force control) and one with high ecological relevance (postural control). The tasks were performed in single-, dual-, and triple-task contexts. Working memory accuracy was reduced in dual-task contexts with either sensorimotor task and deteriorated further under triple-task conditions. Postural and force performance deteriorated with age and task difficulty in dual-task contexts. However, in the triple-task context with its maximum resource demands, older adults prioritized postural control over both force control and memory. Our results identify ecological relevance as the key factor in older adults' multitasking. © The Author 2013. Published by Oxford University Press on behalf of The Gerontological Society of America. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

Shock and Vibration Control of a Golf-Swing Robot at Impacting the Ball

NASA Astrophysics Data System (ADS)

Hoshino, Yohei; Kobayashi, Yukinori

A golf swing robot is a kind of fast motion manipulator with a flexible link. A robot manipulator is greatly affected by Corioli's and centrifugal forces during fast motion. Nonlinearity due to these forces can have an adverse effect on the performance of feedback control. In the same way, ordinary state observers of a linear system cannot accurately estimate the states of nonlinear systems. This paper uses a state observer that considers disturbances to improve the performance of state estimation and feedback control. A mathematical model of the golf robot is derived by Hamilton's principle. A linear quadratic regulator (LQR) that considers the vibration of the club shaft is used to stop the robot during the follow-through action. The state observer that considers disturbances estimates accurate state variables when the disturbances due to Corioli's and centrifugal forces, and impact forces work on the robot. As a result, the performance of the state feedback control is improved. The study compares the results of the numerical simulations with experimental results.

The impact of hepatitis C on labor force participation, absenteeism, presenteeism and non-work activities.

PubMed

DiBonaventura, Marco daCosta; Wagner, Jan-Samuel; Yuan, Yong; L'Italien, Gilbert; Langley, Paul; Ray Kim, W

2011-01-01

Between 2.7 and 3.9 million people are currently infected with the hepatitis C virus (HCV) in the United States. Although many studies have investigated the impact of HCV on direct healthcare costs, few studies have estimated the indirect costs associated with the virus using a nationally-representative dataset. Using data from the 2009 United States (US) National Health and Wellness Survey, patients who reported a hepatitis C diagnosis (n = 695) were compared to controls on labor force participation, productivity loss, and activity impairment after adjusting for demographics, health risk behaviors, and comorbidities. All analyses applied sampling weights to project to the population. Patients with HCV were significantly less likely to be in the labor force than controls and reported significantly higher levels of absenteeism (4.88 vs. 3.03%), presenteeism (16.69 vs. 13.50%), overall work impairment (19.40 vs.15.35%), and activity impairment (25.01 vs. 21.78%). A propensity score matching methodology replicated many of these findings. While much of the work on HCV has focused on direct costs, our results suggest indirect costs should not be ignored when quantifying the societal burden of HCV. To our knowledge, this is the first study which has utilized a large, nationally-representative data source for identifying the impact of HCV on labor force participation and work and activity impairment using both a propensity-score matching and a regression modeling framework. All data were patient-reported (including HCV diagnosis and work productivity), which could have introduced some subjective biases.

Memory-guided force control in healthy younger and older adults.

PubMed

Neely, Kristina A; Samimy, Shaadee; Blouch, Samantha L; Wang, Peiyuan; Chennavasin, Amanda; Diaz, Michele T; Dennis, Nancy A

2017-08-01

Successful performance of a memory-guided motor task requires participants to store and then recall an accurate representation of the motor goal. Further, participants must monitor motor output to make adjustments in the absence of visual feedback. The goal of this study was to examine memory-guided grip force in healthy younger and older adults and compare it to performance on behavioral tasks of working memory. Previous work demonstrates that healthy adults decrease force output as a function of time when visual feedback is not available. We hypothesized that older adults would decrease force output at a faster rate than younger adults, due to age-related deficits in working memory. Two groups of participants, younger adults (YA: N = 32, mean age 21.5 years) and older adults (OA: N = 33, mean age 69.3 years), completed four 20-s trials of isometric force with their index finger and thumb, equal to 25% of their maximum voluntary contraction. In the full-vision condition, visual feedback was available for the duration of the trial. In the no vision condition, visual feedback was removed for the last 12 s of each trial. Participants were asked to maintain constant force output in the absence of visual feedback. Participants also completed tasks of word recall and recognition and visuospatial working memory. Counter to our predictions, when visual feedback was removed, younger adults decreased force at a faster rate compared to older adults and the rate of decay was not associated with behavioral performance on tests of working memory.

Comparison between sEMG and force as control interfaces to support planar arm movements in adults with Duchenne: a feasibility study.

PubMed

Lobo-Prat, Joan; Nizamis, Kostas; Janssen, Mariska M H P; Keemink, Arvid Q L; Veltink, Peter H; Koopman, Bart F J M; Stienen, Arno H A

2017-07-12

Adults with Duchenne muscular dystrophy (DMD) can benefit from devices that actively support their arm function. A critical component of such devices is the control interface as it is responsible for the human-machine interaction. Our previous work indicated that surface electromyography (sEMG) and force-based control with active gravity and joint-stiffness compensation were feasible solutions for the support of elbow movements (one degree of freedom). In this paper, we extend the evaluation of sEMG- and force-based control interfaces to simultaneous and proportional control of planar arm movements (two degrees of freedom). Three men with DMD (18-23 years-old) with different levels of arm function (i.e. Brooke scores of 4, 5 and 6) performed a series of line-tracing tasks over a tabletop surface using an experimental active arm support. The arm movements were controlled using three control methods: sEMG-based control, force-based control with stiffness compensation (FSC), and force-based control with no compensation (FNC). The movement performance was evaluated in terms of percentage of task completion, tracing error, smoothness and speed. For subject S1 (Brooke 4) FNC was the preferred method and performed better than FSC and sEMG. FNC was not usable for subject S2 (Brooke 5) and S3 (Brooke 6). Subject S2 presented significantly lower movement speed with sEMG than with FSC, yet he preferred sEMG since FSC was perceived to be too fatiguing. Subject S3 could not successfully use neither of the two force-based control methods, while with sEMG he could reach almost his entire workspace. Movement performance and subjective preference of the three control methods differed with the level of arm function of the participants. Our results indicate that all three control methods have to be considered in real applications, as they present complementary advantages and disadvantages. The fact that the two weaker subjects (S2 and S3) experienced the force-based control interfaces as fatiguing suggests that sEMG-based control interfaces could be a better solution for adults with DMD. Yet force-based control interfaces can be a better alternative for those cases in which voluntary forces are higher than the stiffness forces of the arms.

Low-Fatigue Hand Controller For Remote Manipulator

NASA Technical Reports Server (NTRS)

Maclaren, Brice; Mcmurray, Gary; Lipkin, Harvey

1993-01-01

Universal master controller used in brace mode, in which user's forearm rests atop upper (forearm) module. Alternatively, user manipulates hand controller in side mode, which gives greater latitude for motion but requires more muscular effort. Controller provides six degrees of freedom and reflects, back to user, scaled versions of forces experienced by manipulator. Manipulator designed to condense work space into user's natural work volume. Operated by both right-handed and left-handed users. Does not interfere with user's natural movements or obstruct line of sight. Controller compact and portable.

Model Development and Model-Based Control Design for High Performance Nonlinear Smart Systems

DTIC Science & Technology

2007-11-20

potentially impact a broad range of flow control problems of interest to the Air Force and Boeing. Point of contact: James Mabe , Boeing Phantom Works...rotorcraft blades. In both cases, models and control designs will be validated using data from Boeing experiments and flight tests. Point of contact: James ... Mabe , Boeing Phantom Works, Seattle, WA, 206-655-0091. 3. PZT Unimorphs – Boeing: Nonlinear structural models developed through AFOSR support are being

An Attitude Survey Analysis of CONUS Air Force Jet Propulsion Technicians Towards the Warranted Tool Program.

DTIC Science & Technology

1983-09-01

Reyer’s research 12 . I -’. .. - n -l l--" (11:1), of "scrounging" from another worker’s tool box. As a consequence, control and accounting procedures...PPOGPAM $ELEMENT. PROJECT, TASK School of Systems and Logistics APEA A WORK UNIT NUMBERS Air Force Institute of Technology, WPAFBO1 II. CONTROLLING ...thesis analyzes those attitudes by evaluating the collected data from the AFLMC questionnaire and this research team’s telephone interviews. The

Control of a small working robot on a large flexible manipulator for suppressing vibrations: Development of a robust control law for flexible robot and it's stability analysis

NASA Technical Reports Server (NTRS)

Soo, Han Lee

1991-01-01

Researchers developed a robust control law for slow motions for the accurate trajectory control of a flexible robot. The control law does not need larger velocity gains than position gains, which some researchers need to ensure the stability of a rigid robot. Initial experimentation for the Small Articulated Manipulator (SAM) shows that control laws that use smaller velocity gains are more robust to signal noise than the control laws that use larger velocity gains. Researchers analyzed the stability of the composite control law, the robust control for the slow motion, and the strain rate feedback for the fast control. The stability analysis was done by using a quadratic Liapunov function. Researchers found that the flexible motion of links could be controlled by relating the input force to the flexible signals which are sensed at the near tip of each link. The signals are contaminated by the time delayed input force. However, the effect of the time delayed input force can be reduced by giving a certain configuration to the SAM.

Automation Applications in an Advanced Air Traffic Management System : Volume 4A. Automation Requirements.

DOT National Transportation Integrated Search

1974-08-01

Volume 4 describes the automation requirements. A presentation of automation requirements is made for an advanced air traffic management system in terms of controller work force, computer resources, controller productivity, system manning, failure ef...

Co-robotic ultrasound imaging: a cooperative force control approach

NASA Astrophysics Data System (ADS)

Finocchi, Rodolfo; Aalamifar, Fereshteh; Fang, Ting Yun; Taylor, Russell H.; Boctor, Emad M.

2017-03-01

Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91% of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.

Design of Feedforward Controller to Reduce Force Ripple for Linear Motor using Halbach Magnet Array with T Shape Magnet

NASA Astrophysics Data System (ADS)

Kim, Moojong; Kim, Jinyoung; Lee, Moon G.

Recently, in micro/nano fabrication equipments, linear motors are widely used as an actuator to position workpiece, machining tool and measurement head. To control them faster and more precise, the motor should have high actuating force and small force ripple. High actuating force enable us to more workpiece with high acceleration. Eventually, it may provide higher throughput. Force ripple gives detrimental effect on the precision and tracking performance of the equipments. In order to accomplish more precise motion, it is important to make lower the force ripple. Force ripple is categorized into cogging and mutual ripple. First is dependent on the shape of magnets and/or core. The second is not dependent on them but dependent on current commutation. In this work, coreless mover i.e. coil winding is applied to the linear motor to avoid the cogging ripple. Therefore, the mutual ripple is only considered to be minimized. Ideal Halbach magnet array has continuously varying magnetization. The THMA (Halbach magnet array with T shape magnets) is proposed to approximate the ideal one. The THMA can not produce ideal sinusoidal flux, therefore, the linear motor with THMA and sinusoidal commutation of current generates the mutual force ripple. In this paper, in order to compensate mutual force ripple by feedforward(FF) controller, we calculate the optimized commutation of input current. The ripple is lower than 1.17% of actuating force if the commutation current agree with the magnetic flux from THMA. The performance of feedforward(FF) controller is verified by experiment.

Rotordynamic Instability Problems in High-Performance Turbomachinery

NASA Technical Reports Server (NTRS)

1980-01-01

Diagnostic and remedial methods concerning rotordynamic instability problems in high performance turbomachinery are discussed. Instabilities due to seal forces and work-fluid forces are identified along with those induced by rotor bearing systems. Several methods of rotordynamic control are described including active feedback methods, the use of elastometric elements, and the use of hydrodynamic journal bearings and supports.

Central mechanisms for force and motion--towards computational synthesis of human movement.

PubMed

Hemami, Hooshang; Dariush, Behzad

2012-12-01

Anatomical, physiological and experimental research on the human body can be supplemented by computational synthesis of the human body for all movement: routine daily activities, sports, dancing, and artistic and exploratory involvements. The synthesis requires thorough knowledge about all subsystems of the human body and their interactions, and allows for integration of known knowledge in working modules. It also affords confirmation and/or verification of scientific hypotheses about workings of the central nervous system (CNS). A simple step in this direction is explored here for controlling the forces of constraint. It requires co-activation of agonist-antagonist musculature. The desired trajectories of motion and the force of contact have to be provided by the CNS. The spinal control involves projection onto a muscular subset that induces the force of contact. The projection of force in the sensory motor cortex is implemented via a well-defined neural population unit, and is executed in the spinal cord by a standard integral controller requiring input from tendon organs. The sensory motor cortex structure is extended to the case for directing motion via two neural population units with vision input and spindle efferents. Digital computer simulations show the feasibility of the system. The formulation is modular and can be extended to multi-link limbs, robot and humanoid systems with many pairs of actuators or muscles. It can be expanded to include reticular activating structures and learning. Copyright © 2012 Elsevier Ltd. All rights reserved.

Effect of rotation rate on the forces of a rotating cylinder: Simulation and control

NASA Technical Reports Server (NTRS)

Burns, John A.; Ou, Yuh-Roung

1993-01-01

In this paper we present numerical solutions to several optimal control problems for an unsteady viscous flow. The main thrust of this work is devoted to simulation and control of an unsteady flow generated by a circular cylinder undergoing rotary motion. By treating the rotation rate as a control variable, we can formulate two optimal control problems and use a central difference/pseudospectral transform method to numerically compute the optimal control rates. Several types of rotations are considered as potential controls, and we show that a proper synchronization of forcing frequency with the natural vortex shedding frequency can greatly influence the flow. The results here indicate that using moving boundary controls for such systems may provide a feasible mechanism for flow control.

Electrochemical atomic force microscopy: In situ monitoring of electrochemical processes

NASA Astrophysics Data System (ADS)

Reggente, Melania; Passeri, Daniele; Rossi, Marco; Tamburri, Emanuela; Terranova, Maria Letizia

2017-08-01

The in-situ electrodeposition of polyaniline (PANI), one of the most attractive conducting polymers (CP), has been monitored performing electrochemical atomic force microscopy (EC-AFM) experiments. The electropolymerization of PANI on a Pt working electrode has been observed performing cyclic voltammetry experiments and controlling the evolution of current flowing through the electrode surface, together with a standard AFM image. The working principle and the potentialities of this emerging technique are briefly reviewed and factors limiting the studying of the in-situ electrosynthesis of organic compounds discussed.

A Three-Axis Force Sensor for Dual Finger Haptic Interfaces

PubMed Central

Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo

2012-01-01

In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor. PMID:23202012

Sci—Fri PM: Topics — 03: The Global Task Force on Radiotherapy for Cancer Control: Core Investments

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

Van Dyk, J.; Jaffray, D. A.; MacPherson, M. S.

The Union for International Cancer Control (UICC) is a membership-based, non-governmental organization with a mandate to “…to unite the cancer community to reduce the global cancer burden, to promote greater equity, and to integrate cancer control into the world health and development agenda.” COMP is an associate member of the UICC. It is well recognized by the UICC that there are major gaps between high, and low and middle income countries, in terms of access to cancer services including access to radiation therapy. In this context, the UICC has developed a Global Task Force on Radiotherapy for Cancer Control withmore » a charge to answer a single question: “What does it cost to close the gap between what exists today and reasonable access to radiotherapy globally?” The Task Force consists of leaders internationally recognized for their radiation treatment related expertise (radiation oncologists, medical physicists, radiation therapists) as well as those with global health and economics specialization. The Task Force has developed three working groups: (1) to look at the global burden of cancer; (2) to look at the infrastructure requirements (facilities, equipment, personnel); and (3) to consider outcomes in terms of numbers of lives saved and palliated patients. A report is due at the World Cancer Congress in December 2014. This presentation reviews the infrastructure considerations under analysis by the second work group. The infrastructure parameters being addressed include capital costs of buildings and equipment and operating costs, which include human resources, equipment servicing and quality control, and general overhead.« less

Improving plasma actuator performance at low pressure, and an analysis of the pointing capabilities of cubeSats using Plasmonic Force Propulsion (PFP) thrusters

NASA Astrophysics Data System (ADS)

Friz, Paul Daniel

This thesis details the work done on two unrelated projects, plasma actuators, an aerodynamic flow control device, and Plasmonic Force Propulsion (PFP) thrusters, a space propulsion system for small satellites. The first half of the thesis is a paper published in the International Journal of Flow Control on plasma actuators. In this paper the thrust and power consumption of plasma actuators with varying geometries was studied at varying pressure. It was found that actuators with longer buried electrodes produce the most thrust over all and that they substantially improved thrust at low pressure. In particular actuators with 75 mm buried electrodes produced 26% more thrust overall and 34% more thrust at low pressure than the standard 15 mm design. The second half details work done modeling small satellite attitude and reaction control systems in order to compare the use of Plasmonic Force Propulsion thrusters with other state of the art reaction control systems. The model uses bang bang control algorithms and assumes the worst case scenario solar radiation pressure is the only disturbing force. It was found that the estimated 50-500 nN of thrust produced by PFP thrusters would allow the spacecraft which use them extremely high pointing and positioning accuracies (<10-9 degrees and 3 pm). PFP thrusters still face many developmental challenges such as increasing specific impulse which require more research, however, they have great potential to be an enabling technology for future NASA missions such as the Laser Interferometer Space Antenna, and The Stellar Imager.

Plasmonic Spherical Heterodimers: Reversal of Optical Binding Force Based on the Forced Breaking of Symmetry.

PubMed

Mahdy, M R C; Danesh, Md; Zhang, Tianhang; Ding, Weiqiang; Rivy, Hamim Mahmud; Chowdhury, Ariful Bari; Mehmood, M Q

2018-02-16

The stimulating connection between the reversal of near-field plasmonic binding force and the role of symmetry-breaking has not been investigated comprehensively in the literature. In this work, the symmetry of spherical plasmonic heterodimer-setup is broken forcefully by shining the light from a specific side of the set-up instead of impinging it from the top. We demonstrate that for the forced symmetry-broken spherical heterodimer-configurations: reversal of lateral and longitudinal near-field binding force follow completely distinct mechanisms. Interestingly, the reversal of longitudinal binding force can be easily controlled either by changing the direction of light propagation or by varying their relative orientation. This simple process of controlling binding force may open a novel generic way of optical manipulation even with the heterodimers of other shapes. Though it is commonly believed that the reversal of near-field plasmonic binding force should naturally occur for the presence of bonding and anti-bonding modes or at least for the Fano resonance (and plasmonic forces mostly arise from the surface force), our study based on Lorentz-force dynamics suggests notably opposite proposals for the aforementioned cases. Observations in this article can be very useful for improved sensors, particle clustering and aggregation.

Design and experiment study of a semi-active energy-regenerative suspension system

NASA Astrophysics Data System (ADS)

Shi, Dehua; Chen, Long; Wang, Ruochen; Jiang, Haobin; Shen, Yujie

2015-01-01

A new kind of semi-active energy-regenerative suspension system is proposed to recover suspension vibration energy, as well as to reduce the suspension cost and demands for the motor-rated capacity. The system consists of an energy-regenerative damper and a DC-DC converter-based energy-regenerative circuit. The energy-regenerative damper is composed of an electromagnetic linear motor and an adjustable shock absorber with three regulating levels. The linear motor just works as the generator to harvest the suspension vibration energy. The circuit can be used to improve the system’s energy-regenerative performance and to continuously regulate the motor’s electromagnetic damping force. Therefore, although the motor works as a generator and damps the isolation without an external power source, the motor damping force is controllable. The damping characteristics of the system are studied based on a two degrees of freedom vehicle vibration model. By further analyzing the circuit operation characteristics under different working modes, the double-loop controller is designed to track the desired damping force. The external-loop is a fuzzy controller that offers the desired equivalent damping. The inner-loop controller, on one hand, is used to generate the pulse number and the frequency to control the angle and the rotational speed of the step motor; on the other hand, the inner-loop is used to offer the duty cycle of the energy-regenerative circuit. Simulations and experiments are conducted to validate such a new suspension system. The results show that the semi-active energy-regenerative suspension can improve vehicle ride comfort with the controllable damping characteristics of the linear motor. Meanwhile, it also ensures energy regeneration.

Effectiveness of a passive-active vibration isolation system with actuator constraints

NASA Astrophysics Data System (ADS)

Sun, Lingling; Sun, Wei; Song, Kongjie; Hansen, Colin H.

2014-05-01

In the prediction of active vibration isolation performance, control force requirements were ignored in previous work. This may limit the realization of theoretically predicted isolation performance if control force of large magnitude cannot be supplied by actuators. The behavior of a feed-forward active isolation system subjected to actuator output constraints is investigated. Distributed parameter models are developed to analyze the system response, and to produce a transfer matrix for the design of an integrated passive-active isolation system. Cost functions comprising a combination of the vibration transmission energy and the sum of the squared control forces are proposed. The example system considered is a rigid body connected to a simply supported plate via two passive-active isolation mounts. Vertical and transverse forces as well as a rotational moment are applied at the rigid body, and resonances excited in elastic mounts and the supporting plate are analyzed. The overall isolation performance is evaluated by numerical simulation. The simulation results are then compared with those obtained using unconstrained control strategies. In addition, the effects of waves in elastic mounts are analyzed. It is shown that the control strategies which rely on unconstrained actuator outputs may give substantial power transmission reductions over a wide frequency range, but also require large control force amplitudes to control excited vibration modes of the system. Expected power transmission reductions for modified control strategies that incorporate constrained actuator outputs are considerably less than typical reductions with unconstrained actuator outputs. In the frequency range in which rigid body modes are present, the control strategies can only achieve 5-10 dB power transmission reduction, when control forces are constrained to be the same order of the magnitude as the primary vertical force. The resonances of the elastic mounts result in a notable increase of power transmission in high frequency range and cannot be attenuated by active control. The investigation provides a guideline for design and evaluation of active vibration isolation systems.

Virtual Sensors for Advanced Controllers in Rehabilitation Robotics.

PubMed

Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Portillo, Eva; Jung, Je Hyung

2018-03-05

In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.

Isokinetic analysis of ankle and ground reaction forces in runners and triathletes

PubMed Central

Luna, Natália Mariana Silva; Alonso, Angelica Castilho; Brech, Guilherme Carlos; Mochizuki, Luis; Nakano, Eduardo Yoshio; Greve, Júlia Maria D'Andréa

2012-01-01

OBJECTIVE: To analyze and compare the vertical component of ground reaction forces and isokinetic muscle parameters for plantar flexion and dorsiflexion of the ankle between long-distance runners, triathletes, and non-athletes. METHODS: Seventy-five males with a mean age of 30.26 (±6.5) years were divided into three groups: a triathlete group (n = 26), a long-distance runner group (n = 23), and a non-athlete control group. The kinetic parameters were measured during running using a force platform, and the isokinetic parameters were measured using an isokinetic dynamometer. RESULTS: The non-athlete control group and the triathlete group exhibited smaller vertical forces, a greater ground contact time, and a greater application of force during maximum vertical acceleration than the long-distance runner group. The total work (180°/s) was greater in eccentric dorsiflexion and concentric plantar flexion for the non-athlete control group and the triathlete group than the long-distance runner group. The peak torque (60°/s) was greater in eccentric plantar flexion and concentric dorsiflexion for the control group than the athlete groups. CONCLUSIONS: The athlete groups exhibited less muscle strength and resistance than the control group, and the triathletes exhibited less impact and better endurance performance than the runners. PMID:23018298

Government Competitive Test Utility Tactical Transport Aircraft System (UTTAS). Sikorsky YUH-60A Helicopter

DTIC Science & Technology

1976-11-01

Box 209, St. Louis, Missouri 63166. UNITED STATES ARMY AVIATION ENGINEERING FLIGHT ACTIVITY EDWARDS AIR FORCE BASE, CALIFORNIA 93523 81 9 18 0 8,L...ELEMENT. PROJECT. TASKAR EA A WORK UNIT "UMBERS US ARMY AVIATION ENGINEERING FLIGHT ACTIV IU EDWARDS AIR FORCE BASE. CALIFORNIA 93523 68-T-UA022-0-68-EC...It. CONTROLLI~NG OFFICE NAME AND ADDRESS 12. REPORT DATE US ARMY AVIATION ENGINEERING FLIGHT ACTIVITY NOVEMBER 1976 EDWARDS AIR FORCE BASE

At the Fulcrum of Air Force Identity: Balancing the Internal and External Pressures of Image and Culture

DTIC Science & Technology

2014-01-01

Jeffrey J . Smith, Colonel, PhD, Commandant and Dean AIR UNIVERSITY SCHOOL OF ADVANCED AIR AND SPACE STUDIES At the Fulcrum of Air Force Identity...ORGANIZATION STAKEHOLDER Figure 2. Key viewpoints of identity and image. (Adapted from Tom J . Brown et al., “Identity, Intended Image, Construed Image, and...Falklands, see Anno and Einspahr, Command and Control and Communications Lessons Learned. 15. Locher, “Has It Worked?,” 99. 16. Trest, Air Force Roles and

Adjustment of gripping force by optical systems

NASA Astrophysics Data System (ADS)

Jalba, C. K.; Barz, C.

2018-01-01

With increasing automation, robotics also requires ever more intelligent solutions in the handling of various tasks. In this context, many grippers must also be re-designed. For this, they must always be adapted for different requirements. The equipment of the gripper systems with sensors should help to make the gripping process more intelligent. In order to achieve such objectives, optical systems can also be used. This work analyzes how the gripping force can be adjusted by means of an optical recognition. The result of this work is the creation of a connection between optical recognition, tolerances, gripping force and real-time control. In this way, algorithms can be created, with the aid of which robot grippers as well as other gripping systems become more intelligent.

Site-controlled quantum dots fabricated using an atomic-force microscope assisted technique

PubMed Central

Usuki, T; Ohshima, T; Sakuma, Y; Kawabe, M; Okada, Y; Takemoto, K; Miyazawa, T; Hirose, S; Nakata, Y; Takatsu, M; Yokoyama, N

2006-01-01

An atomic-force microscope assisted technique is developed to control the position and size of self-assembled semiconductor quantum dots (QDs). Presently, the site precision is as good as ± 1.5 nm and the size fluctuation is within ± 5% with the minimum controllable lateral diameter of 20 nm. With the ability of producing tightly packed and differently sized QDs, sophisticated QD arrays can be controllably fabricated for the application in quantum computing. The optical quality of such site-controlled QDs is found comparable to some conventionally self-assembled semiconductor QDs. The single dot photoluminescence of site-controlled InAs/InP QDs is studied in detail, presenting the prospect to utilize them in quantum communication as precisely controlled single photon emitters working at telecommunication bands.

Twin rotor damper for the damping of stochastically forced vibrations using a power-efficient control algorithm

NASA Astrophysics Data System (ADS)

Bäumer, Richard; Terrill, Richard; Wollnack, Simon; Werner, Herbert; Starossek, Uwe

2018-01-01

The twin rotor damper (TRD), an active mass damper, uses the centrifugal forces of two eccentrically rotating control masses. In the continuous rotation mode, the preferred mode of operation, the two eccentric control masses rotate with a constant angular velocity about two parallel axes, creating, under further operational constraints, a harmonic control force in a single direction. In previous theoretical work, it was shown that this mode of operation is effective for the damping of large, harmonic vibrations of a single degree of freedom (SDOF) oscillator. In this paper, the SDOF oscillator is assumed to be affected by a stochastic excitation force and consequently responds with several frequencies. Therefore, the TRD must deviate from the continuous rotation mode to ensure the anti-phasing between the harmonic control force of the TRD and the velocity of the SDOF oscillator. It is found that the required deviation from the continuous rotation mode increases with lower vibration amplitude. Therefore, an operation of the TRD in the continuous rotation mode is no longer efficient below a specific vibration-amplitude threshold. To additionally dampen vibrations below this threshold, the TRD can switch to another, more energy-consuming mode of operation, the swinging mode in which both control masses oscillate about certain angular positions. A power-efficient control algorithm is presented which uses the continuous rotation mode for large vibrations and the swinging mode for small vibrations. To validate the control algorithm, numerical and experimental investigations are performed for a single degree of freedom oscillator under stochastic excitation. Using both modes of operation, it is shown that the control algorithm is effective for the cases of free and stochastically forced vibrations of arbitrary amplitude.

Command and Control Warfare. Putting Another Tool in the War-Fighter’s Data Base

DTIC Science & Technology

1994-09-01

information dominance , friendly commanders will be able to work inside the enemy commander’s decision-making cycle forcing him to be reactive and thus cede the initiative and advantage to friendly forces. In any conflict, from large scale transregional to small scale, localized counter-insurgency, a joint or coalition team drawn together from the capabilities of each service and orchestrated by the joint force or theater- level commander will execute the responses of the United States armed forces. Units should perform their specific roles in accordance with the

Unaccompanied Asylum-Seeking Refugee Children's Forced Repatriation: Social Workers' and Police Officers' Health and Job Characteristics.

PubMed

Sundqvist, Johanna; Hansson, Jonas; Ghazinour, Mehdi; Ögren, Kenneth; Padyab, Mojgan

2015-04-19

During the past ten years the number of unaccompanied asylum-seeking refugee children has dramatically increased in Sweden. Some of them are permitted to stay in the receiving country, but some are forced back to their country of origin. Social workers and police officers are involved in these forced repatriations, and such complex situations may cause stressful working conditions. This study aimed to bridge the gap in knowledge of the relationship between general mental health and working with unaccompanied asylum-seeking refugee children who are due for forced repatriation. In addition, the role of psychosocial job characteristics in such relationships was investigated. A questionnaire including sociodemographic characteristics, the Swedish Demand-Control-Support Questionnaire, and the 12-item General Mental Health Questionnaire were distributed nationally. Univariate and multivariable regression models were used. Poorer mental health was associated with working with unaccompanied asylum-seeking refugee children among social workers but not among police officers. Psychological job demand was a significant predictor for general mental health among social workers, while psychological job demand, decision latitude, and marital status were predictors among police officers. Findings are discussed with special regard to the context of social work and police professions in Sweden.

DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

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

M.A. Ebadian, Ph.D.

1999-01-01

For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantlymore » enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to make the system portable, compact, and lightweight. A variety of design alternatives are presented and evaluated. Finally, a GUI software package is developed to interface with several teleoperation unit components. These components include an industrial robot, electric motor, encoder, force/torque sensor, and CCD camera. The software includes features such as position scaling, force scaling, and rereferencing and is intended to provide a sound basis for the development of a multi-DOF FRMC system in the future.« less

YAP is essential for mechanical force production and epithelial cell proliferation during lung branching morphogenesis

PubMed Central

Lin, Chuwen; Yao, Erica; Zhang, Kuan; Jiang, Xuan; Croll, Stacey; Thompson-Peer, Katherine; Chuang, Pao-Tien

2017-01-01

Branching morphogenesis is a fundamental program for tissue patterning. We show that active YAP, a key mediator of Hippo signaling, is distributed throughout the murine lung epithelium and loss of epithelial YAP severely disrupts branching. Failure to branch is restricted to regions where YAP activity is removed. This suggests that YAP controls local epithelial cell properties. In support of this model, mechanical force production is compromised and cell proliferation is reduced in Yap mutant lungs. We propose that defective force generation and insufficient epithelial cell number underlie the branching defects. Through genomic analysis, we also uncovered a feedback control of pMLC levels, which is critical for mechanical force production, likely through the direct induction of multiple regulators by YAP. Our work provides a molecular pathway that could control epithelial cell properties required for proper morphogenetic movement and pattern formation. DOI: http://dx.doi.org/10.7554/eLife.21130.001 PMID:28323616

Explicit control of adaptive automation under different levels of environmental stress.

PubMed

Sauer, Jürgen; Kao, Chung-Shan; Wastell, David; Nickel, Peter

2011-08-01

This article examines the effectiveness of three different forms of explicit control of adaptive automation under low- and high-stress conditions, operationalised by different levels of noise. In total, 60 participants were assigned to one of three types of automation design (free, prompted and forced choice). They were trained for 4 h on a highly automated simulation of a process control environment, called AutoCAMS. This was followed by a 4-h testing session under noise exposure and quiet conditions. Measures of performance, psychophysiology and subjective reactions were taken. The results showed that all three modes of explicit control of adaptive automation modes were able to attenuate the negative effects of noise. This was partly due to the fact that operators opted for higher levels of automation under noise. It also emerged that forced choice showed marginal advantages over the two other automation modes. Statement of Relevance: This work is relevant to the design of adaptive automation since it emphasises the need to consider the impact of work-related stressors during task completion. During the presence of stressors, different forms of operator support through automation may be required than under more favourable working conditions.

Dynamics modeling and adaptive control of flexible manipulators

NASA Technical Reports Server (NTRS)

Sasiadek, J. Z.

1991-01-01

An application of Model Reference Adaptive Control (MRAC) to the position and force control of flexible manipulators and robots is presented. A single-link flexible manipulator is analyzed. The problem was to develop a mathematical model of a flexible robot that is accurate. The objective is to show that the adaptive control works better than 'conventional' systems and is suitable for flexible structure control.

Force feedback in a piezoelectric linear actuator for neurosurgery.

PubMed

De Lorenzo, Danilo; De Momi, Elena; Dyagilev, Ilya; Manganelli, Rudy; Formaglio, Alessandro; Prattichizzo, Domenico; Shoham, Moshe; Ferrigno, Giancarlo

2011-09-01

Force feedback in robotic minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. A force sensor mounted on the probe raises problems with sterilization of the overall surgical tool. Also, the use of off-axis gauges introduces a moment that increases the friction force on the bearing, which can easily mask off the signal, given the small force to be measured. This work aims at designing and testing two methods for estimating the resistance to the advancement (force) experienced by a standard probe for brain biopsies within a brain-like material. The further goal is to provide a neurosurgeon using a master-slave tele-operated driver with direct feedback on the tissue mechanical characteristics. Two possible sensing methods, in-axis strain gauge force sensor and position-position error (control-based method), were implemented and tested, both aimed at device miniaturization. The analysis carried out was aimed at fulfilment of the psychophysics requirements for force detection and delay tolerance, also taking into account safety, which is directly related to the last two issues. Controller parameters definition is addressed and consideration is given to development of the device with integration of a haptic interface. Results show better performance of the control-based method (RMSE < 0.1 N), which is also best for reliability, sterilizability, and material dimensions for the application addressed. The control-based method developed for force estimation is compatible with the neurosurgical application and is also capable of measuring tissue resistance without any additional sensors. Force feedback in minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. Copyright © 2011 John Wiley & Sons, Ltd.

Delays, Scaling and the Acquisition of Motor Skill

NASA Astrophysics Data System (ADS)

Cabrera, Juan Luis; Milton, John

2003-05-01

Motion analysis in three dimensions reveals a number of surprising features of the neural control of stick balancing at the fingertip, namely, 1) on-off intermittency in the controlled variable, and 2) controlling motor forces that exhibit self-similarity. The growing evidence in support of scaling and critical behaviors in neural motor control necessitates a re-thinking of how the nervous systems works.

Variable Frequency Diverter Actuation for Flow Control

NASA Technical Reports Server (NTRS)

Culley, Dennis E.

2006-01-01

The design and development of an actively controlled fluidic actuator for flow control applications is explored. The basic device, with one input and two output channels, takes advantage of the Coanda effect to force a fluid jet to adhere to one of two axi-symmetric surfaces. The resultant flow is bi-stable, producing a constant flow from one output channel, until a disturbance force applied at the control point causes the flow to switch to the alternate output channel. By properly applying active control the output flows can be manipulated to provide a high degree of modulation over a wide and variable range of frequency and duty cycle. In this study the momentary operative force is applied by small, high speed isolation valves of which several different types are examined. The active fluidic diverter actuator is shown to work in several configurations including that in which the operator valves are referenced to atmosphere as well as to a source common with the power stream.

[Medical support of Russian Armed Forces: the results and perspectives].

PubMed

Shappo, V V

2008-01-01

The results of work of the Russian Federation Armed Forces medical service obtained in 2007 were summarized and the main problems of its activities in the current year and the very near future were determined. So the work at defining medical support as a type of Army and Navy support was began. The most important task of medical service in 2008 is realization of the Armed Forces medical support conception and goal-oriented program "The improvement of Russian Federation Armed Forces medical support in 2008-2012", the formation of two-level system of personnel's medical support. During the task realization the medical units and institutions are reorganized into federal state institutions. The RF DM Main Military Medical Headquarters works at significant improvement of war and military service veterans' medical attendance. The departmental program "Development of material and technical basis of military medical institutions for 2001-2010" is successfully realized. The measures to optimize the assignment of graduates from military medical higher schools are carried out. The tasks to improve the research work were outlined. The new principles of organization of military medical service control and work will be based on centralization of planning and decentralization of decision implementation, the possibility of military medical units to carry it out taking into account the common intention, safe feedback in order to make the work of army and navy medical specialists more effective in any conditions.

Active Vibration Control of a Large Flexible Manipulator by Inertial Force and Joint Torque. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lee, Soo Han

1988-01-01

The efficiency and positional accuracy of a lightweight flexible manipulator are limited by its flexural vibrations, which last after a gross motion is completed. The vibration delays subsequent operations. In the proposed work, the vibration is suppressed by inertial force of a small arm in addition to the joint actuators and passive damping treatment. The proposed approach is: (1) Dynamic modeling of a combined system, a large flexible manipulator and a small arm, (2) Determination of optimal sensor location and controller algorithm, and (3) Verification of the fitness of model and the performance of controller.

Construction of Intelligent Massage System Based on Human Skin-Muscle Elasticity

NASA Astrophysics Data System (ADS)

Teramae, Tatsuya; Kushida, Daisuke; Takemori, Fumiaki; Kitamura, Akira

A present massage chair realizes the massage motion and force designed by a professional masseur. However, appropriate massage force to the user cannot be provided by the massage chair in such a method. On the other hand, the professional masseur can realize an appropriate massage force to more than one patient, because, the masseur considers the physical condition of the patient. This paper proposes the method of applying masseur's procedure to the massage chair. Then, the proposed method is composed by estimation of the physical condition of user, decision of massage force based on the physical condition and realization of massage force by the force control. The realizability of the proposed method is verified by the experimental work using the massage chair.

The impact of inflammatory bowel disease on labor force participation: results of a population sampled case-control study.

PubMed

Boonen, Annelies; Dagnelie, Pieter C; Feleus, Anita; Hesselink, Martine A; Muris, Jean W; Stockbrügger, Reinhold W; Russel, Maurice G

2002-11-01

Inflammatory bowel diseases are chronic conditions that might cause a severe impact on social life. The aim of the study was to assess employment, chronic work disability, and sick leave in patients with inflammatory bowel disease. A postal questionnaire was sent to 984 patients with inflammatory bowel disease and 1504 controls. Age- and gender-adjusted employment and chronic work disability ratios and rates were calculated using indirect standardization. In subjects in paid employment, proportions of those having an episode of sick leave and lost workdays were analyzed. Logistic regression was used to assess the contribution of age, gender, education, and course of disease. The results of 680 (69%) patients and 715 (48%) controls could be analyzed. For the entire group of patients, employment was 6.5% lower, compared with controls (95% CI: 4.0-9.0). Chronic work disability was 17.1% higher than expected (95% CI: 15.1-19.1). In those in paid employment, 62% of patients compared with 53% of controls had experienced one or more episodes of sick leave during the past year (p = 0.002). This resulted in 19.2 versus 11.8 days of sick leave per subject per year for patients and controls respectively (p = 0.002). Relative to controls, the risk of chronic work disability was more increased in younger (p = 0.02) and higher educated (p = 0.02) patients. Course of disease contributed to chronic work disability and sick leave. IBD has a significant impact on labor force participation that is higher in CD compared with UC and highest in younger and more highly educated patients.

An innovative exercise method to simulate orbital EVA work - Applications to PLSS automatic controls

NASA Technical Reports Server (NTRS)

Lantz, Renee; Vykukal, H.; Webbon, Bruce

1987-01-01

An exercise method has been proposed which may satisfy the current need for a laboratory simulation representative of muscular, cardiovascular, respiratory, and thermoregulatory responses to work during orbital extravehicular activity (EVA). The simulation incorporates arm crank ergometry with a unique body support mechanism that allows all body position stabilization forces to be reacted at the feet. By instituting this exercise method in laboratory experimentation, an advanced portable life support system (PLSS) thermoregulatory control system can be designed to more accurately reflect the specific work requirements of orbital EVA.

Contact Forces between Single Metal Oxide Nanoparticles in Gas-Phase Applications and Processes.

PubMed

Salameh, Samir; van der Veen, Monique A; Kappl, Michael; van Ommen, J Ruud

2017-03-14

In this work we present a comprehensive experimental study to determine the contact forces between individual metal oxide nanoparticles in the gas-phase using atomic force microscopy. In addition, we determined the amount of physisorbed water for each type of particle surface. By comparing our results with mathematical models of the interaction forces, we could demonstrate that classical continuum models of van der Waals and capillary forces alone cannot sufficiently describe the experimental findings. Rather, the discrete nature of the molecules has to be considered, which leads to ordering at the interface and the occurrence of solvation forces. We demonstrate that inclusion of solvation forces in the model leads to quantitative agreement with experimental data and that tuning of the molecular order by addition of isopropanol vapor allows us to control the interaction forces between the nanoparticles.

Gust alleviation of highly flexible UAVs with artificial hair sensors

NASA Astrophysics Data System (ADS)

Su, Weihua; Reich, Gregory W.

2015-04-01

Artificial hair sensors (AHS) have been recently developed in Air Force Research Laboratory (AFRL) using carbon nanotube (CNT). The deformation of CNT in air flow causes voltage and current changes in the circuit, which can be used to quantify the dynamic pressure and aerodynamic load along the wing surface. AFRL has done a lot of essential work in design, manufacturing, and measurement of AHSs. The work in this paper is to bridge the current AFRL's work on AHSs and their feasible applications in flight dynamics and control (e.g., the gust alleviation) of highly flexible aircraft. A highly flexible vehicle is modeled using a strain-based geometrically nonlinear beam formulation, coupled with finite-state inflow aerodynamics. A feedback control algorithm for the rejection of gust perturbations will be developed. A simplified Linear Quadratic Regulator (LQR) controller will be implemented based on the state-space representation of the linearized system. All AHS measurements will be used as the control input, i.e., wing sectional aerodynamic loads will be defined as the control output for designing the feedback gain. Once the controller is designed, closed-loop aeroelastic simulations will be performed to evaluate the performance of different controllers with the force feedback and be compared to traditional controller designs with the state feedback. From the study, the feasibility of AHSs in flight control will be assessed. The whole study will facilitate in building a fly-by-feel simulation environment for autonomous vehicles.

Inertial torque during reaching directly impacts grip-force adaptation to weightless objects.

PubMed

Giard, T; Crevecoeur, F; McIntyre, J; Thonnard, J-L; Lefèvre, P

2015-11-01

A hallmark of movement control expressed by healthy humans is the ability to gradually improve motor performance through learning. In the context of object manipulation, previous work has shown that the presence of a torque load has a direct impact on grip-force control, characterized by a significantly slower grip-force adjustment across lifting movements. The origin of this slower adaptation rate remains unclear. On the one hand, information about tangential constraints during stationary holding may be difficult to extract in the presence of a torque. On the other hand, inertial torque experienced during movement may also potentially disrupt the grip-force adjustments, as the dynamical constraints clearly differ from the situation when no torque load is present. To address the influence of inertial torque loads, we instructed healthy adults to perform visually guided reaching movements in weightlessness while holding an unbalanced object relative to the grip axis. Weightlessness offered the possibility to remove gravitational constraints and isolate the effect of movement-related feedback on grip force adjustments. Grip-force adaptation rates were compared with a control group who manipulated a balanced object without any torque load and also in weightlessness. Our results clearly show that grip-force adaptation in the presence of a torque load is significantly slower, which suggests that the presence of torque loads experienced during movement may alter our internal estimates of how much force is required to hold an unbalanced object stable. This observation may explain why grasping objects around the expected location of the center of mass is such an important component of planning and control of manipulation tasks.

FOOT experiment (Foot/Ground Reaction Forces during Space Flight)

NASA Image and Video Library

2005-06-29

ISS011-E-09831 (29 June 2005) --- Astronaut John L. Phillips, Expedition 11 NASA Space Station science officer and flight engineer, works at the Canadarm2 controls while participating in the Foot/Ground Reaction Forces During Spaceflight (FOOT) experiment in the Destiny laboratory of the International Space Station. Phillips wore the specially instrumented Lower Extremity Monitoring Suit (LEMS), cycling tights outfitted with sensors, during the experiment.

Energy neutral: the human foot and ankle subsections combine to produce near zero net mechanical work during walking.

PubMed

Takahashi, Kota Z; Worster, Kate; Bruening, Dustin A

2017-11-13

The human foot and ankle system is equipped with structures that can produce mechanical work through elastic (e.g., Achilles tendon, plantar fascia) or viscoelastic (e.g., heel pad) mechanisms, or by active muscle contractions. Yet, quantifying the work distribution among various subsections of the foot and ankle can be difficult, in large part due to a lack of objective methods for partitioning the forces acting underneath the stance foot. In this study, we deconstructed the mechanical work production during barefoot walking in a segment-by-segment manner (hallux, forefoot, hindfoot, and shank). This was accomplished by isolating the forces acting within each foot segment through controlling the placement of the participants' foot as it contacted a ground-mounted force platform. Combined with an analysis that incorporated non-rigid mechanics, we quantified the total work production distal to each of the four isolated segments. We found that various subsections within the foot and ankle showed disparate work distribution, particularly within structures distal to the hindfoot. When accounting for all sources of positive and negative work distal to the shank (i.e., ankle joint and all foot structures), these structures resembled an energy-neutral system that produced net mechanical work close to zero (-0.012 ± 0.054 J/kg).

Hypertrophic cardiomyopathy

MedlinePlus

... heart, forcing the heart to work harder to pump blood. It also can make it harder for the heart to relax ... from defects in the genes that control heart muscle growth. Younger people are likely to ...

An enhanced nonlinear damping approach accounting for system constraints in active mass dampers

NASA Astrophysics Data System (ADS)

Venanzi, Ilaria; Ierimonti, Laura; Ubertini, Filippo

2015-11-01

Active mass dampers are a viable solution for mitigating wind-induced vibrations in high-rise buildings and improve occupants' comfort. Such devices suffer particularly when they reach force saturation of the actuators and maximum extension of their stroke, which may occur in case of severe loading conditions (e.g. wind gust and earthquake). Exceeding actuators' physical limits can impair the control performance of the system or even lead to devices damage, with consequent need for repair or substitution of part of the control system. Controllers for active mass dampers should account for their technological limits. Prior work of the authors was devoted to stroke issues and led to the definition of a nonlinear damping approach, very easy to implement in practice. It consisted of a modified skyhook algorithm complemented with a nonlinear braking force to reverse the direction of the mass before reaching the stroke limit. This paper presents an enhanced version of this approach, also accounting for force saturation of the actuator and keeping the simplicity of implementation. This is achieved by modulating the control force by a nonlinear smooth function depending on the ratio between actuator's force and saturation limit. Results of a numerical investigation show that the proposed approach provides similar results to the method of the State Dependent Riccati Equation, a well-established technique for designing optimal controllers for constrained systems, yet very difficult to apply in practice.

Stabilizing and destabilizing forces in the nursing work environment: a qualitative study on turnover intention.

PubMed

Choi, Sandy Pin-Pin; Pang, Samantha Mei-Che; Cheung, Kin; Wong, Thomas Kwok-Shing

2011-10-01

The nursing work environment, which provides the context of care delivery, has been gaining increasing attention in recent years. A growing body of evidence points to an inseparable link between attributes of the nursing work environment and nurse and patient outcomes. While most studies have adopted a survey design to examine the workforce and work environment issues, this study employed a phenomenological approach to provide empirical evidence regarding nurses' perceptions of their work and work environment. The aim of this study was to advance our understanding of the phenomenon of increasing nurse turnover through exploring frontline registered nurses' lived experiences of working in Hong Kong public hospitals. A modified version of Van Kaam's controlled explication method was adopted. Individual semi-structured interviews were conducted with 26 frontline nurses recruited from ten acute regional, district and non-acute public hospitals in Hong Kong. Their perspectives in regard to their work and work environment, such as workload, manpower demand and professional values, were extensively examined, and a hypothetical description relating the nursing work environment with nurses' turnover intention was posited. Contemplation of nurses' experiences revealed the vulnerable aspects of nursing work and six essential constituents of the nursing work environment, namely staffing level, work responsibility, management, co-worker relationships, job, and professional incentives. These essential constituents have contributed to two sets of forces, stabilizing and destabilizing forces, which originate from the attributes of the nursing work environment. Nurses viewed harmonious co-worker relationships, recognition and professional development as the crucial retaining factors. However, nurses working in an unfavorable environment were overwhelmed by destabilizing forces; they expressed frustration and demonstrated an intention to leave their work environment. The nursing work environment is a complex entity comprising multiple constituents; its attributes affect nurses' perceptions of their work and work environment, which warrant special attention in addressing the phenomenon of increasing nurse turnover. Copyright © 2011 Elsevier Ltd. All rights reserved.

Effect of control surface mass unbalance on the stability of a closed-loop active control system

NASA Technical Reports Server (NTRS)

Nissim, E.

1989-01-01

The effects on stability of inertial forces arising from closed-loop activation of mass-unbalanced control surfaces are studied analytically using inertial energy approach, similar to the aerodynamic energy approach used for flutter suppression. The limitations of a single control surface like a leading-edge (LE) control or a trailing-edge (TE) control are demonstrated and compared to the superior combined LE-TE mass unbalanced system. It is shown that a spanwise section for sensor location can be determined which ensures minimum sensitivity to the mode shapes of the aircraft. It is shown that an LE control exhibits compatibility between inertial stabilization and aerodynamic stabilization, and that a TE control lacks such compatibility. The results of the present work should prove valuable, both for the purpose of flutter suppression using mass unbalanced control surfaces, or for the stabilization of structural modes of large space structures by means of inertial forces.

[Radiative and hygienic certification in Armed Forces, problems of its implementation and ways of perfection].

PubMed

Rusakov, V N; Cherkashin, A V; Shishkanov, A P; Ian'shin, L A; Gracheva, T N

2010-12-01

Radiative and hygienic passportization is one of the most actual pattern of socio and hygienic monitoring in Armed Forces. Radiative and hygienic passport is the main document which characterizes the safety control in military unit and uses the sources of ionizing radiation. Sanitary and epidemiologic institutions were imputed to control the formation of radiative and hygienic passports, analysis and generalization of its data, formation of conclusions about the condition of radiation security in the military units. According to radiative and hygienic passportization, which took place in 2009, the radiation security in the Armed Forces and organizations is satisfactory, but there are some problems of providing of radiation security of personnel under the professional and medical radiation. The salvation of its problems requires the effective work of official functionary of radiac object and institutions of state sanitary and epidemiological supervision in Armed Forces of Russian Federation.

Estimation of the radial force using a disturbance force observer for a magnetically levitated centrifugal blood pump.

PubMed

Pai, C N; Shinshi, T; Shimokohbe, A

2010-01-01

Evaluation of the hydraulic forces in a magnetically levitated (maglev) centrifugal blood pump is important from the point of view of the magnetic bearing design. Direct measurement is difficult due to the absence of a rotor shaft, and computational fluid dynamic analysis demands considerable computational resource and time. To solve this problem, disturbance force observers were developed, using the radial controlled magnetic bearing of a centrifugal blood pump, to estimate the radial forces on the maglev impeller. In order to design the disturbance observer, the radial dynamic characteristics of a maglev impeller were evaluated under different working conditions. It was observed that the working fluid affects the additional mass and damping, while the rotational speed affects the damping and stiffness of the maglev system. Based on these results, disturbance force observers were designed and implemented. The designed disturbance force observers present a bandwidth of 45 Hz. In non-pulsatile conditions, the magnitude of the estimated radial thrust increases in proportion to the flowrate, and the rotational speed has little effect on the force direction. At 5 l/min against 100 mmHg, the estimated radial thrust is 0.95 N. In pulsatile conditions, this method was capable of estimating the pulsatile radial thrust with good response.

Japan's aging economics.

PubMed

Ezrati, M

1997-01-01

"Japan's population is aging faster than that of any other country in the world. The unprecedented increase in retirees relative to the size of Japan's work force will force radical change if the nation is to avoid a fiscal crisis, or worse. These seemingly innocent demographic changes will force Japan to shrink its famously high savings rate, reverse its proud trade surplus, send more industry overseas, liberalize its tightly controlled markets, and take on a more active, high-profile foreign policy. Ultimately, these changes will shift the balance of power in East Asia." excerpt

Benefit/Cost Analysis Between the Blue Cross and Blue Shield Federal Employee Health Insurance Program and the Military Health Services System Supplemental Champus Program

DTIC Science & Technology

1981-09-01

Rizzuto, my babysitter , whose long hours everyday allowed me to attend classes without worrying about my son, Andy; and my new bride, Roz, whose love...4 - , . ~ DTIO.,=I= EIECTE~l rl 1 FEB 1-7-1982 I III O UNITED STATES AIR FORCE AIR UNI VERSITY AIR FORCE INSTITUTE OF TECHNOLOGY ...WORK UNIT NUMBERS School of Systems and Logistics Air Force Institute of Technology , WPAFB OH II. CONTROLLING OFFICE NAME AND ADDRESS 12. REPORT DATE

Optimized coordination of brakes and active steering for a 4WS passenger car.

PubMed

Tavasoli, Ali; Naraghi, Mahyar; Shakeri, Heman

2012-09-01

Optimum coordination of individual brakes and front/rear steering subsystems is presented. The integrated control strategy consists of three modules. A coordinated high-level control determines the body forces/moment required to achieve vehicle motion objectives. The body forces/moment are allocated to braking and steering subsystems through an intermediate unit, which integrates available subsystems based on phase plane notion in an optimal manner. To this end, an optimization problem including several equality and inequality constraints is defined and solved analytically, such that a real-time implementation can be realized without the use of numeric optimization software. A low-level slip-ratio controller works to generate the desired longitudinal forces at small longitudinal slip-ratios, while averting wheel locking at large slip-ratios. The efficiency of the suggested approach is demonstrated through computer simulations. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Miniature Intermittent Contact Switch

NASA Technical Reports Server (NTRS)

Sword, Antony

1972-01-01

This tech brief concerns work to provide a shock-resistant switch capable of being actuated by forces of varying magnitude and direction, primarily for use as a sensor on remote control (tele-operator) and prosthetic devices.

Development of electromagnetic welding facility of flat plates for nuclear industry

NASA Astrophysics Data System (ADS)

Kumar, Rajesh; Sahoo, Subhanarayan; Sarkar, Biswanath; Shyam, Anurag

2017-04-01

Electromagnetic pulse welding (EMPW) process, one of high speed welding process uses electromagnetic force from discharged current through working coil, which develops a repulsive force between the induced current flowing parallel and in opposite direction. For achieving the successful weldment using this process the design of working coil is the most important factor due to high magnetic field on surface of work piece. In case of high quality flat plate welding factors such as impact velocity, angle of impact standoff distance, thickness of flyer and overlap length have to be chosen carefully. EMPW has wide applications in nuclear industry, automotive industry, aerospace, electrical industries. However formability and weldability still remain major issues. Due to ease in controlling the magnetic field enveloped inside tubes, the EMPW has been widely used for tube welding. In case of flat components control of magnetic field is difficult. Hence the application of EMPW gets restricted. The present work attempts to make a novel contribution by investigating the effect of process parameters on welding quality of flat plates. The work emphasizes the approaches and engineering calculations required to effectively use of actuator in EMPW of flat components.

Algorithmic formulation of control problems in manipulation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1975-01-01

The basic characteristics of manipulator control algorithms are discussed. The state of the art in the development of manipulator control algorithms is briefly reviewed. Different end-point control techniques are described together with control algorithms which operate on external sensor (imaging, proximity, tactile, and torque/force) signals in realtime. Manipulator control development at JPL is briefly described and illustrated with several figures. The JPL work pays special attention to the front or operator input end of the control algorithms.

Contact Forces between Single Metal Oxide Nanoparticles in Gas-Phase Applications and Processes

PubMed Central

2017-01-01

In this work we present a comprehensive experimental study to determine the contact forces between individual metal oxide nanoparticles in the gas-phase using atomic force microscopy. In addition, we determined the amount of physisorbed water for each type of particle surface. By comparing our results with mathematical models of the interaction forces, we could demonstrate that classical continuum models of van der Waals and capillary forces alone cannot sufficiently describe the experimental findings. Rather, the discrete nature of the molecules has to be considered, which leads to ordering at the interface and the occurrence of solvation forces. We demonstrate that inclusion of solvation forces in the model leads to quantitative agreement with experimental data and that tuning of the molecular order by addition of isopropanol vapor allows us to control the interaction forces between the nanoparticles. PMID:28186771

Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

NASA Astrophysics Data System (ADS)

Kang, Shuo; Yan, Hao; Dong, Lijing; Li, Changchun

2018-03-01

This paper addresses the force tracking problem of electro-hydraulic load simulator under the influence of nonlinear friction and uncertain disturbance. A nonlinear system model combined with the improved generalized Maxwell-slip (GMS) friction model is firstly derived to describe the characteristics of load simulator system more accurately. Then, by using particle swarm optimization (PSO) algorithm ​combined with the system hysteresis characteristic analysis, the GMS friction parameters are identified. To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model. This controller has the ability to ensure that the system state moves along the nonlinear sliding surface to steady state in a short time as well as good dynamic properties under the influence of parametric uncertainties and disturbance, which further improves the force loading accuracy and rapidity. At the end of this work, simulation and experimental results are employed to demonstrate the effectiveness of the proposed sliding mode control strategy.

Applied Joint-Space Torque and Stiffness Control of Tendon-Driven Fingers

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E.; Platt, Robert, Jr.; Wampler, Charles W.; Hargrave, Brian

2010-01-01

Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the manipulator. This work presents a joint-space torque control law that demonstrates both a decoupled and significantly faster response than an equivalent tendon-space formulation. The law also demonstrates greater speed and robustness than comparable PI controllers. In addition, a tension distribution algorithm is presented here to allocate forces from the joints to the tendons. It allocates the tensions so that they satisfy both an upper and lower bound, and it does so without requiring linear programming or open-ended iterations. The control law and tension distribution algorithm are implemented on the robotic hand of Robonaut-2.

Lung function impact from working in the pre-revolution Libyan quarry industry.

PubMed

Draid, Marwan M; Ben-Elhaj, Khaled M; Ali, Ashraf M; Schmid, Kendra K; Gibbs, Shawn G

2015-05-07

The purpose of this study was to determine the lung impact from working within the Libyan quarry industry, and if the length of work impacted the degree of degradation. Eighty three workers from eight silica quarries in the Nafusa Mountains of Libya opted to participate. These quarries were working the upper cretaceous geological structure. Eighty-five individuals who lived in Gharyan City with no affiliation to quarry operations participated as controls. Spirometry variables evaluated were Forced Vital Capacity (FVC), Forced Expiratory Volume at 1.0 second (FEV1), FVC/FEV1 and Peak Expiratory Flow (PEF). Control and exposed groups had no differences in terms of height, weight, or smoking status (p = 0.18, 0.20, 0.98, respectively). Prior to adjustment for other variables, FVC, FEV1, and PEF are all significantly lower in the exposed group (p = 0.003, 0.009, 0.03, respectively). After adjustment for age, height, weight, and smoking status, there remain significant differences between the control and exposed groups for FVC, FEV1, and PEF. This analysis demonstrated that exposure to quarry dust has a detrimental effect on lung function, and that pre-revolution Libyan quarry workers were being exposed. This study shows that any exposure is harmful, as the reduction in lung function was not significantly associated with years of exposure.

Unaccompanied Asylum-Seeking Refugee Children’s Forced Repatriation: Social Workers’ and Police Officers’ Health and Job Characteristics

PubMed Central

Sundqvist, Johanna; Hansson, Jonas; Ghazinour, Mehdi; Ögren, Kenneth; Padyab, Mojgan

2015-01-01

During the past ten years the number of unaccompanied asylum-seeking refugee children has dramatically increased in Sweden. Some of them are permitted to stay in the receiving country, but some are forced back to their country of origin. Social workers and police officers are involved in these forced repatriations, and such complex situations may cause stressful working conditions. This study aimed to bridge the gap in knowledge of the relationship between general mental health and working with unaccompanied asylum-seeking refugee children who are due for forced repatriation. In addition, the role of psychosocial job characteristics in such relationships was investigated. A questionnaire including sociodemographic characteristics, the Swedish Demand-Control-Support Questionnaire, and the 12-item General Mental Health Questionnaire were distributed nationally. Univariate and multivariable regression models were used. Poorer mental health was associated with working with unaccompanied asylum-seeking refugee children among social workers but not among police officers. Psychological job demand was a significant predictor for general mental health among social workers, while psychological job demand, decision latitude, and marital status were predictors among police officers. Findings are discussed with special regard to the context of social work and police professions in Sweden. PMID:26153185

The role of impact forces and foot pronation: a new paradigm.

PubMed

Nigg, B M

2001-01-01

This article discusses the possible association between impact forces and foot pronation and the development of running-related injuries, and proposes a new paradigm for impact forces and foot pronation. The article is based on a critical analysis of the literature on heel-toe running addressing kinematics, kinetics, resultant joint movements and forces, muscle activity, subject and material characteristics, epidemiology, and biologic reactions. However, this paper is not a review of the literature but rather an attempt to replace the established concepts of impact forces and movement control with a new paradigm that would allow explaining some of the current contradictions in this topic of research. The analysis included all papers published on this topic over the last 25 years. For the last few years, it concentrated on papers expressing critical concerns on the established concepts of impact and movement control. An attempt was made to find indications in the various publications to support or reject the current concept of impact forces and movement control. Furthermore, the results of the available studies were searched for indications expanding the current understanding of impact forces and movement control in running. Data were synthesized revealing contradictions in the experimental results and the established concepts. Based on the contradictions in the existing research publications, a new paradigm was proposed. Theoretical, experimental, and epidemiological evidence on impact forces showed that one cannot conclude that impact forces are important factors in the development of chronic and/or acute running-related injuries. A new paradigm for impact forces during running proposes that impact forces are input signals that produce muscle tuning shortly before the next contact with the ground to minimize soft tissue vibration and/or reduce joint and tendon loading. Muscle tuning might affect fatigue, comfort, work, and performance. Experimental evidence suggests that the concept of "aligning the skeleton" with shoes, inserts, and orthotics should be reconsidered. They produce only small, not systematic. and subject-specific changes of foot and leg movement. A new paradigm for movement control for the lower extremities proposes that forces acting on the foot during the stance phase act as an input signal producing a muscle reaction. The cost function used in this adaptation process is to maintain a preferred joint movement path for a given movement task. If an intervention counteracts the preferred movement path, muscle activity must be increased. An optimal shoe, insert, or orthotic reduces muscle activity. Thus, shoes, inserts, and orthotics affect general muscle activity and, therefore, fatigue, comfort, work, and performance. The two proposed paradigms suggest that the locomotor system use a similar strategy for "impact" and "movement control." In both cases the locomotor system keeps the general kinematic and kinetic situations similar for a given task. The proposed muscle tuning reaction to impact loading affects the muscle activation before ground contact. The proposed muscle adaptation to provide a constant joint movement pattern affects the muscle activation during ground contact. However, further experimental and theoretical studies are needed to support or reject the proposed paradigms.

A split-crank bicycle ergometer uses servomotors to provide programmable pedal forces for studies in human biomechanics.

PubMed

Van der Loos, H F Machiel; Worthen-Chaudhari, Lise; Schwandt, Douglas; Bevly, David M; Kautz, Steven A

2010-08-01

This paper presents a novel computer-controlled bicycle ergometer, the TiltCycle, for use in human biomechanics studies of locomotion. The TiltCycle has a tilting (reclining) seat and backboard, a split pedal crankshaft to isolate the left and right loads to the feet of the pedaler, and two belt-driven, computer-controlled motors to provide assistance or resistance loads independently to each crank. Sensors measure the kinematics and force production of the legs to calculate work performed, and the system allows for goniometric and electromyography signals to be recorded. The technical description presented includes the mechanical design, low-level software and control algorithms, system identification and validation test results.

In Vivo Force Decay of Niti Closed Coil Springs

PubMed Central

Cox, Crystal; Nguyen, Tung; Koroluk, Lorne; Ko, Ching-Chang

2014-01-01

Introduction Nickel-titanium (NiTi) closed coil springs are purported to deliver constant forces over extended ranges of activation and working times. In vivo studies supporting this claim are limited. The objective of this study is to evaluate changes in force decay properties of NiTi closed coil springs after clinical use. Methods Pseudoelastic force-deflection curves for 30 NiTi coil springs (used intra-orally) and 15 matched laboratory control springs (simulated intra-oral conditions - artificial saliva, 37°C) were tested pre- and post-retrieval via Dynamic Mechanical Analysis (DMA) and the Instron machine, respectively, to evaluate amount of force loss and hysteresis change following 4, 8, or 12 weeks of working time (n=10 per group). Effect of the oral environment and clinical use on force properties were evaluated by comparing in vivo and in vitro data. Results The springs studied showed a statistically significant decrease in force (~12%) following 4 weeks of clinical use (p<0.01), with a further significant decrease (~7%) from 4–8 weeks (p=0.03) and force levels appearing to remain steady thereafter. Clinical space closure at an average rate of 0.91mm per month was still observed despite this decrease in force. In vivo and in vitro force loss data were not statistically different. Conclusions NiTi closed coil springs do not deliver constant forces when used intra-orally, but they still allow for space closure rates of ~1mm/month. PMID:24703289

The effect of traveling wave shapes in the maneuver control and efficiency of an underwater robot propelled by an undulating fin

NASA Astrophysics Data System (ADS)

Liu, Hanlin; Curet, Oscar

2016-11-01

Effective control of propulsive undulating fins has the potential to enhance the maneuverability and efficiency of underwater vehicles allowing them to navigate in more complex environments. Aquatic animals using this type of propulsion are able to perform complex maneuvers by sending different traveling waves along one or multiple elongated fins. Recent work has investigated the propulsive forces, the hydrodynamics and the efficiency of an undulating ribbon fin. However, it is still not understood how different traveling wave shapes along the fin can be used to control the hydrodynamic forces and torques to perform different maneuvers. In this work, we study the effect of traveling wave shapes on the hydrodynamic forces and torques, swimming speed, maneuver control and propulsive performance of an underwater vehicle propelled by an undulating fin. The underwater robot propels by actuating a fin that is composed of sixteen independent rays interconnected with a flexible membrane. The hull contains all the electronics, batteries, motors and sensors. The underwater vehicle was tested in a water tank-flume facility. In a series of experiments, we measured the motion of the vessel and the power consumption for different traveling wave patterns. In addition, we measured the flow around the fin using Particle Image Velocimetry. We present the results concerning the power distribution along the fin, propulsive efficiency, free-swimming speed and pitch control based on different fin kinematics. National Science Foundation under Grant No. 1420774.

Control of repulsive force in a virtual environment using an electrorheological haptic master for a surgical robot application

NASA Astrophysics Data System (ADS)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-01-01

This paper presents control performances of a new type of four-degrees-of-freedom (4-DOF) haptic master that can be used for robot-assisted minimally invasive surgery (RMIS). By adopting a controllable electrorheological (ER) fluid, the function of the proposed master is realized as a haptic feedback as well as remote manipulation. In order to verify the efficacy of the proposed master and method, an experiment is conducted with deformable objects featuring human organs. Since the use of real human organs is difficult for control due to high cost and moral hazard, an excellent alternative method, the virtual reality environment, is used for control in this work. In order to embody a human organ in the virtual space, the experiment adopts a volumetric deformable object represented by a shape-retaining chain linked (S-chain) model which has salient properties such as fast and realistic deformation of elastic objects. In haptic architecture for RMIS, the desired torque/force and desired position originating from the object of the virtual slave and operator of the haptic master are transferred to each other. In order to achieve the desired torque/force trajectories, a sliding mode controller (SMC) which is known to be robust to uncertainties is designed and empirically implemented. Tracking control performances for various torque/force trajectories from the virtual slave are evaluated and presented in the time domain.

EMG median frequency changes in the neck-shoulder stabilizers of symptomatic office workers when challenged by different physical stressors.

PubMed

Szeto, Grace Pui Yuk; Straker, Leon Melville; O'Sullivan, Peter Bruce

2005-12-01

The problem of work-related neck and upper limb disorders among computer users has been reported extensively in the literature, and commonly cited risk factors include static posture, speed and force of keyboard operation. The present study examined changes in median frequency (MF) of the neck-shoulder muscles in symptomatic and asymptomatic office workers when they were exposed to these three physical stressors. A quasi-experimental Case-Control design was used to examine MF changes in two groups of female office workers when they were subjected to controlled doses of computer work involving prolonged static posture, increased typing speed and increased typing force. The MF of four major neck-shoulder muscles were examined bilaterally and compared between groups. The MF changes over time-at-task did not clearly illustrate any muscle fatigue mechanism. However, Case Group consistently showed trends for higher MF than the Control Group, and this pattern was observed in response to all three physical stressors. The consistent group differences in MF suggest different muscle recruitment strategies between symptomatic and asymptomatic office workers. These results implied that symptomatic individuals had altered motor control, which may have important implications in understanding the etiology of work-related musculoskeletal disorders.

Modulated cortical control of individual fingers in experienced musicians: an EEG study. Electroencephalographic study.

PubMed

Slobounov, S; Chiang, H; Johnston, J; Ray, W

2002-12-01

The present research was designed to address the nature of interdependency between fingers during force production tasks in subjects with varying experience in performing independent finger manipulation. Specifically, behavioral and electroencephalographic (EEG) measures associated with controllability of the most enslaved (ring) and the least enslaved (index) fingers was examined in musicians and non-musicians. Six piano players and 6 age-matched control subjects performed a series of isometric force production tasks with the index and ring fingers. Subjects produced 3 different force levels with either their index or ring fingers. We measured the isometric force output produced by all 4 fingers (index, ring, middle and little), including both ramp and static phases of force production. We applied time-domain averaging of EEG single trials in order to extract 4 components of the movement-related cortical potentials (MRCP) preceding and accompanying force responses. Three behavioral findings were observed. First, musicians were more accurate than non-musicians at reaching the desired force level. Second, musicians showed less enslaving as compared to non-musicians. And third, the amount of enslaving increased with the increment of nominal force levels regardless of whether the index or ring finger was used as the master finger. In terms of EEG measures, we found differences between tasks performed with the index and ring fingers in non-musicians. For musicians, we found larger MRCP amplitudes at most electrode sites for the ring finger. Our data extends previous enslaving research and suggest an important role for previous experience in terms of the independent use of the fingers. Given that a variety of previous work has shown finger independence to be reflected in cortical representation in the brain and our findings of MRCP amplitude associated with greater independence of fingers in musicians, this suggests that what has been considered to be stable constraints in terms of finger movements can be modulated by experience. This work supports the idea that experience is associated with changes in behavioral and EEG correlates of task performance and may have clinical implications in disorders such as stroke or focal hand dystonia. Practice-related procedures offer useful approaches to rehabilitation strategies.

Forced synchronization of thermoacoustic oscillations in a ducted flame

NASA Astrophysics Data System (ADS)

Guan, Yu; Gupta, Vikrant; Kashinath, Karthik; Li, Larry K. B.

2016-11-01

Forced synchronization is a process in which a self-excited system subjected to external forcing starts to oscillate at the forcing frequency ff in place of its own natural frequency fn. There are two motivations for studying this in thermoacoustics: (i) to determine how external forcing could be used to control thermoacoustic oscillations, which are harmful to many combustors; and (ii) to better understand the nonlinear interactions between self-excited hydrodynamic and thermoacoustic oscillations. In this experimental study, we examine the response of a ducted premixed flame to harmonic acoustic forcing, for two natural states of the system: (1) a state with periodic oscillations at f1 and a marginally stable mode at f2; and (2) a state with quasiperiodic oscillations at two incommensurate frequencies f1 and f2. When forcing the periodic state, we find that the forcing amplitude required for lock-in increases linearly with | ff -f1 | and that the marginally stable mode becomes excited when ff f2 . When forcing the quasiperiodic state, we find that the system locks into the forcing when ff f1 or f2 or 1 / 2 (f1 +f2) . These findings should lead to improved control of periodic and aperiodic thermoacoustic oscillations in combustors. This work was supported by the Research Grants Council of Hong Kong (Project No. 16235716 and 26202815).

Novel compliant actuator for wearable robotics applications.

PubMed

Claros, M; Soto, R; Rodríguez, J J; Cantú, C; Contreras-Vidal, José L

2013-01-01

In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking robots, variable impedance and force actuators are being designed and implemented because of their ability to dynamically modulate the intrinsic viscoelastic properties such as stiffness and damping. This modulation is crucial to achieve an efficient and safe human-robot interaction that could lead to electronically generate useful emergent dynamical behaviors. In this work we propose a novel actuation system in which is implemented a control scheme based on equilibrium forces for an active joint capable to provide assistance/resistance as needed and also achieve minimal mechanical impedance when tracking the movement of the user limbs. The actuation system comprises a DC motor with a built in speed reducer, two force-sensing resistors (FSR), a mechanism which transmits to the FSRs the torque developed in the joint and a controller which regulate the amount of energy that is delivered to the DC motor. The proposed system showed more impedance reduction, by the effect of the controlled contact forces, compared with the ones in the reviewed literature.

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

Balakumar, B J; Chavez - Alarcon, Ramiro; Shu, Fangjun

The aerodynamics of a flight-worthy, radio controlled ornithopter is investigated using a combination of Particle-Image Velocimetry (PIV), load cell measurements, and high-speed photography of smoke visualizations. The lift and thrust forces of the ornithopter are measured at various flow speeds, flapping frequencies and angles of attack to characterize the flight performance. These direct force measurements are then compared with forces estimated using control volume analysis on PIV data. High-speed photography of smoke streaks is used to visualize the evolution of leading edge vortices, and to qualitatively infer the effect of wing deformation on the net downwash. Vortical structures in themore » wake are compared to previous studies on root flapping, and direct measurements of flapping efficiency are used to argue that the current ornithopter operates sub-optimally in converting the input energy into propulsive work.« less

Double lead spiral platen parallel jaw end effector

NASA Technical Reports Server (NTRS)

Beals, David C.

1989-01-01

The double lead spiral platen parallel jaw end effector is an extremely powerful, compact, and highly controllable end effector that represents a significant improvement in gripping force and efficiency over the LaRC Puma (LP) end effector. The spiral end effector is very simple in its design and has relatively few parts. The jaw openings are highly predictable and linear, making it an ideal candidate for remote control. The finger speed is within acceptable working limits and can be modified to meet the user needs; for instance, greater finger speed could be obtained by increasing the pitch of the spiral. The force relaxation is comparable to the other tested units. Optimization of the end effector design would involve a compromise of force and speed for a given application.

Gaining Control of Occupational Injury and Illness in the U.S. Navy Civilian Work Force

DTIC Science & Technology

1990-01-16

caring for the back. Also monitored by the supervisor is a work -hardening program developed by the clinic physical therapist and physician that... development of a work -hardening program for the returning injured employee to ensure a safe re-entry to the workplace. e. "Green Table" and Medical...physical therapist work closely in developing effective programs for the treatment of occupational injuries. Having an onsite physical therapist available

Oxidant-antioxidant status and pulmonary function in welding workers.

PubMed

Fidan, Fatma; Unlü, Mehmet; Köken, Tülay; Tetik, Levent; Akgün, Sema; Demirel, Reha; Serteser, Mustafa

2005-07-01

Welding is a process during which fumes, gases, electromagnetic radiation and noise are emitted as by-products. Metal oxide particles are particularly hazardous components of welding fumes. Welding has been found to be associated with respiratory symptoms and our objective in the present study was to study the effects of welding on pulmonary function and serum oxidant-antioxidant status. Fifty-one welding workers and 31 control subjects were recruited. Face to face interviews were conducted using the respiratory illness questionnaire adapted from the American Thoracic Society with the addition of demographic characteristics, work history and working conditions. Additionally physical examinations and spirometric measurements were performed at workplaces. Thiobarbituric acid reactive substances (TBARS), protein carbonyls, protein sulfhydryls (SH) and erythrocyte reduced glutathione (GSH) levels were measured to evaluate oxidant-antioxidant status in 34 welding workers and in 20 control subjects. No statistically significant differences were observed in age, height, weight, body mass index (BMI), smoking status and annual working durations between welding workers and controls. Coughing, sputting and wheezing were significantly higher in welding workers (p<0.05). When adjusted for age, BMI and smoking status in logistic regression, welding work showed a significant risk for chronic bronchitis (OR: 4.78, 95%CI: 1.30-17.54). Forced expiratory volume in one second (FEV(1))/forced vital capacity (FVC) and four parameters of forced expiratory flow (FEF: FEF(25), FEF(50), FEF(75), FEF(25-75)) levels measured in the welding workers were significantly lower than those in the control group (p<0.05). Serum TBARS and protein carbonyl levels were higher in welding workers than those in controls (p<0.001, p<0.05, respectively). On the other hand, total protein SH groups and GSH levels were significantly lower in welders than those in controls (p<0.05, p<0.001, respectively). Pulmonary function tests and oxidant-antioxidant status were found to be negatively affected in welding workers chronically exposed to welding fumes and gases. Preventive measures should be taken to improve the health status of these workers.

Working Memory Effects in the L2 Processing of Ambiguous Relative Clauses

ERIC Educational Resources Information Center

Hopp, Holger

2014-01-01

This article investigates whether and how L2 sentence processing is affected by memory constraints that force serial parsing. Monitoring eye movements, we test effects of working memory on L2 relative-clause attachment preferences in a sample of 75 late-adult German learners of English and 25 native English controls. Mixed linear regression…

Obesity-related differences in neural correlates of force control.

PubMed

Mehta, Ranjana K; Shortz, Ashley E

2014-01-01

Greater body segment mass due to obesity has shown to impair gross and fine motor functions and reduce balance control. While recent studies suggest that obesity may be linked with altered brain functions involved in fine motor tasks, this association is not well investigated. The purpose of this study was to examine the neural correlates of motor performance in non-obese and obese adults during force control of two upper extremity muscles. Nine non-obese and eight obese young adults performed intermittent handgrip and elbow flexion exertions at 30% of their respective muscle strengths for 4 min. Functional near infrared spectroscopy was employed to measure neural activity in the prefrontal cortex bilaterally, joint steadiness was computed using force fluctuations, and ratings of perceived exertions (RPEs) were obtained to assess perceived effort. Obesity was associated with higher force fluctuations and lower prefrontal cortex activation during handgrip exertions, while RPE scores remained similar across both groups. No obesity-related differences in neural activity, force fluctuation, or RPE scores were observed during elbow flexion exertions. The study is one of the first to examine obesity-related differences on prefrontal cortex activation during force control of the upper extremity musculature. The study findings indicate that the neural correlates of motor activity in the obese may be muscle-specific. Future work is warranted to extend the investigation to monitoring multiple motor-function related cortical regions and examining obesity differences with different task parameters (e.g., longer duration, increased precision demands, larger muscles, etc.).

The role of intrinsic muscle mechanics in the neuromuscular control of stable running in the guinea fowl

PubMed Central

Daley, Monica A; Voloshina, Alexandra; Biewener, Andrew A

2009-01-01

Here we investigate the interplay between intrinsic mechanical and neural factors in muscle contractile performance during running, which has been less studied than during walking. We report in vivo recordings of the gastrocnemius muscle of the guinea fowl (Numida meleagris), during the response and recovery from an unexpected drop in terrain. Previous studies on leg and joint mechanics following this perturbation suggested that distal leg extensor muscles play a key role in stabilisation. Here, we test this through direct recordings of gastrocnemius fascicle length (using sonomicrometry), muscle–tendon force (using buckle transducers), and activity (using indwelling EMG). Muscle recordings were analysed from the stride just before to the second stride following the perturbation. The gastrocnemius exhibits altered force and work output in the perturbed and first recovery strides. Muscle work correlates strongly with leg posture at the time of ground contact. When the leg is more extended in the drop step, net gastrocnemius work decreases (−5.2 J kg−1versus control), and when the leg is more flexed in the step back up, it increases (+9.8 J kg−1versus control). The muscle's work output is inherently stabilising because it pushes the body back toward its pre-perturbation (level running) speed and leg posture. Gastrocnemius length and force return to level running means by the second stride following the perturbation. EMG intensity differs significantly from level running only in the first recovery stride following the perturbation, not within the perturbed stride. The findings suggest that intrinsic mechanical factors contribute substantially to the initial changes in muscle force and work. The statistical results suggest that a history-dependent effect, shortening deactivation, may be an important factor in the intrinsic mechanical changes, in addition to instantaneous force–velocity and force–length effects. This finding suggests the potential need to incorporate history-dependent muscle properties into neuromechanical simulations of running, particularly if high muscle strains are involved and stability characteristics are important. Future work should test whether a Hill or modified Hill type model provides adequate prediction in such conditions. Interpreted in light of previous studies on walking, the findings support the concept of speed-dependent roles of reflex feedback. PMID:19359369

Prosthetic Leg Control in the Nullspace of Human Interaction.

PubMed

Gregg, Robert D; Martin, Anne E

2016-07-01

Recent work has extended the control method of virtual constraints, originally developed for autonomous walking robots, to powered prosthetic legs for lower-limb amputees. Virtual constraints define desired joint patterns as functions of a mechanical phasing variable, which are typically enforced by torque control laws that linearize the output dynamics associated with the virtual constraints. However, the output dynamics of a powered prosthetic leg generally depend on the human interaction forces, which must be measured and canceled by the feedback linearizing control law. This feedback requires expensive multi-axis load cells, and actively canceling the interaction forces may minimize the human's influence over the prosthesis. To address these limitations, this paper proposes a method for projecting virtual constraints into the nullspace of the human interaction terms in the output dynamics. The projected virtual constraints naturally render the output dynamics invariant with respect to the human interaction forces, which instead enter into the internal dynamics of the partially linearized prosthetic system. This method is illustrated with simulations of a transfemoral amputee model walking with a powered knee-ankle prosthesis that is controlled via virtual constraints with and without the proposed projection.

Wire electric-discharge machining and other fabrication techniques

NASA Technical Reports Server (NTRS)

Morgan, W. H.

1983-01-01

Wire electric discharge machining and extrude honing were used to fabricate a two dimensional wing for cryogenic wind tunnel testing. Electric-discharge cutting is done with a moving wire electrode. The cut track is controlled by means of a punched-tape program and the cutting feed is regulated according to the progress of the work. Electric-discharge machining involves no contact with the work piece, and no mechanical force is exerted. Extrude hone is a process for honing finish-machined surfaces by the extrusion of an abrasive material (silly putty), which is forced through a restrictive fixture. The fabrication steps are described and production times are given.

Minnowbrook VI: 2009 Workshop on Flow Physics and Control for Internal and External Aerodynamics

NASA Technical Reports Server (NTRS)

LaGraff, John E.; Povinelli, Louis A.; Gostelow, J. Paul; Glauser, Mark

2010-01-01

Topics covered include: Flow Physics and control for Internal and External Aerodynamics (not in TOC...starts on pg13); Breaking CFD Bottlenecks in Gas-Turbine Flow-Path Design; Streamwise Vortices on the Convex Surfaces of Circular Cylinders and Turbomachinery Blading; DNS and Embedded DNS as Tools for Investigating Unsteady Heat Transfer Phenomena in Turbines; Cavitation, Flow Structure and Turbulence in the Tip Region of a Rotor Blade; Development and Application of Plasma Actuators for Active Control of High-Speed and High Reynolds Number Flows; Active Flow Control of Lifting Surface With Flap-Current Activities and Future Directions; Closed-Loop Control of Vortex Formation in Separated Flows; Global Instability on Laminar Separation Bubbles-Revisited; Very Large-Scale Motions in Smooth and Rough Wall Boundary Layers; Instability of a Supersonic Boundary-Layer With Localized Roughness; Active Control of Open Cavities; Amplitude Scaling of Active Separation Control; U.S. Air Force Research Laboratory's Need for Flow Physics and Control With Applications Involving Aero-Optics and Weapon Bay Cavities; Some Issues Related to Integrating Active Flow Control With Flight Control; Active Flow Control Strategies Using Surface Pressure Measurements; Reduction of Unsteady Forcing in a Vaned, Contra-Rotating Transonic Turbine Configuration; Active Flow Control Stator With Coanda Surface; Controlling Separation in Turbomachines; Flow Control on Low-Pressure Turbine Airfoils Using Vortex Generator Jets; Reduced Order Modeling Incompressible Flows; Study and Control of Flow Past Disk, and Circular and Rectangular Cylinders Aligned in the Flow; Periodic Forcing of a Turbulent Axisymmetric Wake; Control of Vortex Breakdown in Critical Swirl Regime Using Azimuthal Forcing; External and Turbomachinery Flow Control Working Group; Boundary Layers, Transitions and Separation; Efficiency Considerations in Low Pressure Turbines; Summary of Conference; and Final Plenary Session Transcript.

Aerodynamic effects of flexibility in flapping wings.

PubMed

Zhao, Liang; Huang, Qingfeng; Deng, Xinyan; Sane, Sanjay P

2010-03-06

Recent work on the aerodynamics of flapping flight reveals fundamental differences in the mechanisms of aerodynamic force generation between fixed and flapping wings. When fixed wings translate at high angles of attack, they periodically generate and shed leading and trailing edge vortices as reflected in their fluctuating aerodynamic force traces and associated flow visualization. In contrast, wings flapping at high angles of attack generate stable leading edge vorticity, which persists throughout the duration of the stroke and enhances mean aerodynamic forces. Here, we show that aerodynamic forces can be controlled by altering the trailing edge flexibility of a flapping wing. We used a dynamically scaled mechanical model of flapping flight (Re approximately 2000) to measure the aerodynamic forces on flapping wings of variable flexural stiffness (EI). For low to medium angles of attack, as flexibility of the wing increases, its ability to generate aerodynamic forces decreases monotonically but its lift-to-drag ratios remain approximately constant. The instantaneous force traces reveal no major differences in the underlying modes of force generation for flexible and rigid wings, but the magnitude of force, the angle of net force vector and centre of pressure all vary systematically with wing flexibility. Even a rudimentary framework of wing veins is sufficient to restore the ability of flexible wings to generate forces at near-rigid values. Thus, the magnitude of force generation can be controlled by modulating the trailing edge flexibility and thereby controlling the magnitude of the leading edge vorticity. To characterize this, we have generated a detailed database of aerodynamic forces as a function of several variables including material properties, kinematics, aerodynamic forces and centre of pressure, which can also be used to help validate computational models of aeroelastic flapping wings. These experiments will also be useful for wing design for small robotic insects and, to a limited extent, in understanding the aerodynamics of flapping insect wings.

Aerodynamic effects of flexibility in flapping wings

PubMed Central

Zhao, Liang; Huang, Qingfeng; Deng, Xinyan; Sane, Sanjay P.

2010-01-01

Recent work on the aerodynamics of flapping flight reveals fundamental differences in the mechanisms of aerodynamic force generation between fixed and flapping wings. When fixed wings translate at high angles of attack, they periodically generate and shed leading and trailing edge vortices as reflected in their fluctuating aerodynamic force traces and associated flow visualization. In contrast, wings flapping at high angles of attack generate stable leading edge vorticity, which persists throughout the duration of the stroke and enhances mean aerodynamic forces. Here, we show that aerodynamic forces can be controlled by altering the trailing edge flexibility of a flapping wing. We used a dynamically scaled mechanical model of flapping flight (Re ≈ 2000) to measure the aerodynamic forces on flapping wings of variable flexural stiffness (EI). For low to medium angles of attack, as flexibility of the wing increases, its ability to generate aerodynamic forces decreases monotonically but its lift-to-drag ratios remain approximately constant. The instantaneous force traces reveal no major differences in the underlying modes of force generation for flexible and rigid wings, but the magnitude of force, the angle of net force vector and centre of pressure all vary systematically with wing flexibility. Even a rudimentary framework of wing veins is sufficient to restore the ability of flexible wings to generate forces at near-rigid values. Thus, the magnitude of force generation can be controlled by modulating the trailing edge flexibility and thereby controlling the magnitude of the leading edge vorticity. To characterize this, we have generated a detailed database of aerodynamic forces as a function of several variables including material properties, kinematics, aerodynamic forces and centre of pressure, which can also be used to help validate computational models of aeroelastic flapping wings. These experiments will also be useful for wing design for small robotic insects and, to a limited extent, in understanding the aerodynamics of flapping insect wings. PMID:19692394

Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor

NASA Astrophysics Data System (ADS)

Liu, Wei; Li, Ying-jun; Jia, Zhen-yuan; Zhang, Jun; Qian, Min

2011-01-01

In working process of huge heavy-load manipulators, such as the free forging machine, hydraulic die-forging press, forging manipulator, heavy grasping manipulator, large displacement manipulator, measurement of six-dimensional heavy force/torque and real-time force feedback of the operation interface are basis to realize coordinate operation control and force compliance control. It is also an effective way to raise the control accuracy and achieve highly efficient manufacturing. Facing to solve dynamic measurement problem on six-dimensional time-varying heavy load in extremely manufacturing process, the novel principle of parallel load sharing on six-dimensional heavy force/torque is put forward. The measuring principle of six-dimensional force sensor is analyzed, and the spatial model is built and decoupled. The load sharing ratios are analyzed and calculated in vertical and horizontal directions. The mapping relationship between six-dimensional heavy force/torque value to be measured and output force value is built. The finite element model of parallel piezoelectric six-dimensional heavy force/torque sensor is set up, and its static characteristics are analyzed by ANSYS software. The main parameters, which affect load sharing ratio, are analyzed. The experiments for load sharing with different diameters of parallel axis are designed. The results show that the six-dimensional heavy force/torque sensor has good linearity. Non-linearity errors are less than 1%. The parallel axis makes good effect of load sharing. The larger the diameter is, the better the load sharing effect is. The results of experiments are in accordance with the FEM analysis. The sensor has advantages of large measuring range, good linearity, high inherent frequency, and high rigidity. It can be widely used in extreme environments for real-time accurate measurement of six-dimensional time-varying huge loads on manipulators.

[Health care personnel in Norway].

PubMed

Bast-Pettersen, R

1995-11-10

In 1990, the Nordic Council of Ministers initiated the joint Nordic project on "Work and health among health care personnel". The main aims were: To review and evaluate research data concerning the health and work of health care personnel in the Nordic countries, initiate joint Nordic projects and promote collaboration between Nordic researchers. Altogether more than one million people in the Nordic countries are employed in the health care sector, or almost 10% of the labour force. In all the Nordic countries the labour force in the health sector is dominated by women; the proportion of women being between 84 and 87%. In Norway and Sweden a large share of the labour force works part time. When controlled for sex and level of education, sick leave is the same among health personnel as among the general working population. As in the whole population, sick leave is higher among women, and among persons with a lower level of education. In general, workers in the health care sector in the Nordic countries run no greater risk of developing occupationally related injuries than other workers do. In a register-based study of Swedish workers it was found that the risk of being absent from work because of violence or threats is higher among health personnel than in the general working population.

Problems associated with reaction mass actuators used in conjunction with LQG control on the Mini-Mast

NASA Technical Reports Server (NTRS)

Ghosh, D.; Montgomery, R. C.

1987-01-01

The work being done at NASA LaRC on developing control laws for the Mini-Mast experimental facility is reviewed with particular attention given to the problems associated with the stroke limit of the reaction mass actuators used in conjunction with the LQG control. An algorithm for converting the force commands of the LQG algorithm into position command for the reaction mass devices is described. It is shown that the position command can be used as an input to a local controller so that the relative position of the reaction mass would track the commanded relative position. The stabilization of the integration scheme makes it possible to avoid the position drift arising in the direct double integration method of converting force commands to position commands.

Reversible Control of Anisotropic Electrical Conductivity using Colloidal Microfluidic Networks

DTIC Science & Technology

2007-04-17

field with the induced charges on each electrode result in AC electroosmotic force and steady fluid flow (nonzero time averaged) with a velocity...direction of the AC electroosmotic force (flow is unidirectional). From the work of Green and co- workers, we can write the particle displacement due to... AC voltage-frequency phase space allows us to probe a wide range of colloidal configurations that resemble “capacitive” and “resistive” networks in

Consideration of Optimal Input on Semi-Active Shock Control System

NASA Astrophysics Data System (ADS)

Kawashima, Takeshi

In press working, unidirectional transmission of mechanical energy is expected in order to maximize the life of the dies. To realize this transmission, the author has developed a shock control system based on the sliding mode control technique. The controller makes a collision-receiving object effectively deform plastically by adjusting the force of the actuator inserted between the colliding objects, while the deformation of the colliding object is held at the necessity minimum. However, the actuator has to generate a large force corresponding to the impulsive force. Therefore, development of such an actuator is a formidable challenge. The author has proposed a semi-active shock control system in which the impulsive force is adjusted by a brake mechanism, although the system exhibits inferior performance. Thus, the author has also designed an actuator using a friction device for semi-active shock control, and proposed an active seatbelt system as an application. The effectiveness has been confirmed by a numerical simulation and model experiment. In this study, the optimal deformation change of the colliding object is theoretically examined in the case that the collision-receiving object has perfect plasticity and the colliding object has perfect elasticity. As a result, the optimal input condition is obtained so that the ratio of the maximum deformation of the collision-receiving object to the maximum deformation of the colliding object becomes the maximum. Additionally, the energy balance is examined.

Cultural Changes: Their Influence on Organizational Structure and Management Behavior

ERIC Educational Resources Information Center

Hersey, Paul; Blanchard, Kenneth H.

1970-01-01

The increase in level of maturity and responsibility of much of the work force has an impact on traditional principles of management and the role of the manager in planning, organizing, motivating, and controlling. (PT)

Propulsion Control and Health Management (PCHM) Technology for Flight Test on the C-17 T-1 Aircraft

NASA Technical Reports Server (NTRS)

Simon, Donald L.; Garg, Sanjay; Venti, Michael

2004-01-01

The C-I 7 T-l Globemaster III is an Air Force flight research vehicle located at Edwards Air Force Base. NASA Dryden and the C-17 System Program Office have entered into a Memorandum of Agreement to permit NASA the use of the C-I 7 T-I to conduct flight research on a mutually coordinated schedule. The C-17 Propulsion Control and Health Management (PCHM) Working Group was formed in order to foster discussion and coordinate planning amongst the various government agencies conducting PCHM research with a potential need for flight testing, and to communicate to the PCHM community the capabilities of the C-17 T-l aircraft to support such flight testing. This paper documents the output of this Working Group, including a summary of the candidate PCHM technologies identified and their associated benefits relative to NASA goals and objectives.

The role of visual and direct force feedback in robotics-assisted mitral valve annuloplasty.

PubMed

Currie, Maria E; Talasaz, Ali; Rayman, Reiza; Chu, Michael W A; Kiaii, Bob; Peters, Terry; Trejos, Ana Luisa; Patel, Rajni

2017-09-01

The objective of this work was to determine the effect of both direct force feedback and visual force feedback on the amount of force applied to mitral valve tissue during ex vivo robotics-assisted mitral valve annuloplasty. A force feedback-enabled master-slave surgical system was developed to provide both visual and direct force feedback during robotics-assisted cardiac surgery. This system measured the amount of force applied by novice and expert surgeons to cardiac tissue during ex vivo mitral valve annuloplasty repair. The addition of visual (2.16 ± 1.67), direct (1.62 ± 0.86), or both visual and direct force feedback (2.15 ± 1.08) resulted in lower mean maximum force applied to mitral valve tissue while suturing compared with no force feedback (3.34 ± 1.93 N; P < 0.05). To achieve better control of interaction forces on cardiac tissue during robotics-assisted mitral valve annuloplasty suturing, force feedback may be required. Copyright © 2016 John Wiley & Sons, Ltd.

Controller design for a teleoperator system with dissimilar kinematics and force feedback

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

Jansen, J.F.; Kress, R.L.; Babcock, S.M.

1990-01-01

The purpose of this paper is to develop a controller for dissimilar kinematic teleoperator systems, which include a force/torque sensor mounted on the slave. Due to improved modern microprocessor computing capability and the trend toward redundant slaves, the next generation of teleoperator systems will likely incorporate dissimilar kinematics in their design; consequently, a need exists for a workable control scheme for these systems. The control scheme presented in this paper incorporates the work and ideas of numerous researchers over the past 40 years. The master controller and the orientation representation using Euler parameters for the both the master and slavemore » will be the main focus of this paper. The implementation of the master controller on a 6-degrees-of-freedom (DOF) master is also discussed. Only a brief summary of the overall strategy will be presented. 13 refs., 1 fig.« less

Superconducting Qubits as Mechanical Quantum Engines

NASA Astrophysics Data System (ADS)

Sachtleben, Kewin; Mazon, Kahio T.; Rego, Luis G. C.

2017-09-01

We propose the equivalence of superconducting qubits with a pistonlike mechanical quantum engine. The work reports a study on the nature of the nonequilibrium work exchanged with the quantum-nonadiabatic working medium, which is modeled as a multilevel coupled quantum well system subject to an external control parameter. The quantum dynamics is solved for arbitrary control protocols. It is shown that the work output has two components: one that depends instantaneously on the level populations and another that is due to the quantum coherences built in the system. The nonadiabatic coherent dynamics of the quantum engine gives rise to a resistance (friction) force that decreases the work output. We consider the functional equivalence of such a device and a rf-SQUID flux qubit.

Five dramas of illness.

PubMed

Frank, Arthur W

2007-01-01

First-person narratives of illness experience are dramatic: the narrator, who is also the sufferer, is caught in conflicts of forces that permit understanding more than control. Among the dramas of illness, five occur frequently in autobiographical accounts of illness. These dramas overlap and have varying emphases in different people's stories. They are the drama of genesis (what instigated the illness); the drama of emotion work (what emotional displays are required or prohibited); the drama of fear and loss; the drama of meaning; and finally, the drama of self. This five-drama framework can focus critical and clinical attention on which conflicting forces the ill person is working to reconcile, what makes that work difficult, and how conceiving of one's illness as a drama can be a source of meaning and value.

A convex optimization method for self-organization in dynamic (FSO/RF) wireless networks

NASA Astrophysics Data System (ADS)

Llorca, Jaime; Davis, Christopher C.; Milner, Stuart D.

2008-08-01

Next generation communication networks are becoming increasingly complex systems. Previously, we presented a novel physics-based approach to model dynamic wireless networks as physical systems which react to local forces exerted on network nodes. We showed that under clear atmospheric conditions the network communication energy can be modeled as the potential energy of an analogous spring system and presented a distributed mobility control algorithm where nodes react to local forces driving the network to energy minimizing configurations. This paper extends our previous work by including the effects of atmospheric attenuation and transmitted power constraints in the optimization problem. We show how our new formulation still results in a convex energy minimization problem. Accordingly, an updated force-driven mobility control algorithm is presented. Forces on mobile backbone nodes are computed as the negative gradient of the new energy function. Results show how in the presence of atmospheric obscuration stronger forces are exerted on network nodes that make them move closer to each other, avoiding loss of connectivity. We show results in terms of network coverage and backbone connectivity and compare the developed algorithms for different scenarios.

Particle Swarm-Based Translation Control for Immersed Tunnel Element in the Hong Kong-Zhuhai-Macao Bridge Project

NASA Astrophysics Data System (ADS)

Li, Jun-jun; Yang, Xiao-jun; Xiao, Ying-jie; Xu, Bo-wei; Wu, Hua-feng

2018-03-01

Immersed tunnel is an important part of the Hong Kong-Zhuhai-Macao Bridge (HZMB) project. In immersed tunnel floating, translation which includes straight and transverse movements is the main working mode. To decide the magnitude and direction of the towing force for each tug, a particle swarm-based translation control method is presented for non-power immersed tunnel element. A sort of linear weighted logarithmic function is exploited to avoid weak subgoals. In simulation, the particle swarm-based control method is evaluated and compared with traditional empirical method in the case of the HZMB project. Simulation results show that the presented method delivers performance improvement in terms of the enhanced surplus towing force.

CONTACT: An Air Force technical report on military satellite control technology

NASA Astrophysics Data System (ADS)

Weakley, Christopher K.

1993-07-01

This technical report focuses on Military Satellite Control Technologies and their application to the Air Force Satellite Control Network (AFSCN). This report is a compilation of articles that provide an overview of the AFSCN and the Advanced Technology Program, and discusses relevant technical issues and developments applicable to the AFSCN. Among the topics covered are articles on Future Technology Projections; Future AFSCN Topologies; Modeling of the AFSCN; Wide Area Communications Technology Evolution; Automating AFSCN Resource Scheduling; Health & Status Monitoring at Remote Tracking Stations; Software Metrics and Tools for Measuring AFSCN Software Performance; Human-Computer Interface Working Group; Trusted Systems Workshop; and the University Technical Interaction Program. In addition, Key Technology Area points of contact are listed in the report.

Drive Control of an Electric Vehicle by a Non-linear Controller

NASA Astrophysics Data System (ADS)

Mubin, Marizan; Ouchi, Shigeto; Anabuki, Masatoshi; Hirata, Hiroshi

The driving force of automobiles is transmitted by the frictional force between the tires and the road surface. This frictional force is a function of the weight of the car-body and the friction coefficient μ between the tires and the road surface. The friction coefficient μ is also a function of the following parameters: the slip ratio λ determined by the car-body speed and the wheel speed, and the condition of the road surface. Slippage of automobiles which causes much damage often occurs during accelerating and braking. In this paper, we propose a new drive control system which has an effect on acceleration and braking. In the drive control system, a non-linear controller designed by using a Lyapunov function is used. This non-linear controller has two functions: first one is μ control which moves the car-body, another one is λ control. The controller is designed in order that μ and λ work at noslip and with slip respectively. As another controller, a disturbance observer is used for estimating the car-body speed which is difficult to be measured. Then, this lead to the proof of the stability condition of the combined system which consists of two controllers: the non-linear controller and the disturbance observer. Finally, the effectiveness of this control system is proved by a very satisfactory simulation and experimental results for two cases.

In-vivo force decay of nickel-titanium closed-coil springs.

PubMed

Cox, Crystal; Nguyen, Tung; Koroluk, Lorne; Ko, Ching-Chang

2014-04-01

Nickel-titanium closed-coil springs are purported to deliver constant forces over extended ranges of activation and working times. In-vivo studies supporting this claim are limited. The objective of this study was to evaluate changes in force-decay properties of nickel-titanium closed-coil springs after clinical use. Pseudoelastic force-deflection curves for 30 nickel-titanium coil springs (used intraorally) and 15 matched laboratory control springs (simulated intraoral conditions: artificial saliva, 37°C) were tested before and after retrieval via dynamic mechanical analysis and a testing machine, respectively, to evaluate the amounts of force-loss and hysteresis change after 4, 8, or 12 weeks of working time (n = 10 per group). The effects of the oral environment and clinical use on force properties were evaluated by comparing in-vivo and in-vitro data. The springs studied showed a statistically significant decrease in force (approximately 12%) after 4 weeks of clinical use (P <0.01), with a further significant decrease (approximately 7%) from 4 to 8 weeks (P = 0.03), and force levels appearing to remain steady thereafter. Clinical space closure at an average rate of 0.91 mm per month was still observed despite this decrease in force. In-vivo and in-vitro force-loss data were not statistically different. Nickel-titanium closed-coil springs do not deliver constant forces when used intraorally, but they still allow for space-closure rates of approximately 1 mm per month. Copyright © 2014 American Association of Orthodontists. Published by Mosby, Inc. All rights reserved.

Annual report for Brookhaven National Laboratory 1994 epidemiologic surveillance

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

NONE

1997-01-01

Epidemiologic surveillance at DOE facilities consists of regular and systematic collection, analysis, and interpretation of data on absences due to illness and injury in the work force. Its purpose is to provide an early warning system for health problems occurring among employees at participating sites. Data are collected by coordinators at each site and submitted to the Epidemiologic Surveillance Data Center, located at the Oak Ridge Institute for Science and Education, where quality control procedures and analyses are carried out. Rates of absences and rates of diagnoses associated with absences are analyzed by occupation and other relevant variables. They maymore » be compared with the disease experience of different groups within the DOE work force and with populations that do not work for DOE to identify disease patterns or clusters that may be associated with work activities. In this annual report, the 1994 morbidity data for BNL are summarized. These analyses focus on absences of 5 or more consecutive workdays occurring among workers aged 16-80 years. They are arranged in five sets of tables that present: (1) the distribution of the labor force by occupational category and salary status; (2) the absences per person, diagnoses per absence, and diagnosis rates for the whole work force; (3) diagnosis rates by type of disease or injury; (4) diagnosis rates by occupational category; and (5) relative risks for specific types of disease or injury by occupational category.« less

One-Year Results for the Kelly Air Force Base Compressed Work Week Survey

DTIC Science & Technology

1994-01-01

10 REFERENCES 1. Balch, B.W. The four day week and the older workers. Personnel Journal, December, 394-396, 1974. 2. Breaugh, J.A. The 12-hour work day...the four - day week . California Management Review, 28, 31-35, 1975. 16. Mills, M.E. Core-12: A controlled study of the impact of 12 hour scheduling

Chromatin Configuration Determines Cell Responses to Hormone Stimuli | Center for Cancer Research

Cancer.gov

Ever since selective gene expression was established as the central driver of cell behavior, researchers have been working to understand the forces that control gene transcription. Aberrant gene expression can cause or promote many diseases, including cancer, and alterations in gene expression are the goal of many therapeutic agents. Recent work has focused on the potential

Amended annual report for Brookhaven National Laboratory: Epidemiologic surveillance - 1994

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

NONE

Epidemiologic surveillance at DOE facilities consists of regular and systematic collection, analysis, and interpretation of data on absences due to illness and injury in the work force. Its purpose is to provide an early warning system for health problems occurring among employees at participating sites. Data are collected by coordinators at each site and submitted to the Epidemiologic Surveillance Data Center, located at the Oak Ridge Institute for Science and Education, where quality control procedures and analyses are carried out. Rates of absences and rates of diagnoses associated with absences are analyzed by occupation and other relevant variables. They maymore » be compared with the disease experience of different groups within the DOE work force and with populations and do not work for DOE to identify disease patterns or clusters that may be associated work activities. This report provides a final summary for BNL.« less

Annual report for Hanford Site: Epidemiologic surveillance - 1994

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

NONE

1998-01-01

Epidemiologic surveillance at U.S. Department of Energy (DOE) facilities consists of regular and systematic collection, analysis, and interpretation of data on absences due to illness and injury in the work force. Its purpose is to provide an early warning system for health problems occurring among employees at participating sites. Data are collected by coordinators at each site and submitted to the Epidemiologic Surveillance Data Center, located at the Oak Ridge Institute for Science and Education, where quality control procedures and analyses are carried out. Rates of absences and rates of diagnoses associated with absences are analyzed by occupational and othermore » relevant variables. They may be compared with the disease experience of different groups within the DOE work force and with populations that do not work for DOE to identify disease patterns or clusters that may be associated with work activities.This report provides the final summary for the Hanford Reservation.« less

Epidemiologic surveillance. Annual report for EG&G Rocky Flats

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

NONE

1994-12-31

Epidemiologic surveillance at U.S. Department of Energy (DOE) facilities consists of regular and systematic collection, analysis, and interpretation of data on absences resulting from illness and injury in the work force. Its purpose is to provide an early warning system for health problems occurring among employees at participating sites. Data are collected by coordinators at each site and submitted to the Epidemiologic Surveillance Data Center, located at the Oak Ridge Institute for Science and Education, where quality control procedures and analyses are carried out. Rates of absences and rates of diagnoses associated with absences are analyzed by occupation and othermore » relevant variables. They may be compared with the disease experience of different groups within the DOE work force and with populations that do not work for DOE to identify disease patterns or clusters that may be associated with work activities. This report presents the 1994 morbidity data for the Rocky Flats plant.« less

Differential effects of voluntary and forced exercise on stress responses after traumatic brain injury.

PubMed

Griesbach, Grace S; Tio, Delia L; Vincelli, Jennifer; McArthur, David L; Taylor, Anna N

2012-05-01

Voluntary exercise increases levels of brain-derived neurotrophic factor (BDNF) after traumatic brain injury (TBI) when it occurs during a delayed time window. In contrast, acute post-TBI exercise does not increase BDNF. It is well known that increases in glucocorticoids suppress levels of BDNF. Moreover, recent work from our laboratory showed that there is a heightened stress response after fluid percussion injury (FPI). In order to determine if a heightened stress response is also observed with acute exercise, at post-injury days 0-4 and 7-11, corticosterone (CORT) and adrenocorticotropic hormone (ACTH) release were measured in rats running voluntarily or exposed to two daily 20-min periods of forced running wheel exercise. Forced, but not voluntary exercise, continuously elevated CORT. ACTH levels were initially elevated with forced exercise, but decreased by post-injury day 7 in the control, but not the FPI animals. As previously reported, voluntary exercise did not increase BDNF in the FPI group as it did in the control animals. Forced exercise did not increase levels of BDNF in any group. It did, however, decrease hippocampal glucocorticoid receptors in the control group. The results suggest that exercise regimens with strong stress responses may not be beneficial during the early post-injury period.

Design of a Low-Cost Air Levitation System for Teaching Control Engineering.

PubMed

Chacon, Jesus; Saenz, Jacobo; Torre, Luis de la; Diaz, Jose Manuel; Esquembre, Francisco

2017-10-12

Air levitation is the process by which an object is lifted without mechanical support in a stable position, by providing an upward force that counteracts the gravitational force exerted on the object. This work presents a low-cost lab implementation of an air levitation system, based on open solutions. The rapid dynamics makes it especially suitable for a control remote lab. Due to the system's nature, the design can be optimized and, with some precision trade-off, kept affordable both in cost and construction effort. It was designed to be easily adopted to be used as both a remote lab and as a hands-on lab.

A finite element study on the mechanical response of the head-neck interface of hip implants under realistic forces and moments of daily activities: Part 1, level walking.

PubMed

Farhoudi, Hamidreza; Fallahnezhad, Khosro; Oskouei, Reza H; Taylor, Mark

2017-11-01

This paper investigates the mechanical response of a modular head-neck interface of hip joint implants under realistic loads of level walking. The realistic loads of the walking activity consist of three dimensional gait forces and the associated frictional moments. These forces and moments were extracted for a 32mm metal-on-metal bearing couple. A previously reported geometry of a modular CoCr/CoCr head-neck interface with a proximal contact was used for this investigation. An explicit finite element analysis was performed to investigate the interface mechanical responses. To study the level of contribution and also the effect of superposition of the load components, three different scenarios of loading were studied: gait forces only, frictional moments only, and combined gait forces and frictional moments. Stress field, micro-motions, shear stresses and fretting work at the contacting nodes of the interface were analysed. Gait forces only were found to significantly influence the mechanical environment of the head-neck interface by temporarily extending the contacting area (8.43% of initially non-contacting surface nodes temporarily came into contact), and therefore changing the stress field and resultant micro-motions during the gait cycle. The frictional moments only did not cause considerable changes in the mechanical response of the interface (only 0.27% of the non-contacting surface nodes temporarily came into contact). However, when superposed with the gait forces, the mechanical response of the interface, particularly micro-motions and fretting work, changed compared to the forces only case. The normal contact stresses and micro-motions obtained from this realistic load-controlled study were typically in the range of 0-275MPa and 0-38µm, respectively. These ranges were found comparable to previous experimental displacement-controlled pin/cylinder-on-disk fretting corrosion studies. Copyright © 2017 Elsevier Ltd. All rights reserved.

Individual muscle control using an exoskeleton robot for muscle function testing.

PubMed

Ueda, Jun; Ming, Ding; Krishnamoorthy, Vijaya; Shinohara, Minoru; Ogasawara, Tsukasa

2010-08-01

Healthy individuals modulate muscle activation patterns according to their intended movement and external environment. Persons with neurological disorders (e.g., stroke and spinal cord injury), however, have problems in movement control due primarily to their inability to modulate their muscle activation pattern in an appropriate manner. A functionality test at the level of individual muscles that investigates the activity of a muscle of interest on various motor tasks may enable muscle-level force grading. To date there is no extant work that focuses on the application of exoskeleton robots to induce specific muscle activation in a systematic manner. This paper proposes a new method, named "individual muscle-force control" using a wearable robot (an exoskeleton robot, or a power-assisting device) to obtain a wider variety of muscle activity data than standard motor tasks, e.g., pushing a handle by hand. A computational algorithm systematically computes control commands to a wearable robot so that a desired muscle activation pattern for target muscle forces is induced. It also computes an adequate amount and direction of a force that a subject needs to exert against a handle by his/her hand. This individual muscle control method enables users (e.g., therapists) to efficiently conduct neuromuscular function tests on target muscles by arbitrarily inducing muscle activation patterns. This paper presents a basic concept, mathematical formulation, and solution of the individual muscle-force control and its implementation to a muscle control system with an exoskeleton-type robot for upper extremity. Simulation and experimental results in healthy individuals justify the use of an exoskeleton robot for future muscle function testing in terms of the variety of muscle activity data.

Multi-Axis Force Sensor for Human-Robot Interaction Sensing in a Rehabilitation Robotic Device.

PubMed

Grosu, Victor; Grosu, Svetlana; Vanderborght, Bram; Lefeber, Dirk; Rodriguez-Guerrero, Carlos

2017-06-05

Human-robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control.

Force Generation in Single Conventional Actomyosin Complexes under High Dynamic Load

PubMed Central

Takagi, Yasuharu; Homsher, Earl E.; Goldman, Yale E.; Shuman, Henry

2006-01-01

The mechanical load borne by a molecular motor affects its force, sliding distance, and its rate of energy transduction. The control of ATPase activity by the mechanical load on a muscle tunes its efficiency to the immediate task, increasing ATP hydrolysis as the power output increases at forces less than isometric (the Fenn effect) and suppressing ATP hydrolysis when the force is greater than isometric. In this work, we used a novel ‘isometric’ optical clamp to study the mechanics of myosin II molecules to detect the reaction steps that depend on the dynamic properties of the load. An actin filament suspended between two beads and held in separate optical traps is brought close to a surface that is sparsely coated with motor proteins on pedestals of silica beads. A feedback system increases the effective stiffness of the actin by clamping the force on one of the beads and moving the other bead electrooptically. Forces measured during actomyosin interactions are increased at higher effective stiffness. The results indicate that single myosin molecules transduce energy nearly as efficiently as whole muscle and that the mechanical control of the ATP hydrolysis rate is in part exerted by reversal of the force-generating actomyosin transition under high load without net utilization of ATP. PMID:16326899

The exclusion problem in seasonally forced epidemiological systems.

PubMed

Greenman, J V; Adams, B

2015-02-21

The pathogen exclusion problem is the problem of finding control measures that will exclude a pathogen from an ecological system or, if the system is already disease-free, maintain it in that state. To solve this problem we work within a holistic control theory framework which is consistent with conventional theory for simple systems (where there is no external forcing and constant controls) and seamlessly generalises to complex systems that are subject to multiple component seasonal forcing and targeted variable controls. We develop, customise and integrate a range of numerical and algebraic procedures that provide a coherent methodology powerful enough to solve the exclusion problem in the general case. An important aspect of our solution procedure is its two-stage structure which reveals the epidemiological consequences of the controls used for exclusion. This information augments technical and economic considerations in the design of an acceptable exclusion strategy. Our methodology is used in two examples to show how time-varying controls can exploit the interference and reinforcement created by the external and internal lag structure and encourage the system to 'take over' some of the exclusion effort. On-off control switching, resonant amplification, optimality and controllability are important issues that emerge in the discussion. Copyright © 2014 Elsevier Ltd. All rights reserved.

Lung Function Impact from Working in the Pre-Revolution Libyan Quarry Industry

PubMed Central

Draid, Marwan M.; Ben-Elhaj, Khaled M.; Ali, Ashraf M.; Schmid, Kendra K.; Gibbs, Shawn G.

2015-01-01

The purpose of this study was to determine the lung impact from working within the Libyan quarry industry, and if the length of work impacted the degree of degradation. Eighty three workers from eight silica quarries in the Nafusa Mountains of Libya opted to participate. These quarries were working the upper cretaceous geological structure. Eighty-five individuals who lived in Gharyan City with no affiliation to quarry operations participated as controls. Spirometry variables evaluated were Forced Vital Capacity (FVC), Forced Expiratory Volume at 1.0 second (FEV1), FVC/FEV1 and Peak Expiratory Flow (PEF). Control and exposed groups had no differences in terms of height, weight, or smoking status (p = 0.18, 0.20, 0.98, respectively). Prior to adjustment for other variables, FVC, FEV1, and PEF are all significantly lower in the exposed group (p = 0.003, 0.009, 0.03, respectively). After adjustment for age, height, weight, and smoking status, there remain significant differences between the control and exposed groups for FVC, FEV1, and PEF. This analysis demonstrated that exposure to quarry dust has a detrimental effect on lung function, and that pre-revolution Libyan quarry workers were being exposed. This study shows that any exposure is harmful, as the reduction in lung function was not significantly associated with years of exposure. PMID:25961801

The effect of force feedback on student reasoning about gravity, mass, force and motion

NASA Astrophysics Data System (ADS)

Bussell, Linda

The purpose of this study was to examine whether force feedback within a computer simulation had an effect on reasoning by fifth grade students about gravity, mass, force, and motion, concepts which can be difficult for learners to grasp. Few studies have been done on cognitive learning and haptic feedback, particularly with young learners, but there is an extensive base of literature on children's conceptions of science and a number of studies focus specifically on children's conceptions of force and motion. This case study used a computer-based paddleball simulation with guided inquiry as the primary stimulus. Within the simulation, the learner could adjust the mass of the ball and the gravitational force. The experimental group used the simulation with visual and force feedback; the control group used the simulation with visual feedback but without force feedback. The proposition was that there would be differences in reasoning between the experimental and control groups, with force feedback being helpful with concepts that are more obvious when felt. Participants were 34 fifth-grade students from three schools. Students completed a modal (visual, auditory, and haptic) learning preference assessment and a pretest. The sessions, including participant experimentation and interviews, were audio recorded and observed. The interviews were followed by a written posttest. These data were analyzed to determine whether there were differences based on treatment, learning style, demographics, prior gaming experience, force feedback experience, or prior knowledge. Work with the simulation, regardless of group, was found to increase students' understanding of key concepts. The experimental group appeared to benefit from the supplementary help that force feedback provided. Those in the experimental group scored higher on the posttest than those in the control group. The greatest difference between mean group scores was on a question concerning the effects of increased gravitational force.

The Synthesis of Force Closure Grasps in the Plane.

DTIC Science & Technology

1985-09-01

TASK U Artificial Inteligence Laboratory AREA A WORK UN IT "NMUIERS ~( 545 Technology Square Cambridge, MA 02139 SI. CONTROLLING OFICE NAME ANO... ARTIFICIAL INThLLIX’ ENCE LABORATORY A. 1. Memo 861 September, 1985 The Synthesis of Force-Closure Grasps In the Plane DTIC ’VeL% ,#ECTE 1 VnDcNguyenU Abstract... Artificial In- telligenmcc Liabomatory of thle Massachuset Is hInsttute of Teclhnolog3 . Support for the Lahoratot * s Artificial Intelligence research is

Integration of the Peruvian Air Force Information Systems through an Integrated LAN/WAN

DTIC Science & Technology

1991-03-01

telecommunication systems are virtually indistinguishable from computer systems. These two technologies meet to work together. 3. Types of Telecommunications...information are virtually out of control. What limits on access exist tend to be the result of habit and tradition, as well as of the sheer difficulty...organization cannot be related to one another, it is virtually impossible for information to be shared or accessed in a timely manner. D. PZRUVIAN AIR FORCE

Air Force research in human sensory feedback for telepresence

NASA Technical Reports Server (NTRS)

Julian, Ronald G.

1993-01-01

Telepresence operations require high quality information transfer between the human master and the remotely located slave. Present Air Force research focuses on the human aspects of the information needed to complete the control/feedback loop. Work in three key areas of human sensory feedback for manipulation of objects are described. Specific projects in each key area are outlined, including research tools (hardware), planned research, and test results. Nonmanipulative feedback technologies are mentioned to complete the advanced teleoperation discussions.

Design and simulation of Macro-Fiber composite based serrated microflap for wind turbine blade fatigue load reduction

NASA Astrophysics Data System (ADS)

Sun, Xiao; Dai, Qingli; Bilgen, Onur

2018-05-01

A Macro-Fiber Composite (MFC) based active serrated microflap is designed in this research for wind turbine blades. Its fatigue load reduction potential is evaluated in normal operating conditions. The force and displacement output of the MFC-based actuator are simulated using a bimorph beam model. The work done by the aerodynamic, centripetal and gravitational forces acting on the microflap were calculated to determine the required capacity of the MFC-based actuator. MFC-based actuators with a lever mechanical linkage are designed to achieve the required force and displacement to activate the microflap. A feedback control scheme is designed to control the microflap during operation. Through an aerodynamic-aeroelastic time marching simulation with the designed control scheme, the time responses of the wind turbine blades are obtained. The fatigue analysis shows that the serrated microflap can reduce the standard deviation of the blade root flapwise bending moment and the fatigue damage equivalent loads.

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

NASA Astrophysics Data System (ADS)

Bayram, Atilla

2017-03-01

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

Distributed microscopic actuation analysis of deformable plate membrane mirrors

NASA Astrophysics Data System (ADS)

Lu, Yifan; Yue, Honghao; Deng, Zongquan; Tzou, Hornsen

2018-02-01

To further reduce the areal density of optical mirrors used in space telescopes and other space-borne optical structures, the concept of flexible membrane deformable mirror has been proposed. Because of their high flexibility, poor stiffness and low damping properties, environmental excitations such as orbital maneuver, path changing, and non-uniform heating may induce unexpected vibrations and thus reduce working performance. Therefore, active vibration control is essential for these membrane mirrors. In this paper, two different mirror models, i.e., the plate membrane model and pure membrane model, are studied respectively. In order to investigate the modal vibration characteristics of the mirror, a piezoelectric layer is fully laminated on its non-reflective side to serve as actuators. Dynamic equations of the mirror laminated with piezoelectric actuators are presented first. Then, the actuator induced modal control force is defined. When the actuator area shrinks to infinitesimal, the expressions of microscopic local modal control force and its two components are obtained to predict the spatial microscopic actuation behavior of the mirror. Different membrane pretension forces are also applied to reveal the tension effects on the actuation of the mirror. Analyses indicate that the spatial distribution of modal micro-control forces is exactly the same with the sensing signals distribution of the mirror, which provides crucial guidelines for optimal actuator placement of membrane deformable mirrors.

Working draft of the FDA GMP final rule (Part II).

PubMed

Donawa, M E

1995-11-01

Part I of this two-part series provided information on the proposed design control provisions of the US Food and Drug Administration's (FDA) working draft of the final rule for new good manufacturing practice regulations for medical devices. The final rule could be published in April or May 1996. It would be in force 180 days after the date of publication. Design control requirements may become effective some months later. This article describes recommended modifications of three provisions that have been intensely discussed during recent FDA-sponsored public meetings.

New nonlinear control algorithms for multiple robot arms

NASA Technical Reports Server (NTRS)

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

1988-01-01

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

Control of scroll wave turbulence in a three-dimensional reaction-diffusion system with gradient.

PubMed

Qiao, Chun; Wu, Yabi; Lu, Xiaochuan; Wang, Chunyan; Ouyang, Qi; Wang, Hongli

2008-06-01

In this paper, we summarize our recent experimental and theoretical works on observation and control of scroll wave (SW) turbulence. The experiments were conducted in a three-dimensional Belousov-Zhabotinsky reaction-diffusion system with chemical concentration gradients in one dimension. A spatially homogeneous external forcing was used in the experiments as a control; it was realized by illuminating white light on the light sensitive reaction medium. We observed that, in the oscillatory regime of the system, SW can appear automatically in the gradient system, which will be led to spatiotemporal chaos under certain conditions. A suitable periodic forcing may stabilize inherent turbulence of SW. The mechanism of the transition to SW turbulence is due to the phase twist of SW in the presence of chemical gradients, while modulating the phase twist with a proper periodic forcing can delay this transition. Using the FitzHugh-Nagumo model with an external periodic forcing, we confirmed the control mechanism with numerical simulation. Moreover, we also show in the simulation that adding temporal external noise to the system may have the same control effect. During this process, we observed a new state called "intermittent turbulence," which may undergo a transition into a new type of SW collapse when the noise intensity is further increased. The intermittent state and the collapse could be explained by a random process.

Design framework of a teleoperating system for a magnetically levitated robot with force feedback

NASA Astrophysics Data System (ADS)

Tsuda, Naoaki; Kato, Norihiko; Nomura, Yoshihiko; Matsui, Hirokazu

2002-02-01

Precise works and manipulating micro objects are tough jobs for operators both mentally and physically. To execute these jobs smoothly without feeling wrongness, use of master-slave system is preferable because position and force are able to be scaled up and down as well under the system. In this study we develop a master-slave system where the size of a slave robot is very small and the slave robot is levitated by magnetic forces. In distinction from ordinary master- slave systems, the levitated robot does not get any other contact forces from outside. Thus we introduce a method using an impedance model for constructing the master-slave system. We confirmed the effectiveness of the positioning control algorithm through experiments.

Tapping mode imaging with an interfacial force microscope

NASA Astrophysics Data System (ADS)

Warren, O. L.; Graham, J. F.; Norton, P. R.

1997-11-01

In their present embodiment, sensors used in interfacial force microscopy do not have the necessary mechanical bandwidth to be employed as free-running tapping mode devices. We describe an extremely stable method of obtaining tapping mode images using feedback on the sensor. Our method is immune to small dc drifts in the force signal, and the prospect of diminishing the risk of damaging fragile samples is realized. The feasibility of the technique is demonstrated by our imaging work on a Kevlar fiber-epoxy composite. We also present a model which accounts for the frequency dependence of the sensor in air when operating under closed loop control. A simplified force modulation model is investigated to explore the effect of contact on the closed loop response of the sensor.

JPRS Report, Arms Control

DTIC Science & Technology

1989-01-19

more faster and practical work . Accord- ingly, they consented to hold the next consultation January 2. GERMAN DEMOCRATIC REPUBLIC FRG SPD’s Bahr on...1989 EAST EUROPE question is justified in as much as there are powerful opposing forces at work that have by no means given up yet. What is clear...is ready to work out and present, on the basis of its own experience, plans for such a conver- sion, and let international society judge them. This

Defense Finance and Accounting Service Work on the FY 1993 Air Force Defense Business Operations Fund Financial Statements

DTIC Science & Technology

1995-01-11

the accuracy of financial data, the adequacy of internal controls, and compliance with laws and regulations. We also evaluated procedures that the DFAS Denver Center used to prepare consolidated financial statements .

Application of electrohydrodynamic phenomena to space processing

NASA Technical Reports Server (NTRS)

Jones, T. B.

1975-01-01

The capabilities of electrohydrodynamic (EHD) unit separation, liquid handling/control, and mixing are introduced to industrial chemists and metallurgists, working on specific zero-gravity processes. Previously proposed zero-gravity applications of EHD are presented along with the prominent electrohydrodynamical force effects.

Forces acting between polishing tool and workpiece surface in magnetorheological finishing

NASA Astrophysics Data System (ADS)

Schinhaerl, Markus; Vogt, Christian; Geiss, Andreas; Stamp, Richard; Sperber, Peter; Smith, Lyndon; Smith, Gordon; Rascher, Rolf

2008-08-01

Magnetorheological finishing is a computer-controlled polishing technique that is used mainly in the field of high-quality optical lens production. The process is based on the use of a magnetorheological polishing fluid that is able, in a reversible manner, to change its viscosity from a liquid state to a solid state under the control of a magnetic field. This outstanding characteristic facilitates rapid control (in milliseconds) of the yield stress, and thus the pressure applied to the workpiece surface to be polished. A three-axis dynamometer was used to measure the forces acting between the magnetorheological fluid and the workpiece surface during determination of the material removal characteristic of the polishing tool (influence function). The results of a testing series using a QED Q22-X MRF polishing machine with a 50 mm wheel assembly show that the normal forces range from about 2 to 20 N. Knowledge of the forces is essential, especially when thin workpieces are to be polished and distortion becomes significant. This paper discusses, and gives examples of, the variation in the parameters experienced during a programme of experiments, and provides examples of the value of this work.

America's Changing Work Force: Statistics in Brief.

ERIC Educational Resources Information Center

American Association of Retired Persons, Washington, DC.

This booklet provides information about the demographics of the changing work force. It offers an at-a-glance profile of workers age 45 and older and considers likely changes in the work force of the future. The document includes topics such as the composition of the work force of today and tomorrow by age and sex, labor force participation rates,…

Human's Capability to Discriminate Spatial Forces at the Big Toe.

PubMed

Hagengruber, Annette; Höppner, Hannes; Vogel, Jörn

2018-01-01

A key factor for reliable object manipulation is the tactile information provided by the skin of our hands. As this sensory information is so essential in our daily life it should also be provided during teleoperation of robotic devices or in the control of myoelectric prostheses. It is well-known that feeding back the tactile information to the user can lead to a more natural and intuitive control of robotic devices. However, in some applications it is difficult to use the hands as natural feedback channels since they may already be overloaded with other tasks or, e.g., in case of hand prostheses not accessible at all. Many alternatives for tactile feedback to the human hand have already been investigated. In particular, one approach shows that humans can integrate uni-directional (normal) force feedback at the toe into their sensorimotor-control loop. Extending this work, we investigate the human's capability to discriminate spatial forces at the bare front side of their toe. A state-of-the-art haptic feedback device was used to apply forces with three different amplitudes-2 N, 5 N, and 8 N-to subjects' right big toes. During the experiments, different force stimuli were presented, i.e., direction of the applied force was changed, such that tangential components occured. In total the four directions up (distal), down (proximal), left (medial), and right (lateral) were tested. The proportion of the tangential force was varied corresponding to a directional change of 5° to 25° with respect to the normal force. Given these force stimuli, the subjects' task was to identify the direction of the force change. We found the amplitude of the force as well as the proportion of tangential forces to have a significant influence on the success rate. Furthermore, the direction right showed a significantly different successrate from all other directions. The stimuli with a force amplitude of 8 N achieved success rates over 89% in all directions. The results of the user study provide evidence that the subjects were able to discriminate spatial forces at their toe within defined force amplitudes and tangential proportion.

Human's Capability to Discriminate Spatial Forces at the Big Toe

PubMed Central

Hagengruber, Annette; Höppner, Hannes; Vogel, Jörn

2018-01-01

A key factor for reliable object manipulation is the tactile information provided by the skin of our hands. As this sensory information is so essential in our daily life it should also be provided during teleoperation of robotic devices or in the control of myoelectric prostheses. It is well-known that feeding back the tactile information to the user can lead to a more natural and intuitive control of robotic devices. However, in some applications it is difficult to use the hands as natural feedback channels since they may already be overloaded with other tasks or, e.g., in case of hand prostheses not accessible at all. Many alternatives for tactile feedback to the human hand have already been investigated. In particular, one approach shows that humans can integrate uni-directional (normal) force feedback at the toe into their sensorimotor-control loop. Extending this work, we investigate the human's capability to discriminate spatial forces at the bare front side of their toe. A state-of-the-art haptic feedback device was used to apply forces with three different amplitudes—2 N, 5 N, and 8 N—to subjects' right big toes. During the experiments, different force stimuli were presented, i.e., direction of the applied force was changed, such that tangential components occured. In total the four directions up (distal), down (proximal), left (medial), and right (lateral) were tested. The proportion of the tangential force was varied corresponding to a directional change of 5° to 25° with respect to the normal force. Given these force stimuli, the subjects' task was to identify the direction of the force change. We found the amplitude of the force as well as the proportion of tangential forces to have a significant influence on the success rate. Furthermore, the direction right showed a significantly different successrate from all other directions. The stimuli with a force amplitude of 8 N achieved success rates over 89% in all directions. The results of the user study provide evidence that the subjects were able to discriminate spatial forces at their toe within defined force amplitudes and tangential proportion. PMID:29692718

Design of safety-oriented control allocation strategies for overactuated electric vehicles

NASA Astrophysics Data System (ADS)

de Castro, Ricardo; Tanelli, Mara; Esteves Araújo, Rui; Savaresi, Sergio M.

2014-08-01

The new vehicle platforms for electric vehicles (EVs) that are becoming available are characterised by actuator redundancy, which makes it possible to jointly optimise different aspects of the vehicle motion. To do this, high-level control objectives are first specified and solved with appropriate control strategies. Then, the resulting virtual control action must be translated into actual actuator commands by a control allocation layer that takes care of computing the forces to be applied at the wheels. This step, in general, is quite demanding as far as computational complexity is considered. In this work, a safety-oriented approach to this problem is proposed. Specifically, a four-wheel steer EV with four in-wheel motors is considered, and the high-level motion controller is designed within a sliding mode framework with conditional integrators. For distributing the forces among the tyres, two control allocation approaches are investigated. The first, based on the extension of the cascading generalised inverse method, is computationally efficient but shows some limitations in dealing with unfeasible force values. To solve the problem, a second allocation algorithm is proposed, which relies on the linearisation of the tyre-road friction constraints. Extensive tests, carried out in the CarSim simulation environment, demonstrate the effectiveness of the proposed approach.

On reducing hand impact force in forward falls: results of a brief intervention in young males.

PubMed

Lo, J; McCabe, G N; DeGoede, K M; Okuizumi, H; Ashton-Miller, J A

2003-10-01

To test the working hypotheses that after a brief (10 min) intervention, (a) young adults can volitionally reduce fall-related wrist impact forces, and (b) no difference in impact force would exist between intervention and control groups at 3-weeks or 3-months follow-up. The wrist is the most commonly fractured site in the body at any age, most often as a result of impact with the ground while arresting a forward fall.Methods. Twenty-nine healthy young male volunteers participated. A 3-month intervention group (n=10) performed five standardized forward falls before and after a 10-min instructional intervention aimed at reducing wrist impact forces during the baseline visit. They, along with a 3-month control group (n=11) who did not receive the intervention, were remeasured in five trials at 3-weeks and 3-months follow-up, without intervening practice. A baseline control group (n=8) performed the five trials, then repeated them at the baseline visit without receiving the intervention. Unilateral body segment kinematics and bilateral hand-ground impact forces were measured and the hypotheses were tested using repeated measures analysis of variance. At the baseline visit, a significant group-by-trial-block interaction was found (P=0.02): the 3-month intervention group reduced their average maximum impact forces by 18% from initial values (P=0.002); the baseline control group did not do so (0.5% increase, P=0.91). The 3-month intervention (20 falls) and control (15 falls) groups did not differ at the 3-month follow-up (P=0.62); however, when the groups were combined their maximum impact force had decreased significantly (8.9%, P=0.04) over that time. Healthy young males learned in 10 min to significantly reduce wrist impact forces in forward falls, but retention was poor at 3-weeks follow-up. Irrespective of group, however, after the 5 falls at 3-weeks subjects had taught themselves to reduce their impact forces at the 3-months follow-up. A brief educational intervention can significantly reduce forward fall-related impact forces in the short term. However, with or without the brief intervention, the experience of performing between 5-10 forward falls 3 weeks apart apparently resulted in decreased impact forces over the next 2 months, thereby reducing the risk of injury in these forward falls.

A power autonomous monopedal robot

NASA Astrophysics Data System (ADS)

Krupp, Benjamin T.; Pratt, Jerry E.

2006-05-01

We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The robot uses hydraulic Series Elastic Actuators, force-controllable actuators which provide high force fidelity, moderate bandwidth, and low impedance. The actuators are mounted in the body of the robot, with cable drives transmitting power to the hip and knee joints of the leg. A two-stroke, gasoline engine drives a constant displacement pump which pressurizes an accumulator. Absolute position and spring deflection of each of the Series Elastic Actuators are measured using linear encoders. The spring deflection is translated into force output and compared to desired force in a closed loop force-control algorithm implemented in software. The output signal of each force controller drives high performance servo valves which control flow to each of the pistons of the actuators. In designing the robot, we used a simulation-based iterative design approach. Preliminary estimates of the robot's physical parameters were based on past experience and used to create a physically realistic simulation model of the robot. Next, a control algorithm was implemented in simulation to produce planar hopping. Using the joint power requirements and range of motions from simulation, we worked backward specifying pulley diameter, piston diameter and stroke, hydraulic pressure and flow, servo valve flow and bandwidth, gear pump flow, and engine power requirements. Components that meet or exceed these specifications were chosen and integrated into the robot design. Using CAD software, we calculated the physical parameters of the robot design, replaced the original estimates with the CAD estimates, and produced new joint power requirements. We iterated on this process, resulting in a design which was prototyped and tested. The Monopod currently runs at approximately 1.2 m/s with the weight of all the power generating components, but powered from an off-board pump. On a test stand, the eventual on-board power system generates enough pressure and flow to meet the requirements of these runs and we are currently integrating the power system into the real robot. When operated from an off-board system without carrying the weight of the power generating components, the robot currently runs at approximately 2.25 m/s. Ongoing work is focused on integrating the power system into the robot, improving the control algorithm, and investigating methods for improving efficiency.

Tunisia.

PubMed

1987-02-01

In 1986, Tunisia's population was 7,424,000, with an annual growth rate of 2.5%. The infant mortality rate was 90/1000 and life expectancy averages 58 years. The work force of 1,810,000 is distributed as follows: agriculture, 30.5%; manufacturing, 16.5%; services, 15.0%; construction and mining, 11.4%; and other, 26.6%. The gross domestic product was US$8.35 billion in 1985, with a per capita income (1986) of $1163. The Destourian Socialist Party has been the governing party in Tunisia since independence. Tunisia is a leader in the Arab world in the promotion of equal status for women under the law and the government supports an active family planning program. Tunisia's economy depends on oil, agriculture, phosphates, worker remittances, and tourism for economic growth. In response to an economic crisis in 1985-86, measures to restructure the economy were instituted, including basic commodity price increases, limits on wage increases, import liberalization, and price control modifications. Unemployment, aggravated by a rapidly growing work force, is a major problem in Tunisia. An estimated 50% of the potential work force is unemployed or underemployed.

Forced removals embodied as tuberculosis.

PubMed

Richardson, Eugene T; Morrow, Carl D; Ho, Theodore; Fürst, Nicole; Cohelia, Rebekkah; Tram, Khai Hoan; Farmer, Paul E; Wood, Robin

2016-07-01

South Africa has one of the worst tuberculosis burdens in the world. Several ecological forces have contributed to this, including high HIV prevalence; failing TB control strategies; crowded, poorly ventilated indoor environments-including the complex web of political and economic interests which produce them; the development of racial capitalism; and mining and migration. In the following study, we measure CO2 levels in public transport to investigate the role extended commutes from peri-urban settlements to urban sites of work-a direct result of forced removals-potentially play in propagating the TB epidemic in Cape Town, South Africa. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Generalized Faxén's theorem: Evaluating first-order (hydrodynamic drag) and second-order (acoustic radiation) forces on finite-sized rigid particles, bubbles and droplets in arbitrary complex flows

NASA Astrophysics Data System (ADS)

Annamalai, Subramanian; Balachandar, S.

2016-11-01

In recent times, study of complex disperse multiphase problems involving several million particles (e.g. volcanic eruptions, spray control etc.) is garnering momentum. The objective of this work is to present an accurate model (termed generalized Faxén's theorem) to predict the hydrodynamic forces on such inclusions (particles/bubbles/droplets) without having to solve for the details of flow around them. The model is developed using acoustic theory and the force obtained as a summation of infinite series (monopole, dipole and higher sources). The first-order force is the time-dependent hydrodynamic drag force arising from the dipole component due to interaction between the gas and the inclusion at the microscale level. The second-order force however is a time-averaged differential force (contributions arise both from monopole and dipole), also known as the acoustic radiation force primarily used to levitate particles. In this work, the monopole and dipole strengths are represented in terms of particle surface and volume averages of the incoming flow properties and therefore applicable to particle sizes of the order of fluid length scale and subjected to any arbitrary flow. Moreover, this model can also be used to account for inter-particle coupling due to neighboring particles. U.S. DoE, NNSA, Advanced Simulation and Computing Program, Cooperative Agreement under PSAAP-II, Contract No. DE-NA0002378.

Economic and demographic effects on working women in Latin America.

PubMed

Psaharopoulos, G; Tzannatos, Z

1993-01-01

This analysis of women's work conditions in Latin America includes a description of general trends in female labor force participation in 15 Latin American countries based on census data between 1950 and 1990. Also examined are pay differentials by gender and whether gender alone or individual characteristics of women workers accounted for the sex-wage gap. More extensive treatment is available in the author's other 1992 publications. Trends indicate that marriage and children were important factors determining whether women were in the labor force or not. The probability of being in the labor force was reduced by 50% for married women, and each child reduced the probability by 5%. When marriage and children were controlled for, age had a positive effect on probability of participation. Urban female heads of household had a positive effect on women's labor force participation. The higher a woman's educational qualification, the greater the probability of being in the work force. Earnings increased with increased educational level. An increase of 1 year of schooling for women contributed to an increase in female earnings of 13.1. Investment in education for women has a higher yield for women than for men. Policies that directly or indirectly improve women's employment opportunities, particularly when families are being formed, can have wide distributional effects. Also unresolved was an explanation for why female participation increased during periods of recession and why women are rewarded more for educational effort than men. The suggestion was that public sector employment, which included many women in the labor force, is distorting results.

Force and Moment Plots from Pacejka 2002 Magic Formula Tire Model Coefficients

DTIC Science & Technology

2010-09-01

Page Form ApprovedOMB No. 0704-0188 Public reporting burden for the collection of information is estimated to average 1 hour per response, including...failing to comply with a collection of information if it does not display a currently valid OMB control number. 1 . REPORT DATE 10 SEP 2010 2. REPORT...forces and moments applied to the tires. Many vehicle simulation programs such as MSC.Software ADAMS, Altair HyperWorks MotionSolve, etc. use the Magic

The National Guard: An Operational Force for the 21st Century

DTIC Science & Technology

2013-03-01

does not display a currently valid OMB control number . PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. 1. REPORT DATE (DD-MM-YYYY) xx-03-2013...Force for the 21st Century 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Colonel Verne C. McMoarn Army...National Guard 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Dr. Anna

Zero-torque spanner wrench

NASA Technical Reports Server (NTRS)

Friedell, M. V.

1980-01-01

Wrench converts gripping action of hand to rotary motion without imparting reactive moments or forces on part being turned or on operator. Wrench should be useful in undersea operations and other delicate work where reactive forces and torques have to be controlled. In design for valve tightening, tool resembles cross between conventional spanner wrench and pilers. One handle engages valve body; second handle has ratchet pawl that engages toothed coupling ring on perimeter of valve handle. When operator squeezes wrench handles, valve handle rotates with respect to valve body.

The Effects of Continuous One-Arm Kettlebell Swing Training on Physiological Parameters in United States Air Force Personnel: A Pilot Study

DTIC Science & Technology

2016-11-01

collegiate soccer players . KB snatches were performed 3 days per week for 20 minutes with 15-second work-to-rest intervals, while the control group...10] used KB weights that were 18% of total body mass and reported a 6% improvement in aerobic capacity in women’s collegiate soccer players who...Force Personnel: A Pilot Study Molly Wade, MS; Reginald O’Hara, PhD; Lydia Caldwell, MS; Jason Ordway, MS; Darryn Bryant, MS

Travelling Wave Concepts for the Modeling and Control of Space Structures

DTIC Science & Technology

1988-01-31

ZIP Code) 77 Massachusetts Avenue AFOSR / L \\\\ 0 Cambridge, MA 02139 Bolling Air Force Base , DC 20332-6448 8a. NAME OF FUNDING/SPONSORING 8b OFFICE...FQ8671-88-00398 8c. ADDRESS (City, State, and ZIP Code) 10 SOURCE OF FUNDING NUMBERS Building 410 PROGRAM PROJECT tASK WORK UNIT Bolling Air Force Base ...at the Jet Propulsion Laboratories, and is writing two further papers for journal publication based on his PhD dissertation. In the winter of 1987

From the track to the ocean: Using flow control to improve marine bio-logging tags for cetaceans

PubMed Central

Fiore, Giovani; Anderson, Erik; Garborg, C. Spencer; Murray, Mark; Johnson, Mark; Moore, Michael J.; Howle, Laurens

2017-01-01

Bio-logging tags are an important tool for the study of cetaceans, but superficial tags inevitably increase hydrodynamic loading. Substantial forces can be generated by tags on fast-swimming animals, potentially affecting behavior and energetics or promoting early tag removal. Streamlined forms have been used to reduce loading, but these designs can accelerate flow over the top of the tag. This non-axisymmetric flow results in large lift forces (normal to the animal) that become the dominant force component at high speeds. In order to reduce lift and minimize total hydrodynamic loading this work presents a new tag design (Model A) that incorporates a hydrodynamic body, a channel to reduce fluid speed differences above and below the housing and wing to redirect flow to counter lift. Additionally, three derivatives of the Model A design were used to examine the contribution of individual flow control features to overall performance. Hydrodynamic loadings of four models were compared using computational fluid dynamics (CFD). The Model A design eliminated all lift force and generated up to ~30 N of downward force in simulated 6 m/s aligned flow. The simulations were validated using particle image velocimetry (PIV) to experimentally characterize the flow around the tag design. The results of these experiments confirm the trends predicted by the simulations and demonstrate the potential benefit of flow control elements for the reduction of tag induced forces on the animal. PMID:28196148

A new six-degree-of-freedom force-reflecting hand controller for space telerobotics

NASA Technical Reports Server (NTRS)

Mcaffee, Douglas; Snow, Edward; Townsend, William; Robinson, Lee; Hanson, Joe

1990-01-01

A new 6 degree of freedom universal Force Reflecting Hand Controller (FRHC) was designed for use as the man-machine interface in teleoperated and telerobotic flight systems. The features of this new design include highly intuitive operation, excellent kinesthetic feedback, high fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all 6 DOF, good back-drivability, and zero backlash. In addition, the new design has a much larger work envelope, smaller stowage volume, greater stiffness and responsiveness, and better overlap of the human operator's range of motion than do previous designs. The utility and basic operation of a new, flight prototype FRHC called the Model X is briefly discussed. The design heritage, general design goals, and design implementation of this advanced new generation of FRHCs are presented, followed by a discussion of basic features and the results of initial testing.

Rhombic micro-displacement amplifier for piezoelectric actuator and its linear and hybrid model

NASA Astrophysics Data System (ADS)

Chen, Jinglong; Zhang, Chunlin; Xu, Minglong; Zi, Yanyang; Zhang, Xinong

2015-01-01

This paper proposes rhombic micro-displacement amplifier (RMDA) for piezoelectric actuator (PA). First, the geometric amplification relations are analyzed and linear model is built to analyze the mechanical and electrical properties of this amplifier. Next, the accurate modeling method of amplifier is studied for important application of precise servo control. The classical Preisach model (CPM) is generally implemented using a numerical technique based on the first-order reversal curves (FORCs). The accuracy of CPM mainly depends on the number of FORCs. However, it is generally difficult to achieve enough number of FORCs in practice. So, Support Vector Machine (SVM) is employed in the work to circumvent the deficiency of the CPM. Then the hybrid model, which is based on discrete CPM and SVM is developed to account for hysteresis and dynamic effects. Finally, experimental validation is carried out. The analyzed result shows that this amplifier with the hybrid model is suitable for control application.

Generation of synthetic surface electromyography signals under fatigue conditions for varying force inputs using feedback control algorithm.

PubMed

Venugopal, G; Deepak, P; Ghosh, Diptasree M; Ramakrishnan, S

2017-11-01

Surface electromyography is a non-invasive technique used for recording the electrical activity of neuromuscular systems. These signals are random, complex and multi-component. There are several techniques to extract information about the force exerted by muscles during any activity. This work attempts to generate surface electromyography signals for various magnitudes of force under isometric non-fatigue and fatigue conditions using a feedback model. The model is based on existing current distribution, volume conductor relations, the feedback control algorithm for rate coding and generation of firing pattern. The result shows that synthetic surface electromyography signals are highly complex in both non-fatigue and fatigue conditions. Furthermore, surface electromyography signals have higher amplitude and lower frequency under fatigue condition. This model can be used to study the influence of various signal parameters under fatigue and non-fatigue conditions.

High-density force myography: A possible alternative for upper-limb prosthetic control.

PubMed

Radmand, Ashkan; Scheme, Erik; Englehart, Kevin

2016-01-01

Several multiple degree-of-freedom upper-limb prostheses that have the promise of highly dexterous control have recently been developed. Inadequate controllability, however, has limited adoption of these devices. Introducing more robust control methods will likely result in higher acceptance rates. This work investigates the suitability of using high-density force myography (HD-FMG) for prosthetic control. HD-FMG uses a high-density array of pressure sensors to detect changes in the pressure patterns between the residual limb and socket caused by the contraction of the forearm muscles. In this work, HD-FMG outperforms the standard electromyography (EMG)-based system in detecting different wrist and hand gestures. With the arm in a fixed, static position, eight hand and wrist motions were classified with 0.33% error using the HD-FMG technique. Comparatively, classification errors in the range of 2.2%-11.3% have been reported in the literature for multichannel EMG-based approaches. As with EMG, position variation in HD-FMG can introduce classification error, but incorporating position variation into the training protocol reduces this effect. Channel reduction was also applied to the HD-FMG technique to decrease the dimensionality of the problem as well as the size of the sensorized area. We found that with informed, symmetric channel reduction, classification error could be decreased to 0.02%.

Realization of Comfortable Massage by Using Iterative Learning Control Based on EEG

NASA Astrophysics Data System (ADS)

Teramae, Tatsuya; Kushida, Daisuke; Takemori, Fumiaki; Kitamura, Akira

Recently the massage chair is used by a lot of people because they are able to use it easily at home. However a present massage chair only realizes the massage motion. Moreover the massage chair can not consider the user’s condition and massage force. On the other hand, the professional masseur is according to presume the mental condition by patient’s reaction. Then this paper proposes the method of applying masseur’s procedure for the massage chair using iterative learning control based on EEG. And massage force is estimated by acceleration sensor. The realizability of the proposed method is verified by the experimental works using the massage chair.

Design of a Low-Cost Air Levitation System for Teaching Control Engineering

PubMed Central

Chacon, Jesus; Saenz, Jacobo; de la Torre, Luis; Diaz, Jose Manuel; Esquembre, Francisco

2017-01-01

Air levitation is the process by which an object is lifted without mechanical support in a stable position, by providing an upward force that counteracts the gravitational force exerted on the object. This work presents a low-cost lab implementation of an air levitation system, based on open solutions. The rapid dynamics makes it especially suitable for a control remote lab. Due to the system’s nature, the design can be optimized and, with some precision trade-off, kept affordable both in cost and construction effort. It was designed to be easily adopted to be used as both a remote lab and as a hands-on lab. PMID:29023381

Control approach development for variable recruitment artificial muscles

NASA Astrophysics Data System (ADS)

Jenkins, Tyler E.; Chapman, Edward M.; Bryant, Matthew

2016-04-01

This study characterizes hybrid control approaches for the variable recruitment of fluidic artificial muscles with double acting (antagonistic) actuation. Fluidic artificial muscle actuators have been explored by researchers due to their natural compliance, high force-to-weight ratio, and low cost of fabrication. Previous studies have attempted to improve system efficiency of the actuators through variable recruitment, i.e. using discrete changes in the number of active actuators. While current variable recruitment research utilizes manual valve switching, this paper details the current development of an online variable recruitment control scheme. By continuously controlling applied pressure and discretely controlling the number of active actuators, operation in the lowest possible recruitment state is ensured and working fluid consumption is minimized. Results provide insight into switching control scheme effects on working fluids, fabrication material choices, actuator modeling, and controller development decisions.

Feasibility Study on CNC Multioperation Grinding of Jet Engine Components Using Force Sensing Adaptive Control.

DTIC Science & Technology

1982-09-30

OF TI4IS PIAGE(,,aW Date Eateed) cont. block 20: .... differential wheelwear and thereby prevent form errors. Wheel sharpness can also be monitored to...80 5. NOMENCLATURE V = Work surface speed (m/s) w Nw = Work speed (RPM) Vs = Wheel surface speed (m/sec) Ns = Wheel ...speed (RPM) Vt = Traverse speed (m/sec) 0 = Work diameter (mm)W D = Wheel diameter (mm) z= Dress lead (um/rev) c = 2*diamond depth-of-dress (um) d

The New Work Force. Trends and Issues Alerts.

ERIC Educational Resources Information Center

Imel, Susan

During the last years of this century, the work force will grow more slowly, becoming older, more female, and more disadvantaged. An increasing number of minority groups and immigrants will enter the work force. Despite public demands for reform, education lags behind in preparing youth for employment. The changing work force has many implications…

Model identification of terfenol-D magnetostrictive actuator for precise positioning control

NASA Astrophysics Data System (ADS)

Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah

2016-04-01

Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.

Incorporating a disturbance observer with direct velocity feedback for control of human-induced vibrations

NASA Astrophysics Data System (ADS)

Nyawako, Donald; Reynolds, Paul; Hudson, Emma

2016-04-01

Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.

Stirling cycle engine and refrigeration systems

NASA Technical Reports Server (NTRS)

Higa, W. H. (Inventor)

1976-01-01

A Stirling cycle heat engine is disclosed in which displacer motion is controlled as a function of the working fluid pressure P sub 1 and a substantially constant pressure P sub 0. The heat engine includes an auxiliary chamber at the constant pressure P sub 0. An end surface of a displacer piston is disposed in the auxiliary chamber. During the compression portion of the engine cycle when P sub 1 rises above P sub 0 the displacer forces the working fluid to pass from the cold chamber to the hot chamber of the engine. During the expansion portion of the engine cycle the heated working fluid in the hot chamber does work by pushing down on the engine's drive piston. As the working fluid pressure P sub 1 drops below P sub 0 the displacer forces most of the working fluid in the hot chamber to pass through the regenerator to the cold chamber. The engine is easily combinable with a refrigeration section to provide a refrigeration system in which the engine's single drive piston serves both the engine and the refrigeration section.

Walking, running and the evolution of short toes in humans.

PubMed

Rolian, Campbell; Lieberman, Daniel E; Hamill, Joseph; Scott, John W; Werbel, William

2009-03-01

The phalangeal portion of the forefoot is extremely short relative to body mass in humans. This derived pedal proportion is thought to have evolved in the context of committed bipedalism, but the benefits of shorter toes for walking and/or running have not been tested previously. Here, we propose a biomechanical model of toe function in bipedal locomotion that suggests that shorter pedal phalanges improve locomotor performance by decreasing digital flexor force production and mechanical work, which might ultimately reduce the metabolic cost of flexor force production during bipedal locomotion. We tested this model using kinematic, force and plantar pressure data collected from a human sample representing normal variation in toe length (N=25). The effect of toe length on peak digital flexor forces, impulses and work outputs was evaluated during barefoot walking and running using partial correlations and multiple regression analysis, controlling for the effects of body mass, whole-foot and phalangeal contact times and toe-out angle. Our results suggest that there is no significant increase in digital flexor output associated with longer toes in walking. In running, however, multiple regression analyses based on the sample suggest that increasing average relative toe length by as little as 20% doubles peak digital flexor impulses and mechanical work, probably also increasing the metabolic cost of generating these forces. The increased mechanical cost associated with long toes in running suggests that modern human forefoot proportions might have been selected for in the context of the evolution of endurance running.

Chaotic dynamics and control of deterministic ratchets.

PubMed

Family, Fereydoon; Larrondo, H A; Zarlenga, D G; Arizmendi, C M

2005-11-30

Deterministic ratchets, in the inertial and also in the overdamped limit, have a very complex dynamics, including chaotic motion. This deterministically induced chaos mimics, to some extent, the role of noise, changing, on the other hand, some of the basic properties of thermal ratchets; for example, inertial ratchets can exhibit multiple reversals in the current direction. The direction depends on the amount of friction and inertia, which makes it especially interesting for technological applications such as biological particle separation. We overview in this work different strategies to control the current of inertial ratchets. The control parameters analysed are the strength and frequency of the periodic external force, the strength of the quenched noise that models a non-perfectly-periodic potential, and the mass of the particles. Control mechanisms are associated with the fractal nature of the basins of attraction of the mean velocity attractors. The control of the overdamped motion of noninteracting particles in a rocking periodic asymmetric potential is also reviewed. The analysis is focused on synchronization of the motion of the particles with the external sinusoidal driving force. Two cases are considered: a perfect lattice without disorder and a lattice with noncorrelated quenched noise. The amplitude of the driving force and the strength of the quenched noise are used as control parameters.

Design of electric control system for automatic vegetable bundling machine

NASA Astrophysics Data System (ADS)

Bao, Yan

2017-06-01

A design can meet the requirements of automatic bale food structure and has the advantages of simple circuit, and the volume is easy to enhance the electric control system of machine carrying bunch of dishes and low cost. The bundle of vegetable machine should meet the sensor to detect and control, in order to meet the control requirements; binding force can be adjusted by the button to achieve; strapping speed also can be adjusted, by the keys to set; sensors and mechanical line connection, convenient operation; can be directly connected with the plug, the 220V power supply can be connected to a power source; if, can work, by the transmission signal sensor, MCU to control the motor, drive and control procedures for small motor. The working principle of LED control circuit and temperature control circuit is described. The design of electric control system of automatic dish machine.

Neuromechanical evidence of improved neuromuscular control around knee joint in volleyball players.

PubMed

Masci, Ilaria; Vannozzi, Giuseppe; Gizzi, Leonardo; Bellotti, Pasquale; Felici, Francesco

2010-02-01

The aim of the present work was to verify that skilled volleyball players present specific adaptations in both neuromuscular control and movement biomechanics, showing an improved neuromuscular control around the knee joint than in non-jumper athletes. Seven male volleyball players and seven male non-jumper athletes were recruited for this study. The following tests were performed in a random order: single countermovement jump (CMJ), single squat jump. At the end of the series, subjects performed a repetitive CMJ test. Electromyographic signals were recorded from vastus lateralis and biceps femoris muscles on both sides. Ground reaction forces and moments were measured with a force plate. Volleyball athletes performed better in all tests and were more resistant to fatigue than non-jumper athletes. Furthermore, volleyball athletes showed a reduced co-activation of knee flexor/extensor muscles. The present results seem to stand for a neural adaptation of the motor control scheme to training.

Feedback control in deep drawing based on experimental datasets

NASA Astrophysics Data System (ADS)

Fischer, P.; Heingärtner, J.; Aichholzer, W.; Hortig, D.; Hora, P.

2017-09-01

In large-scale production of deep drawing parts, like in automotive industry, the effects of scattering material properties as well as warming of the tools have a significant impact on the drawing result. In the scope of the work, an approach is presented to minimize the influence of these effects on part quality by optically measuring the draw-in of each part and adjusting the settings of the press to keep the strain distribution, which is represented by the draw-in, inside a certain limit. For the design of the control algorithm, a design of experiments for in-line tests is used to quantify the influence of the blank holder force as well as the force distribution on the draw-in. The results of this experimental dataset are used to model the process behavior. Based on this model, a feedback control loop is designed. Finally, the performance of the control algorithm is validated in the production line.

Exploiting elasticity: Modeling the influence of neural control on mechanics and energetics of ankle muscle-tendons during human hopping.

PubMed

Robertson, Benjamin D; Sawicki, Gregory S

2014-07-21

We present a simplified Hill-type model of the human triceps surae-Achilles tendon complex working on a gravitational-inertial load during cyclic contractions (i.e. vertical hopping). Our goal was to determine the role that neural control plays in governing muscle, or contractile element (CE), and tendon, or series elastic element (SEE), mechanics and energetics within a compliant muscle-tendon unit (MTU). We constructed a 2D parameter space consisting of many combinations of stimulation frequency and magnitude (i.e. neural control strategies). We compared the performance of each control strategy by evaluating peak force and average positive mechanical power output for the system (MTU) and its respective components (CE, SEE), force-length (F-L) and -velocity (F-V) operating point of the CE during active force production, average metabolic rate for the CE, and both MTU and CE apparent efficiency. Our results suggest that frequency of stimulation plays a primary role in governing whole-MTU mechanics. These include the phasing of both activation and peak force relative to minimum MTU length, average positive power, and apparent efficiency. Stimulation amplitude was primarily responsible for governing average metabolic rate and within MTU mechanics, including peak force generation and elastic energy storage and return in the SEE. Frequency and amplitude of stimulation both played integral roles in determining CE F-L operating point, with both higher frequency and amplitude generally corresponding to lower CE strains, reduced injury risk, and elimination of the need for passive force generation in the CE parallel elastic element (PEE). Copyright © 2014 Elsevier Ltd. All rights reserved.

Evaluation of respiratory variables in smelter and control workers before and during a shutdown period

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

Holness, D.L.; Batten, B.; Broder, I.

1985-05-01

Thirty-six smelter workers examined in this pilot study were found to have a higher prevalence of cough and dyspnea and lower baseline lung function than did 31 controls. They also experienced decreases in forced vital capacity (FVC) and forced expiratory volume in 1s (FEV1) over the workweek while the controls did not. Baseline airflow rates and change in FVC and FEV1 over the workweek varied with levels of sulfur dioxide and particulates. Twenty-three smelter workers and 21 controls were seen on a second occasion, six months into an extended shutdown. The smelter workers continued to have a higher prevalence ofmore » cough and dyspnea and lower baseline lung function than the controls. There was, however, a slight increase in lung function in both the exposed workers and the controls during the shutdown. The results suggest that smelter workers may develop both acute and chronic work-related pulmonary effects and that the chronic effects may be nonreversible.« less

Fighting for and losing or gaining control in life.

PubMed

Theorell, T

1997-01-01

In JP Henry's work, fighting for and losing control were important concepts in the interpretation of energy mobilization in psychosocial conditions. Attachment and support were important protective and salutogenic factors. These concepts have been applied in a series of epidemiological and psychophysiological real life studies. Job conditions which force the worker to mobilize energy and concomitantly inhibit anabolism could be identified at least partly by means of the demand-control-support model originally proposed by Karasek. The most adverse conditions at work arise when psychological demands are high and at the same time the decision latitude is low. This combination is associated with changes in the regulation of endocrine parameters as well as with increased morbidity--heart disease, functional gastrointestinal symptoms and musculoskeletal disorders. Examples of studies of physiological correlates of psychosocial processes leading to fight for control are also described from outside work activities.

JPRS Report, Arms Control.

DTIC Science & Technology

1991-01-30

program of 15 January is limited to disar- mament. Work of no less importance is being carried out in other areas. Significant progress has been made in...Views Progress [PRAVDA 15 Jan] 18 ’Proper Perspective’Seen [B. Pvadvshev; PRAVDA 12 Jan] 20 Plan Said " Working Successfully’ [V. Chernyshev...Troop Withdrawals [Berlin ADN 15 Jan] 38 Last Air Force Regiment Leaves Czechoslovakia [A. Shapovalov; TASS 21 Jan] 38 First 93 Tanks Shipped

Effects of Shift Work on the Postural and Psychomotor Performance of Night Workers

PubMed Central

Narciso, Fernanda Veruska; Barela, José A.; Aguiar, Stefane A.; Carvalho, Adriana N. S.; Tufik, Sergio; de Mello, Marco Túlio

2016-01-01

The purpose of the study was to investigate the effects of shift work on the psychomotor and postural performance of night workers. The study included 20 polysomnography technicians working schedule of 12-h night shift by 36-h off. On the first day of protocol, the body mass and height were measured, and an actigraph was placed on the wrist of each participant. On the second day of protocol, sleepiness by Karolinska Sleepiness Scale, postural control by force platform (30 seconds) and psychomotor performance by Psychomotor Vigilance Task (10 minutes) were measured before and after 12-h night work. Results showed that after 12-h night work, sleepiness increased by 59% (p<0.001), postural control variables increased by 9% (p = 0.048), and 14% (p = 0.006). Mean reaction time, and the number of lapses of attention increased by 13% (p = 0.006) and 425% (p = 0.015), respectively, but the mean reciprocal reaction time decreased by 7%. In addition, there were correlations between sleepiness and postural control variables with opened eyes (r = 0.616, 95% confidence interval [CI] = 0.361–0.815; r = 0.538; 95% CI = 0.280–0.748) and closed eyes (r = 0.557; 95% CI = 0.304–0.764, r = 0497; 95% CI = 0.325–0.715) and a pronounced effect of sleepiness on postural sway (R2 = 0.393; 95% CI = 0.001–0.03). Therefore, 12-h night work system and sleepiness showed a negative impact in postural and psychomotor vigilance performance of night workers. As unexpected, the force platform was feasibility to detect sleepiness in this population, underscoring the possibility of using this method in the workplace to prevent occupational injuries and accidents. PMID:27115868

Effects of Shift Work on the Postural and Psychomotor Performance of Night Workers.

PubMed

Narciso, Fernanda Veruska; Barela, José A; Aguiar, Stefane A; Carvalho, Adriana N S; Tufik, Sergio; de Mello, Marco Túlio

2016-01-01

The purpose of the study was to investigate the effects of shift work on the psychomotor and postural performance of night workers. The study included 20 polysomnography technicians working schedule of 12-h night shift by 36-h off. On the first day of protocol, the body mass and height were measured, and an actigraph was placed on the wrist of each participant. On the second day of protocol, sleepiness by Karolinska Sleepiness Scale, postural control by force platform (30 seconds) and psychomotor performance by Psychomotor Vigilance Task (10 minutes) were measured before and after 12-h night work. Results showed that after 12-h night work, sleepiness increased by 59% (p<0.001), postural control variables increased by 9% (p = 0.048), and 14% (p = 0.006). Mean reaction time, and the number of lapses of attention increased by 13% (p = 0.006) and 425% (p = 0.015), respectively, but the mean reciprocal reaction time decreased by 7%. In addition, there were correlations between sleepiness and postural control variables with opened eyes (r = 0.616, 95% confidence interval [CI] = 0.361-0.815; r = 0.538; 95% CI = 0.280-0.748) and closed eyes (r = 0.557; 95% CI = 0.304-0.764, r = 0497; 95% CI = 0.325-0.715) and a pronounced effect of sleepiness on postural sway (R2 = 0.393; 95% CI = 0.001-0.03). Therefore, 12-h night work system and sleepiness showed a negative impact in postural and psychomotor vigilance performance of night workers. As unexpected, the force platform was feasibility to detect sleepiness in this population, underscoring the possibility of using this method in the workplace to prevent occupational injuries and accidents.

Thermal and chemical treatment of polymer optical fiber Bragg grating sensors for enhanced mechanical sensitivity

NASA Astrophysics Data System (ADS)

Pospori, A.; Marques, C. A. F.; Sáez-Rodríguez, D.; Nielsen, K.; Bang, O.; Webb, D. J.

2017-07-01

An investigation of the thermal annealing effects on the strain, stress, and force sensitivities of polymer optical fiber Bragg grating sensors is performed. We demonstrate for the first time that the fiber annealing can enhance both stress and force sensitivities of Bragg grating sensors, with the possible cause being the molecular relaxation of the polymer when fiber is raised above the β -transition temperature. A simple, cost-effective, but well controlled method for fiber annealing is also presented in this work. In addition, the effects of chemical etching on the strain, stress, and force sensitivities have been investigated. Results show that fiber etching too can increase the force sensitivity, and it can also affect the strain and stress sensitivities of the Bragg grating sensors.

The interrelation between mechanical characteristics of contracting muscle, cross-bridge internal structure, and the mechanism of chemomechanical energy transduction.

PubMed

Rosenfeld, E V

2012-09-01

The cross-bridge working stroke is regarded as a continuous (without jumps) change of myosin head internal state under the action of a force exerted within the nucleotide-binding site. Involvement of a concept of continuous cross-bridge conformation enables discussion of the nature of the force propelling muscle, and the Coulomb repulsion of like-charged adenosine triphosphate (ATP) fragments ADP(2-) and P (i) (2-) can quite naturally be considered as the source of this force. Two entirely different types of working stroke termination are considered. Along with the fluctuation mechanism, which controls the working stroke duration t (w) at isometric contraction, another interrupt mechanism is initially taken into account. It is triggered when the lever arm shift amounts to the maximal value S ≈ 11 nm, the back door opens, and P(i) crashes out. As a result, t (w) becomes inversely proportional to the velocity v of sliding filaments t (w) ≈ S/v for a wide range of values of v. Principal features of the experimentally observed dependences of force, efficiency, and rate of heat production on velocity and ATP concentration can then be reproduced by fitting a single parameter: the velocity-independent time span t (r) between the termination of the last and beginning of the next working stroke. v becomes the principal variable of the model, and the muscle force changes under external load are determined by variations in v rather than in the tension of filaments. The Boltzmann equation for an ensemble of cross-bridges is obtained, and some collective effects are discussed.

Ballasting pipeline moving in horizontal well as method of control sticking phenomenon

NASA Astrophysics Data System (ADS)

Toropov, V. S.; Toropov, E. S.

2018-05-01

The mechanism of the phenomenon of sticking a pipeline moving in a well while pulled by the facility horizontal directional drilling is investigated. A quantitative evaluation of the force arising from sticking is given. At the same time, the working hypothesis takes a view of the combined effect of adhesion and friction interactions as the reasons that cause this phenomenon. As a measure to control the occurrence of sticking and to reduce the resistance force to movement of the pipeline in the well, several methods of ballasting the working pipeline are proposed, depending on the profile of the well and the ratio of the length of the curved sections of the inlet and outlet and the straight horizontal sections of the profile. It is shown that for crossings, which profile contains an extended horizontal section, it is possible to partially fill the pipeline with water to achieve zero buoyancy, and for crossings with curvature along the entire profile, the ballasting efficiency will be minimal.

Methodology for analysis and simulation of large multidisciplinary problems

NASA Technical Reports Server (NTRS)

Russell, William C.; Ikeda, Paul J.; Vos, Robert G.

1989-01-01

The Integrated Structural Modeling (ISM) program is being developed for the Air Force Weapons Laboratory and will be available for Air Force work. Its goal is to provide a design, analysis, and simulation tool intended primarily for directed energy weapons (DEW), kinetic energy weapons (KEW), and surveillance applications. The code is designed to run on DEC (VMS and UNIX), IRIS, Alliant, and Cray hosts. Several technical disciplines are included in ISM, namely structures, controls, optics, thermal, and dynamics. Four topics from the broad ISM goal are discussed. The first is project configuration management and includes two major areas: the software and database arrangement and the system model control. The second is interdisciplinary data transfer and refers to exchange of data between various disciplines such as structures and thermal. Third is a discussion of the integration of component models into one system model, i.e., multiple discipline model synthesis. Last is a presentation of work on a distributed processing computing environment.

The Robonaut 2 Hand - Designed to do Work with Tools

NASA Technical Reports Server (NTRS)

Bridgwater, L. B.; Ihrke, C. A.; Diftler, M. A.; Abdallah, M. E.; Radford, N. A.; Rogers, J. M.; Yayathi, S.; Askew, R. S.; Linn, D. M.

2011-01-01

The second generation Robonaut hand has many advantages over its predecessor. This mechatronic device is more dexterous and has improved force control and sensing giving it the capability to grasp and actuate a wider range of tools. It can achieve higher peak forces at higher speeds than the original. Developed as part of a partnership between General Motors and NASA, the hand is designed to more closely approximate a human hand. Having a more anthropomorphic design allows the hand to attain a larger set of useful grasps for working with human interfaces. Key to the hand s improved performance is the use of lower friction drive elements and a redistribution of components from the hand to the forearm, permitting more sensing in the fingers and palm where it is most important. The following describes the design, mechanical/electrical integration, and control features of the hand. Lessons learned during the development and initial operations along with planned refinements to make it more effective are presented.

Analysis of Handling Qualities Design Criteria for Active Inceptor Force-Feel Characteristics

NASA Technical Reports Server (NTRS)

Malpica, Carlos A.; Lusardi, Jeff A.

2013-01-01

The force-feel system characteristics of the cyclic inceptors of most helicopters are set based on the characteristics of the mechanical components in the control system (mass, springs, friction dampers, etc.). For these helicopters, the force-feel characteristics typically remain constant over the entire flight envelope, with perhaps a trim release to minimize control forces while maneuvering. With the advent of fly-by-wire control systems and active inceptors in helicopters, the force-feel characteristics are now determined by the closed-loop response of the active inceptor itself as defined by the inertia, force/displacement gradient, damping, breakout force and detent shape configuration parameters in the inceptor control laws. These systems give the flexibility to dynamically prescribe different feel characteristics for different control modes or flight conditions, and the ability to provide tactile cueing to the pilot through the actively controlled side-stick or center-stick cyclic inceptor. For rotorcraft, a few studies have been conducted to assess the effects of cyclic force-feel characteristics on handling qualities in flight. An early study provided valuable insight into the static force-deflection characteristics (force gradient) and the number of axes controlled by the side-stick controller for the U.S. Army's Advanced Digital/Optical Control System (ADOCS) demonstrator aircraft [1]. The first of a series of studies providing insight on the inceptor dynamic force-feel characteristics was conducted on the NASA/Army CH-47B variable-stability helicopter [2]. This work led to a proposed requirement that set boundaries based on the cyclic natural frequency and inertia, with the stipulation of a lower damping ratio limit of 0.3 [3]. A second study was conducted by the Canadian Institute for Aerospace Research using their variable-stability Bell 205A helicopter [4]. This research suggested boundaries for stick dynamics based on natural frequency and damping ratio. While these two studies produced boundaries for acceptable/unacceptable stick dynamics for rotorcraft, they were not able to provide guidance on how variations of the stick dynamics in the acceptable region impact handling qualities. More recently, a ground based simulation study [5] suggested little benefit was to be obtained from variations of the damping ratio for a side-stick controller exhibiting high natural frequencies (greater than 17 rad/s) and damping ratios (greater than 2.0). A flight test campaign was conducted concurrently on the RASCAL JUH-60A in-flight simulator and the ACT/FHS EC-135 in flight simulator [6]. Upon detailed analysis of the pilot evaluations the study identified a clear preference for a high damping ratio and natural frequency of the center stick inceptors. Side stick controllers were found to be less sensitive to the damping. While these studies have compiled a substantial amount of data, in the form of qualitative and quantitative pilot opinion, a fundamental analysis of the effect of the inceptor force-feel system on flight control is found to be lacking. The study of Ref. [6] specifically concluded that a systematic analysis was necessary, since discrepancies with the assigned handling qualities showed that proposed analytical design metrics, or criteria, were not suitable. The overall goal of the present study is to develop a clearer fundamental understanding of the underlying mechanisms associated with the inceptor dynamics that govern the handling qualities using a manageable analytical methodology.

48 CFR 252.223-7004 - Drug-free work force.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 48 Federal Acquisition Regulations System 3 2013-10-01 2013-10-01 false Drug-free work force. 252... Provisions And Clauses 252.223-7004 Drug-free work force. As prescribed in 223.570-2, use the following clause: Drug-Free Work Force (SEP 1988) (a) Definitions. (1) Employee in a sensitive position, as used in...

48 CFR 252.223-7004 - Drug-free work force.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 48 Federal Acquisition Regulations System 3 2012-10-01 2012-10-01 false Drug-free work force. 252... Provisions And Clauses 252.223-7004 Drug-free work force. As prescribed in 223.570-2, use the following clause: Drug-Free Work Force (SEP 1988) (a) Definitions. (1) Employee in a sensitive position, as used in...

48 CFR 252.223-7004 - Drug-free work force.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 48 Federal Acquisition Regulations System 3 2011-10-01 2011-10-01 false Drug-free work force. 252... Provisions And Clauses 252.223-7004 Drug-free work force. As prescribed in 223.570-2, use the following clause: Drug-Free Work Force (SEP 1988) (a) Definitions. (1) Employee in a sensitive position, as used in...

48 CFR 252.223-7004 - Drug-free work force.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 48 Federal Acquisition Regulations System 3 2014-10-01 2014-10-01 false Drug-free work force. 252... Provisions And Clauses 252.223-7004 Drug-free work force. As prescribed in 223.570-2, use the following clause: Drug-Free Work Force (SEP 1988) (a) Definitions. (1) Employee in a sensitive position, as used in...

48 CFR 252.223-7004 - Drug-free work force.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 48 Federal Acquisition Regulations System 3 2010-10-01 2010-10-01 false Drug-free work force. 252... Provisions And Clauses 252.223-7004 Drug-free work force. As prescribed in 223.570-2, use the following clause: Drug-Free Work Force (SEP 1988) (a) Definitions. (1) Employee in a sensitive position, as used in...

40 CFR 35.936-14 - Force account work.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 40 Protection of Environment 1 2010-07-01 2010-07-01 false Force account work. 35.936-14 Section... Force account work. (a) A grantee must secure the project officer's prior written approval for use of the force account method for (1) any step 1 or step 2 work in excess of $10,000; (2) any sewer...

Correlates of Injury-forced Work Reduction for Massage Therapists and Bodywork Practitioners.

PubMed

Blau, Gary; Monos, Christopher; Boyer, Ed; Davis, Kathleen; Flanagan, Richard; Lopez, Andrea; Tatum, Donna S

2013-01-01

Injury-forced work reduction (IFWR) has been acknowledged as an all-too-common occurrence for massage therapists and bodywork practitioners (M & Bs). However, little prior research has specifically investigated demographic, work attitude, and perceptual correlates of IFWR among M & Bs. To test two hypotheses, H1 and H2. H1 is that the accumulated cost variables set ( e.g., accumulated costs, continuing education costs) will account for a significant amount of IFWR variance beyond control/demographic (e.g., social desirability response bias, gender, years in practice, highest education level) and work attitude/perception variables (e.g., job satisfaction, affective occupation commitment, occupation identification, limited occupation alternatives) sets. H2 is that the two exhaustion variables (i.e., physical exhaustion, work exhaustion) set will account for significant IFWR variance beyond control/demographic, work attitude/perception, and accumulated cost variables sets. An online survey sample of 2,079 complete-data M & Bs was collected. Stepwise regression analysis was used to test the study hypotheses. The research design first controlled for control/demographic (Step1) and work attitude/perception variables sets (Step 2), before then testing for the successive incremental impact of two variable sets, accumulated costs (Step 3) and exhaustion variables (Step 4) for explaining IFWR. RESULTS SUPPORTED BOTH STUDY HYPOTHESES: accumulated cost variables set (H1) and exhaustion variables set (H2) each significantly explained IFWR after the control/demographic and work attitude/perception variables sets. The most important correlate for explaining IFWR was higher physical exhaustion, but work exhaustion was also significant. It is not just physical "wear and tear", but also "mental fatigue", that can lead to IFWR for M & Bs. Being female, having more years in practice, and having higher continuing education costs were also significant correlates of IFWR. Lower overall levels of work exhaustion, physical exhaustion, and IFWR were found in the present sample. However, since both types of exhaustion significantly and positively impact IFWR, taking sufficient time between massages and, if possible, varying one's massage technique to replenish one's physical and mental energy seem important. Failure to take required continuing education units, due to high costs, also increases risk for IFWR. Study limitations and future research issues are discussed.

On-Site Construction Productivity Improvement Through Total Quality Management

DTIC Science & Technology

1991-12-01

morale of the work force. i Kaoru Ishikawa , Guide to Ouality Control, (2d ed; New York: Asian Productivity Organization, 1982), p. 45. ’"Ibid. 34...Curve Kaoru Ishikawa , Guide to Quality Control, (2d ed; New York: Asian Productivity Organization, 1982), p. 62. 54 For any normal distribution, 99.73...KAIZEN The Key to Japan’s Comoetitive Success. New York: Random House Business Division, 1986. Ishikawa , Kaoru , Guide to Ouality Control. 2d ed; New

Creep, Fatigue and Environmental Interactions and Their Effect on Crack Growth in Superalloys

NASA Technical Reports Server (NTRS)

Telesman, J.; Gabb, T. P.; Ghosn, L. J.; Smith, T.

2017-01-01

Complex interactions of creep/fatigue/environment control dwell fatigue crack growth (DFCG) in superalloys. Crack tip stress relaxation during dwells significantly changes the crack driving force and influence DFCG. Linear Elastic Fracture Mechanics, Kmax, parameter unsuitable for correlating DFCG behavior due to extensive visco-plastic deformation. Magnitude of remaining crack tip axial stresses controls DFCG resistance due to the brittle-intergranular nature of the crack growth process. Proposed a new empirical parameter, Ksrf, which incorporates visco-plastic evolution of the magnitude of remaining crack tip stresses. Previous work performed at 704C, extend the work to 760C.

Issues in advanced automation for manipulator control

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1976-01-01

This paper provides a brief description and analysis of the main issues in advanced autonomous control of manipulators as seen from a system point of view. The nature of manipulation is analyzed at some depth. A general multilevel structure is outlined for manipulator control organization which includes the human operator at the top level of the control structure. Different approaches to the development of advanced automation of mechanical arms are summarized. Recent work in the JPL teleoperator project is described, including control system, force/torque sensor, and control software development. Some results from control experiments are summarized.

Controlled Synthesis of Atomically Layered Hexagonal Boron Nitride via Chemical Vapor Deposition.

PubMed

Liu, Juanjuan; Kutty, R Govindan; Liu, Zheng

2016-11-29

Hexagonal boron nitrite (h-BN) is an attractive material for many applications including electronics as a complement to graphene, anti-oxidation coatings, light emitters, etc. However, the synthesis of high-quality h-BN is still a great challenge. In this work, via controlled chemical vapor deposition, we demonstrate the synthesis of h-BN films with a controlled thickness down to atomic layers. The quality of as-grown h-BN is confirmed by complementary characterizations including high-resolution transition electron microscopy, atomic force microscopy, Raman spectroscopy and X-ray photo-electron spectroscopy. This work will pave the way for production of large-scale and high-quality h-BN and its applications as well.

Challenges of developing an electro-optical system for measuring man's operational envelope

NASA Technical Reports Server (NTRS)

Woolford, B.

1985-01-01

In designing work stations and restraint systems, and in planning tasks to be performed in space, a knowledge of the capabilities of the operator is essential. Answers to such questions as whether a specific control or work surface can be reached from a given restraint and how much force can be applied are of particular interest. A computer-aided design system has been developed for designing and evaluating work stations, etc., and the Anthropometric Measurement Laboratory (AML) has been charged with obtaining the data to be used in design and modeling. Traditional methods of measuring reach and force are very labor intensive and require bulky equipment. The AML has developed a series of electro-optical devices for collecting reach data easily, in computer readable form, with portable systems. The systems developed, their use, and data collected with them are described.

Get a Life? The Impact of the European Working Time Directive: The Case of UK Senior Doctors.

PubMed

Dolton, Peter J; Kidd, Michael P; Fooken, Jonas

2015-10-01

This paper seeks to identify the effect of the implementation of the European Working Time Directive on the working hours of UK doctors. The Labour Force Survey is used to compare the working hours of doctors with a variety of control groups before and after the implementation of the directive. The controls include those unconstrained by the directive and doctor counterparts working in Europe. We use differences-in-differences and matching methods to estimate the impact of this natural experiment, distinguishing between the anticipation and enactment of the European Working Time Directive. We find that the legislation reduced the hours of senior doctors by around 8 hours in total including the component attributable to anticipation effects and allowing for (exogenously set) rising wages. Copyright © 2014 John Wiley & Sons, Ltd. Copyright © 2014 John Wiley & Sons, Ltd.

New design for inertial piezoelectric motors

NASA Astrophysics Data System (ADS)

Liu, Lige; Ge, Weifeng; Meng, Wenjie; Hou, Yubin; Zhang, Jing; Lu, Qingyou

2018-03-01

We have designed, implemented, and tested a novel inertial piezoelectric motor (IPM) that is the first IPM to have controllable total friction force, which means that it sticks with large total friction forces and slips with severely reduced total friction forces. This allows the IPM to work with greater robustness and produce a larger output force at a lower threshold voltage while also providing higher rigidity. This is a new IPM design that means that the total friction force can be dramatically reduced or even canceled where necessary by pushing the clamping points at the ends of a piezoelectric tube that contains the sliding shaft inside it in the opposite directions during piezoelectric deformation. Therefore, when the shaft is propelled forward by another exterior piezoelectric tube, the inner piezoelectric tube can deform to reduce the total friction force acting on the shaft instantly and cause more effective stepping movement of the shaft. While our new IPM requires the addition of another piezoelectric tube, which leads to an increase in volume of 120% when compared with traditional IPMs, the average step size has increased by more than 400% and the threshold voltage has decreased by more than 50 V. The improvement in performance is far more significant than the increase in volume. This enhanced performance will allow the proposed IPM to work under large load conditions where a simple and powerful piezoelectric motor is needed.

Epidemiologic surveillance. [1994] amended annual report for Brookhaven National Laboratory. Revision 2

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

NONE

1994-12-31

Epidemiologic surveillance at DOE facilities consists of regular and systematic collection, analysis, and interpretation of data on absences due to illness and injury in the work force. Its purpose is to provide an early warning system for health problems occurring among employees at participating sites. Data are collected by coordinators at each site and submitted to the Epidemiologic Surveillance Data Center, located at the Oak Ridge Institute for Science and Education, where quality control procedures and analyses are carried out. Rates of absences and rates of diagnoses associated with absences are analyzed by occupation and other relevant variables. They maymore » be compared with the disease experience of different groups within the DOE work force and with populations that do not work for DOE to identify disease patterns or clusters that may be associated with work activities. This amended annual report corrects errors in the initial release of the BNL report for 1994. In this annual report, the 1994 morbidity data for BNL are summarized.« less

Single Molecule Study of Force-Induced Rotation of Carbon-Carbon Double Bonds in Polymers.

PubMed

Huang, Wenmao; Zhu, Zhenshu; Wen, Jing; Wang, Xin; Qin, Meng; Cao, Yi; Ma, Haibo; Wang, Wei

2017-01-24

Carbon-carbon double bonds (C═C) are ubiquitous in natural and synthetic polymers. In bulk studies, due to limited ways to control applied force, they are thought to be mechanically inert and not to contribute to the extensibility of polymers. Here, we report a single molecule force spectroscopy study on a polymer containing C═C bonds using atomic force microscope. Surprisingly, we found that it is possible to directly observe the cis-to-trans isomerization of C═C bonds at the time scale of ∼1 ms at room temperature by applying a tensile force ∼1.7 nN. The reaction proceeds through a diradical intermediate state, as confirmed by both a free radical quenching experiment and quantum chemical modeling. The force-free activation length to convert the cis C═C bonds to the transition state is ∼0.5 Å, indicating that the reaction rate is accelerated by ∼10 9 times at the transition force. On the basis of the density functional theory optimized structure, we propose that because the pulling direction is not parallel to C═C double bonds in the polymer, stretching the polymer not only provides tension to lower the transition barrier but also provides torsion to facilitate the rotation of cis C═C bonds. This explains the apparently low transition force for such thermally "forbidden" reactions and offers an additional explanation of the "lever-arm effect" of polymer backbones on the activation force for many mechanophores. This work demonstrates the importance of precisely controlling the force direction at the nanoscale to the force-activated reactions and may have many implications on the design of stress-responsive materials.

Radiative forcing from aircraft NOx emissions: Mechanisms and seasonal dependence

NASA Astrophysics Data System (ADS)

Stevenson, David S.; Doherty, Ruth M.; Sanderson, Michael G.; Collins, William J.; Johnson, Colin E.; Derwent, Richard G.

2004-09-01

A chemistry-climate model has been applied to study the radiative forcings generated by aircraft NOx emissions through changes in ozone and methane. Four numerical experiments, where an extra pulse of aircraft NOx was emitted into the model atmosphere for a single month (January, April, July, or October), were compared to a control experiment, allowing the aircraft impact to be isolated. The extra NOx produces a short-lived (few months) pulse of ozone that generates a positive radiative forcing. However, the NOx and O3 both generate OH, which leads to a reduction in CH4. A detailed analysis of the OH budget reveals the spatial structure and chemical reactions responsible for the generation of the OH perturbation. Methane's long lifetime means that the CH4 anomaly decays slowly (perturbation lifetime of 11.1 years). The negative CH4 anomaly also has an associated negative O3 anomaly, and both of these introduce a negative radiative forcing. There are important seasonal differences in the response of O3 and CH4 to aircraft NOx, related to the annual cycle in photochemistry; the O3 radiative forcing calculations also have a seasonal dependence. The long-term globally integrated annual mean net forcing calculated here is approximately zero, although earlier work suggests a small net positive forcing. The model design (e.g., upper tropospheric chemistry, convection parameterization) and experimental setup (pulse magnitude and duration) may somewhat influence the results: further work with a range of models is required to confirm these results quantitatively.

Force recovery and axonal regeneration of the sternomastoid muscle reinnervated with the end-to-end nerve anastomosis

PubMed Central

Sobotka, Stanislaw; Mu, Liancai

2012-01-01

Background End-to-end nerve anastomosis (EEA) is a commonly used nerve repair technique. However, this method generally results in poor functional recovery. This study was designed to determine the correlation of functional recovery to the extent of axonal reinnervation after EEA procedure in a rat model. Materials and Methods Seven adult rats were subjected to the immediate reinnervation of an experimentally paralyzed sternomastoid (SM) muscle. The SM nerve was transected and immediately repaired with EEA. The SM muscle at the opposite side, without nerve transection, served as a control. Three months after EEA nerve repair, the muscle force of the SM muscle was measured and the regenerated axons in the muscle were detected using neurofilament immunohistochemistry. Results Three months after surgery, the reinnervated SM muscle produced limited anatomical and functional recovery (calculated as the percentage of the control). Specifically, the wet weight of the operated SM muscle (a measure of muscle mass recovery) was 78.0% of the control. The maximal tetanic force (a measure of muscle functional recovery) was 56.7% of the control. The area fraction of the neurofilament stained intramuscular axons (a measure of axonal regeneration and muscle reinnervation) was measured to be only 13.4% of the control. A positive correlation was revealed between the extent of muscle reinnervation and maximal muscle force. Conclusions The EEA reinnervated SM muscle in the rat yielded unsatisfactory muscle force recovery as a result of mild to moderate nerve regeneration. Further work is needed to improve the surgical procedure, enhance axonal regeneration, and/or develop novel treatment strategies for better functional recovery. PMID:23207170

Force recovery and axonal regeneration of the sternomastoid muscle reinnervated with the end-to-end nerve anastomosis.

PubMed

Sobotka, Stanislaw; Mu, Liancai

2013-06-15

End-to-end nerve anastomosis (EEA) is a commonly used nerve repair technique. However, this method generally results in poor functional recovery. This study was designed to determine the correlation of functional recovery to the extent of axonal reinnervation after EEA procedure in a rat model. Seven adult rats were subjected to the immediate reinnervation of an experimentally paralyzed sternomastoid (SM) muscle. The SM nerve was transected and immediately repaired with EEA. The SM muscle at the opposite side, without nerve transection, served as a control. Three months after EEA nerve repair, the muscle force of the SM muscle was measured and the regenerated axons in the muscle were detected using neurofilament immunohistochemistry. Three months after surgery, the reinnervated SM muscle produced limited anatomical and functional recovery (calculated as the percentage of the control). Specifically, the wet weight of the operated SM muscle (a measure of muscle mass recovery) was 78.0% of the control. The maximal tetanic force (a measure of muscle functional recovery) was 56.7% of the control. The area fraction of the neurofilament stained intramuscular axons (a measure of axonal regeneration and muscle reinnervation) was measured to be only 13.4% of the control. A positive correlation was revealed between the extent of muscle reinnervation and maximal muscle force. The EEA reinnervated SM muscle in the rat yielded unsatisfactory muscle force recovery as a result of mild to moderate nerve regeneration. Further work is needed to improve the surgical procedure, enhance axonal regeneration, and/or develop novel treatment strategies for better functional recovery. Copyright © 2013 Elsevier Inc. All rights reserved.

The ATP hydrolysis and phosphate release steps control the time course of force development in rabbit skeletal muscle.

PubMed

Sleep, John; Irving, Malcolm; Burton, Kevin

2005-03-15

The time course of isometric force development following photolytic release of ATP in the presence of Ca(2+) was characterized in single skinned fibres from rabbit psoas muscle. Pre-photolysis force was minimized using apyrase to remove contaminating ATP and ADP. After the initial force rise induced by ATP release, a rapid shortening ramp terminated by a step stretch to the original length was imposed, and the time course of the subsequent force redevelopment was again characterized. Force development after ATP release was accurately described by a lag phase followed by one or two exponential components. At 20 degrees C, the lag was 5.6 +/- 0.4 ms (s.e.m., n = 11), and the force rise was well fitted by a single exponential with rate constant 71 +/- 4 s(-1). Force redevelopment after shortening-restretch began from about half the plateau force level, and its single-exponential rate constant was 68 +/- 3 s(-1), very similar to that following ATP release. When fibres were activated by the addition of Ca(2+) in ATP-containing solution, force developed more slowly, and the rate constant for force redevelopment following shortening-restretch reached a maximum value of 38 +/- 4 s(-1) (n = 6) after about 6 s of activation. This lower value may be associated with progressive sarcomere disorder at elevated temperature. Force development following ATP release was much slower at 5 degrees C than at 20 degrees C. The rate constant of a single-exponential fit to the force rise was 4.3 +/- 0.4 s(-1) (n = 22), and this was again similar to that after shortening-restretch in the same activation at this temperature, 3.8 +/- 0.2 s(-1). We conclude that force development after ATP release and shortening-restretch are controlled by the same steps in the actin-myosin ATPase cycle. The present results and much previous work on mechanical-chemical coupling in muscle can be explained by a kinetic scheme in which force is generated by a rapid conformational change bracketed by two biochemical steps with similar rate constants -- ATP hydrolysis and the release of inorganic phosphate -- both of which combine to control the rate of force development.

Aflatoxin control--how a regulatory agency managed risk from an unavoidable natural toxicant in food and feed.

PubMed

Park, D L; Stoloff, L

1989-04-01

The control by the Food and Drug Administration (FDA) of aflatoxin, a relatively recently discovered, unavoidable natural contaminant produced by specific molds that invade a number of basic food and feedstuffs, provides an example of the varying forces that affect risk assessment and management by a regulatory Agency. This is the story of how the FDA responded to the initial discovery of a potential carcinogenic hazard to humans in a domestic commodity, to the developing information concerning the nature of the hazard, to the economic and political pressures that are created by the impact of natural forces on regulatory controls, and to the restraints of laws within which the Agency must work. This story covers four periods: the years of discovery and action decisions on the basis of meager knowledge and the fear of cancer; the years of tinkering on paper with the regulatory process, the years of digestion of the accumulating knowledge, and the application of that knowledge to actions forced by natural events; and an audit of the current status of knowledge about the hazard from aflatoxin, and proposals for regulatory control based on that knowledge.

How actin network dynamics control the onset of actin-based motility

PubMed Central

Kawska, Agnieszka; Carvalho, Kévin; Manzi, John; Boujemaa-Paterski, Rajaa; Blanchoin, Laurent; Martiel, Jean-Louis; Sykes, Cécile

2012-01-01

Cells use their dynamic actin network to control their mechanics and motility. These networks are made of branched actin filaments generated by the Arp2/3 complex. Here we study under which conditions the microscopic organization of branched actin networks builds up a sufficient stress to trigger sustained motility. In our experimental setup, dynamic actin networks or “gels” are grown on a hard bead in a controlled minimal protein system containing actin monomers, profilin, the Arp2/3 complex and capping protein. We vary protein concentrations and follow experimentally and through simulations the shape and mechanical properties of the actin gel growing around beads. Actin gel morphology is controlled by elementary steps including “primer” contact, growth of the network, entanglement, mechanical interaction and force production. We show that varying the biochemical orchestration of these steps can lead to the loss of network cohesion and the lack of effective force production. We propose a predictive phase diagram of actin gel fate as a function of protein concentrations. This work unveils how, in growing actin networks, a tight biochemical and physical coupling smoothens initial primer-caused heterogeneities and governs force buildup and cell motility. PMID:22908255

Work Force Information and Career-Technical Education. In Brief: Fast Facts for Policy and Practice No. 10.

ERIC Educational Resources Information Center

Sommers, Dixie

To prepare young people and adults for labor market success, career-technical education (CTE) practitioners must know how to find and use work force information. Recent federal legislation, including the Workforce Investment Act of 1998, underscores the importance of work force education. The nationwide work force information system makes data on…

A socioecological analysis of the determinants of national public health nutrition work force capacity: Australia as a case study.

PubMed

Hughes, Roger

2006-01-01

This article uses a socioecological analytical approach to assess the capacity of the public health nutrition work force in Australia as a prelude to work force development strategy planning. It demonstrates how the socioecological model can be used to assess and inform the development of the infrastructure required for effective public health nutrition effort. An interpretive case study method was used involving triangular analysis of quantitative and qualitative data from multiple sources including semistructured interviews with advanced-level practitioners, literature review, a cross-sectional national work force survey, and position description audit and consensus development using a Delphi study. The findings of this analysis indicate that the Australian public health nutrition work force's capacity to effectively address priority nutrition issues is limited by determinants that can be categorized as relating to human resource infrastructure, organizational and policy environments, intelligence access and use, practice improvement and learning systems, and work force preparation. This socioecological analysis supports an intelligence-based focus for work force development effort in Australia and a conceptual framework for work force capacity assessment with potential applications in other countries.

Target: Alcohol Abuse in the Hard-to-Reach Work Force. Ideas and Resources for Responding to Problems of the Hard-to-Reach Work Force.

ERIC Educational Resources Information Center

Informatics, Inc., Rockville, MD.

This guide is designed as a source of ideas and information for individuals and organizations interested in occupational alcoholism programs for the hard-to-reach work force. Following a brief overview of the problem and a report on progress in occupational alcoholism programming, a working definition of the hard-to-reach work force is offered;…

Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects.

PubMed

Ziherl, Jaka; Novak, Domen; Olenšek, Andrej; Mihelj, Matjaž; Munih, Marko

2010-10-18

Robotic systems are becoming increasingly common in upper extremity stroke rehabilitation. Recent studies have already shown that the use of rehabilitation robots can improve recovery. This paper evaluates the effect of different modes of robot-assistances in a complex virtual environment on the subjects' ability to complete the task as well as on various haptic parameters arising from the human-robot interaction. The MIMICS multimodal system that includes the haptic robot HapticMaster and a dynamic virtual environment is used. The goal of the task is to catch a ball that rolls down a sloped table and place it in a basket above the table. Our study examines the influence of catching assistance, pick-and-place movement assistance and grasping assistance on the catching efficiency, placing efficiency and on movement-dependent parameters: mean reaching forces, deviation error, mechanical work and correlation between the grasping force and the load force. The results with groups of subjects (23 subacute hemiparetic subjects, 10 chronic hemiparetic subjects and 23 control subjects) showed that the assistance raises the catching efficiency and pick-and-place efficiency. The pick-and-place movement assistance greatly limits the movements of the subject and results in decreased work toward the basket. The correlation between the load force and the grasping force exists in a certain phase of the movement. The results also showed that the stroke subjects without assistance and the control subjects performed similarly. The robot-assistances used in the study were found to be a possible way to raise the catching efficiency and efficiency of the pick-and-place movements in subacute and chronic subjects. The observed movement parameters showed that robot-assistances we used for our virtual task should be improved to maximize physical activity.

Magnetic tweezers with high permeability electromagnets for fast actuation of magnetic beads.

PubMed

Chen, La; Offenhäusser, Andreas; Krause, Hans-Joachim

2015-04-01

As a powerful and versatile scientific instrument, magnetic tweezers have been widely used in biophysical research areas, such as mechanical cell properties and single molecule manipulation. If one wants to steer bead position, the nonlinearity of magnetic properties and the strong position dependence of the magnetic field in most magnetic tweezers lead to quite a challenge in their control. In this article, we report multi-pole electromagnetic tweezers with high permeability cores yielding high force output, good maneuverability, and flexible design. For modeling, we adopted a piece-wise linear dependence of magnetization on field to characterize the magnetic beads. We implemented a bi-linear interpolation of magnetic field in the work space, based on a lookup table obtained from finite element simulation. The electronics and software were custom-made to achieve high performance. In addition, the effects of dimension and defect on structure of magnetic tips also were inspected. In a workspace with size of 0.1 × 0.1 mm(2), a force of up to 400 pN can be applied on a 2.8 μm superparamagnetic bead in any direction within the plane. Because the magnetic particle is always pulled towards a tip, the pulling forces from the pole tips have to be well balanced in order to achieve control of the particle's position. Active video tracking based feedback control is implemented, which is able to work at a speed of up to 1 kHz, yielding good maneuverability of the magnetic beads.

Magnetic tweezers with high permeability electromagnets for fast actuation of magnetic beads

NASA Astrophysics Data System (ADS)

Chen, La; Offenhäusser, Andreas; Krause, Hans-Joachim

2015-04-01

As a powerful and versatile scientific instrument, magnetic tweezers have been widely used in biophysical research areas, such as mechanical cell properties and single molecule manipulation. If one wants to steer bead position, the nonlinearity of magnetic properties and the strong position dependence of the magnetic field in most magnetic tweezers lead to quite a challenge in their control. In this article, we report multi-pole electromagnetic tweezers with high permeability cores yielding high force output, good maneuverability, and flexible design. For modeling, we adopted a piece-wise linear dependence of magnetization on field to characterize the magnetic beads. We implemented a bi-linear interpolation of magnetic field in the work space, based on a lookup table obtained from finite element simulation. The electronics and software were custom-made to achieve high performance. In addition, the effects of dimension and defect on structure of magnetic tips also were inspected. In a workspace with size of 0.1 × 0.1 mm2, a force of up to 400 pN can be applied on a 2.8 μm superparamagnetic bead in any direction within the plane. Because the magnetic particle is always pulled towards a tip, the pulling forces from the pole tips have to be well balanced in order to achieve control of the particle's position. Active video tracking based feedback control is implemented, which is able to work at a speed of up to 1 kHz, yielding good maneuverability of the magnetic beads.

Control of a haptic gear shifting assistance device utilizing a magnetorheological clutch

NASA Astrophysics Data System (ADS)

Han, Young-Min; Choi, Seung-Bok

2014-10-01

This paper proposes a haptic clutch driven gear shifting assistance device that can help when the driver shifts the gear of a transmission system. In order to achieve this goal, a magnetorheological (MR) fluid-based clutch is devised to be capable of the rotary motion of an accelerator pedal to which the MR clutch is integrated. The proposed MR clutch is then manufactured, and its transmission torque is experimentally evaluated according to the magnetic field intensity. The manufactured MR clutch is integrated with the accelerator pedal to transmit a haptic cue signal to the driver. The impending control issue is to cue the driver to shift the gear via the haptic force. Therefore, a gear-shifting decision algorithm is constructed by considering the vehicle engine speed concerned with engine combustion dynamics, vehicle dynamics and driving resistance. Then, the algorithm is integrated with a compensation strategy for attaining the desired haptic force. In this work, the compensator is also developed and implemented through the discrete version of the inverse hysteretic model. The control performances, such as the haptic force tracking responses and fuel consumption, are experimentally evaluated.

Impact of distal median neuropathy on handwriting performance for patients with carpal tunnel syndrome in office and administrative support occupations.

PubMed

Kuo, Li-Chieh; Hsu, Hsiao-Man; Wu, Po-Ting; Lin, Sheng-Che; Hsu, Hsiu-Yun; Jou, I-Ming

2014-06-01

This study investigates the handwriting performance of patients with carpal tunnel syndrome (CTS) and healthy controls in office and administrative support occupations, adopting both biomechanical and functional perspectives. This work also explores how surgical intervention altered the performance of the CTS patients. Fourteen CTS patients and 14 control subjects were recruited to complete a self-reported survey and participate in sensory tests, hand strength, dexterity and handwriting tasks using a custom force acquisition pen along with motion capture technology. Based on the results of these, the sensory measurements, along with functional and biomechanical parameters, were used to determine the differences between the groups and also reveal any improvements that occurred in the CTS group after surgical intervention. The CTS patients showed significantly poorer hand sensibility and dexterity than the controls, as well as excessive force exertion of the digits and pen tip, and less efficient force adjustment ability during handwriting. After surgery and sensory recovery, the hand dexterity and pen tip force of the CTS patients improved significantly. The force adjustment abilities of the digits also increased, but these changes were not statistically significant. This study provides the objective measurements and novel apparatus that can be used to determine impairments in the handwriting abilities of office or administrative workers with CTS. The results can also help clinicians or patients to better understand the sensory-related deficits in sensorimotor control of the hand related to CTS, and thus develop and implement more suitable training or adaptive protocols.

Prediction of forces and moments for flight vehicle control effectors: Workplan

NASA Technical Reports Server (NTRS)

Maughmer, Mark D.

1989-01-01

Two research activities directed at hypersonic vehicle configurations are currently underway. The first involves the validation of a number of classical local surface inclination methods commonly employed in preliminary design studies of hypersonic flight vehicles. Unlike studies aimed at validating such methods for predicting overall vehicle aerodynamics, this effort emphasizes validating the prediction of forces and moments for flight control studies. Specifically, several vehicle configurations for which experimental or flight-test data are available are being examined. By comparing the theoretical predictions with these data, the strengths and weaknesses of the local surface inclination methods can be ascertained and possible improvements suggested. The second research effort, of significance to control during take-off and landing of most proposed hypersonic vehicle configurations, is aimed at determining the change due to ground effect in control effectiveness of highly swept delta planforms. Central to this research is the development of a vortex-lattice computer program which incorporates an unforced trailing vortex sheet and an image ground plane. With this program, the change in pitching moment of the basic vehicle due to ground proximity, and whether or not there is sufficient control power available to trim, can be determined. In addition to the current work, two different research directions are suggested for future study. The first is aimed at developing an interactive computer program to assist the flight controls engineer in determining the forces and moments generated by different types of control effectors that might be used on hypersonic vehicles. The first phase of this work would deal in the subsonic portion of the flight envelope, while later efforts would explore the supersonic/hypersonic flight regimes. The second proposed research direction would explore methods for determining the aerodynamic trim drag of a generic hypersonic flight vehicle and ways in which it can be minimized through vehicle design and trajectory optimization.

Fluctuation spectra and force generation in nonequilibrium systems.

PubMed

Lee, Alpha A; Vella, Dominic; Wettlaufer, John S

2017-08-29

Many biological systems are appropriately viewed as passive inclusions immersed in an active bath: from proteins on active membranes to microscopic swimmers confined by boundaries. The nonequilibrium forces exerted by the active bath on the inclusions or boundaries often regulate function, and such forces may also be exploited in artificial active materials. Nonetheless, the general phenomenology of these active forces remains elusive. We show that the fluctuation spectrum of the active medium, the partitioning of energy as a function of wavenumber, controls the phenomenology of force generation. We find that, for a narrow, unimodal spectrum, the force exerted by a nonequilibrium system on two embedded walls depends on the width and the position of the peak in the fluctuation spectrum, and oscillates between repulsion and attraction as a function of wall separation. We examine two apparently disparate examples: the Maritime Casimir effect and recent simulations of active Brownian particles. A key implication of our work is that important nonequilibrium interactions are encoded within the fluctuation spectrum. In this sense, the noise becomes the signal.

Stimulated Raman spectroscopy and nanoscopy of molecules using near field photon induced forces without resonant electronic enhancement gain

NASA Astrophysics Data System (ADS)

Tamma, Venkata Ananth; Huang, Fei; Nowak, Derek; Kumar Wickramasinghe, H.

2016-06-01

We report on stimulated Raman spectroscopy and nanoscopy of molecules, excited without resonant electronic enhancement gain, and recorded using near field photon induced forces. Photon-induced interaction forces between the sharp metal coated silicon tip of an Atomic Force Microscope (AFM) and a sample resulting from stimulated Raman excitation were detected. We controlled the tip to sample spacing using the higher order flexural eigenmodes of the AFM cantilever, enabling the tip to come very close to the sample. As a result, the detection sensitivity was increased compared with previous work on Raman force microscopy. Raman vibrational spectra of azobenzene thiol and l-phenylalanine were measured and found to agree well with published results. Near-field force detection eliminates the need for far-field optical spectrometer detection. Recorded images show spatial resolution far below the optical diffraction limit. Further optimization and use of ultrafast pulsed lasers could push the detection sensitivity towards the single molecule limit.

Stimulated Raman spectroscopy and nanoscopy of molecules using near field photon induced forces without resonant electronic enhancement gain

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

Tamma, Venkata Ananth; Huang, Fei; Kumar Wickramasinghe, H., E-mail: hkwick@uci.edu

We report on stimulated Raman spectroscopy and nanoscopy of molecules, excited without resonant electronic enhancement gain, and recorded using near field photon induced forces. Photon-induced interaction forces between the sharp metal coated silicon tip of an Atomic Force Microscope (AFM) and a sample resulting from stimulated Raman excitation were detected. We controlled the tip to sample spacing using the higher order flexural eigenmodes of the AFM cantilever, enabling the tip to come very close to the sample. As a result, the detection sensitivity was increased compared with previous work on Raman force microscopy. Raman vibrational spectra of azobenzene thiol andmore » l-phenylalanine were measured and found to agree well with published results. Near-field force detection eliminates the need for far-field optical spectrometer detection. Recorded images show spatial resolution far below the optical diffraction limit. Further optimization and use of ultrafast pulsed lasers could push the detection sensitivity towards the single molecule limit.« less

Force feedback controls motor activity and mechanical properties of self-assembling branched actin networks

PubMed Central

Bieling, Peter; Li, Tai-De; Weichsel, Julian; McGorty, Ryan; Jreij, Pamela; Huang, Bo; Fletcher, Daniel A.; Mullins, R. Dyche

2016-01-01

Branched actin networks–created by the Arp2/3 complex, capping protein, and a nucleation promoting factor– generate and transmit forces required for many cellular processes, but their response to force is poorly understood. To address this, we assembled branched actin networks in vitro from purified components and used simultaneous fluorescence and atomic force microscopy to quantify their molecular composition and material properties under various forces. Remarkably, mechanical loading of these self-assembling materials increases their density, power, and efficiency. Microscopically, increased density reflects increased filament number and altered geometry, but no change in average length. Macroscopically, increased density enhances network stiffness and resistance to mechanical failure beyond those of isotropic actin networks. These effects endow branched actin networks with memory of their mechanical history that shapes their material properties and motor activity. This work reveals intrinsic force feedback mechanisms by which mechanical resistance makes self-assembling actin networks stiffer, stronger, and more powerful. PMID:26771487

The interdependence of Ca2+ activation, sarcomere length, and power output in the heart.

PubMed

McDonald, Kerry S

2011-07-01

Myocardium generates power to perform external work on the circulation; yet, many questions regarding intermolecular mechanisms regulating power output remain unresolved. Power output equals force × shortening velocity, and some interesting new observations regarding control of these two factors have arisen. While it is well established that sarcomere length tightly controls myocyte force, sarcomere length-tension relationships also appear to be markedly modulated by PKA-mediated phosphorylation of myofibrillar proteins. Concerning loaded shortening, historical models predict independent cross-bridge mechanics; however, it seems that the mechanical state of one population of cross-bridges affects the activity of other cross-bridges by, for example, recruitment of cross-bridges from the non-cycling pool to the cycling force-generating pool during submaximal Ca(2+) activation. This is supported by the findings that Ca(2+) activation levels, myofilament phosphorylation, and sarcomere length are all modulators of loaded shortening and power output independent of their effects on force. This fine tuning of power output probably helps optimize myocardial energetics and to match ventricular supply with peripheral demand; yet, the discernment of the chemo-mechanical signals that modulate loaded shortening needs further clarification since power output may be a key convergent point and feedback regulator of cytoskeleton and cellular signals that control myocyte growth and survival.

Turbulent Mixing Layer Control using Ns-DBD Plasma Actuators

NASA Astrophysics Data System (ADS)

Singh, Ashish; Little, Jesse

2016-11-01

A low speed turbulent mixing layer (Reθo =1282, U1 /U2 = 0 . 28 and U2 = 11 . 8 m / s) is subject to nanosecond pulse driven dielectric barrier discharge (ns-DBD) plasma actuation. The forcing frequency corresponds to a Strouhal number (St) of 0.032 which is the most amplified frequency based on stability theory. Flow response is studied as a function of the pulse energy, the energy input time scale (carrier frequency) and the duration of actuation (duty cycle). It is found that successful actuation requires a combination of forcing parameters. An evaluation of the forcing efficacy is achieved by examining different flow quantities such as momentum thickness, vorticity and velocity fluctuations. In accordance with past work, a dependence is found between the initial shear layer thickness and the energy coupled to the flow. More complex relationships are also revealed such as a limitation on the maximum pulse energy which yields control. Also, the pulse energy and the carrier frequency (inverse of period between successive pulses) are interdependent whereby an optimum exists between them and extreme values of either parameter is inconsonant with the control desired. These observations establish a rich and complex process behind ns-DBD plasma actuation. Air Force Office of Scientific Research (FA9550-12-1-0044).

A novel compact compliant actuator design for rehabilitation robots.

PubMed

Yu, Haoyong; Huang, Sunan; Thakor, Nitish V; Chen, Gong; Toh, Siew-Lok; Sta Cruz, Manolo; Ghorbel, Yassine; Zhu, Chi

2013-06-01

Rehabilitation robots have direct physical interaction with human body. Ideally, actuators for rehabilitation robots should be compliant, force controllable, and back drivable due to safety and control considerations. Various designs of Series Elastic Actuators (SEA) have been developed for these applications. However, current SEA designs face a common performance limitation due to the compromise on the spring stiffness selection. This paper presents a novel compact compliant force control actuator design for portable rehabilitation robots to overcome the performance limitations in current SEAs. Our design consists of a servomotor, a ball screw, a torsional spring between the motor and the ball screw, and a set of translational springs between the ball screw nut and the external load. The soft translational springs are used to handle the low force operation and reduce output impedance, stiction, and external shock load. The torsional spring, being in the high speed range, has high effective stiffness and improves the system bandwidth in large force operation when the translational springs are fully compressed. This design is also more compact due to the smaller size of the springs. We explain the construction and the working principle of our new design, followed by the dynamic modeling and analysis of the actuator. We also show the preliminary testing results of a prototype actuator designed for a lower limb exoskeleton for gait rehabilitation.

Normal force and drag force in magnetorheological finishing

NASA Astrophysics Data System (ADS)

Miao, Chunlin; Shafrir, Shai N.; Lambropoulos, John C.; Jacobs, Stephen D.

2009-08-01

The material removal in magnetorheological finishing (MRF) is known to be controlled by shear stress, λ, which equals drag force, Fd, divided by spot area, As. However, it is unclear how the normal force, Fn, affects the material removal in MRF and how the measured ratio of drag force to normal force Fd/Fn, equivalent to coefficient of friction, is related to material removal. This work studies, for the first time for MRF, the normal force and the measured ratio Fd/Fn as a function of material mechanical properties. Experimental data were obtained by taking spots on a variety of materials including optical glasses and hard ceramics with a spot-taking machine (STM). Drag force and normal force were measured with a dual load cell. Drag force decreases linearly with increasing material hardness. In contrast, normal force increases with hardness for glasses, saturating at high hardness values for ceramics. Volumetric removal rate decreases with normal force across all materials. The measured ratio Fd/Fn shows a strong negative linear correlation with material hardness. Hard materials exhibit a low "coefficient of friction". The volumetric removal rate increases with the measured ratio Fd/Fn which is also correlated with shear stress, indicating that the measured ratio Fd/Fn is a useful measure of material removal in MRF.

Normal Force and Drag Force in Magnetorheological Finishing

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

Miao, C.; Shafrir, S.N.; Lambropoulos, J.C.

2010-01-13

The material removal in magnetorheological finishing (MRF) is known to be controlled by shear stress, tau, which equals drag force, Fd, divided by spot area, As. However, it is unclear how the normal force, Fn, affects the material removal in MRF and how the measured ratio of drag force to normal force Fd/Fn, equivalent to coefficient of friction, is related to material removal. This work studies, for the first time for MRF, the normal force and the measured ratio Fd/Fn as a function of material mechanical properties. Experimental data were obtained by taking spots on a variety of materials includingmore » optical glasses and hard ceramics with a spot-taking machine (STM). Drag force and normal force were measured with a dual load cell. Drag force decreases linearly with increasing material hardness. In contrast, normal force increases with hardness for glasses, saturating at high hardness values for ceramics. Volumetric removal rate decreases with normal force across all materials. The measured ratio Fd/Fn shows a strong negative linear correlation with material hardness. Hard materials exhibit a low “coefficient of friction”. The volumetric removal rate increases with the measured ratio Fd/Fn which is also correlated with shear stress, indicating that the measured ratio Fd/Fn is a useful measure of material removal in MRF.« less

Recursive Deadbeat Controller Design

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan; Phan, Minh Q.

1997-01-01

This paper presents a recursive algorithm for a deadbeat predictive controller design. The method combines together the concepts of system identification and deadbeat controller designs. It starts with the multi-step output prediction equation and derives the control force in terms of past input and output time histories. The formulation thus derived satisfies simultaneously system identification and deadbeat controller design requirements. As soon as the coefficient matrices are identified satisfying the output prediction equation, no further work is required to compute the deadbeat control gain matrices. The method can be implemented recursively just as any typical recursive system identification techniques.

Modulation of post-movement beta rebound by contraction force and rate of force development.

PubMed

Fry, Adam; Mullinger, Karen J; O'Neill, George C; Barratt, Eleanor L; Morris, Peter G; Bauer, Markus; Folland, Jonathan P; Brookes, Matthew J

2016-07-01

Movement induced modulation of the beta rhythm is one of the most robust neural oscillatory phenomena in the brain. In the preparation and execution phases of movement, a loss in beta amplitude is observed [movement related beta decrease (MRBD)]. This is followed by a rebound above baseline on movement cessation [post movement beta rebound (PMBR)]. These effects have been measured widely, and recent work suggests that they may have significant importance. Specifically, they have potential to form the basis of biomarkers for disease, and have been used in neuroscience applications ranging from brain computer interfaces to markers of neural plasticity. However, despite the robust nature of both MRBD and PMBR, the phenomena themselves are poorly understood. In this study, we characterise MRBD and PMBR during a carefully controlled isometric wrist flexion paradigm, isolating two fundamental movement parameters; force output, and the rate of force development (RFD). Our results show that neither altered force output nor RFD has a significant effect on MRBD. In contrast, PMBR was altered by both parameters. Higher force output results in greater PMBR amplitude, and greater RFD results in a PMBR which is higher in amplitude and shorter in duration. These findings demonstrate that careful control of movement parameters can systematically change PMBR. Further, for temporally protracted movements, the PMBR can be over 7 s in duration. This means accurate control of movement and judicious selection of paradigm parameters are critical in future clinical and basic neuroscientific studies of sensorimotor beta oscillations. Hum Brain Mapp 37:2493-2511, 2016. © 2016 Wiley Periodicals, Inc. © 2016 Wiley Periodicals, Inc.

Torque Control During Intrusion on Upper Central Incisor in Labial and Lingual bracket System - A 3D Finite Element Study.

PubMed

Pol, Tejas R; Vandekar, Meghna; Patil, Anuradha; Desai, Sanjana; Shetty, Vikram; Hazarika, Saptarshi

2018-01-01

The aim of present study was to investigate the difference of torque control during intrusive force on upper central incisors with normal, under and high torque in lingual and labial orthodontic systems through 3D finite element analysis. Six 3D models of an upper right central incisor with different torque were designed in Solid Works 2006. Software ANSYS Version 16.0 was used to evaluate intrusive force on upper central incisor model . An intrusive force of 0.15 N was applied to the bracket slot in different torque models and the displacements along a path of nodes in the upper central incisor was assessed. On application of Intrusive force on under torqued upper central incisor in Labial system produce labial crown movement but in Lingual system caused lingual movement in the apical and incisal parts. The same intrusive force in normal-torqued central incisor led to a palatal movement in apical and labial displacement of incisal edge in Lingual system and a palatal displacement in apical area and a labial movement in the incisal edge in Labial systemin. In overtorqued upper central incisor, the labial crown displacement in Labial system is more than Lingual system. In labial and lingual system on application of the same forces in upper central incisor with different inclinations showed different responses. The magnitudes of torque Loss during intrusive loads in incisors with normal, under and over-torque were higher in Labial system than Lingual orthodontic appliances. Key words: FEM, lingual orthodontics, intrusion, torque control, labial bracket systems.

The influence of variable range of motion training on neuromuscular performance and control of external loads.

PubMed

Clark, Ross A; Humphries, Brendan; Hohmann, Erik; Bryant, Adam L

2011-03-01

Resistance training programs that emphasize high force production in different regions of the range of motion (ROM) may provide performance benefits. This study examined whether variable ROM (VROM) training, which consists of partial ROM training with countermovements performed in a different phase of the ROM for each set, results in improved functional performance. Twenty-two athletes (age 22.7 ± 2.4 years, height 1.81 ± 0.07 m, and body mass 94.6 ± 14.5 kg) with extensive resistance training backgrounds performed either a VROM or full ROM control (CON) 5-week, concentric work-matched training program. The participants were assigned to a group based on stratified randomization incorporating their strength levels and performance gains in preceding training microcycles. Testing consisted of assessing the force-ROM relationship during isokinetic and isometric bench press and ballistic bench throws, with normalized electromyography amplitude assessed during the isometric tests. Repeated-measure analyses of variance revealed that the VROM intervention significantly (p < 0.05) increased both full ROM bench throw displacement (+15.5%) and half ROM bench throw peak force (+15.7%), in addition to isokinetic peak force in the terminal ROM (13.5% increase). No significant differences were observed in the CON group or between groups for any other outcome measures. Analysis of the force-ROM relationship revealed that that the VROM intervention enhanced performance at shorter muscle lengths. These findings suggest that VROM training improves terminal and midrange performance gains, resulting in the athlete possessing an improved ability to control external loading and produce dynamic force.

Proposed MIL Standard and Handbook - Flying Qualities of Air Vehicles. Volume I. Proposed MIL Standard

DTIC Science & Technology

1982-11-01

control 4centering and breakout forces 21 3.2.9.6 Pitch axis control forces- free play 21 3.2.9.7 Pitch axis control force limits 21 3.2.9.7.1 Pitch axis...axis control forces - control centering and breakout forces 31 *3.5.10.5 Roll axis control forces -- free play 31 3.5.10.6 Roll axis control force limits...vs. deflection 3.2.9.5 Control centering and -- no(-) to homin and hOax breakout forces no(*) 3.2.9.6 Free play I 3.2.9.7.1 Force limits -- takeoff

Dynamics and control of the vortex flow behind a slender conical forebody by a pair of plasma actuators

NASA Astrophysics Data System (ADS)

Meng, Xuanshi; Long, Yuexiao; Wang, Jianlei; Liu, Feng; Luo, Shijun

2018-02-01

Detailed particle-image-velocimetry (PIV) and surface pressure measurements are presented to study the vortex flow behind a slender conical forebody at high angles of attack. The results confirm the existence of two randomly appearing mirror imaged asymmetric bi-stable states of the separation vortices, giving rise to large side force and moment. A pair of carefully designed dielectric barrier discharge plasma actuators mounted near the apex and on both sides of the conical body are used to manipulate the vortex flow and thus provide control of the side forces on the body without using flaps. By making use of a duty-cycle actuation scheme that alternately actuates the port and starboard plasma actuators and optimizing the duty-cycle frequency, the present work demonstrates the feasibility of achieving a nearly perfect linear proportional control of the side force and moment in response to the duty-cycle ratio. Phase-locked PIV and surface pressure measurements are used to study the unsteady dynamic evolution of the flow within one duty-cycle actuation to reveal the flow control mechanism. It is found that under the duty-cycle actuation with the optimized frequency, the vortex flow essentially follows the plasma actuation by alternating between the two bi-stable states controlled directly by the duty-cycle ratio.

Assessing differences in hours worked between male and female dentists: an analysis of cross-sectional national survey data from 1979 through 1999.

PubMed

Walton, Surrey M; Byck, Gayle R; Cooksey, Judith A; Kaste, Linda M

2004-05-01

Women are increasingly entering the dental work force. This study examines the impact of sex, age and other demographic characteristics on dentists' work force participation and on hours worked from 1979 through 1999. The study drew on cross-sectional data on dentists (4,209 men and 354 women) from national population surveys conducted by the U.S. Bureau of Labor Statistics from 1979 through 1999. The authors used descriptive statistics and regression analyses to examine sex differences in work force participation and in hours worked across age, as well as other factors. Work force participation was high for both men and women. Men worked more hours and worked part time less frequently; they worked more than 42 hours per week more frequently. Older dentists worked fewer hours, with a larger impact of age seen among men. Having children had a significantly greater effect on the number of hours worked per week among female dentists than among male dentists. There were significant differences in dentists' hours worked by sex and by age. The consistency of the results with past studies suggests these differences will hold in the near future. Women's entry into the dental work force has been significant and has helped maintain the supply of dentists. Sex differences in the work force should be considered in evaluating the supply of dentists and related work force policy.

A Biomimetic Propulsor for Active Noise Control. Part 2: Theory

NASA Astrophysics Data System (ADS)

Annaswamy Krol, A., Jr.; Bandyopadhyay, P. R.

2000-11-01

The alteration of radiated noise in underwater propulsors using biomimetic active control is considered. Wake momentum filling is carried out by introducing artificial muscles at the trailing edge of a stator blade of an upstream stator propulsor, and articulating them like a fish tail (see companion abstract Part 1). Using a systems framework, we derive a methodology for the articulation of the muscles with active control. The unsteady force produced on the rotor because of velocity perturbations due to actuator displacements, wake deficits caused by stator boundary layers, and blade rotation is modeled. Linear and adaptive nonlinear control strategies are described for articulating the tail using unsteady force measurements. This active control procedure can be viewed as the realization of “virtual” blades with different sweep and noise characteristics and can affect the noise spectrum due to direct radiation significantly. The work provides an understanding of the effect of nonuniform wakes on radiated noise and can lead to a general approach by which wakes can be altered.

Managing professional work: three models of control for health organizations.

PubMed Central

Scott, W R

1982-01-01

Three arrangements for structuring the work of professional participants in professional organizations are described, contrasted and evaluated. Arguments are illustrated by application to the organization of physicians within hospitals. The primary rationale, the support structures that have fostered its development, the key structural features and the advantages and disadvantages of each arrangement are described. The effect on these arrangements of structures and forces external to any particular professional organization is emphasized. PMID:6749761

An Analysis of the Air Force Government Operated Civil Engineering Supply Store Logistic System: How Can It Be Improved?

DTIC Science & Technology

1990-09-01

6 Logistics Systems ............ 7 GOCESS Operation . . . . . . . ..... 9 Work Order Processing . . . . ... 12 Job Order Processing . . . . . . . . . . 14...orders and job orders to the Material Control Section will be discussed separately. Work Order Processing . Figure 2 illustrates typical WO processing...logistics function. The JO processing is similar. Job Order Processing . Figure 3 illustrates typical JO processing in a GOCESS operation. As with WOs, this

Vibration control of a ship engine system using high-load magnetorheological mounts associated with a new indirect fuzzy sliding mode controller

NASA Astrophysics Data System (ADS)

Phu, Do Xuan; Choi, Seung-Bok

2015-02-01

In this work, a new high-load magnetorheological (MR) fluid mount system is devised and applied to control vibration in a ship engine. In the investigation of vibration-control performance, a new modified indirect fuzzy sliding mode controller is formulated and realized. The design of the proposed MR mount is based on the flow mode of MR fluid, and it includes two separated coils for generating a magnetic field. An optimization process is carried out to achieve maximal damping force under certain design constraints, such as the allowable height of the mount. As an actuating smart fluid, a new plate-like iron-particle-based MR fluid is used, instead of the conventional spherical iron-particle-based MR fluid. After evaluating the field-dependent yield stress of the MR fluid, the field-dependent damping force required to control unwanted vibration in the ship engine is determined. Subsequently, an appropriate-sized MR mount is manufactured and its damping characteristics are evaluated. After confirming the sufficient damping force level of the manufactured MR mount, a medium-sized ship engine mount system consisting of eight MR mounts is established, and its dynamic governing equations are derived. A new modified indirect fuzzy sliding mode controller is then formulated and applied to the engine mount system. The displacement and velocity responses show that the unwanted vibrations of the ship engine system can be effectively controlled in both the axial and radial directions by applying the proposed control methodology.

Load Bearing Equipment for Bone and Muscle Project

NASA Technical Reports Server (NTRS)

Terrier, Douglas; Clayton, Ronald G.; Shackelford, Linda

2015-01-01

Axial skeletal loads coupled with muscle torque forces around joints maintain bone. Astronauts working in pairs to exercise can provide high eccentric loads for each other that are most effective. A prototype of load bearing equipment that will allow astronauts to perform exercises using each other for counter force generation in a controlled fashion and provide eccentric overload is proposed. A frame and attachments that can be rapidly assembled for use and easily stored will demonstrate feasibility of a design that can be adapted for ISS testing and Orion use.

Support to the Air Force Installation and Mission Support Center: Enabling AFIMSC’s Role in Agile Combat Support Planning, Execution, Monitoring, and Control

DTIC Science & Technology

2017-06-23

field of organizational design is that decisions should be made by those who have the necessary information, something AFIMSC does not yet have. See...data system designator , D087X. EXPRESS is the Air Force’s implemented version of the tool DRIVE, which was developed at RAND in the early 1990s. The...The UMMIPS system could also serve as a pattern. UMMIPS works by assigning a priority designator based on a force activity designator (FAD) (the

The Influence of Relative Humidity on Dielectric Barrier Discharge Plasma Flow Control Actuator Performance

NASA Astrophysics Data System (ADS)

Wicks, M.; Thomas, F. O.; Corke, T. C.; Patel, M.

2012-11-01

Dielectric barrier discharge (DBD) plasma actuators possess numerous advantages for flow control applications and have been the focus of several previous studies. Most work has been performed in relatively pristine laboratory settings. In actual flow control applications, however, it is essential to assess the impact of various environmental influences on actuator performance. As a first effort toward assessing a broad range of environmental effects on DBD actuator performance, the influence of relative humidity (RH) is considered. Actuator performance is quantified by force balance measurements of reactive thrust while RH is systematically varied via an ultrasonic humidifier. The DBD plasma actuator assembly, force balance, and ultrasonic humidifier are all contained inside a large, closed test chamber instrumented with RH and temperature sensors in order to accurately estimate the average RH at the actuator. Measurements of DBD actuator thrust as a function of RH for several different applied voltage regimes and dielectric materials and thicknesses are presented. Based on these results, several important design recommendations are made. This work was supported by Innovative Technology Applications Company (ITAC), LLC under a Small Business Innovation Research (SBIR) Phase II Contract No. N00014-11-C-0267 issued by the U.S. Department of the Navy.

New method to improve dynamic stiffness of electro-hydraulic servo systems

NASA Astrophysics Data System (ADS)

Bai, Yanhong; Quan, Long

2013-09-01

Most current researches working on improving stiffness focus on the application of control theories. But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated, so the control action is lagged. Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms. In this paper, the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed. On this basis, the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward. And a scheme using double servo valves to realize flow feedforward compensation is presented, in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time. The two valves are arranged in parallel to control the cylinder jointly. Furthermore, the model of flow compensation is derived, by which the product of the amplitude and width of the valve’s pulse command signal can be calculated. And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations. Using the proposed scheme, simulations and experiments at different positions with different force changes are conducted. The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time. That is, system dynamic load stiffness is evidently raised. This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

Armored Family of Vehicles (AFV) Automation and Communication. Resource Management Plan (ACRMP). Phase 1. Volume 15.

DTIC Science & Technology

1987-09-01

The AFV ACRMP is the Task Force Director’s (08) tool to manage command, control, communication (C3) automation system life cycle developments for the...responsibilities, development management, acquisition strategy, testing , life cycle support, technology assessment and work group relationships. ACRMP

Flow Physics and Control for Internal and External Aerodynamics

NASA Technical Reports Server (NTRS)

Wygnanski, I.

2010-01-01

Exploiting instabilities rather than forcing the flow is advantageous. Simple 2D concepts may not always work. Nonlinear effects may result in first order effect. Interaction between spanwise and streamwise vortices may have a paramount effect on the mean flow, but this interaction may not always be beneficial.

Metropolitan School Organization: Basic Problems and Patterns. Volume 1.

ERIC Educational Resources Information Center

McKelvey, Troy V., Ed.

This anthology describes and discusses the study and development of metropolitan educational delivery systems--the process of bringing education under the control of one system spanning the city and its suburbs. Substantive works focus on the forces presently surrounding the problem of metropolitan educational reform and the present state of…

Attitude: A Component of Competent Performance.

ERIC Educational Resources Information Center

Meussling, Vonne

The findings of a survey of attitude studies to determine the effect of students' attitudes on communication competence as they enter the work force and develop their careers are reported in this paper. The paper explains how attitude improvement is an effective management tool in controlling costly absenteeism, output, job productivity, work…

Education and Globalization: Redefining the Role of the Educational Professional

ERIC Educational Resources Information Center

Bottery, Mike

2006-01-01

This paper argues that current globalizing forces are profoundly affecting the policies of nation states, and particularly those in education, and producing a situation where educational professional work is both increasingly controlled and increasingly fragmented. This being the case, it is argued that professionals' understanding of the nature…

48 CFR 736.602-3 - Evaluation board functions.

Code of Federal Regulations, 2014 CFR

2014-10-01

... industry with respect to such factors as control of costs, quality of work, and ability to meet schedules, to the extent such information is available; (4) Ability to assign an adequate number of qualified... architect-engineer is able to perform with its own forces when required; (6) Ability of the architect...

48 CFR 736.602-3 - Evaluation board functions.

Code of Federal Regulations, 2013 CFR

2013-10-01

... industry with respect to such factors as control of costs, quality of work, and ability to meet schedules, to the extent such information is available; (4) Ability to assign an adequate number of qualified... architect-engineer is able to perform with its own forces when required; (6) Ability of the architect...

48 CFR 736.602-3 - Evaluation board functions.

Code of Federal Regulations, 2012 CFR

2012-10-01

... industry with respect to such factors as control of costs, quality of work, and ability to meet schedules, to the extent such information is available; (4) Ability to assign an adequate number of qualified... architect-engineer is able to perform with its own forces when required; (6) Ability of the architect...

Shaping the Air Force Operational Environment in Cyberspace

DTIC Science & Technology

2009-02-12

the Internet. The World Wide Web was created in 1989 by English scientist Tim Berners - Lee , working at the European Organization for Nuclear Research...www.af.mil/news/story.asp?id=123013440 Goldsmith, Jack L. and Wu, Tim . Who Controls the Internet?: Illusions of a Borderless World. New York

3 CFR - White House Task Force on Middle-Class Working Families

Code of Federal Regulations, 2010 CFR

2010-01-01

... 3 The President 1 2010-01-01 2010-01-01 false White House Task Force on Middle-Class Working... Task Force on Middle-Class Working Families Memorandum for the Heads of Executive Departments and... times. To these ends, I hereby direct the following: Section 1. White House Task Force on Middle-Class...

Dental work force strategies during a period of change and uncertainty.

PubMed

Brown, L J

2001-12-01

Both supply and demand influence the ability of the dental work force to adequately and efficiently provide dental care to a U.S. population growing in size and diversity. Major changes are occurring on both sides of the dental care market. Among factors shaping the demand for dental care are changing disease patterns, shifting population demographics, the extent and features of third-party payment, and growth of the economy and the population. The capacity of the dental work force to provide care is influenced by enhancements of productivity and numbers of dental health personnel, as well as their demographic and practice characteristics. The full impact of these changes is difficult to predict. The dentist-to-population ratio does not reflect all the factors that must be considered to develop an effective dental work force policy. Nationally, the dental work force is likely to be adequate for the next several years, but regional work force imbalances appear to exist and may get worse. Against this backdrop of change and uncertainty, future dental work force strategies should strive for short-term responsiveness while avoiding long-term inflexibility. Trends in the work force must be continually monitored. Thorough analysis is required, and action should be taken when necessary.

Magnetic Alignment of γ-Fe2O3 Nanoparticles in Polymer Nanocomposites

NASA Astrophysics Data System (ADS)

Jimenez, Andrew; Kumar, Sanat K.; Jestin, Jacques

Recent work in nanocomposites has been heavily focused on controlling the dispersion state of filler particles. The use of internal self-assembly based on matrix properties provides a limited solution to the desire for specified organizations. By introducing a magnetic field during the casting of a polymer solution it has been shown that particles can be oriented to form anisotropic structures - commonly sought after for improved mechanical properties. Here, magnetic nanoparticles were cast in two different polymer matrices to study the effect of various forces that lead to this highly desired alignment. The addition of the magnetic field as an external trigger was shown to not necessarily force the clustering, but rather orient the agglomerates already available in solution. This demonstrates the importance of other dominant forces introduced into the system by characteristics of the polymers themselves. While this magnetic field provides a direction for the sample, the key forces lie in the interactions between the polymers and nanoparticles (as well as their solvent). The study shows a dependence of anisotropy on the particle loading, matrix, and casting time, from which continued work hopes to quantify the clustering necessary to optimize alignment in the composite.

On the use of SPM to probe the interplay between polymer surface chemistry and polymer surface mechanics

NASA Astrophysics Data System (ADS)

Brogly, Maurice; Noel, Olivier; Awada, Houssein; Castelein, Gilles

2007-03-01

Adhesive properties of a polymer surface results from the complex contribution of surface chemistry and activation of sliding and dissipating mechanisms within the polymer surface layer. The purpose of this study is to dissociate the different contributions (chemical and mechanical) included in an AFM force-distance curve in order to establish relationships between the surface viscoelastic properties of the polymer, the surface chemistry of functionalized polymer surfaces and the adhesive forces, as determined by C-AFM experiments. Indeed we are interested in the measurements of local attractive or adhesive forces in AFM contact mode, of controlled chemical and mechanical model substrates. In order to investigate the interplay between mechanical or viscoelastic mechanisms and surface chemistry during the tip - polymer contact, we achieved force measurements on model PDMS polymer networks, whose surfaces are chemically controlled with the same functional groups as before (silicon substrates). On the basis of AFM nano-indentation experiments, surface Young moduli have been determined. The results show that the viscoelastic contribution is dominating in the adhesion force measurement. We propose an original model, which express the local adhesion force to the energy dissipated within the contact and the surface properties of the material (thermodynamic work of adhesion). Moreover we show that the dissipation function is related to Mc, the mass between crosslinks of the network.

Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master

NASA Astrophysics Data System (ADS)

Hwang, Yong-Hoon; Cha, Seung-Woo; Kang, Seok-Rae; Choi, Seung-Bok

2017-04-01

In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled. The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeon with a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, a wire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventional direct-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, for working as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slave robot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in the wire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is able to sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end of slave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who can feel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torque occurred on the end-effector to demonstrate the effectiveness of the proposed system.

A Mechatronic Loading Device to Stimulate Bone Growth via a Human Knee.

PubMed

Prabhala, Sai Krishna; Chien, Stanley; Yokota, Hiroki; Anwar, Sohel

2016-09-29

This paper presents the design of an innovative device that applies dynamic mechanical load to human knee joints. Dynamic loading is employed by applying cyclic and periodic force on a target area. The repeated force loading was considered to be an effective modality for repair and rehabilitation of long bones that are subject to ailments like fractures, osteoporosis, osteoarthritis, etc. The proposed device design builds on the knowledge gained in previous animal and mechanical studies. It employs a modified slider-crank linkage mechanism actuated by a brushless Direct Current (DC) motor and provides uniform and cyclic force. The functionality of the device was simulated in a software environment and the structural integrity was analyzed using a finite element method for the prototype construction. The device is controlled by a microcontroller that is programmed to provide the desired loading force at a predetermined frequency and for a specific duration. The device was successfully tested in various experiments for its usability and full functionality. The results reveal that the device works according to the requirements of force magnitude and operational frequency. This device is considered ready to be used for a clinical study to examine whether controlled knee-loading could be an effective regimen for treating the stated bone-related ailments.

A Mechatronic Loading Device to Stimulate Bone Growth via a Human Knee

PubMed Central

Prabhala, Sai Krishna; Chien, Stanley; Yokota, Hiroki; Anwar, Sohel

2016-01-01

This paper presents the design of an innovative device that applies dynamic mechanical load to human knee joints. Dynamic loading is employed by applying cyclic and periodic force on a target area. The repeated force loading was considered to be an effective modality for repair and rehabilitation of long bones that are subject to ailments like fractures, osteoporosis, osteoarthritis, etc. The proposed device design builds on the knowledge gained in previous animal and mechanical studies. It employs a modified slider-crank linkage mechanism actuated by a brushless Direct Current (DC) motor and provides uniform and cyclic force. The functionality of the device was simulated in a software environment and the structural integrity was analyzed using a finite element method for the prototype construction. The device is controlled by a microcontroller that is programmed to provide the desired loading force at a predetermined frequency and for a specific duration. The device was successfully tested in various experiments for its usability and full functionality. The results reveal that the device works according to the requirements of force magnitude and operational frequency. This device is considered ready to be used for a clinical study to examine whether controlled knee-loading could be an effective regimen for treating the stated bone-related ailments. PMID:27690057

State Workforce Policy Initiative.

ERIC Educational Resources Information Center

Public/Private Ventures, Philadelphia, PA.

Surging demand for workers, growing income inequality, and passage of welfare reforms have made work force development one of the United States' key national concerns. Public/Private Ventures has been working with various states to design work force development strategies that seek to address the concerns of many work force development specialists…

A four-axis hand controller for helicopter flight control

NASA Technical Reports Server (NTRS)

Demaio, Joe

1993-01-01

A proof-of-concept hand controller for controlling lateral and longitudinal cyclic pitch, collective pitch and tail rotor thrust was developed. The purpose of the work was to address problems of operator fatigue, poor proprioceptive feedback and cross-coupling of axes associated with many four-axis controller designs. The present design is an attempt to reduce cross-coupling to a level that can be controlled with breakout force, rather than to eliminate it entirely. The cascaded design placed lateral and longitudinal cyclic in their normal configuration. Tail rotor thrust was placed atop the cyclic controller. A left/right twisting motion with the wrist made the control input. The axis of rotation was canted outboard (clockwise) to minimize cross-coupling with the cyclic pitch axis. The collective control was a twist grip, like a motorcycle throttle. Measurement of the amount of cross-coupling involved in pure, single-axis inputs showed cross coupling under 10 percent of full deflection for all axes. This small amount of cross-coupling could be further reduced with better damping and force gradient control. Fatigue was not found to be a problem, and proprioceptive feedback was adequate for all flight tasks executed.

Force control compensation method with variable load stiffness and damping of the hydraulic drive unit force control system

NASA Astrophysics Data System (ADS)

Kong, Xiangdong; Ba, Kaixian; Yu, Bin; Cao, Yuan; Zhu, Qixin; Zhao, Hualong

2016-05-01

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit (HDU), and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

Cyber-physical experiments on the efficiency of swimming protocols

NASA Astrophysics Data System (ADS)

Wei, Nathaniel; Floryan, Daniel; van Buren, Tyler; Smits, Alexander

2016-11-01

We present results from experiments on a biologically inspired cyber-physical system, composed of a two-dimensional heaving and pitching rigid airfoil attached to a six component load cell, mounted to a traverse that can move along a water channel. A feedback controller, influenced by the apparatus of Mackowski and Williamson, introduces the effects of a fictional drag force specified by a virtual body profile and drives the traverse accordingly. Free-swimming protocols using the force-feedback system are compared with similar motions on a motionless traverse. The propulsive efficiency of burst-and-coast kinematics is also considered. Of particular interest are (1) the implementation of the cyber-physical control system with respect to the accessible experimental parameter space, (2) the impact of force-based streamwise actuation on experimental data, and (3) the effects of burst-and-coast motions on propulsive efficiency. The work was supported by the Office of Naval Research (ONR) under MURI Grant N00014-14-1-0533.

Design and testing of an innovative measurement device for tyre-road contact forces

NASA Astrophysics Data System (ADS)

Cheli, F.; Braghin, F.; Brusarosco, M.; Mancosu, F.; Sabbioni, E.

2011-08-01

The measurement of tyre-road contact forces is the first step towards the development of new control systems for improving vehicle safety and performances. Tyre-road contact forces measurement systems are very expensive and significantly modify the unsprung masses of the vehicle as well as the rotational inertia of the tyres. Thus, vehicle dynamics results are significantly affected. As a consequence, the measured contact forces do not correspond to the contact forces under real working conditions. A new low-cost tyre-road contact forces measurement system is proposed in this paper that can be applied to passenger cars. Its working principle is based on the measurement of three deformations of the wheel rim through strain gauges. The tyre-rim assembly is thus turned into a sensor for tyre-road contact forces. The influence of the strain gauges position onto the measurement results has been assessed through finite element simulations and experimental tests. It has been proven that, for a large variety of rims, the strain gauge position that leads to high signal-to-noise ratios is almost the same. A dynamic calibration procedure has been developed in order to allow the reconstruction of contact force and torque components once per wheel turn. The capability of the developed device to correctly estimate tyre-road contact forces has been assessed, in a first stage, through indoor laboratory experimental test on an MTS Flat-Trac ® testing machine. Results show that the implemented measuring system allows to reconstruct contact forces once per wheel turn with a precision that is comparable to that of existing high-cost measurement systems. Subsequently, outdoor tests with a vehicle having all four wheels equipped with the developed measuring device have also been performed. Reliability of the measurements provided by the developed sensor has been assessed by comparing the global measured longitudinal/lateral forces and the product of the measured longitudinal/lateral accelerations times the vehicle mass. A good agreement has been found during all the performed manoeuvres.

Force reflection with compliance control

NASA Technical Reports Server (NTRS)

Kim, Won S. (Inventor)

1993-01-01

Two types of systems for force-reflecting control, which enables high force-reflection gain, are presented: position-error-based force reflection and low-pass-filtered force reflection. Both of the systems are combined with shared compliance control. In the position-error-based class, the position error between the commanded and the actual position of a compliantly controlled robot is used to provide force reflection. In the low-pass-filtered force reflection class, the low-pass-filtered output of the compliance control is used to provide force reflection. The increase in force reflection gain can be more than 10-fold as compared to a conventional high-bandwidth pure force reflection system, when high compliance values are used for the compliance control.

Novel Applications of Magnetic Fields for Fluid Flow Control and for Simulating Variable Gravity Conditions

NASA Technical Reports Server (NTRS)

Ramachandran, N.

2005-01-01

Static and dynamic magnetic fields have been used to control convection in many materials processing applications. In most of the applications, convection control (damping or enhancement) is achieved through the Lorentz force that can be tailored to counteract/assist dominant system flows. This technique has been successfully applied to liquids that are electrically conducting, such as high temperature melts of semiconductors, metals and alloys, etc. In liquids with low electrical conductivity such as ionic solutions of salts in water, the Lorentz force is weak and hence not very effective and alternate ways of flow control are necessary. If the salt in solution is paramagnetic then the variation of magnetic susceptibility with temperature and/or concentration can be used for flow control. For thermal buoyancy driven flows this can be accomplished in a temperature range below the Curie point of the salt. The magnetic force is proportional to the magnetic susceptibility and the product of the magnetic field and its gradient. By suitably positioning the experiment cell in the magnet, system flows can be assisted or countered, as desired. A similar approach can be extended to diamagnetic substances and fluids but the required magnetic force is considerably larger than that required for paramagnetic substances. The presentation will provide an overview of work to date on a NASA fluid physics sponsored project that aims to test the hypothesis of convective flow control using strong magnetic fields in protein crystal growth. The objective is to understand the nature of the various forces that come into play, delineate causative factors for fluid flow and to quantify them through experiments, analysis, and numerical modeling. The seminar will report specifically on the experimental results using paramagnetic salts and solutions in magnetic fields and compare them to analytical predictions. Applications of the concept to protein crystallization studies will be discussed. The use of strong magnetic fields for terrestrially simulating variable gravity environments and applications supporting the NASA Exploration Initiative will also be briefly discussed.

Pitch, roll, and yaw moment generator for insect-like tailless flapping-wing MAV

NASA Astrophysics Data System (ADS)

Phan, Hoang Vu; Park, Hoon Cheol

2016-04-01

In this work, we proposed a control moment generator, which is called Trailing Edge Change (TEC) mechanism, for attitudes change in hovering insect-like tailless flapping-wing MAV. The control moment generator was installed to the flapping-wing mechanism to manipulate the wing kinematics by adjusting the wing roots location symmetrically or asymmetrically. As a result, the mean aerodynamic force center of each wing is relocated and control moments are generated. The three-dimensional wing kinematics captured by three synchronized high-speed cameras showed that the flapping-wing MAV can properly modify the wing kinematics. In addition, a series of experiments were performed using a multi-axis load cell to evaluate the forces and moments generation. The measurement demonstrated that the TEC mechanism produced reasonable amounts of pitch, roll and yaw moments by shifting position of the trailing edges at the wing roots of the flapping-wing MAV.

A piezoelectric transformer

NASA Technical Reports Server (NTRS)

Won, C. C.

1993-01-01

This work describes a modeling and design method whereby a piezoelectric system is formulated by two sets of second-order equations, one for the mechanical system, and the other for the electrical system, coupled through the piezoelectric effect. The solution to this electromechanical coupled system gives a physical interpretation of the piezoelectric effect as a piezoelectric transformer that is a part of the piezoelectric system, which transfers the applied mechanical force into a force-controlled current source, and short circuit mechanical compliance into capacitance. It also transfers the voltage source into a voltage-controlled relative velocity input, and free motional capacitance into mechanical compliance. The formulation and interpretation simplify the modeling of smart structures and lead to physical insight that aids the designer. Due to its physical realization, the smart structural system can be unconditional stable and effectively control responses. This new concept has been demonstrated in three numerical examples for a simple piezoelectric system.

Practical Issues in Having a Usable Library of Software Specifications.

DTIC Science & Technology

1981-03-01

Specifications* DEC 1 5 1981 Ralph M. Weischedel H Department of Computer & Information Sciences University of Delaware Newark, DE 19711 *Research sponsored by...AREA 6 WORK UNIT NUMBERS University of Delaware I Newark, DE 19711 61102F 2304/A2 11. CONTROLLING OFFICE NAME AND ADDRESS 12. REPORT DATE Air Force...Irom Controlling Office) 15. SECURITY CLASS. (of this report) UNCLASSIFIED ISa. DECLASSIFICATION/DOWNGRADING SCHEDu LE 16. DISTRIBUTION STATEMENT (of

Agricultural Work Force Households: How Much Do They Depend on Farming? Background for Agricultural Policy. Agriculture Information Bulletin Number 547.

ERIC Educational Resources Information Center

Cox, E. Jane; Oliveira, Victor J.

According to data from the 1985 Agricultural Work Force Survey, over 13.5 million of the 17.6 million agricultural work force household members (77 percent) lived in households headed by a farm worker. Some farm workers worked on the farm as their primary job, whereas others primarily worked off the farm. Farm work was an occasional form of…

Work ability of Dutch employees with rheumatoid arthritis.

PubMed

de Croon, E M; Sluiter, J K; Nijssen, T F; Kammeijer, M; Dijkmans, B A C; Lankhorst, G J; Frings-Dresen, M H W

2005-01-01

To (i) examine the association between fatigue, psychosocial work characteristics (job control, support, participation in decision making, psychological job demands), and physical work requirements on the one hand and work ability of employees with rheumatoid arthritis (RA) on the other, and (ii) determine the advice that health care professionals give to employees with RA on how to maintain their work ability. Data were gathered from 78 employees with early RA (response = 99%) by telephone interviews and self-report questionnaires. Fatigue, lack of autonomy, low coworker/supervisor support, low participation in decision making, and high physical work requirements (i.e. using manual force) predicted low work ability. High psychological job demands, however, did not predict low work ability. The rheumatologist, occupational physician, occupational therapist, physiotherapist, and psychologist gave advice on how to cope with RA at work to 36, 30, 27, 26, and 17% of the employees, respectively. Advice was directed mainly at factors intrinsic to the employee. Employees expressed a positive attitude towards this advice. Fatigue, lack of support, lack of autonomy, lack of participation in decision making, and using manual force at work (e.g. pushing and pulling) threaten the work ability of employees with RA. According to the employees with RA, involvement of health care professionals from different disciplines and the implementation of organizational and technical interventions would help them to tackle these threats.

Power hand tool kinetics associated with upper limb injuries in an automobile assembly plant.

PubMed

Ku, Chia-Hua; Radwin, Robert G; Karsh, Ben-Tzion

2007-06-01

This study investigated the relationship between pneumatic nutrunner handle reactions, workstation characteristics, and prevalence of upper limb injuries in an automobile assembly plant. Tool properties (geometry, inertial properties, and motor characteristics), fastener properties, orientation relative to the fastener, and the position of the tool operator (horizontal and vertical distances) were measured for 69 workstations using 15 different pneumatic nutrunners. Handle reaction response was predicted using a deterministic mechanical model of the human operator and tool that was previously developed in our laboratory, specific to the measured tool, workstation, and job factors. Handle force was a function of target torque, tool geometry and inertial properties, motor speed, work orientation, and joint hardness. The study found that tool target torque was not well correlated with predicted handle reaction force (r=0.495) or displacement (r=0.285). The individual tool, tool shape, and threaded fastener joint hardness all affected predicted forces and displacements (p<0.05). The average peak handle force and displacement for right-angle tools were twice as great as pistol grip tools. Soft-threaded fastener joints had the greatest average handle forces and displacements. Upper limb injury cases were identified using plant OSHA 200 log and personnel records. Predicted handle forces for jobs where injuries were reported were significantly greater than those jobs free of injuries (p<0.05), whereas target torque and predicted handle displacement did not show statistically significant differences. The study concluded that quantification of handle reaction force, rather than target torque alone, is necessary for identifying stressful power hand tool operations and for controlling exposure to forces in manufacturing jobs involving power nutrunners. Therefore, a combination of tool, work station, and task requirements should be considered.

Electromyography data for non-invasive naturally-controlled robotic hand prostheses

PubMed Central

Atzori, Manfredo; Gijsberts, Arjan; Castellini, Claudio; Caputo, Barbara; Hager, Anne-Gabrielle Mittaz; Elsig, Simone; Giatsidis, Giorgio; Bassetto, Franco; Müller, Henning

2014-01-01

Recent advances in rehabilitation robotics suggest that it may be possible for hand-amputated subjects to recover at least a significant part of the lost hand functionality. The control of robotic prosthetic hands using non-invasive techniques is still a challenge in real life: myoelectric prostheses give limited control capabilities, the control is often unnatural and must be learned through long training times. Meanwhile, scientific literature results are promising but they are still far from fulfilling real-life needs. This work aims to close this gap by allowing worldwide research groups to develop and test movement recognition and force control algorithms on a benchmark scientific database. The database is targeted at studying the relationship between surface electromyography, hand kinematics and hand forces, with the final goal of developing non-invasive, naturally controlled, robotic hand prostheses. The validation section verifies that the data are similar to data acquired in real-life conditions, and that recognition of different hand tasks by applying state-of-the-art signal features and machine-learning algorithms is possible. PMID:25977804

40 CFR 35.936-14 - Force account work.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 40 Protection of Environment 1 2011-07-01 2011-07-01 false Force account work. 35.936-14 Section... ASSISTANCE STATE AND LOCAL ASSISTANCE Grants for Construction of Treatment Works-Clean Water Act § 35.936-14 Force account work. (a) A grantee must secure the project officer's prior written approval for use of...

Diversity in the Work Force. The Highlight Zone: Research @ Work No. 4.

ERIC Educational Resources Information Center

Wentling, Rose Mary

A literature review was conducted to identify critical work force diversity issues in today's changing workplace and identify ways organizations and career and technical education (CTE) practitioners can increase work force diversity. A broad, all-inclusive definition of diversity was developed that focuses on how diversity affects individuals and…

Investigations of Desert Dust and Smoke in the North Atlantic in Support of the TOMS Instrument

NASA Technical Reports Server (NTRS)

Toon, Owen B.

2005-01-01

During the initial period of the work we concentrated on Saharan dust storms and published a sequence of papers (Colarco et a1 2002,2003a,b, Toon, 2004). The U.S. Air Force liked the dust model so well that they appropriated it for operational dust storm forecasting (Barnum et al., 2004). The Air Force has used it for about 5 yrs in the Middle East where dust storms cause significant operational problems. The student working on this project, Peter Colarco, has graduated and is now a civil servant at Goddard where he continues to interact with the TOMS team. This work helped constrain the optical properties of dust at TOMS wavelengths, which is useful for climate simulations and for TOMS retrievals of dust properties such as optical depth. We also used TOMS data to constrain the sources of dust in Africa and the Middle East, to determine the actual paths taken by Saharan dust storms, to learn more about the mechanics of variations in the optical depths, and to learn more about the mechanisms controlling the altitudes of the dust. During the last two years we have been working on smoke from fires. Black carbon aerosols are one of the leading factors in radiative forcing. The US Climate Change Science Program calls this area out for specific study. It has been suggested by Jim Hansen, and Mark Jacobsen among others, that by controlling emissions of black carbon we might reduce greenhouse radiative forcing in a relatively painless manner. However, we need a greatly improved understanding of the amount of black carbon in the atmosphere, where it is located, where it comes from, how it is mixed with other particles, what its actual optical properties are, and how it evolves. In order to learn about these issues we are using a numerical model of smoke. We have applied this model to the SAFARI field program data, and used the TOMS satellite observations in that period (Sept. 2000). Our goal is to constrain source function estimates for black carbon, and smoke optical properties.

Birds achieve high robustness in uneven terrain through active control of landing conditions.

PubMed

Birn-Jeffery, Aleksandra V; Daley, Monica A

2012-06-15

We understand little about how animals adjust locomotor behaviour to negotiate uneven terrain. The mechanical demands and constraints of such behaviours likely differ from uniform terrain locomotion. Here we investigated how common pheasants negotiate visible obstacles with heights from 10 to 50% of leg length. Our goal was to determine the neuro-mechanical strategies used to achieve robust stability, and address whether strategies vary with obstacle height. We found that control of landing conditions was crucial for minimising fluctuations in stance leg loading and work in uneven terrain. Variation in touchdown leg angle (θ(TD)) was correlated with the orientation of ground force during stance, and the angle between the leg and body velocity vector at touchdown (β(TD)) was correlated with net limb work. Pheasants actively targeted obstacles to control body velocity and leg posture at touchdown to achieve nearly steady dynamics on the obstacle step. In the approach step to an obstacle, the birds produced net positive limb work to launch themselves upward. On the obstacle, body dynamics were similar to uniform terrain. Pheasants also increased swing leg retraction velocity during obstacle negotiation, which we suggest is an active strategy to minimise fluctuations in peak force and leg posture in uneven terrain. Thus, pheasants appear to achieve robustly stable locomotion through a combination of path planning using visual feedback and active adjustment of leg swing dynamics to control landing conditions. We suggest that strategies for robust stability are context specific, depending on the quality of sensory feedback available, especially visual input.

Viking 1975 Orbiter Development Test Model/Lander Dynamic Test Model dynamic environmental testing - An overview

NASA Technical Reports Server (NTRS)

Milder, G.

1975-01-01

The current work presents an overview of the Viking 1975 environmental testing from an engineering standpoint. An extremely large vibration test fixture had to be designed, analyzed, and integrated into a test setup that employed hydrostatic bearings in a new fashion. A vibration control system was also required that would allow for thirty-six channels of sine-wave peak select control from acceleration, force-of-strain transducers. In addition, some 68 channels of peak limiting shutdown capability were needed for backup and monitoring of other data during the forced vibration test. Pretesting included analyses of the fixture design, overturning moment, control system capabilities, and response of the entire spacecraft/fixture/exciter system to the test environment. Closed-loop control for acoustic testing was a necessity due to the fact that the Viking spacecraft took up a major portion of the volume of the 10,000 cu ft chamber. The spacecraft emerged from testing undamaged.

Dynamics of the process boom machine working equipment under the real law of the hydraulic distributor electric spool control

NASA Astrophysics Data System (ADS)

Tarasov, V. N.; Boyarkina, I. V.

2017-06-01

Analytical calculation methods of dynamic processes of the self-propelled boom hydraulic machines working equipment are more preferable in comparison with numerical methods. The analytical research method of dynamic processes of the boom hydraulic machines working equipment by means of differential equations of acceleration and braking of the working equipment is proposed. The real control law of a hydraulic distributor electric spool is considered containing the linear law of the electric spool activation and stepped law of the electric spool deactivation. Dependences of dynamic processes of the working equipment on reduced mass, stiffness of hydraulic power cylinder, viscous drag coefficient, piston acceleration, pressure in hydraulic cylinders, inertia force are obtained. Definite recommendations relative to the reduction of dynamic loads, appearing during the working equipment control are considered as the research result. The nature and rate of parameter variations of the speed and piston acceleration dynamic process depend on the law of the ports opening and closure of the hydraulic distributor electric spool. Dynamic loads in the working equipment are decreased during a smooth linear activation of the hydraulic distributor electric spool.

The underdevelopment of health of working America: causes, consequences and possible solutions.

PubMed Central

Navarro, V

1976-01-01

This article presents the health conditions of working America, and provides an analysis of the causes of that situation. It is postulated that the main health problems in the U.S. are due not to prevalent life styles-as the behavioralists indicate-but to the dramatic maldistribution of economic and political power in our society, with the absence of control by the majority of the U.S. population-the working and lower-middle classes-over the work process with which they are involved, the economic wealth that they produce, and the political institutions that they pay for. The production of goods and wealth as well as the political institutions of the United States are dominated and controlled by a minority of our population-the corporate and upper-middle classes. Empirical information is presented to support this postulate. In light of this explanation, it is asserted that a major public health task is to deliberately and actively contribute to the political mobilization of forces aimed at bringing about profound changes in the pattern of control of our working insitutions and of the distribution of wealth and political power, changes which seek to shift that control from the few to the many. PMID:937599

Evaluation of knee joint forces during kneeling work with different kneepads.

PubMed

Xu, Hang; Jampala, Sree; Bloswick, Donald; Zhao, Jie; Merryweather, Andrew

2017-01-01

The main purpose of this study is to determine knee joint forces resulting from kneeling work with and without kneepads to quantify how different kneepads redistribute force. Eleven healthy males simulated a tile setting task to different locations during six kneepad states (five different kneepad types and without kneepad). Peak and average forces on the anatomical landmarks of both knees were obtained by custom force sensors. The results revealed that kneepad design can significantly modify the forces on the knee joint through redistribution. The Professional Gel design was preferred among the five tested kneepads which was confirmed with both force measurements and participants' responses. The extreme reaching locations induced significantly higher joint forces on left knee or right knee depending on task. The conclusion of this study is that a properly selected kneepad for specific tasks and a more neutral working posture can modify the force distribution on the knees and likely decrease the risk of knee disorders from kneeling work. Copyright © 2016 Elsevier Ltd. All rights reserved.

Modulation of post‐movement beta rebound by contraction force and rate of force development

PubMed Central

Fry, Adam; Mullinger, Karen J.; O'Neill, George C.; Barratt, Eleanor L.; Morris, Peter G.; Bauer, Markus; Folland, Jonathan P.

2016-01-01

Abstract Movement induced modulation of the beta rhythm is one of the most robust neural oscillatory phenomena in the brain. In the preparation and execution phases of movement, a loss in beta amplitude is observed [movement related beta decrease (MRBD)]. This is followed by a rebound above baseline on movement cessation [post movement beta rebound (PMBR)]. These effects have been measured widely, and recent work suggests that they may have significant importance. Specifically, they have potential to form the basis of biomarkers for disease, and have been used in neuroscience applications ranging from brain computer interfaces to markers of neural plasticity. However, despite the robust nature of both MRBD and PMBR, the phenomena themselves are poorly understood. In this study, we characterise MRBD and PMBR during a carefully controlled isometric wrist flexion paradigm, isolating two fundamental movement parameters; force output, and the rate of force development (RFD). Our results show that neither altered force output nor RFD has a significant effect on MRBD. In contrast, PMBR was altered by both parameters. Higher force output results in greater PMBR amplitude, and greater RFD results in a PMBR which is higher in amplitude and shorter in duration. These findings demonstrate that careful control of movement parameters can systematically change PMBR. Further, for temporally protracted movements, the PMBR can be over 7 s in duration. This means accurate control of movement and judicious selection of paradigm parameters are critical in future clinical and basic neuroscientific studies of sensorimotor beta oscillations. Hum Brain Mapp 37:2493–2511, 2016. © 2016 The Authors Human Brain Mapping Published by Wiley Periodicals, Inc PMID:27061243

Force modeling for incisions into various tissues with MRF haptic master

NASA Astrophysics Data System (ADS)

Kim, Pyunghwa; Kim, Soomin; Park, Young-Dai; Choi, Seung-Bok

2016-03-01

This study proposes a new model to predict the reaction force that occurs in incisions during robot-assisted minimally invasive surgery. The reaction force is fed back to the manipulator by a magneto-rheological fluid (MRF) haptic master, which is featured by a bi-directional clutch actuator. The reaction force feedback provides similar sensations to laparotomy that cannot be provided by a conventional master for surgery. This advantage shortens the training period for robot-assisted minimally invasive surgery and can improve the accuracy of operations. The reaction force modeling of incisions can be utilized in a surgical simulator that provides a virtual reaction force. In this work, in order to model the reaction force during incisions, the energy aspect of the incision process is adopted and analyzed. Each mode of the incision process is classified by the tendency of the energy change, and modeled for realistic real-time application. The reaction force model uses actual reaction force information with three types of actual tissues: hard tissue, medium tissue, and soft tissue. This modeled force is realized by the MRF haptic master through an algorithm based on the position and velocity of a scalpel using two different control methods: an open-loop algorithm and a closed-loop algorithm. The reaction forces obtained from the proposed model are compared with a desired force in time domain.

African Easterly Jet: Structure and Maintenance

NASA Technical Reports Server (NTRS)

Wu, Man-Li C.; Reale, Oreste; Schubert, Siegfried D.; Suarez, Max J.; Koster, Randy D.; Pegion, Philip J.

2009-01-01

This article investigates the African Easterly Jet (AEJ), its structure and the forcings contributing to its maintenance, critically revisiting previous work which attributed the maintenance of the jet to soil moisture gradients over tropical Africa. A state-of-the-art global model in a high-end computer framework is used to produce a 3-member 73-year ensemble run forced by observed SST to represent the Control run. The AEJ as produced by the Control is compared with the representation of the AEJ in the European Center for Medium Range Forecast Reanalyses (ERA-40) and other observational data sets and found very realistic. Five Experiments are then performed, each represented by sets of 3-member 22 year long (1980-2001) ensemble runs. The goal of the Experiments is to investigate the role of meridional soil moisture gradients, different land surface properties and orography. Unlike previous studies, which have suppressed soil moisture gradients within a highly idealized framework (i.e., the so-called bucket model), terrestrial evaporation control is here achieved with a highly sophisticated landsurface treatment and with an extensively tested and complex methodology. The results show that the AEJ is suppressed by a combination of absence of meridional evaporation gradients over Africa and constant vegetation, even if the individual forcings taken separately do not lead to the AEJ disappearance, but only its modification. Moreover, the suppression of orography also leads to a different circulation in which there is no AEJ. This work suggests that it is not just soil moisture gradients, but a unique combination of geographical features present only in northern tropical Africa, which causes and maintains the jet.

Magnetic tweezers with high permeability electromagnets for fast actuation of magnetic beads

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

Chen, La; Offenhäusser, Andreas; Krause, Hans-Joachim

2015-04-15

As a powerful and versatile scientific instrument, magnetic tweezers have been widely used in biophysical research areas, such as mechanical cell properties and single molecule manipulation. If one wants to steer bead position, the nonlinearity of magnetic properties and the strong position dependence of the magnetic field in most magnetic tweezers lead to quite a challenge in their control. In this article, we report multi-pole electromagnetic tweezers with high permeability cores yielding high force output, good maneuverability, and flexible design. For modeling, we adopted a piece-wise linear dependence of magnetization on field to characterize the magnetic beads. We implemented amore » bi-linear interpolation of magnetic field in the work space, based on a lookup table obtained from finite element simulation. The electronics and software were custom-made to achieve high performance. In addition, the effects of dimension and defect on structure of magnetic tips also were inspected. In a workspace with size of 0.1 × 0.1 mm{sup 2}, a force of up to 400 pN can be applied on a 2.8 μm superparamagnetic bead in any direction within the plane. Because the magnetic particle is always pulled towards a tip, the pulling forces from the pole tips have to be well balanced in order to achieve control of the particle’s position. Active video tracking based feedback control is implemented, which is able to work at a speed of up to 1 kHz, yielding good maneuverability of the magnetic beads.« less

On the design of a miniature haptic ring for cutaneous force feedback using shape memory alloy actuators

NASA Astrophysics Data System (ADS)

Hwang, Donghyun; Lee, Jaemin; Kim, Keehoon

2017-10-01

This paper proposes a miniature haptic ring that can display touch/pressure and shearing force to the user’s fingerpad. For practical use and wider application of the device, it is developed with the aim of achieving high wearability and mobility/portability as well as cutaneous force feedback functionality. A main body of the device is designed as a ring-shaped lightweight structure with a simple driving mechanism, and thin shape memory alloy (SMA) wires having high energy density are applied as actuating elements. Also, based on a band-type wireless control unit including a wireless data communication module, the whole device could be realized as a wearable mobile haptic device system. These features enable the device to take diverse advantages on functional performances and to provide users with significant usability. In this work, the proposed miniature haptic ring is systematically designed, and its working performances are experimentally evaluated with a fabricated functional prototype. The experimental results obviously demonstrate that the proposed device exhibits higher force-to-weight ratio than conventional finger-wearable haptic devices for cutaneous force feedback. Also, it is investigated that operational performances of the device are strongly influenced by electro-thermomechanical behaviors of the SMA actuator. In addition to the experiments for performance evaluation, we conduct a preliminary user test to assess practical feasibility and usability based on user’s qualitative feedback.

Emergency Medical Operations at Kennedy Space Center in Support of Space Shuttle

NASA Technical Reports Server (NTRS)

Myers, K. Jeffrey; Tipton, David A.; Woodard, Daniel; Long, Irene D.

1992-01-01

The unique environment of the Kennedy Space Center includes a wide variety of industrial processes culminating in launch and spaceflight. Many are potentially hazardous to the work force and the astronauts. Technology, planning, training, and quality control are utilized to prevent contingencies and expedite response should a contingency occur.

Implementing Reform amidst Resistance: The Regulation of Teacher Education and Work in Mexico

ERIC Educational Resources Information Center

Tatto, Maria Teresa; Schmelkes, Sylvia; Guevara, Maria Del Refugio; Tapia, Medardo

2006-01-01

Influenced by worldwide globalization forces new structures of control have emerged in Mexico at the school level, and career ladders reward teachers' compliance with testing and training schemes; nevertheless the long-standing institutions of initial teacher education continue to show a strong resistance to change. Increased accountability is…

Emergency medical operations at Kennedy Space Center in support of space shuttle

NASA Technical Reports Server (NTRS)

Myers, K. J.; Tipton, D. A.; Woodard, D.; Long, I. D.

1992-01-01

The unique environment of the Kennedy Space Center includes a wide variety of industrial processes culminating in launch and spaceflight. Many are potentially hazardous to the work force and the astronauts. Technology, planning, training, and quality control are utilized to prevent contingencies and expedite response should a contingency occur.

Physics Demonstrations

Science.gov Websites

scientists know how magnets big and small work and how they apply to our world. Students explore the and Motion Grades 2-8 Speed, motion, momentum, gravity, forces. These realities control our world, but Grades 2-8 Light helps us learn and explore our world! Students explore the phenomenon of light and how

Organizing the Postindustrial Work Force: Lessons from the History of Waitress Unionism.

ERIC Educational Resources Information Center

Cobble, Dorothy Sue

1991-01-01

Occupational unionism as practiced by waitresses in the Hotel and Restaurant Employees International Union was characterized by emphasis on occupational identity, control over labor supply, portable rights and benefits, and peer determination of standards and discipline. Aspects of this form of unionism may hold promise for revitalizing the labor…

Prediction of forces and moments for hypersonic flight vehicle control effectors

NASA Technical Reports Server (NTRS)

Maughmer, Mark D.; Long, Lyle N.; Guilmette, Neal; Pagano, Peter

1993-01-01

This research project includes three distinct phases. For completeness, all three phases of the work are briefly described in this report. The goal was to develop methods of predicting flight control forces and moments for hypersonic vehicles which could be used in a preliminary design environment. The first phase included a preliminary assessment of subsonic/supersonic panel methods and hypersonic local flow inclination methods for such predictions. While these findings clearly indicated the usefulness of such methods for conceptual design activities, deficiencies exist in some areas. Thus, a second phase of research was conducted in which a better understanding was sought for the reasons behind the successes and failures of the methods considered, particularly for the cases at hypersonic Mach numbers. This second phase involved using computational fluid dynamics methods to examine the flow fields in detail. Through these detailed predictions, the deficiencies in the simple surface inclination methods were determined. In the third phase of this work, an improvement to the surface inclination methods was developed. This used a novel method for including viscous effects by modifying the geometry to include the viscous/shock layer.

Design-based modeling of magnetically actuated soft diaphragm materials

NASA Astrophysics Data System (ADS)

Jayaneththi, V. R.; Aw, K. C.; McDaid, A. J.

2018-04-01

Magnetic polymer composites (MPC) have shown promise for emerging biomedical applications such as lab-on-a-chip and implantable drug delivery. These soft material actuators are capable of fast response, large deformation and wireless actuation. Existing MPC modeling approaches are computationally expensive and unsuitable for rapid design prototyping and real-time control applications. This paper proposes a macro-scale 1-DOF model capable of predicting force and displacement of an MPC diaphragm actuator. Model validation confirmed both blocked force and displacement can be accurately predicted in a variety of working conditions i.e. different magnetic field strengths, static/dynamic fields, and gap distances. The contribution of this work includes a comprehensive experimental investigation of a macro-scale diaphragm actuator; the derivation and validation of a new phenomenological model to describe MPC actuation; and insights into the proposed model’s design-based functionality i.e. scalability and generalizability in terms of magnetic filler concentration and diaphragm diameter. Due to the lumped element modeling approach, the proposed model can also be adapted to alternative actuator configurations, and thus presents a useful tool for design, control and simulation of novel MPC applications.

A magnetorheological fluid locking device

NASA Astrophysics Data System (ADS)

Kavlicoglu, Barkan; Liu, Yanming

2011-04-01

A magnetorheological fluid (MRF) device is designed to provide a static locking force caused by the operation of a controllable MRF valve. The intent is to introduce an MRF device which provides the locking force of a fifth wheel coupler while maintaining the "powerless" locking capability when required. A passive magnetic field supplied by a permanent magnet provides a powerless locking resistance force. The passively closed MRF valve provides sufficient reaction force to eliminate axial displacement to a pre-defined force value. Unlocking of the device is provided by means of an electromagnet which re-routes the magnetic field distribution along the MR valve, and minimizes the resistance. Three dimensional electromagnetic finite element analyses are performed to optimize the MRF lock valve performance. The MRF locking valve is fabricated and tested for installation on a truck fifth wheel application. An experimental setup, resembling actual working conditions, is designed and tests are conducted on vehicle interface schemes. The powerless-locking capacity and the unlocking process with minimal resistance are experimentally demonstrated.

Sensitivity of forces to wall transpiration in flow past an aerofoil

PubMed Central

Mao, X.

2015-01-01

The adjoint-based sensitivity analyses well explored in hydrodynamic stability studies are extended to calculate the sensitivity of forces acting on an aerofoil with respect to wall transpiration. The magnitude of the sensitivity quantifies the controllability of the force, and the distribution of the sensitivity represents a most effective control when the control magnitude is small enough. Since the sensitivity to streamwise control is one order smaller than that to the surface-normal one, the work is concentrated on the normal control. In direct numerical simulations of flow around a NACA0024 aerofoil, the unsteady controls are far less effective than the steady control owing to the lock-in effect. At a momentum coefficient of 0.0008 and a maximum control velocity of 3.6% of the free-stream velocity, the steady surface-normal control reduces drag by 20% or enhances lift by up to 140% at Re=1000. A suction around the low-pressure region on the upper surface upstream of the separation point is found to reduce drag and enhance lift. At higher Reynolds numbers, the uncontrolled flow becomes three dimensional and the sensitivity diverges owing to the chaotic dynamics of the flow. Then the mechanism identified at lower Reynolds numbers is exploited to obtain the control, which is localized and can be generated by a limited number of actuators. The control to reduce drag or enhance lift is found to suppress unsteadiness, e.g. vortex shedding and three-dimensional developments. For example, at Re=2000 and α=10°, the control with a momentum coefficient of 0.0001 reduces drag by 20%, enhances lift by up to 200% and leads to a steady controlled flow. PMID:26807041

Control of paraplegic ankle joint stiffness using FES while standing.

PubMed

Hunt, K J; Gollee, H; Jaime, R P

2001-10-01

The goal of this work was to investigate the feasibility of ankle stiffness control using functional electrical stimulation (FES) while standing, as relevant to the development of feedback systems for balance control in paraplegia. The work was carried out using apparatus in which the subject stands with all joints above the ankles braced, and where ankle moment is provided via FES of the ankle flexor and extensor muscles. A feedback control strategy for ankle stiffness control is proposed in which the ankle moment is controlled to a reference value equal to the product of the desired stiffness and the measured ankle angle. Two subjects participated in the study: one neurologically-intact person, and one paraplegic person with a complete thoracic spinal cord lesion. The results show that during forward-leaning postures, when the plantarflexor muscles are stimulated, relatively high ankle moments of up to 60 Nm can be generated and accurate moment tracking is achieved. As a consequence, ankle stiffness is close to the desired value. During backward lean, on the other hand, the dorsiflexor muscles are stimulated. These muscles are relatively weak and only modest ankle moments of up to around 15 Nm can be produced. As a result, dorsiflexor stimulation readily saturates giving poor stiffness control. It was further observed that when the desired stiffness is higher more external force has to be applied to perturb the body away from the neutral (upright) position. We conclude that: (i) accurate ankle stiffness control, up to the fundamental strength limits of the muscles, can be achieved with controlled FES; (ii) ankle stiffness control using FES in paraplegia has the potential to ease the task of stabilising upright posture by application of additional upper-body forces.

Pulse width modulated push-pull driven parallel resonant converter with active free-wheel

DOEpatents

Reass, William A.; Schrank, Louis

2004-06-22

An apparatus and method for high frequency alternating power generation to control kilowatts of supplied power in microseconds. The present invention includes a means for energy storage, push-pull switching means, control electronics, transformer means, resonant circuitry and means for excess energy recovery, all in electrical communication. A push-pull circuit works synchronously with a force commutated free-wheel transistor to provide current pulses to a transformer. A change in the conduction angle of the push-pull circuit changes the amount of energy coupled into the transformer's secondary oscillating circuit, thereby altering the induced secondary resonating voltage. At the end of each pulse, the force commutated free-wheel transistor causes residual excess energy in the primary circuit to be transmitted back to the storage capacitor for later use.

Acoustically mediated long-range interaction among multiple spherical particles exposed to a plane standing wave

NASA Astrophysics Data System (ADS)

Zhang, Shenwei; Qiu, Chunyin; Wang, Mudi; Ke, Manzhu; Liu, Zhengyou

2016-11-01

In this work, we study the acoustically mediated interaction forces among multiple well-separated spherical particles trapped in the same node or antinode plane of a standing wave. An analytical expression of the acoustic interaction force is derived, which is accurate even for the particles beyond the Rayleigh limit. Interestingly, the multi-particle system can be decomposed into a series of independent two-particle systems described by pairwise interactions. Each pairwise interaction is a long-range interaction, as characterized by a soft oscillatory attenuation (at the power exponent of n = -1 or -2). The vector additivity of the acoustic interaction force, which is not well expected considering the nonlinear nature of the acoustic radiation force, is greatly useful for exploring a system consisting of a large number of particles. The capability of self-organizing a big particle cluster can be anticipated through such acoustically controllable long-range interaction.

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

Yang Huayan; Yu Junping; Fu Guo

The interaction between integrin macrophage differentiation antigen associated with complement three receptor function (Mac-1) and intercellular adhesion molecule-1 (ICAM-1), which is controlled tightly by the ligand-binding activity of Mac-1, is central to the regulation of neutrophil adhesion in host defense. Several 'inside-out' signals and extracellular metal ions or antibodies have been found to activate Mac-1, resulting in an increased adhesiveness of Mac-1 to its ligands. However, the molecular basis for Mac-1 activation is not well understood yet. In this work, we have carried out a single-molecule study of Mac-1/ICAM-1 interaction force in living cells by atomic force microscopy (AFM). Ourmore » results showed that the binding probability and adhesion force of Mac-1 with ICAM-1 increased upon Mac-1 activation. Moreover, by comparing the dynamic force spectra of different Mac-1 mutants, we expected that Mac-1 activation is governed by the downward movement of its {alpha}7 helix.« less

Bimanual Force Variability and Chronic Stroke: Asymmetrical Hand Control

PubMed Central

Kang, Nyeonju; Cauraugh, James H.

2014-01-01

The purpose of this study was to investigate force variability generated by both the paretic and non-paretic hands during bimanual force control. Nine chronic stroke individuals and nine age-matched individuals with no stroke history performed a force control task with both hands simultaneously. The task involved extending the wrist and fingers at 5%, 25%, and 50% of maximum voluntary contraction. Bimanual and unimanual force variability during bimanual force control was determined by calculating the coefficient of variation. Analyses revealed two main findings: (a) greater bimanual force variability in the stroke group than the control group and (b) increased force variability by the paretic hands during bimanual force control in comparison to the non-paretic hands at the 5% and 25% force production conditions. A primary conclusion is that post stroke bimanual force variability is asymmetrical between hands. PMID:25000185

The Work, the Workplace, and the Work Force of Tomorrow.

ERIC Educational Resources Information Center

Allen, Claudia

1995-01-01

Ann McLaughlin, a former secretary of labor, discusses her views on the future of the workplace. She feels that to solve the impending problem of educational deficits among the work force, employers will begin their own educational programs, improving both employee loyalty and work force mobility. Includes predictions for future growth fields.…

Fingertip touch improves postural stability in patients with peripheral neuropathy.

PubMed

Dickstein, R; Shupert, C L; Horak, F B

2001-12-01

The purpose of this work was to determine whether fingertip touch on a stable surface could improve postural stability during stance in subjects with somatosensory loss in the feet from diabetic peripheral neuropathy. The contribution of fingertip touch to postural stability was determined by comparing postural sway in three touch conditions (light, heavy and none) in eight patients and eight healthy control subjects who stood on two surfaces (firm or foam) with eyes open or closed. In the light touch condition, fingertip touch provided only somatosensory information because subjects exerted less than 1 N of force with their fingertip to a force plate, mounted on a vertical support. In the heavy touch condition, mechanical support was available because subjects transmitted as much force to the force plate as they wished. In the no touch condition, subjects held the right forefinger above the force plate. Antero-posterior (AP) and medio-lateral (ML) root mean square (RMS) of center of pressure (CoP) sway and trunk velocity were larger in subjects with somatosensory loss than in control subjects, especially when standing on the foam surface. The effects of light and heavy touch were similar in the somatosensory loss and control groups. Fingertip somatosensory input through light touch attenuated both AP and ML trunk velocity as much as heavy touch. Light touch also reduced CoP sway compared to no touch, although the decrease in CoP sway was less effective than with heavy touch, particularly on the foam surface. The forces that were applied to the touch plate during light touch preceded movements of the CoP, lending support to the suggestion of a feedforward mechanism in which fingertip inputs trigger the activation of postural muscles for controlling body sway. These results have clinical implications for understanding how patients with peripheral neuropathy may benefit from a cane for postural stability in stance.

Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

PubMed

Ibeas, Asier; de la Sen, Manuel

2006-10-01

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

Force reflecting hand controller

NASA Technical Reports Server (NTRS)

Mcaffee, Douglas A. (Inventor); Snow, Edward R. (Inventor); Townsend, William T. (Inventor)

1993-01-01

A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsiveness, smaller stowage volume, and better overlap of the human operator's range of motion than previous designs.

Heat and momentum transfer model studies applicable to once-through, forced convection potassium boiling

NASA Technical Reports Server (NTRS)

Sabin, C. M.; Poppendiek, H. F.

1971-01-01

A number of heat transfer and fluid flow mechanisms that control once-through, forced convection potassium boiling are studied analytically. The topics discussed are: (1) flow through tubes containing helical wire inserts, (2) motion of droplets entrained in vapor flow, (3) liquid phase distribution in boilers, (4) temperature distributions in boiler tube walls, (5) mechanisms of heat transfer regime change, and (6) heat transfer in boiler tubes. Whenever possible, comparisons of predicted and actual performances are made. The model work presented aids in the prediction of operating characteristics of actual boilers.

Gas liquid flow at microgravity conditions - Flow patterns and their transitions

NASA Technical Reports Server (NTRS)

Dukler, A. E.; Fabre, J. A.; Mcquillen, J. B.; Vernon, R.

1987-01-01

The prediction of flow patterns during gas-liquid flow in conduits is central to the modern approach for modeling two phase flow and heat transfer. The mechanisms of transition are reasonably well understood for flow in pipes on earth where it has been shown that body forces largely control the behavior observed. This work explores the patterns which exist under conditions of microgravity when these body forces are suppressed. Data are presented which were obtained for air-water flow in tubes during drop tower experiments and Learjet trajectories. Preliminary models to explain the observed flow pattern map are evolved.

Art of war hidden in Kolmogorov's equations.

PubMed

Lauren, Michael K; McIntosh, Gregory C; Perry, Nigel; Moffat, James

2007-03-01

Here we discuss how Kolmogorov's work on turbulence can be used as the inspiration for a new description of battlefield dynamics. The method presented may also represent a new way of describing self-organizing dynamical systems, in place of conventional differential equation approaches. The key finding is that the rate of attrition in a battle appears to be a function of the fractal dimension of the opposing forces. It is suggested that, this being the case, the fractal dimension could be used as a surrogate to represent the organizational efficiency of one force relative to another, commonly called Command and Control.

Force Limit System

NASA Technical Reports Server (NTRS)

Pawlik, Ralph; Krause, David; Bremenour, Frank

2011-01-01

The Force Limit System (FLS) was developed to protect test specimens from inadvertent overload. The load limit value is fully adjustable by the operator and works independently of the test system control as a mechanical (non-electrical) device. When a test specimen is loaded via an electromechanical or hydraulic test system, a chance of an overload condition exists. An overload applied to a specimen could result in irreparable damage to the specimen and/or fixturing. The FLS restricts the maximum load that an actuator can apply to a test specimen. When testing limited-run test articles or using very expensive fixtures, the use of such a device is highly recommended. Test setups typically use electronic peak protection, which can be the source of overload due to malfunctioning components or the inability to react quickly enough to load spikes. The FLS works independently of the electronic overload protection.

The influence of tip shape on bending force during needle insertion

PubMed Central

van de Berg, Nick J.; de Jong, Tonke L.; van Gerwen, Dennis J.; Dankelman, Jenny; van den Dobbelsteen, John J.

2017-01-01

Steering of needles involves the planning and timely modifying of instrument-tissue force interactions to allow for controlled deflections during the insertion in tissue. In this work, the effect of tip shape on these forces was studied using 10 mm diameter needle tips. Six different tips were selected, including beveled and conical versions, with or without pre-bend or pre-curve. A six-degree-of-freedom force/torque sensor measured the loads during indentations in tissue simulants. The increased insertion (axial) and bending (radial) forces with insertion depth — the force-displacement slopes — were analyzed. Results showed that the ratio between radial and axial forces was not always proportional. This means that the tip load does not have a constant orientation, as is often assumed in mechanics-based steering models. For all tip types, the tip-load assumed a more radial orientation with increased axial load. This effect was larger for straight tips than for pre-bent or pre-curved tips. In addition, the force-displacement slopes were consistently higher for (1) increased tip angles, and for (2) beveled tips compared to conical tips. Needles with a bent or curved tip allow for an increased bending force and a decreased variability of the tip load vector orientation. PMID:28074939

The Relative Contribution of Ankle Moment and Trailing Limb Angle to Propulsive Force during Gait

PubMed Central

Hsiao, HaoYuan; Knarr, Brian A.; Higginson, Jill S.; Binder-Macleod, Stuart A.

2014-01-01

A major factor for increasing walking speed is the ability to increase propulsive force. Although propulsive force has been shown to be related to ankle moment and trailing limb angle, the relative contribution of each factor to propulsive force has never been determined. The primary purpose of this study was to quantify the relative contribution of ankle moment and trailing limb angle to propulsive force for able-bodied individuals walking at different speeds. Twenty able-bodied individuals walked at their self-selected and 120% of self-selected walking speed on the treadmill. Kinematic data were collected using an 8-camera motion-capture system. A model describing the relationship between ankle moment, trailing limb angle and propulsive force was obtained through quasi-static analysis. Our main findings were that ankle moment and trailing limb angle each contributes linearly to propulsive force, and that the change in trailing limb angle contributes almost as twice as much as the change in ankle moment to the increase in propulsive force during speed modulation for able-bodied individuals. Able-bodied individuals preferentially modulate trailing limb angle more than ankle moment to increase propulsive force. Future work will determine if this control strategy can be applied to individuals poststroke. PMID:25498289

Participatory ergonomic intervention versus strength training on chronic pain and work disability in slaughterhouse workers: study protocol for a single-blind, randomized controlled trial.

PubMed

Sundstrup, Emil; Jakobsen, Markus D; Andersen, Christoffer H; Jay, Kenneth; Persson, Roger; Aagaard, Per; Andersen, Lars L

2013-02-21

The prevalence of musculoskeletal pain in the shoulder, arm and hand is high among slaughterhouse workers, allegedly due to the highly repetitive and forceful exposure of these body regions during work. Work disability is a common consequence of these pains. Lowering the physical exposure through ergonomics intervention is the traditional strategy to reduce the workload. An alternative strategy could be to increase physical capacity of the worker through strength training. This study investigates the effect of two contrasting interventions, participatory ergonomics versus strength training on pain and work disability in slaughterhouse workers with chronic pain. 66 slaughterhouse workers were allocated to 10 weeks of (1) strength training of the shoulder, arm and hand muscles for 3 x 10 minutes per week, or (2) participatory ergonomics involving counseling on workstation adjustment and optimal use of work tools (~usual care control group). Inclusion criteria were (1) working at a slaughterhouse for at least 30 hours per week, (2) pain intensity in the shoulder, elbow/forearm, or hand/wrist of at least 3 on a 0-10 VAS scale during the last three months, (3) pain lasting for more than 3 months, (4) frequent pain (at least 3 days per week) (5) at least moderate work disability, (6) no strength training during the last year, (7) no ergonomics instruction during the last year.Perceived pain intensity (VAS scale 0-10) of the shoulder, elbow/forearm and hand/wrist (primary outcome) and Disability of the Arm, Shoulder and Hand (Work module, DASH questionnaire) were measured at baseline and 10-week follow-up. Further, total muscle tenderness score and muscle function were assessed during clinical examination at baseline and follow-up. This RCT study will provide experimental evidence of the effectiveness of contrasting work-site interventions aiming at reducing chronic pain and work disability among employees engaged in repetitive and forceful work. ClinicalTrials.gov:NCT01671267.

The effect of alternative work arrangements on women's well-being: a demand-control model.

PubMed

Kelloway, E K; Gottlieb, B H

1998-01-01

The growth of women's participation in the labor force and evidence of the conflict they experience between job and family demands have spurred many employers to introduce alternative work arrangements such as flextime, job sharing, and telecommuting. Drawing on data gained from a sample of women (N = 998) in two large Canadian organizations, this study evaluates two mediational models of the impact of alternative work arrangements on women's stress and family role competence. Specifically, it tests and finds support for the hypotheses that (a) work arrangements involving scheduling flexibility (telecommuting and flextime) promote these aspects of women's well-being by increasing their perceived control over their time, and (b) arrangements involving reduced hours of employment (part-time employment and job sharing) promote well-being by reducing perceived job overload. Discussion of these findings centers on their implications for employed women, their employers, and future research.

Instrument for controlling the application of mechanical loads to biological and bicompatible test subjects

DOEpatents

Lintilhac, Phillip M.; Vesecky, Thompson B.

1995-01-01

Apparatus and methods are disclosed facilitating the application of forces and measurement of dimensions of a test subject. In one arrangement the test subject is coupled to a forcing frame and controlled forces applied thereto. Force applied to the test subject is measured and controlled. A dimensional characteristic of the test subject, such as growth, is measured by a linear variable differential transformer. The growth measurement data can be used to control the force applied. The transducer module receives force and dimensional data from the forcing frame. The transducer module is a separate, microprocessor-based unit that communicates the test data to a controller unit that controls the application of force to the test subject and receives the test data from the transducer module for force control, storage, and/or communication to the user.

Instrument for controlling the application of mechanical loads to biological and bicompatible test subjects

DOEpatents

Lintilhac, P.M.; Vesecky, T.B.

1995-09-19

An apparatus and methods are disclosed facilitating the application of forces and measurement of dimensions of a test subject. In one arrangement the test subject is coupled to a forcing frame and controlled forces applied thereto. Force applied to the test subject is measured and controlled. A dimensional characteristic of the test subject, such as growth, is measured by a linear variable differential transformer. The growth measurement data can be used to control the force applied. The transducer module receives force and dimensional data from the forcing frame. The transducer module is a separate, microprocessor-based unit that communicates the test data to a controller unit that controls the application of force to the test subject and receives the test data from the transducer module for force control, storage, and/or communication to the user. 8 figs.

48 CFR 223.570 - Drug-free work force.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 48 Federal Acquisition Regulations System 3 2010-10-01 2010-10-01 false Drug-free work force. 223.570 Section 223.570 Federal Acquisition Regulations System DEFENSE ACQUISITION REGULATIONS SYSTEM... TECHNOLOGIES, OCCUPATIONAL SAFETY, AND DRUG-FREE WORKPLACE Drug-Free Workplace 223.570 Drug-free work force. ...

48 CFR 223.570 - Drug-free work force.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 48 Federal Acquisition Regulations System 3 2011-10-01 2011-10-01 false Drug-free work force. 223.570 Section 223.570 Federal Acquisition Regulations System DEFENSE ACQUISITION REGULATIONS SYSTEM... TECHNOLOGIES, OCCUPATIONAL SAFETY, AND DRUG-FREE WORKPLACE Drug-Free Workplace 223.570 Drug-free work force. ...

48 CFR 223.570 - Drug-free work force.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 48 Federal Acquisition Regulations System 3 2013-10-01 2013-10-01 false Drug-free work force. 223.570 Section 223.570 Federal Acquisition Regulations System DEFENSE ACQUISITION REGULATIONS SYSTEM... TECHNOLOGIES, OCCUPATIONAL SAFETY, AND DRUG-FREE WORKPLACE Drug-Free Workplace 223.570 Drug-free work force. ...

48 CFR 223.570 - Drug-free work force.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 48 Federal Acquisition Regulations System 3 2012-10-01 2012-10-01 false Drug-free work force. 223.570 Section 223.570 Federal Acquisition Regulations System DEFENSE ACQUISITION REGULATIONS SYSTEM... TECHNOLOGIES, OCCUPATIONAL SAFETY, AND DRUG-FREE WORKPLACE Drug-Free Workplace 223.570 Drug-free work force. ...

48 CFR 223.570 - Drug-free work force.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 48 Federal Acquisition Regulations System 3 2014-10-01 2014-10-01 false Drug-free work force. 223.570 Section 223.570 Federal Acquisition Regulations System DEFENSE ACQUISITION REGULATIONS SYSTEM... TECHNOLOGIES, OCCUPATIONAL SAFETY, AND DRUG-FREE WORKPLACE Drug-Free Workplace 223.570 Drug-free work force. ...

Stress in Spanish police force depending on occupational rank, sex, age and work-shift.

PubMed

Luceño-Moreno, Lourdes; García-Albuerne, Yolanda; Talavera-Velasco, Beatriz; Martín-García, Jesús

2016-11-01

In the police force, some variables such as occupational rank, sex, age and work-shift are associated with stress in workers. The aim of this paper was to determine possible differences in the perception of occupational stress at work depending on rank, sex, age and work-shift of police agents in the Community of Madrid, Spain. A cross-sectional study was conducted in 24 municipalities of the Community of Madrid. A total number of 565 police agents participated. The ranks of the police agents were: constable, corporal, sergeant and police chief. Occupational stress (psychosocial risk factors at work) was assessed with the DECORE Questionnaire. All police agents perceived psychosocial risk factors adversely; especially agents of lesser rank perceived less control, fewer rewards and scarce support. There were significant differences in the perception of insufficient rewards between constables and other categories; and between constables and corporals in the perception of insufficient organisational support. No significant differences were found in the perception of psychosocial risk factors in relation to the rest of variables. The police rank should be taken into account for the development of preventive measures to reduce stress.

Higher-order micro-fiber modes for Escherichia coli manipulation using a tapered seven-core fiber

PubMed Central

Rong, Qiangzhou; Zhou, Yi; Yin, Xunli; Shao, Zhihua; Qiao, Xueguang

2017-01-01

Optical manipulation using optical micro- and nano-fibers has shown potential for controlling bacterial activities such as E. coli trapping, propelling, and binding. Most of these manipulations have been performed using the propagation of the fundamental mode through the fiber. However, along the maximum mode-intensity axis, the higher-order modes have longer evanescent field extensions and larger field amplitudes at the fiber waist than the fundamental mode, opening up new possibilities for manipulating E. coli bacteria. In this work, a compact seven-core fiber (SCF)-based micro-fiber/optical tweezers was demonstrated for trapping, propelling, and rotating E. coli bacteria using the excitation of higher-order modes. The diameter of the SCF taper was 4 µm at the taper waist, which was much larger than that of previous nano-fiber tweezers. The laser wavelength was tunable from 1500 nm to 1600 nm, simultaneously causing photophoretic force, gradient force, and scattering force. This work provides a new opportunity for better understanding optical manipulation using higher-order modes at the single-cell level. PMID:28966849

Higher-order micro-fiber modes for Escherichia coli manipulation using a tapered seven-core fiber.

PubMed

Rong, Qiangzhou; Zhou, Yi; Yin, Xunli; Shao, Zhihua; Qiao, Xueguang

2017-09-01

Optical manipulation using optical micro- and nano-fibers has shown potential for controlling bacterial activities such as E. coli trapping, propelling, and binding. Most of these manipulations have been performed using the propagation of the fundamental mode through the fiber. However, along the maximum mode-intensity axis, the higher-order modes have longer evanescent field extensions and larger field amplitudes at the fiber waist than the fundamental mode, opening up new possibilities for manipulating E. coli bacteria. In this work, a compact seven-core fiber (SCF)-based micro-fiber/optical tweezers was demonstrated for trapping, propelling, and rotating E. coli bacteria using the excitation of higher-order modes. The diameter of the SCF taper was 4 µm at the taper waist, which was much larger than that of previous nano-fiber tweezers. The laser wavelength was tunable from 1500 nm to 1600 nm, simultaneously causing photophoretic force, gradient force, and scattering force. This work provides a new opportunity for better understanding optical manipulation using higher-order modes at the single-cell level.

A Novel Soft Pneumatic Artificial Muscle with High-Contraction Ratio.

PubMed

Han, Kwanghyun; Kim, Nam-Ho; Shin, Dongjun

2018-06-20

There is a growing interest in soft actuators for human-friendly robotic applications. However, it is very challenging for conventional soft actuators to achieve both a large working distance and high force. To address this problem, we present a high-contraction ratio pneumatic artificial muscle (HCRPAM), which has a novel actuation concept. The HCRPAM can contract substantially while generating a large force suitable for a wide range of robotic applications. Our proposed prototyping method allows for an easy and quick fabrication, considering various design variables. We derived a mathematical model using a virtual work principle, and validated the model experimentally. We conducted simulations for the design optimization using this model. Our experimental results show that the HCRPAM has a 183.3% larger contraction ratio and 37.1% higher force output than the conventional pneumatic artificial muscle (McKibben muscle). Furthermore, the actuator has a compatible position tracking performance of 1.0 Hz and relatively low hysteresis error of 4.8%. Finally, we discussed the controllable bending characteristics of the HCRPAM, which uses heterogeneous materials and has an asymmetrical structure to make it comfortable for a human to wear.

Multiple Chronic Conditions and Labor Force Outcomes: A Population Study of U.S. Adults

PubMed Central

Ward, Brian W.

2015-01-01

Background Although 1-in-5 adults have multiple (≥2) chronic conditions, limited attention has been given to the association between multiple chronic conditions and employment. Methods Cross-sectional data (2011 National Health Interview Survey) and multivariate regression analyses were used to examine the association among multiple chronic conditions, employment, and labor force outcomes for U.S. adults aged 18–64 years, controlling for covariates. Results Among U.S. adults aged 18–64 years (unweighted n=25,458), having multiple chronic conditions reduced employment probability by 11%–29%. Some individual chronic conditions decreased employment probability. Among employed adults (unweighted n=16,096), having multiple chronic conditions increased the average number of work days missed due to injury/illness in the past year by 3–9 days. Conclusions Multiple chronic conditions are be a barrier to employment and increase the number of work days missed, placing affected individuals at a financial disadvantage. Researchers interested in examining consequences of multiple chronic conditions should give consideration to labor force outcomes. PMID:26103096

Increase Productivity Through Knowledge Management

NASA Astrophysics Data System (ADS)

Gavrikova, N. A.; Dolgih, I. N.; Dyrina, E. N.

2016-04-01

Increase in competition level requires companies to improve the efficiency of work force use characterized by labor productivity. Professional knowledge of staff and its experience play the key role in it. The results of Extrusion Line operator’s working time analysis are performed in this article. The analysis revealed that the reasons of working time ineffective use connected with inadequate information exchange and knowledge management in the company. Authors suggest the way to solve this problem: the main sources of knowledge in engineering enterprise have been defined, the conditions of success and the stages of knowledge management control have been stated.

Employment in Perspective: Women in the Labor Force. Third Quarter 1988. Report 758.

ERIC Educational Resources Information Center

Bureau of Labor Statistics (DOL), Washington, DC.

The female share of the older work force has nearly doubled since 1950. In 1987, the 6.2 million women aged 55 and over in the labor force constituted 4 of every 10 older workers. Because young women today have a stronger work attachment than did their mothers and grandmothers, the female share of the older work force is likely to continue to…

Developments of new force reflecting control schemes and an application to a teleoperation training simulator

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.

Follow-the-Leader Control for the PIPS Prototype Hardware

NASA Technical Reports Server (NTRS)

Williams, Robert L. II; Lippitt, Thimas

1996-01-01

This report describes the payload inspection and processing system (PIPS), an automated system programmed off-line for inspection of space shuttle payloads after integration and prior to launch. PIPS features a hyper-redundant 18-degree of freedom (DOF) serpentine truss manipulator capable of snake like motions to avoid obstacles. During the summer of 1995, the author worked on the same project, developing a follow-the-leader (FTL) algorithm in graphical simulation which ensures whole arm collision avoidance by forcing ensuing links to follow the same tip trajectory. The summer 1996 work was to control the prototype PIPS hardware in follow-the-leader mode. The project was successful in providing FTL control in hardware. The STS-82 payload mockup was used in the laboratory to demonstrate serpentine motions to avoid obstacles in a realistic environment.

Is the bronchodilator test an useful tool to measure asthma control?

PubMed

Ferrer Galván, Marta; Javier Alvarez Gutiérrez, Francisco; Romero Falcón, Auxiliadora; Romero Romero, Beatriz; Sáez, Antonia; Medina Gallardo, Juan Francisco

2017-05-01

Asthma control includes the control of symptoms and future risk. We sought to evaluate the usefulness of the degree of spirometric reversibility of the forced expiratory volume in one second (FEV 1 ) as the target parameter of control. Patients with bronchial asthma were followed up for one year. The clinical, functional, inflammatory and control parameters of the asthma were collected. The area under the curve (AUC) was estimated to establish the cutoff point of the post-bronchodilator FEV 1 reversibility in relation to non-control asthma. In the univariate analysis, the differences between groups were studied based on the degree of estimated reversibility. Factors with a significance <0.1 were included in the multivariate analysis by binary logistic regression. A total of 407 patients with a mean age of 38.1 ± 16.7 years were included. When the patients were grouped into controlled and non-controlled groups, compared with post-bronchodilator FEV 1 reversibility, the cutoff point obtained for the non-controlled group was ≥10% (sensitivity: 65.8%, specificity: 48.4%, positive predictive value: 69.5%, and AUC: 0.619 [0.533-0.700], p < 0.01). In the year-long follow-up of this group (post-bronchodilator FEV 1 ≥10), an increased use of relief medication was observed, along with a significantly progressive drop in post-bronchodilator FEV 1 and post-bronchodilator FEV 1 /FVC (forced expiratory volume in one second/forced vital capacity). Spirometric reversibility can be useful in assessing control in asthmatic patients and can predict future risk parameters. The cutoff point related to the non-control of asthma found in our work was ≥10%. Copyright © 2017 Elsevier Ltd. All rights reserved.

Real Time Energy Management Control Strategies for Hybrid Powertrains

NASA Astrophysics Data System (ADS)

Zaher, Mohamed Hegazi Mohamed

In order to improve fuel efficiency and reduce emissions of mobile vehicles, various hybrid power-train concepts have been developed over the years. This thesis focuses on embedded control of hybrid powertrain concepts for mobile vehicle applications. Optimal robust control approach is used to develop a real time energy management strategy for continuous operations. The main idea is to store the normally wasted mechanical regenerative energy in energy storage devices for later usage. The regenerative energy recovery opportunity exists in any condition where the speed of motion is in opposite direction to the applied force or torque. This is the case when the vehicle is braking, decelerating, or the motion is driven by gravitational force, or load driven. There are three main concepts for regernerative energy storing devices in hybrid vehicles: electric, hydraulic, and flywheel. The real time control challenge is to balance the system power demand from the engine and the hybrid storage device, without depleting the energy storage device or stalling the engine in any work cycle, while making optimal use of the energy saving opportunities in a given operational, often repetitive cycle. In the worst case scenario, only engine is used and hybrid system completely disabled. A rule based control is developed and tuned for different work cycles and linked to a gain scheduling algorithm. A gain scheduling algorithm identifies the cycle being performed by the machine and its position via GPS, and maps them to the gains.

Robotic application of a dynamic resultant force vector using real-time load-control: simulation of an ideal follower load on Cadaveric L4-L5 segments.

PubMed

Bennett, Charles R; Kelly, Brian P

2013-08-09

Standard in-vitro spine testing methods have focused on application of isolated and/or constant load components while the in-vivo spine is subject to multiple components that can be resolved into resultant dynamic load vectors. To advance towards more in-vivo like simulations the objective of the current study was to develop a methodology to apply robotically-controlled, non-zero, real-time dynamic resultant forces during flexion-extension on human lumbar motion segment units (MSU) with initial application towards simulation of an ideal follower load (FL) force vector. A proportional-integral-derivative (PID) controller with custom algorithms coordinated the motion of a Cartesian serial manipulator comprised of six axes each capable of position- or load-control. Six lumbar MSUs (L4-L5) were tested with continuously increasing sagittal plane bending to 8 Nm while force components were dynamically programmed to deliver a resultant 400 N FL that remained normal to the moving midline of the intervertebral disc. Mean absolute load-control tracking errors between commanded and experimental loads were computed. Global spinal ranges of motion and sagittal plane inter-body translations were compared to previously published values for non-robotic applications. Mean TEs for zero-commanded force and moment axes were 0.7 ± 0.4N and 0.03 ± 0.02 Nm, respectively. For non-zero force axes mean TEs were 0.8 ± 0.8 N, 1.3 ± 1.6 Nm, and 1.3 ± 1.6N for Fx, Fz, and the resolved ideal follower load vector FL(R), respectively. Mean extension and flexion ranges of motion were 2.6° ± 1.2° and 5.0° ± 1.7°, respectively. Relative vertebral body translations and rotations were very comparable to data collected with non-robotic systems in the literature. The robotically coordinated Cartesian load controlled testing system demonstrated robust real-time load-control that permitted application of a real-time dynamic non-zero load vector during flexion-extension. For single MSU investigations the methodology has potential to overcome conventional follower load limitations, most notably via application outside the sagittal plane. This methodology holds promise for future work aimed at reducing the gap between current in-vitro testing and in-vivo circumstances. Copyright © 2013 Elsevier Ltd. All rights reserved.

Modeling and experiments on the drive characteristics of high-strength water hydraulic artificial muscles

NASA Astrophysics Data System (ADS)

Zhang, Zengmeng; Hou, Jiaoyi; Ning, Dayong; Gong, Xiaofeng; Gong, Yongjun

2017-05-01

Fluidic artificial muscles are popular in robotics and function as biomimetic actuators. Their pneumatic version has been widely investigated. A novel water hydraulic artificial muscle (WHAM) with high strength is developed in this study. WHAMs can be applied to underwater manipulators widely used in ocean development because of their environment-friendly characteristics, high force-to-weight ratio, and good bio-imitability. Therefore, the strength of WHAMs has been improved to fit the requirements of underwater environments and the work pressure of water hydraulic components. However, understanding the mechanical behaviors of WHAMs is necessary because WHAMs use work media and pressure control that are different from those used by pneumatic artificial muscles. This paper presents the static and dynamic characteristics of the WHAM system, including the water hydraulic pressure control circuit. A test system is designed and built to analyze the drive characteristics of the developed WHAM. The theoretical relationships among the amount of contraction, pressure, and output drawing force of the WHAM are tested and verified. A linearized transfer function is proposed, and the dynamic characteristics of the WHAM are investigated through simulation and inertia load experiments. Simulation results agree with the experimental results and show that the proposed model can be applied to the control of WHAM actuators.

14 CFR 151.51 - Performance of construction work: Sponsor force account.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Performance of construction work: Sponsor force account. 151.51 Section 151.51 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT... Development Projects § 151.51 Performance of construction work: Sponsor force account. (a) Before undertaking...

14 CFR 151.51 - Performance of construction work: Sponsor force account.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Performance of construction work: Sponsor force account. 151.51 Section 151.51 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT... Development Projects § 151.51 Performance of construction work: Sponsor force account. (a) Before undertaking...

14 CFR 151.51 - Performance of construction work: Sponsor force account.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Performance of construction work: Sponsor force account. 151.51 Section 151.51 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT... Development Projects § 151.51 Performance of construction work: Sponsor force account. (a) Before undertaking...

14 CFR 151.51 - Performance of construction work: Sponsor force account.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Performance of construction work: Sponsor force account. 151.51 Section 151.51 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT... Development Projects § 151.51 Performance of construction work: Sponsor force account. (a) Before undertaking...

14 CFR 151.51 - Performance of construction work: Sponsor force account.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Performance of construction work: Sponsor force account. 151.51 Section 151.51 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT... Development Projects § 151.51 Performance of construction work: Sponsor force account. (a) Before undertaking...

Honeywell's Working Parents Task Force. Final Report and Recommendations.

ERIC Educational Resources Information Center

Honeywell, Inc., Minneapolis, Minn.

This publication provides a summary of the Honeywell Working Parent Task Force's recommendations on how to solve problems experienced by working parents. The Task Force consisted of three committees: the Employment Practices Committee (EPC); the Parent Education Committee (PEC); and the Child Care Facilities Committee (CCFC). After examining a…

Workforce Education: Issues for the New Century.

ERIC Educational Resources Information Center

Pautler, Albert J., Jr.

This paper is intended to guide small groups of vocational educators in discussions regarding work force education issues for the next century. The following work force issues are suggested: the aging work force; vocational education's role in reforming K-12 education; distance education for technical education programs; the labor shortages…

Control of parallel manipulators using force feedback

NASA Technical Reports Server (NTRS)

Nanua, Prabjot

1994-01-01

Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the dynamic forces on the end effector. This paper presents the results of a computer simulation of both the rate and force control schemes. The gains in the force based scheme can be individually adjusted in all three directions, whereas the adjustment in just one direction of the rate based scheme directly affects the other two directions.

Simulation study of the ROMPS robot control system

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Liu, HUI-I.

1994-01-01

This is a report presenting the progress of a research grant funded by NASA for work performed from June 1, 1993 to August 1, 1993. The report deals with the Robot Operated Material Processing System (ROMPS). It presents results of a computer simulation study conducted to investigate the performance of the control systems controlling the azimuth, elevation, and radial axes of the ROMPS and its gripper. Four study cases are conducted. The first case investigates the control of free motion of the three areas. In the second case, the compliant motion in the elevation axis with the wrist compliant device is studied in terms of position accuracy and impact forces. The third case focuses on the behavior of the control system in controlling the robot motion along the radial axis when pulling the pallet out of the rack. In the fourth case, the compliant motion of the gripper grasping a solid object under the effect of the gripper passive compliance is studied in terms of position accuracy and contact forces. For each of the above cases, a set of PIR gains will be selected to optimize the controller performance and computer simulation results will be presented and discussed.

Effect of brief daily resistance training on rapid force development in painful neck and shoulder muscles: randomized controlled trial

PubMed Central

Jay, Kenneth; schraefel, mc; Andersen, Christoffer H; Ebbesen, Frederik S; Christiansen, David H; Skotte, Jørgen; Zebis, Mette K; Andersen, Lars L

2013-01-01

Objective: To determine the effect of small daily amounts of progressive resistance training on rapid force development of painful neck/shoulder muscles. Methods: 198 generally healthy adults with frequent neck/shoulder muscle pain (mean: age 43·1 years, computer use 93% of work time, 88% women, duration of pain 186 day during the previous year) were randomly allocated to 2- or 12 min of daily progressive resistance training with elastic tubing or to a control group receiving weekly information on general health. A blinded assessor took measures at baseline and at 10-week follow-up; participants performed maximal voluntary contractions at a static 90-degree shoulder joint angle. Rapid force development was determined as the rate of torque development and maximal muscle strength was determined as the peak torque. Results: Compared with the control group, rate of torque development increased 31·0 Nm s−1 [95% confidence interval: (1·33–11·80)] in the 2-min group and 33·2 Nm s−1 (1·66–12·33) in the 12-min group from baseline to 10-week follow-up, corresponding to an increase of 16·0% and 18·2% for the two groups, respectively. The increase was significantly different compared to controls (P<0·05) for both training groups. Maximal muscle strength increased only ∼5–6% [mean and 95% confidence interval for 2- and 12-min groups to control, respectively: 2·5 Nm (0·05–0·73) and 2·2 Nm (0·01–0·70)]. No significant differences between the 2- and 12-min groups were evident. A weak but significant relationship existed between changes in rapid force development and pain (r = 0·27, P<0·01), but not between changes in maximal muscle strength and pain. Conclusion: Small daily amounts of progressive resistance training in adults with frequent neck/shoulder pain increases rapid force development and, to a less extent, maximal force capacity. PMID:23758661

Patterned self-assembled monolayers for nanoscale lithography and the control of catalytically produced electroosmosis

NASA Astrophysics Data System (ADS)

Subramanian, Shyamala

This thesis explores two applications of self-assembled monolayers (SAMs) (a) for developing novel molecular assembly based nanolithography techniques and (b) for tailoring zeta-potential of surfaces towards achieving directional control of catalytically induced fluid flow. The first half of the thesis develops the process of molecular ruler lithography using sacrificial host structures. This is a novel hybrid nanolithography technique which combines chemical self-assembly with conventional fabrication methods for improving the resolution of existing lithography tools to sub-50 nm. Previous work related to molecular ruler lithography have shown the use of thiol-SAMs, placed one on top of the other like a molecular resist, for scaling down feature sizes. In this thesis various engineering solutions for improving the reproducibility, yield, nanoscale roughness and overall manufacturability of the process are introduced. This is achieved by introducing a sacrificial inert layer underneath the gold parent structure. This bilayer sacrificial host allows for preferential, easy and quick removal of the parent structures, isolates the parent metal from the underlying substrate and improves reproducibility of the lift-off process. Also it opens avenues for fabrication of high aspect ratio features. Also molecular layer vapor deposition method is developed for building the multilayer molecular resist via vapor phase to reduce contaminations and yield issues associated with solution phase deposition. The smallest isolated metal features produced using this process were 40 nm in width. The second half of the thesis describes application of thiol-SAMs to tailor surface properties of gold, specifically the surface charge or zeta potential. Previous work has demonstrated that the direction of movement of fluid in the vicinity of a catalytically active bimetallic junction placed in a solution of dilute hydrogen peroxide depends on the charge of the gold surface. SAMs with different end-group functionality impart different surface zeta potential to the gold surface. Zeta-potential engineering via patterning various end-group functionalized SAMs on gold surface to control direction of catalytically induced electroosmotic fluid flow is demonstrated for the first time. This work also describes the application of catalytic power to produce controlled rotational motion. Gold gears-like structures made using conventional microfabrication techniques and propelled by catalytic power are shown to rotate at speeds of 1 rotation/sec in a dilute solution of hydrogen peroxide. Fabrication of a force sensor for detection and measurement of catalytic forces is also introduced. The force sensor, with sensitivity in the piconewton range, consists of a microcantilever with a catalytically active silver post patterned on the tip. Changes in cantilever displacement and resonance frequency due to the catalytic force were monitored as a function of concentration of hydrogen peroxide. Overall, this thesis integrates SAM deposition and patterning techniques with conventional fabrication methods to engineer and control nanoscale structures and devices. Possible future device designs are described including CMOS devices having channel width defined using molecular ruler lithography with sacrificial hosts, drug delivery device based on AFM force sensor and channeless pumps powered by catalytic reactions with SAM controlled electroosmotic fluid flow.

Acoustic radiation force control: Pulsating spherical carriers.

PubMed

Rajabi, Majid; Mojahed, Alireza

2018-02-01

The interaction between harmonic plane progressive acoustic beams and a pulsating spherical radiator is studied. The acoustic radiation force function exerted on the spherical body is derived as a function of the incident wave pressure and the monopole vibration characteristics (i.e., amplitude and phase) of the body. Two distinct strategies are presented in order to alter the radiation force effects (i.e., pushing and pulling states) by changing its magnitude and direction. In the first strategy, an incident wave field with known amplitude and phase is considered. It is analytically shown that the zero- radiation force state (i.e., radiation force function cancellation) is achievable for specific pulsation characteristics belong to a frequency-dependent straight line equation in the plane of real-imaginary components (i.e., Nyquist Plane) of prescribed surface displacement. It is illustrated that these characteristic lines divide the mentioned displacement plane into two regions of positive (i.e., pushing) and negative (i.e., pulling) radiation forces. In the second strategy, the zero, negative and positive states of radiation force are obtained through adjusting the incident wave field characteristics (i.e., amplitude and phase) which insonifies the radiator with prescribed pulsation characteristics. It is proved that zero radiation force state occurs for incident wave pressure characteristics belong to specific frequency-dependent circles in Nyquist plane of incident wave pressure. These characteristic circles divide the Nyquist plane into two distinct regions corresponding to positive (out of circles) and negative (in the circles) values of radiation force function. It is analytically shown that the maximum amplitude of negative radiation force is exactly equal to the amplitude of the (positive) radiation force exerted upon the sphere in the passive state, by the same incident field. The developed concepts are much more deepened by considering the required power supply for distinct cases of zero, negative and positive radiation force states along with the frequency dependent asymmetry index. In addition, considering the effect of phase difference between the incident wave field and the pulsating object, and its possible variation with respect to spatial position of object, some practical points about the spatial average of generated radiation force, the optimal state of operation, the stability of zero radiation force states and the possibly of precise motion control are discussed. This work would extend the novel concept of smart carriers to and may be helpful for robust single-beam acoustic handling techniques. Furthermore, the shown capability of precise motion control may be considered as a new way toward smart acoustic driven micro-mechanisms and micro-machines. Copyright © 2017 Elsevier B.V. All rights reserved.

Predictive and Reactive Grip Force Responses to Rapid Load Increases in People With Multiple Sclerosis.

PubMed

Allgöwer, Kathrin; Kern, Claudia; Hermsdörfer, Joachim

2017-03-01

To determine the effects of multiple sclerosis (MS) on predictive and reactive grip force control in a catching task and on clinical tests of hand function. Case-control study with matched-pairs control group. University prevention and rehabilitation center. Participants (N=30) consisted of people with multiple sclerosis (PwMS) (n=15) and healthy controls (n=15), matched for sex, age, and hand dominance. Not applicable. Performance on the Expanded Disability Status Scale (EDSS), Nine-Hole Peg Test (9-HPT), Jebsen-Taylor Hand Function Test (JTHFT), and 2-point discrimination (2PD) was evaluated. To analyze grip force control, blindfolded subjects held a receptacle equipped with grip force and acceleration sensors in their hand. In a catching task, a weight was dropped from (1) the experimenter's hand unexpectedly into the receptacle (reactive force control); and (2) from the subject's opposite hand (predictive force control). Grip forces and time lags were analyzed. PwMS (mean EDSS ± SD, 4.2±1.86) had impairments in the 9-HPT and JTHFT (P<.001). The 2PD did not differ significantly between PwMS and controls. During reactive force control (catching task 1), PwMS showed significantly higher grip forces immediately after impact (P<.05), and a significant prolongation of the time from grip force increase until reaching the peak of grip force (P<.001). PwMS and controls did not differ during predictive force control (catching task 2; P>.1). Exaggerated grip force responses and alterations of timing after an unpredictable perturbation, combined with preserved grip force control during predictable conditions, is a characteristic pattern of fine motor control deficits in MS. Measures of reactive grip force responses may be used to complement neurologic assessments. Further studies exploring the usefulness of these measures should be performed in a broader community of PwMS. Copyright © 2016 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Peripheral arterial disease decreases muscle torque and functional walking capacity in elderly.

PubMed

Dziubek, Wioletta; Bulińska, Katarzyna; Stefańska, Małgorzata; Woźniewski, Marek; Kropielnicka, Katarzyna; Jasiński, Tomasz; Jasiński, Ryszard; Pilch, Urszula; Dąbrowska, Grażyna; Skórkowska-Telichowska, Katarzyna; Wojcieszczyk-Latos, Joanna; Kałka, Dariusz; Janus, Agnieszka; Zywar, Katarzyna; Paszkowski, Rafał; Szuba, Andrzej

2015-08-01

The aim of this study is to compare values of force-velocity and functional walking capacity in elderly patients with intermittent claudication with respect to the control group. The study involved 135 individuals: 85-peripheral arterial disease (PAD) group diagnosed with stage II chronic lower limb ischemia, according to Fontaine's classification, and 50-control group. The studies included an assessment of walking capacity using a six-minute walk test (6MWT) and measurement of force-velocity parameters (peak torque-PTQ, total work-TW, average power-AVGP) of the lower limbs obtained by means of a functional dynamometry under isokinetic conditions. The peripheral arterial disease group is characterized by significantly lower values of force-velocity parameters compared to the control group (p<0.005). Walking capacity in this group is significantly reduced due to significant differences in the distance covered (p<0.0001), walking speed (p<0.01), and its intensity (p<0.01). Further, a positive correlation was found between the maximum distance specified in the six-minute walk test and lower limb muscle strength in the isokinetic test. Mean values of all force-velocity parameters and walk distance were significantly higher in the control group than in the peripheral arterial disease group. In the PAD group, in both men and women, the value of the agonist/antagonist ratio of both lower limbs are lower in men and women comparing to the control group. A rehabilitation program for patients with intermittent claudication must consider exercises improving strength, exercise capacity, and endurance in patients with PAD. Copyright © 2015 The Authors. Published by Elsevier Ireland Ltd.. All rights reserved.

A moving control volume approach to computing hydrodynamic forces and torques on immersed bodies

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

Nangia, Nishant; Johansen, Hans; Patankar, Neelesh A.

Here, we present a moving control volume (CV) approach to computing hydrodynamic forces and torques on complex geometries. The method requires surface and volumetric integrals over a simple and regular Cartesian box that moves with an arbitrary velocity to enclose the body at all times. The moving box is aligned with Cartesian grid faces, which makes the integral evaluation straightforward in an immersed boundary (IB) framework. Discontinuous and noisy derivatives of velocity and pressure at the fluid–structure interface are avoided and far-field (smooth) velo city and pressure information is used. We re-visit the approach to compute hydrodynamic forces and torquesmore » through force/torque balance equations in a Lagrangian frame that some of us took in a prior work (Bhalla et al., 2013 [13]). We prove the equivalence of the two approaches for IB methods, thanks to the use of Peskin's delta functions. Both approaches are able to suppress spurious force oscillations and are in excellent agreement, as expected theoretically. Test cases ranging from Stokes to high Reynolds number regimes are considered. We discuss regridding issues for the moving CV method in an adaptive mesh refinement (AMR) context. The proposed moving CV method is not limited to a specific IB method and can also be used, for example, with embedded boundary methods.« less

A moving control volume approach to computing hydrodynamic forces and torques on immersed bodies

DOE PAGES

Nangia, Nishant; Johansen, Hans; Patankar, Neelesh A.; ...

2017-10-01

Here, we present a moving control volume (CV) approach to computing hydrodynamic forces and torques on complex geometries. The method requires surface and volumetric integrals over a simple and regular Cartesian box that moves with an arbitrary velocity to enclose the body at all times. The moving box is aligned with Cartesian grid faces, which makes the integral evaluation straightforward in an immersed boundary (IB) framework. Discontinuous and noisy derivatives of velocity and pressure at the fluid–structure interface are avoided and far-field (smooth) velo city and pressure information is used. We re-visit the approach to compute hydrodynamic forces and torquesmore » through force/torque balance equations in a Lagrangian frame that some of us took in a prior work (Bhalla et al., 2013 [13]). We prove the equivalence of the two approaches for IB methods, thanks to the use of Peskin's delta functions. Both approaches are able to suppress spurious force oscillations and are in excellent agreement, as expected theoretically. Test cases ranging from Stokes to high Reynolds number regimes are considered. We discuss regridding issues for the moving CV method in an adaptive mesh refinement (AMR) context. The proposed moving CV method is not limited to a specific IB method and can also be used, for example, with embedded boundary methods.« less

A new visual feedback-based magnetorheological haptic master for robot-assisted minimally invasive surgery

NASA Astrophysics Data System (ADS)

Choi, Seung-Hyun; Kim, Soomin; Kim, Pyunghwa; Park, Jinhyuk; Choi, Seung-Bok

2015-06-01

In this study, we developed a novel four-degrees-of-freedom haptic master using controllable magnetorheological (MR) fluid. We also integrated the haptic master with a vision device with image processing for robot-assisted minimally invasive surgery (RMIS). The proposed master can be used in RMIS as a haptic interface to provide the surgeon with a sense of touch by using both kinetic and kinesthetic information. The slave robot, which is manipulated with a proportional-integrative-derivative controller, uses a force sensor to obtain the desired forces from tissue contact, and these desired repulsive forces are then embodied through the MR haptic master. To verify the effectiveness of the haptic master, the desired force and actual force are compared in the time domain. In addition, a visual feedback system is implemented in the RMIS experiment to distinguish between the tumor and organ more clearly and provide better visibility to the operator. The hue-saturation-value color space is adopted for the image processing since it is often more intuitive than other color spaces. The image processing and haptic feedback are realized on surgery performance. In this work, tumor-cutting experiments are conducted under four different operating conditions: haptic feedback on, haptic feedback off, image processing on, and image processing off. The experimental realization shows that the performance index, which is a function of pixels, is different in the four operating conditions.

Flight Testing an Iced Business Jet for Flight Simulation Model Validation

NASA Technical Reports Server (NTRS)

Ratvasky, Thomas P.; Barnhart, Billy P.; Lee, Sam; Cooper, Jon

2007-01-01

A flight test of a business jet aircraft with various ice accretions was performed to obtain data to validate flight simulation models developed through wind tunnel tests. Three types of ice accretions were tested: pre-activation roughness, runback shapes that form downstream of the thermal wing ice protection system, and a wing ice protection system failure shape. The high fidelity flight simulation models of this business jet aircraft were validated using a software tool called "Overdrive." Through comparisons of flight-extracted aerodynamic forces and moments to simulation-predicted forces and moments, the simulation models were successfully validated. Only minor adjustments in the simulation database were required to obtain adequate match, signifying the process used to develop the simulation models was successful. The simulation models were implemented in the NASA Ice Contamination Effects Flight Training Device (ICEFTD) to enable company pilots to evaluate flight characteristics of the simulation models. By and large, the pilots confirmed good similarities in the flight characteristics when compared to the real airplane. However, pilots noted pitch up tendencies at stall with the flaps extended that were not representative of the airplane and identified some differences in pilot forces. The elevator hinge moment model and implementation of the control forces on the ICEFTD were identified as a driver in the pitch ups and control force issues, and will be an area for future work.

A moving control volume method for smooth computation of hydrodynamic forces and torques on immersed bodies

NASA Astrophysics Data System (ADS)

Nangia, Nishant; Patankar, Neelesh A.; Bhalla, Amneet P. S.

2017-11-01

Fictitious domain methods for simulating fluid-structure interaction (FSI) have been gaining popularity in the past few decades because of their robustness in handling arbitrarily moving bodies. Often the transient net hydrodynamic forces and torques on the body are desired quantities for these types of simulations. In past studies using immersed boundary (IB) methods, force measurements are contaminated with spurious oscillations due to evaluation of possibly discontinuous spatial velocity of pressure gradients within or on the surface of the body. Based on an application of the Reynolds transport theorem, we present a moving control volume (CV) approach to computing the net forces and torques on a moving body immersed in a fluid. The approach is shown to be accurate for a wide array of FSI problems, including flow past stationary and moving objects, Stokes flow, and high Reynolds number free-swimming. The approach only requires far-field (smooth) velocity and pressure information, thereby suppressing spurious force oscillations and eliminating the need for any filtering. The proposed moving CV method is not limited to a specific IB method and is straightforward to implement within an existing parallel FSI simulation software. This work is supported by NSF (Award Numbers SI2-SSI-1450374, SI2-SSI-1450327, and DGE-1324585), the US Department of Energy, Office of Science, ASCR (Award Number DE-AC02-05CH11231), and NIH (Award Number HL117163).

Effect of two contrasting interventions on upper limb chronic pain and disability: a randomized controlled trial.

PubMed

Sundstrup, Emil; Jakobsen, Markus D; Andersen, Christoffer H; Jay, Kenneth; Persson, Roger; Aagaard, Per; Andersen, Lars L

2014-01-01

Chronic pain and disability of the arm, shoulder, and hand severely affect labor market participation. Ergonomic training and education is the default strategy to reduce physical exposure and thereby prevent aggravation of pain. An alternative strategy could be to increase physical capacity of the worker by physical conditioning. To investigate the effect of 2 contrasting interventions, conventional ergonomic training (usual care) versus resistance training, on pain and disability in individuals with upper limb chronic pain exposed to highly repetitive and forceful manual work. Examiner-blinded, parallel-group randomized controlled trial with allocation concealment. Slaughterhouses located in Denmark, Europe. Sixty-six adults with chronic pain in the shoulder, elbow/forearm, or hand/wrist and work disability were randomly allocated to 10 weeks of specific resistance training for the shoulder, arm, and hand muscles for 3 x 10 minutes per week, or ergonomic training and education (usual care control group). Pain intensity (average of shoulder, arm, and hand, scale 0 - 10) was the primary outcome, and disability (Work module of DASH questionnaire) as well as isometric shoulder and wrist muscle strength were secondary outcomes. Pain intensity, disability, and muscle strength improved more following resistance training than usual care (P < 0.001, P = 0.05, P <0.0001, respectively [corrected]). Pain intensity decreased by 1.5 points (95% confidence interval -2.0 to -0.9) following resistance training compared with usual care, corresponding to an effect size of 0.91 (Cohen's d). Blinding of participants is not possible in behavioral interventions. However, at baseline outcome expectations of the 2 interventions were similar. Resistance training at the workplace results in clinical relevant improvements in pain, disability, and muscle strength in adults with upper limb chronic pain exposed to highly repetitive and forceful manual work. NCT01671267.

The Jet Propulsion Laboratory shared control architecture and implementation

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Hayati, Samad

1990-01-01

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Lumbar extensor muscle force control is associated with disability in people with chronic low back pain.

PubMed

Pranata, Adrian; Perraton, Luke; El-Ansary, Doa; Clark, Ross; Fortin, Karine; Dettmann, Tim; Brandham, Robert; Bryant, Adam

2017-07-01

The ability to control lumbar extensor force output is necessary for daily activities. However, it is unknown whether this ability is impaired in chronic low back pain patients. Similarly, it is unknown whether lumbar extensor force control is related to the disability levels of chronic low back pain patients. Thirty-three chronic low back pain and 20 healthy people performed lumbar extension force-matching task where they increased and decreased their force output to match a variable target force within 20%-50% maximal voluntary isometric contraction. Force control was quantified as the root-mean-square-error between participants' force output and target force across the entire, during the increasing and decreasing portions of the force curve. Within- and between-group differences in force-matching error and the relationship between back pain group's force-matching results and their Oswestry Disability Index scores were assessed using ANCOVA and linear regression respectively. Back pain group demonstrated more overall force-matching error (mean difference=1.60 [0.78, 2.43], P<0.01) and more force-matching error while increasing force output (mean difference=2.19 [1.01, 3.37], P<0.01) than control group. The back pain group demonstrated more force-matching error while increasing than decreasing force output (mean difference=1.74, P<0.001, 95%CI [0.87, 2.61]). A unit increase in force-matching error while decreasing force output is associated with a 47% increase in Oswestry score in back pain group (R 2 =0.19, P=0.006). Lumbar extensor muscle force control is compromised in chronic low back pain patients. Force-matching error predicts disability, confirming the validity of our force control protocol for chronic low back pain patients. Copyright © 2017 Elsevier Ltd. All rights reserved.

Towards a Learning Workforce: A Policy Discussion Paper on Adult Learners at Work.

ERIC Educational Resources Information Center

Tuckett, Alan

There is widespread agreement in Great Britain that the work force must receive more skills training if the country is to be competitive in the future. Of special concern is the 70 percent of the work force who left school at the earliest possible opportunity, and the (overlapping) 70 percent of the work force who have not received training for a…

Legal Aspects of the Changing Roles of Women in North Carolina.

ERIC Educational Resources Information Center

Schoonmaker, Meyressa H.

Although women in North Carolina increasingly enter the work force to stay and their "protected" status in marriage is no longer secure, North Carolina's women do not have economic equality under law with men. Husbands have full rights to the rents, profit, and control of entirety property and real estate during marriage; and no women…

High oxygen nanocomposite barrier films based on xylan and nanocrystalline cellulose

Treesearch

Amit Saxena; Thomas J. Elder; Jeffrey Kenvin; Arthur J. Ragauskas

2010-01-01

The goal of this work is to produce nanocomposite film with low oxygen permeability by casting an aqueous solution containing xylan, sorbitol and nanocrystalline cellulose. The morphology of the resulting nanocomposite films was examined by scanning electron microscopy and atomic force microscopy which showed that control films containing xylan and sorbitol had a more...

More Colleges Tighten Benefit Programs to Meet Big Rise in Health-Insurance Costs.

ERIC Educational Resources Information Center

Magner, Denise K.

1992-01-01

Increases in costs to colleges and universities for employee health insurance have risen as much as 20 to 30 percent annually, requiring adjustments to control costs, a new philosophy of sharing costs with employees, increased proportions of payroll (now 6.1 percent) going for health care costs, and reductions in work force size. (DB)

Counterinsurgency After Afghanistan: A Concept in Crisis

DTIC Science & Technology

2011-12-01

in strategy was undeniably stabilizing. This also explains the concrete walls, barriers, check- points, and other population-control measures...partnering with Sunni community leaders, Dagger Brigade was able to interpose itself—with concrete barriers, combined outposts, and checkpoints...local forces work together toward the same end. Also important in this regard are the aforementioned check- points, concrete barriers, and other

Does aging impair the capacity to use stored visuospatial information or online visual control to guide reach-to-grasp reactions evoked by unpredictable balance perturbation?

PubMed

Cheng, Kenneth C; McKay, Sandra M; King, Emily C; Maki, Brian E

2012-11-01

Rapid reach-to-grasp reactions are a prevalent response to sudden loss of balance and play an important role in preventing falls. A previous study indicated that young adults are able to guide functionally effective grasping reactions using visuospatial information (VSI) stored in working memory. The present study addressed whether healthy older adults are also able to use "stored" VSI in this manner or are more dependent on "online" visual control. Liquid-crystal goggles were used to force reliance on either stored or online VSI while reaching to grasp a small handhold in response to unpredictable platform perturbations. A motor-driven device varied the handhold location unpredictably for each trial. Twelve healthy older adults (65-79 years) were compared with 12 young adults (19-29 years) tested in a previous study. Reach-to-grasp reactions were slower and more variable in older adults, regardless of the nature of the available VSI. When forced to rely on stored VSI, both age groups showed a reduction in reach accuracy; however, a tendency to undershoot the handhold was exacerbated in the older adults. Forced reliance on online VSI led to similar delays in both age groups; however, the older adults were more likely to reach with the "wrong" limb (contralateral to the handhold) and/or raise both arms initially (possibly to "buy" more time for final limb selection). Situations that force the central nervous system to rely on either stored or online VSI tend to exacerbate age-related reductions in speed and accuracy of reach-to-grasp balance-recovery reactions. Further work is needed to determine if this increases risk of falling in daily life.

Community hoarding task forces: a comparative case study of five task forces in the United States.

PubMed

Bratiotis, Christiana

2013-05-01

During the past decade, many community task forces have formed to address hoarding problems that come to public attention. Such task forces provide a societal-level intervention to assist people with the most severe cases of hoarding, who do not voluntarily seek or want help for their hoarding behaviour. This qualitative study of five U.S. hoarding task forces included sites selected for their diversity of purpose, approaches to hoarding intervention and community geography, composition and resources. Data were collected during the period of September 2007-March 2008. The case study methodology used multiple forms of data, including semi-structured interviews, analysis of documents, small group interviews and investigator observation. This study captured the perspectives of public and private sector service providers such as mental health, housing, social service, public health agencies and community enforcement organisations (fire, police, legal, animal control) to examine how task forces organise and operate and the emerging practice and policy changes. Study findings suggest that structural factors (e.g. leadership, purpose, funding and membership) impact hoarding task force viability, that participation on a task force influences practice and policy decisions about hoarding, and that social work can expand its role in task force leadership. Task forces may be a mechanism for improving community policies about hoarding and mechanisms for addressing other social problems across multiple sectors. © 2012 Blackwell Publishing Ltd.

Foot force direction control during a pedaling task in individuals post-stroke

PubMed Central

2014-01-01

Background Appropriate magnitude and directional control of foot-forces is required for successful execution of locomotor tasks. Earlier evidence suggested, following stroke, there is a potential impairment in foot-force control capabilities both during stationary force generation and locomotion. The purpose of this study was to investigate the foot-pedal surface interaction force components, in non-neurologically-impaired and stroke-impaired individuals, in order to determine how fore/aft shear-directed foot/pedal forces are controlled. Methods Sixteen individuals with chronic post-stroke hemiplegia and 10 age-similar non-neurologically-impaired controls performed a foot placement maintenance task under a stationary and a pedaling condition, achieving a target normal pedal force. Electromyography and force profiles were recorded. We expected generation of unduly large magnitude shear pedal forces and reduced participation of multiple muscles that can contribute forces in appropriate directions in individuals post-stroke. Results We found lower force output, inconsistent modulation of muscle activity and reduced ability to change foot force direction in the paretic limbs, but we did not observe unduly large magnitude shear pedal surface forces by the paretic limbs as we hypothesized. Conclusion These findings suggested the preservation of foot-force control capabilities post-stroke under minimal upright postural control requirements. Further research must be conducted to determine whether inappropriate shear force generation will be revealed under non-seated, postural demanding conditions, where subjects have to actively control for upright body suspension. PMID:24739234

Suspension force control of bearingless permanent magnet slice motor based on flux linkage identification.

PubMed

Zhu, Suming; Zhu, Huangqiu

2015-07-01

The control accuracy and dynamic performance of suspension force are confined in the traditional bearingless permanent magnet slice motor (BPMSM) control strategies because the suspension force control is indirectly achieved by adopting a closed loop of displacement only. Besides, the phase information in suspension force control relies on accurate measurement of rotor position, making the control system more complex. In this paper, a new suspension force control strategy with displacement and radial suspension force double closed loops is proposed, the flux linkage of motor windings is identified based on voltage-current model and the flexibility of motor control can be improved greatly. Simulation and experimental results show that the proposed suspension force control strategy is effective to realize the stable operation of the BPMSM. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

The Changing Work Force. Trends and Issues Alerts.

ERIC Educational Resources Information Center

Lankard, Bettina A.

Economic pressures, work force diversity, and advances in technology are changing the nature of work and organizational policy and management. A predicted decline in the annual growth in gross national product is expected to trigger a slowdown in the labor force, especially in occupations that employ workers with only a high school education.…

[Fact Sheets on Working Women].

ERIC Educational Resources Information Center

National Commission on Working Women, Washington, DC.

These four fact sheets address a number of issues relating to women in the work force. The first, "An Overview of Women in the Work Force," offers a look at the numbers of women in the labor force, the occupational categories represented by women workers, women in professional and nonprofessional occupations, and women in nontraditional…

America's Changing Work Force. Statistics in Brief.

ERIC Educational Resources Information Center

American Association of Retired Persons, Washington, DC.

This booklet provides information about the changing work force. It offers a profile of workers aged 45 and older, as well as likely changes in the work force of the future. Tables and graphs illustrate the following: profile of Americans aged 50 and older, by employment status; employment status of the civilian noninstitutional population by age…

Detection of antipersonnel (AP) mines using mechatronics approach

NASA Astrophysics Data System (ADS)

Shahri, Ali M.; Naghdy, Fazel

1998-09-01

At present there are approximately 110 million land-mines scattered around the world in 64 countries. The clearance of these mines takes place manually. Unfortunately, on average for every 5000 mines cleared one mine clearer is killed. A Mine Detector Arm (MDA) using mechatronics approach is under development in this work. The robot arm imitates manual hand- prodding technique for mine detection. It inserts a bayonet into the soil and models the dynamics of the manipulator and environment parameters, such as stiffness variation in the soil to control the impact caused by contacting a stiff object. An explicit impact control scheme is applied as the main control scheme, while two different intelligent control methods are designed to deal with uncertainties and varying environmental parameters. Firstly, a neuro-fuzzy adaptive gain controller (NFAGC) is designed to adapt the force gain control according to the estimated environment stiffness. Then, an adaptive neuro-fuzzy plus PID controller is employed to switch from a conventional PID controller to neuro-fuzzy impact control (NFIC), when an impact is detected. The developed control schemes are validated through computer simulation and experimental work.

A comparison of force control algorithms for robots in contact with flexible environments

NASA Technical Reports Server (NTRS)

Wilfinger, Lee S.

1992-01-01

In order to perform useful tasks, the robot end-effector must come into contact with its environment. For such tasks, force feedback is frequently used to control the interaction forces. Control of these forces is complicated by the fact that the flexibility of the environment affects the stability of the force control algorithm. Because of the wide variety of different materials present in everyday environments, it is necessary to gain an understanding of how environmental flexibility affects the stability of force control algorithms. This report presents the theory and experimental results of two force control algorithms: Position Accommodation Control and Direct Force Servoing. The implementation of each of these algorithms on a two-arm robotic test bed located in the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) is discussed in detail. The behavior of each algorithm when contacting materials of different flexibility is experimentally determined. In addition, several robustness improvements to the Direct Force Servoing algorithm are suggested and experimentally verified. Finally, a qualitative comparison of the force control algorithms is provided, along with a description of a general tuning process for each control method.

Contributions of Subsurface Cortical Modulations to Discrimination of Executed and Imagined Grasp Forces through Stereoelectroencephalography

PubMed Central

Murphy, Brian A.; Miller, Jonathan P.; Gunalan, Kabilar; Ajiboye, A. Bolu

2016-01-01

Stereoelectroencephalographic (SEEG) depth electrodes have the potential to record neural activity from deep brain structures not easily reached with other intracranial recording technologies. SEEG electrodes were placed through deep cortical structures including central sulcus and insular cortex. In order to observe changes in frequency band modulation, participants performed force matching trials at three distinct force levels using two different grasp configurations: a power grasp and a lateral pinch. Signals from these deeper structures were found to contain information useful for distinguishing force from rest trials as well as different force levels in some participants. High frequency components along with alpha and beta bands recorded from electrodes located near the primary motor cortex wall of central sulcus and electrodes passing through sensory cortex were found to be the most useful for classification of force versus rest although one participant did have significant modulation in the insular cortex. This study electrophysiologically corroborates with previous imaging studies that show force-related modulation occurs inside of central sulcus and insular cortex. The results of this work suggest that depth electrodes could be useful tools for investigating the functions of deeper brain structures as well as showing that central sulcus and insular cortex may contain neural signals that could be used for control of a grasp force BMI. PMID:26963246

Force generation within tissues during development

NASA Astrophysics Data System (ADS)

Kasza, Karen

During embryonic development, multicellular tissues physically change shape, move, and grow. Changes in epithelial tissue organization are often accomplished by local movements of cells that are driven largely by forces generated by the motor protein myosin II. These forces are patterned to orient cell movements, resulting in changes in tissue shape and organization to build functional tissues and organs. To investigate the mechanisms of force generation in vivo, we use the fruit fly embryo as a model system. Spatial patterns of forces orient cell movements to drive rapid tissue elongation along the head-to-tail axis of the embryo. I will describe how studying embryos generated with engineered myosin variants provides insight into where, when, and how forces are generated to efficiently reorganize tissues. We found that a myosin variant that is locked-in to the active or ``on'' state accelerates cell movements, while two mutant myosin variants associated with human disease produce slowed cell movement. These myosin variants all disrupt tissue elongation, but live imaging and biophysical measurements reveal distinct effects on myosin organization and dynamics within cells and uncover mechanisms that control the spatial and temporal patterns of force generation. These studies shed light not only on how defects in force generation contribute to disease but also on physical principles at work in active, living materials.

Mechanical control of tissue and organ development

PubMed Central

Mammoto, Tadanori; Ingber, Donald E.

2010-01-01

Many genes and molecules that drive tissue patterning during organogenesis and tissue regeneration have been discovered. Yet, we still lack a full understanding of how these chemical cues induce the formation of living tissues with their unique shapes and material properties. Here, we review work based on the convergence of physics, engineering and biology that suggests that mechanical forces generated by living cells are as crucial as genes and chemical signals for the control of embryological development, morphogenesis and tissue patterning. PMID:20388652

On-product overlay enhancement using advanced litho-cluster control based on integrated metrology, ultra-small DBO targets and novel corrections

NASA Astrophysics Data System (ADS)

Bhattacharyya, Kaustuve; Ke, Chih-Ming; Huang, Guo-Tsai; Chen, Kai-Hsiung; Smilde, Henk-Jan H.; Fuchs, Andreas; Jak, Martin; van Schijndel, Mark; Bozkurt, Murat; van der Schaar, Maurits; Meyer, Steffen; Un, Miranda; Morgan, Stephen; Wu, Jon; Tsai, Vincent; Liang, Frida; den Boef, Arie; ten Berge, Peter; Kubis, Michael; Wang, Cathy; Fouquet, Christophe; Terng, L. G.; Hwang, David; Cheng, Kevin; Gau, TS; Ku, Y. C.

2013-04-01

Aggressive on-product overlay requirements in advanced nodes are setting a superior challenge for the semiconductor industry. This forces the industry to look beyond the traditional way-of-working and invest in several new technologies. Integrated metrology2, in-chip overlay control, advanced sampling and process correction-mechanism (using the highest order of correction possible with scanner interface today), are a few of such technologies considered in this publication.

Physical Fitness as a Moderator of Cognitive Degradation During Sleep Deprivation

DTIC Science & Technology

1983-06-03

PROGRAM ELEMENT, PROJECT, TASK AREA & WORK UNIT NUMBERS 11. CONTROLLING OFFICE NAME AND ADDRESS 12. REPORT DATE HQ TRADOC, ATTN: ATCS-D, Fort Monroe, 3...June 83 VA235 23651 13. NUMBER OF PAGES 164 14. MONITORING AGENCY NAME & ADDRESS(iI different from Controlling Office) 1S. SECURITY CLASS. (of this...with troops. b. An attack designed to produce an overwhelming and sustained rate of advance by using two or more echelons in the attacking force. These

The effects of Poynting-Robertson drag on solar sails

NASA Astrophysics Data System (ADS)

Abd El-Salam, F. A.

2018-06-01

In the present work, the concept of solar sailing and its developing spacecraft are presented. The effects of Poynting-Robertson drag on solar sails are considered. Some analytical control laws with some mentioned input constraints for optimizing solar sails dynamics in heliocentric orbit using Lagrange's planetary equations are obtained. Optimum force vector in a required direction is maximized by deriving optimal sail cone angle. New control laws that maximize thrust to obtain certain required maximization in some particular orbital element are obtained.

AISI/DOE Advanced Process Control Program Vol. 3 of 6 Microstructure Engineering in Hot Strip Mills, Part 1 of 2: Integrated Mathematical Model

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

J.K. Brimacombe; I.V. Samarasekera; E.B. Hawbolt

1999-07-31

This report describes the work of developing an integrated model used to predict the thermal history, deformation, roll forces, microstructural evolution and mechanical properties of steel strip in a hot-strip mill. This achievement results from a joint research effort that is part of the American Iron and Steel Institute's (AIS) Advanced Process Control Program, a collaboration between the U.S. DOE and fifteen North American Steelmakers.

14 CFR 23.155 - Elevator control force in maneuvers.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Elevator control force in maneuvers. 23.155 Section 23.155 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Controllability and Maneuverability § 23.155 Elevator control force in maneuvers. (a) The elevator control force...

14 CFR 23.155 - Elevator control force in maneuvers.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Elevator control force in maneuvers. 23.155 Section 23.155 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Controllability and Maneuverability § 23.155 Elevator control force in maneuvers. (a) The elevator control force...

14 CFR 23.155 - Elevator control force in maneuvers.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Elevator control force in maneuvers. 23.155 Section 23.155 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Controllability and Maneuverability § 23.155 Elevator control force in maneuvers. (a) The elevator control force...

14 CFR 23.155 - Elevator control force in maneuvers.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Elevator control force in maneuvers. 23.155 Section 23.155 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Controllability and Maneuverability § 23.155 Elevator control force in maneuvers. (a) The elevator control force...

14 CFR 23.155 - Elevator control force in maneuvers.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Elevator control force in maneuvers. 23.155 Section 23.155 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Controllability and Maneuverability § 23.155 Elevator control force in maneuvers. (a) The elevator control force...

The impact of working technique on physical loads - an exposure profile among newspaper editors.

PubMed

Lindegård, A; Wahlström, J; Hagberg, M; Hansson, G-A; Jonsson, P; Wigaeus Tornqvist, E

2003-05-15

The aim of this study was to investigate the possible associations between working technique, sex, symptoms and level of physical load in VDU-work. A study group of 32 employees in the editing department of a daily newspaper answered a questionnaire, about physical working conditions and symptoms from the neck and the upper extremities. Muscular load, wrist positions and computer mouse forces were measured. Working technique was assessed from an observation protocol for computer work. In addition ratings of perceived exertion and overall comfort were collected. The results showed that subjects classified as having a good working technique worked with less muscular load in the forearm (extensor carpi ulnaris p=0.03) and in the trapezius muscle on the mouse operating side (p=0.02) compared to subjects classified as having a poor working technique. Moreover there were no differences in gap frequency (number of episodes when muscle activity is below 2.5% of a reference contraction) or muscular rest (total duration of gaps) between the two working technique groups. Women in this study used more force (mean force p=0.006, peak force p=0.02) expressed as % MVC than the men when operating the computer mouse. No major differences were shown in muscular load, wrist postures, perceived exertion or perceived comfort between men and women or between cases and symptom free subjects. In conclusion a good working technique was associated with reduced muscular load in the forearm muscles and in the trapezius muscle on the mouse operating side. Moreover women used more force (mean force and peak force) than men when operating the click button (left button) of the computer mouse.

Crouch gait can be an effective form of forced-use/no constraint exercise for the paretic lower limb in stroke.

PubMed

Tesio, Luigi; Rota, Viviana; Malloggi, Chiara; Brugliera, Luigia; Catino, Luigi

2017-09-01

In hemiplegic gait the paretic lower limb provides less muscle power and shows a briefer stance compared with the unaffected limb. Yet, a longer stance and a higher power can be obtained from the paretic lower limb if gait speed is increased. This supports the existence of a 'learned non-use' phenomenon, similar to that underlying some asymmetric impairments of the motion of the eyes and of the upper limbs. Crouch gait (CG) (bent-hip bent-knee, about 30° minimum knee flexion) might be an effective form of 'forced-use' treatment of the paretic lower limb. It is not known whether it also stimulates a more symmetric muscle power output. Gait analysis on a force treadmill was carried out in 12 healthy adults and seven hemiplegic patients (1-127 months after stroke, median: 1.6). Speed was imposed at 0.3 m/s. Step length and single and double stance times, sagittal joint rotations, peak positive power, and work in extension of the hip, knee, and ankle (plantar flexion), and surface electromyography (sEMG) area from extensor muscles during the generation of power were measured on either side during both erect and crouch walking. Significance was set at P less than 0.05; corrections for multiplicity were applied. Patients, compared with healthy controls, adopted in both gait modalities and on both sides a shorter step length (61-84%) as well as a shorter stance (76-90%) and swing (63-83%) time. As a rule, they also provided a higher muscular work (median: 137%, range: 77-250%) paralleled by a greater sEMG area (median: 174%, range: 75-185%). In erect gait, the generation of peak extensor power across hip, knee, and ankle joints was in general lower (83-90%) from the paretic limb and higher (98-165%) from the unaffected limb compared with control values. In CG, peak power generation across the three lower limb joints was invariably higher in hemiparetic patients: 107-177% from the paretic limb and 114-231% from the unaffected limb. When gait shifted from erect to crouch, only for hemiplegic patients, at the hip, the paretic/unaffected ratio increased significantly. For peak power, work, sEMG area, and joint rotation, the paretic/unaffected ratio increased from 55 to 85%, 56 to 72%, 68 to 91%, and 67 to 93%, respectively. CG appears to be an effective form of forced-use exercise eliciting more power and work from the paretic lower limb muscles sustained by a greater neural drive. It also seems effective in forcing a more symmetric power and work from the hip extensor muscles, but neither from the knee nor the ankle.

Vehicle Dynamics Control of In-wheel Electric Motor Drive Vehicles Based on Averaging of Tire Force Usage

NASA Astrophysics Data System (ADS)

Masaki, Nobuo; Iwano, Haruo; Kamada, Takayoshi; Nagai, Masao

For in-wheel electric motor drive vehicles, a new vehicle dynamics control which is based on the tire force usage rate is proposed. The new controller adopts non-linear optimal control could manage the interference between direct yaw-moment control and the tire force usage rate. The new control is considered total longitudinal and transverse tire force. Therefore the controller can prevent tire force saturation near tire force limit during cornering. Simulations and test runs by the custom made four wheel drive in-wheel motor electric vehicle show that higher driving stability performance compared to the performance of the same vehicle without control.

Defining Conditions for the Use of Persistent Surveillance

DTIC Science & Technology

2009-12-01

as hard as the Air Force has worked the North Dakota and Ohio delegations,’ says Colonel Charles Bartlett, head of a special Air Force task force on...UAVs…While Richard Shelby , the Republican senator from Alabama, is concerned about the impact on Redstone Arsenal, which manages much of the Army’s...UAV work, Byron Dorgan, the North Dakota Democratic senator, wants to attract more work for Grand Forks Air Force base, partly to make up for the

New insights into the passive force enhancement in skeletal muscles.

PubMed

Lee, Eun-Jeong; Joumaa, Venus; Herzog, Walter

2007-01-01

The steady-state isometric force following active stretching of a muscle is always greater than the steady-state isometric force obtained in a purely isometric contraction at the same length. This phenomenon has been termed "residual force enhancement" and it is associated with an active and a passive component. The origin of these components remains a matter of scientific debate. The purpose of this work was to test the hypothesis that the passive component of the residual force enhancement is caused by a passive structural element. In order to achieve this purpose, single fibers (n=6) from the lumbrical muscles of frog (Rana pipiens) were isolated and attached to a force transducer and a motor that could produce computer-controlled length changes. The passive force enhancement was assessed for three experimental conditions: in a normal Ringer's solution, and after the addition of 5 and 15mM 2,3-butanedione monoxime (BDM) which inhibits force production in a dose-dependent manner. If our hypothesis was correct, one would expect the passive force enhancement to be unaffected following BDM application. However, we found that increasing concentrations of BDM decreased the isometric forces, increased the normalized residual force enhancement, and most importantly for this study, increased the passive force enhancement. Furthermore, BDM decreased the rate of force relaxation after deactivation following active stretching of fibers, passive stretching in the Ringer's and BDM conditions produced the same passive force-sarcomere length relationship, and passive force enhancement required activation and force production. These results led to the conclusion that the passive force enhancement cannot be caused by a structural component exclusively as had been assumed up to date, but must be associated, directly or indirectly, with cross-bridge attachments upon activation and the associated active force.

Job demands and decision control predicted return to work: the rapid-RTW cohort study.

PubMed

Haveraaen, Lise Aasen; Skarpaas, Lisebet Skeie; Aas, Randi Wågø

2017-02-02

In order to help workers with long-term sickness absence return to work (RTW), it is important to understand factors that either impede or facilitate employee's reintegration into the labour force. The aim of this study was therefore to examine the impact of psychological work characteristics on time-to first RTW in sick listed employees in Norway. The study was designed as a cohort study of 543 employees participating in 50 different RTW programmes. The Job Content Questionnaire (JCQ) was used to gather information on the psychological work conditions. The participants were followed for up to 18 months after they started treatment in the RTW programme. Survival analyses were used to investigate the association between psychological work conditions and time-to first RTW. Having high psychological job demands (HR = .654; 95% CI: .513-.832) and low decision control (HR = 1.297; 95% CI: 1.010-1.666) were both independent predictors of delayed RTW. Employees in low-strain jobs (low demands/high control) (HR = 1.811; 95% CI: 1.287-2.549) and passive jobs (low demands/low control) (HR = 1.599; 95% CI: 1.107-2.309), returned to work earlier compared to employees in high-strain jobs (high demands/low control). No difference was found for active jobs (high demands/high control). This study revealed that high psychological demands, low control, and being in a high strain job reduced the probability of early RTW in sick listed employees. RTW programmes should therefore increase the focus on these issues.

Individuals with autism spectrum disorder show abnormalities during initial and subsequent phases of precision gripping

PubMed Central

Magnon, Grant C.; White, Stormi P.; Greene, Rachel K.; Vaillancourt, David E.

2014-01-01

Sensorimotor impairments are common in autism spectrum disorder (ASD), but they are not well understood. Here we examined force control during initial pulses and the subsequent rise, sustained, and relaxation phases of precision gripping in 34 individuals with ASD and 25 healthy control subjects. Participants pressed on opposing load cells with their thumb and index finger while receiving visual feedback regarding their performance. They completed 2- and 8-s trials during which they pressed at 15%, 45%, or 85% of their maximum force. Initial pulses guided by feedforward control mechanisms, sustained force output controlled by visual feedback processes, and force relaxation rates all were examined. Control subjects favored an initial pulse strategy characterized by a rapid increase in and then relaxation of force when the target force was low (Type 1). When the target force level or duration of trials was increased, control subjects transitioned to a strategy in which they more gradually increased their force, paused, and then increased their force again. Individuals with ASD showed a more persistent bias toward the Type 1 strategy at higher force levels and during longer trials, and their initial force output was less accurate than that of control subjects. Patients showed increased force variability compared with control subjects when attempting to sustain a constant force level. During the relaxation phase, they showed reduced rates of force decrease. These findings suggest that both feedforward and feedback motor control mechanisms are compromised in ASD and these deficits may contribute to the dyspraxia and sensorimotor abnormalities often seen in this disorder. PMID:25552638

Assessment of a Wearable Force- and Electromyography Device and Comparison of the Related Signals for Myocontrol

PubMed Central

Connan, Mathilde; Ruiz Ramírez, Eduardo; Vodermayer, Bernhard; Castellini, Claudio

2016-01-01

In the frame of assistive robotics, multi-finger prosthetic hand/wrists have recently appeared, offering an increasing level of dexterity; however, in practice their control is limited to a few hand grips and still unreliable, with the effect that pattern recognition has not yet appeared in the clinical environment. According to the scientific community, one of the keys to improve the situation is multi-modal sensing, i.e., using diverse sensor modalities to interpret the subject's intent and improve the reliability and safety of the control system in daily life activities. In this work, we first describe and test a novel wireless, wearable force- and electromyography device; through an experiment conducted on ten intact subjects, we then compare the obtained signals both qualitatively and quantitatively, highlighting their advantages and disadvantages. Our results indicate that force-myography yields signals which are more stable across time during whenever a pattern is held, than those obtained by electromyography. We speculate that fusion of the two modalities might be advantageous to improve the reliability of myocontrol in the near future. PMID:27909406

Optimization of new magnetorheological fluid mount for vibration control of start/stop engine mode

NASA Astrophysics Data System (ADS)

Chung, Jye Ung; Phu, Do Xuan; Choi, Seung-Bok

2015-04-01

The technologies related to saving energy/or green vehicles are actively researched. In this tendency, the problem for reducing exhausted gas is in development with various ways. Those efforts are directly related to the operation of engine which emits exhausted gas. The auto start/stop of vehicle engine when a vehicle stop at road is currently as a main stream of vehicle industry resulting in reducing exhausted gas. However, this technology automatically turns on and off engine frequently. This motion induces vehicle engine to transmit vibration of engine which has large displacement, and torsional impact to chassis. These vibrations causing uncomfortable feeling to passengers are transmitted through the steering wheel and the gear knob. In this work, in order to resolve this vibration issue, a new proposed magnetorheological (MR) fluid based engine mount (MR mount in short) is presented. The proposed MR mount is designed to satisfy large damping force in various frequency ranges. It is shown that the proposed mount can have large damping force and large force ratio which is enough to control unwanted vibrations of engine start/stop mode.

Controlling Chirality of Entropic Crystals

NASA Astrophysics Data System (ADS)

Damasceno, Pablo; Karas, Andrew; Schultz, Benjamin; Engel, Michael; Glotzer, Sharon

Colloidal crystal structures with complexity and diversity rivaling atomic and molecular crystals have been predicted and obtained for hard particles by entropy maximization. However, thus far homochiral colloidal crystals, which are candidates for photonic metamaterials, are absent. Using Monte Carlo simulations we show that chiral polyhedra exhibiting weak directional entropic forces self-assemble either an achiral crystal or a chiral crystal with limited control over the crystal handedness. Building blocks with stronger faceting exhibit higher selectivity and assemble a chiral crystal with handedness uniquely determined by the particle chirality. Tuning the strength of directional entropic forces by means of particle rounding or the use of depletants allows for reconfiguration between achiral and homochiral crystals. We rationalize our findings by quantifying the chirality strength of each particle, both from particle geometry and potential of mean force and torque diagrams. Work supported by the National Science Foundation, Division of Materials Research Award No. DMR 1120923, U.S. Army Research Office under Grant Award No. W911NF-10-1-0518, and also by the DOD/ASD (R&E) under Award No. N00244-09-1-0062.

Statistics of work performed on a forced quantum oscillator.

PubMed

Talkner, Peter; Burada, P Sekhar; Hänggi, Peter

2008-07-01

Various aspects of the statistics of work performed by an external classical force on a quantum mechanical system are elucidated for a driven harmonic oscillator. In this special case two parameters are introduced that are sufficient to completely characterize the force protocol. Explicit results for the characteristic function of work and the corresponding probability distribution are provided and discussed for three different types of initial states of the oscillator: microcanonical, canonical, and coherent states. Depending on the choice of the initial state the probability distributions of the performed work may greatly differ. This result in particular also holds true for identical force protocols. General fluctuation and work theorems holding for microcanonical and canonical initial states are confirmed.

Mitigated-force carriage for high magnetic field environments

DOEpatents

Ludtka, Gerard M.; Ludtka, Gail M.; Wilgen, John B.; Murphy, Bart L.

2015-05-19

A carriage for high magnetic field environments includes a plurality of work-piece separators disposed in an operable relationship with a work-piece processing magnet having a magnetic field strength of at least 1 Tesla for supporting and separating a plurality of work-pieces by a preselected, essentially equal spacing, so that, as a first work-piece is inserted into the magnetic field, a second work-piece is simultaneously withdrawn from the magnetic field, so that an attractive magnetic force imparted on the first work-piece offsets a resistive magnetic force imparted on the second work-piece.

Race for resources: continuing struggles over minerals and fuels

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

Tanzer, M.

1980-01-01

Analyzing the mineral crisis within the historical context of the workings of the international capitalist system is necessary since capitalism spawned the industrial revolution, which in turn led to the vast expansion of mineral use. The analysis begins with the multinational companies that dominate the international mineral industry because they are generally the leading forces in the struggle for control of mineral resources and profits. The focus is twofold: (1) on those minerals that are important as economic inputs and in money value, including the metals copper, bauxite, nickel, and iron ore; and (2) to a lesser extent, on themore » fuels. The emphasis is on the current picture and likely changes in the future. Case studies illustrate some of the major forces at work. Crucial problem areas of the future will include the roles of technology, the Third World, and socialist countries. 26 references, 24 tables.« less

A comparison of two adaptive algorithms for the control of active engine mounts

NASA Astrophysics Data System (ADS)

Hillis, A. J.; Harrison, A. J. L.; Stoten, D. P.

2005-08-01

This paper describes work conducted in order to control automotive active engine mounts, consisting of a conventional passive mount and an internal electromagnetic actuator. Active engine mounts seek to cancel the oscillatory forces generated by the rotation of out-of-balance masses within the engine. The actuator generates a force dependent on a control signal from an algorithm implemented with a real-time DSP. The filtered-x least-mean-square (FXLMS) adaptive filter is used as a benchmark for comparison with a new implementation of the error-driven minimal controller synthesis (Er-MCSI) adaptive controller. Both algorithms are applied to an active mount fitted to a saloon car equipped with a four-cylinder turbo-diesel engine, and have no a priori knowledge of the system dynamics. The steady-state and transient performance of the two algorithms are compared and the relative merits of the two approaches are discussed. The Er-MCSI strategy offers significant computational advantages as it requires no cancellation path modelling. The Er-MCSI controller is found to perform in a fashion similar to the FXLMS filter—typically reducing chassis vibration by 50-90% under normal driving conditions.

Controllability analysis and testing of a novel magnetorheological absorber for field gun recoil mitigation

NASA Astrophysics Data System (ADS)

Ouyang, Qing; Zheng, Jiajia; Li, Zhaochun; Hu, Ming; Wang, Jiong

2016-11-01

This paper aims to analyze the effects of combined working coils of magnetorheological (MR) absorber on the shock mitigation performance and verify the controllability of MR absorber as applied in the recoil system of a field gun. A physical scale model of the field gun is established and a long-stroke MR recoil absorber with four-stage parallel electromagnetic coils is designed to apply separate current to each stage and generate variable magnetic field distribution in the annular flow channel. Based on dynamic analysis and firing stability conditions of the field gun, ideal recoil force-stroke profiles of MR absorber at different limiting firing angles are obtained. The experimental studies are carried out on an impact test rig under different combinations of current loading: conventional unified control mode, separate control mode and timing control mode. The fullness degree index (FDI) is defined as the quantitative evaluation criterion of the controllability of MR absorber during the whole recoil motion. The results show that the force-stroke profile of the novel MR absorber can approach the ideal curve within 25 degrees of the limiting firing angle through judicious exploitation of the adjustable rheological properties of MR fluid.

Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer.

PubMed

Niu, Jie; Yang, Qianqian; Wang, Xiaoyun; Song, Rong

2017-01-01

Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is designed for upper-limb rehabilitation, and sliding mode control with nonlinear disturbance observer is designed for the robot to deal with the problem of unpredictable disturbances during robot-assisted training. Then, simulation and experiments of trajectory tracking are carried out to evaluate the performance of the system, the position errors, and the output forces of the designed control scheme are compared with those of the traditional sliding mode control (SMC) scheme. The results show that the designed control scheme can effectively reduce the tracking errors and chattering of the output forces as compared with the traditional SMC scheme, which indicates that the nonlinear disturbance observer can reduce the effect of unpredictable disturbances. The designed control scheme for the wire-driven rehabilitation robot has potential to assist patients with stroke in performing repetitive rehabilitation training.

Hybrid force-velocity sliding mode control of a prosthetic hand.

PubMed

Engeberg, Erik D; Meek, Sanford G; Minor, Mark A

2008-05-01

Four different methods of hand prosthesis control are developed and examined experimentally. Open-loop control is shown to offer the least sensitivity when manipulating objects. Force feedback substantially improves upon open-loop control. However, it is shown that the inclusion of velocity and/or position feedback in a hybrid force-velocity control scheme can further improve the functionality of hand prostheses. Experimental results indicate that the sliding mode controller with force, position, and velocity feedback is less prone to unwanted force overshoot when initially grasping objects than the other controllers.

Ground reaction force comparison of controlled resistance methods to isoinertial loading of the squat exercise - biomed 2010.

PubMed

Paulus, David C; Reynolds, Michael C; Schilling, Brian K

2010-01-01

The ground reaction force during the concentric (raising) portion of the squat exercise was compared to that of isoinertial loading (free weights) for three pneumatically controlled resistance methods: constant resistance, cam force profile, and proportional force control based on velocity. Constant force control showed lower ground reaction forces than isoinertial loading throughout the range of motion (ROM). The cam force profile exhibited slightly greater ground reaction forces than isoinertial loading at 10 and 40% ROM with fifty-percent greater loading at 70% ROM. The proportional force control consistently elicited greater ground reaction force than isoinertial loading, which progressively ranged from twenty to forty percent increase over isoinertial loading except for being approximately equal at 85% ROM. Based on these preliminary results, the proportional control shows the most promise for providing loading that is comparable in magnitude to isoinertial loading. This technology could optimize resistance exercise for sport-specific training or as a countermeasure to atrophy during spaceflight.

Ex-Vivo Lymphatic Perfusion System for Independently Controlling Pressure Gradient and Transmural Pressure in Isolated Vessels

PubMed Central

Kornuta, Jeffrey A.; Dixon, J. Brandon

2015-01-01

In addition to external forces, collecting lymphatic vessels intrinsically contract to transport lymph from the extremities to the venous circulation. As a result, the lymphatic endothelium is routinely exposed to a wide range of dynamic mechanical forces, primarily fluid shear stress and circumferential stress, which have both been shown to affect lymphatic pumping activity. Although various ex-vivo perfusion systems exist to study this innate pumping activity in response to mechanical stimuli, none are capable of independently controlling the two primary mechanical forces affecting lymphatic contractility: transaxial pressure gradient, ΔP, which governs fluid shear stress; and average transmural pressure, Pavg, which governs circumferential stress. Hence, the authors describe a novel ex-vivo lymphatic perfusion system (ELPS) capable of independently controlling these two outputs using a linear, explicit model predictive control (MPC) algorithm. The ELPS is capable of reproducing arbitrary waveforms within the frequency range observed in the lymphatics in vivo, including a time-varying ΔP with a constant Pavg, time-varying ΔP and Pavg, and a constant ΔP with a time-varying Pavg. In addition, due to its implementation of syringes to actuate the working fluid, a post-hoc method of estimating both the flow rate through the vessel and fluid wall shear stress over multiple, long (5 sec) time windows is also described. PMID:24809724

Robust H∞ cost guaranteed integral sliding mode control for the synchronization problem of nonlinear tele-operation system with variable time-delay.

PubMed

Al-Wais, Saba; Khoo, Suiyang; Lee, Tae Hee; Shanmugam, Lakshmanan; Nahavandi, Saeid

2018-01-01

This paper is devoted to the synchronization problem of tele-operation systems with time-varying delay, disturbances, and uncertainty. Delay-dependent sufficient conditions for the existence of integral sliding surfaces are given in the form of Linear Matrix Inequalities (LMIs). This guarantees the global stability of the tele-operation system with known upper bounds of the time-varying delays. Unlike previous work, in this paper, the controller gains are designed but not chosen, which increases the degree of freedom of the design. Moreover, Wirtinger based integral inequality and reciprocally convex combination techniques used in the constructed Lypunove-Krasoviskii Functional (LKF) are deemed to give less conservative stability condition for the system. Furthermore, to relax the analysis from any assumptions regarding the dynamics of the environment and human operator forces, H ∞ design method is used to involve the dynamics of these forces and ensure the stability of the system against these admissible forces in the H ∞ sense. This design scheme combines the strong robustness of the sliding mode control with the H ∞ design method for tele-operation systems which is coupled using state feedback controllers and inherit variable time-delays in their communication channels. Simulation examples are given to show the effectiveness of the proposed method. Copyright © 2017 ISA. All rights reserved.

Development of the first force-controlled robot for otoneurosurgery.

PubMed

Federspil, Philipp A; Geisthoff, Urban W; Henrich, Dominik; Plinkert, Peter K

2003-03-01

In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics. Experimental study on robotic milling of oak wood and human temporal bone specimen. A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computer-aided design (CAD) geometry data of a cochlear implant and an implantable hearing system. The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances. The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.

A new scheme of force reflecting control

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

A new scheme of force reflecting control has been developed that incorporates position-error-based force reflection and robot compliance control. The operator is provided with a kinesthetic force feedback which is proportional to the position error between the operator-commanded and the actual position of the robot arm. Robot compliance control, which increases the effective compliance of the robot, is implemented by low pass filtering the outputs of the force/torque sensor mounted on the base of robot hand and using these signals to alter the operator's position command. This position-error-based force reflection scheme combined with shared compliance control has been implemented successfully to the Advanced Teleoperation system consisting of dissimilar master-slave arms. Stability measurements have demonstrated unprecedentedly high force reflection gains of up to 2 or 3, even though the slave arm is much stiffer than operator's hand holding the force reflecting hand controller. Peg-in-hole experiments were performed with eight different operating modes to evaluate the new force-reflecting control scheme. Best task performance resulted with this new control scheme.

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

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Determination of functions of controlling drives of main executive mechanisms of mining excavators

NASA Astrophysics Data System (ADS)

Lagunova, Yu A.; Komissarov, A. P.; Lukashuk, O. A.

2018-03-01

It is shown that a special shovel is a feature of the structure of the drives of the main mechanisms (mechanisms of lifting and pressure) of career excavators with working equipment, the presence in the transfer device of a two-crank-lever mechanism of working equipment that connects the main mechanisms with the working body (bucket). In this case, the transformation of the mechanical energy parameters of the motors into energy-force parameters realized at the cutting edge of the bucket (teeth) takes place depending on the type of the kinematic scheme of the two-link-lever mechanism. The concept of “control function” defining the relationship between the parameters characterizing the position of the bucket in the face (the coordinates of the tip of the cutting edge of the bucket, the digging speed) and the required control level are introduced. These are the values of the lifting and head speeds ensuring the bucket movement along a given trajectory.

Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data.

PubMed

Armanini, S F; Caetano, J V; Croon, G C H E de; Visser, C C de; Mulder, M

2016-06-30

Flapping-wing aerodynamic models that are accurate, computationally efficient and physically meaningful, are challenging to obtain. Such models are essential to design flapping-wing micro air vehicles and to develop advanced controllers enhancing the autonomy of such vehicles. In this work, a phenomenological model is developed for the time-resolved aerodynamic forces on clap-and-fling ornithopters. The model is based on quasi-steady theory and accounts for inertial, circulatory, added mass and viscous forces. It extends existing quasi-steady approaches by: including a fling circulation factor to account for unsteady wing-wing interaction, considering real platform-specific wing kinematics and different flight regimes. The model parameters are estimated from wind tunnel measurements conducted on a real test platform. Comparison to wind tunnel data shows that the model predicts the lift forces on the test platform accurately, and accounts for wing-wing interaction effectively. Additionally, validation tests with real free-flight data show that lift forces can be predicted with considerable accuracy in different flight regimes. The complete parameter-varying model represents a wide range of flight conditions, is computationally simple, physically meaningful and requires few measurements. It is therefore potentially useful for both control design and preliminary conceptual studies for developing new platforms.

Shear-driven motion of supported lipid bilayers in microfluidic channels.

PubMed

Jönsson, Peter; Beech, Jason P; Tegenfeldt, Jonas O; Höök, Fredrik

2009-04-15

In this work, we demonstrate how a lateral motion of a supported lipid bilayer (SLB) and its constituents can be created without relying on self-spreading forces. The force driving the SLB is instead a viscous shear force arising from a pressure-driven bulk flow acting on the SLB that is formed on a glass wall inside a microfluidic channel. In contrast to self-spreading bilayers, this method allows for accurate control of the bilayer motion by altering the bulk flow in the channel. Experiments showed that an egg yolk phosphatidylcholine SLB formed on a glass support moved in a rolling motion under these shear forces, with the lipids in the upper leaflet of the bilayer moving at twice the velocity of the bilayer front. The drift velocity of different lipid probes in the SLB was observed to be sensitive to the interactions between the lipid probe and the surrounding molecules, resulting in drift velocities that varied by up to 1 order of magnitude for the different lipid probes in our experiments. Since the method provides a so far unattainable control of the motion of all molecules in an SLB, we foresee great potential for this technique, alone or in combination with other methods, for studies of lipid bilayers and different membrane-associated molecules.

Vortex forcing model for turbulent flow over spanwise-heterogeneous topogrpahies: scaling arguments and similarity solution

NASA Astrophysics Data System (ADS)

Anderson, William; Yang, Jianzhi

2017-11-01

Spanwise surface heterogeneity beneath high-Reynolds number, fully-rough wall turbulence is known to induce mean secondary flows in the form of counter-rotating streamwise vortices. The secondary flows are a manifestation of Prandtl's secondary flow of the second kind - driven and sustained by spatial heterogeneity of components of the turbulent (Reynolds averaged) stress tensor. The spacing between adjacent surface heterogeneities serves as a control on the spatial extent of the counter-rotating cells, while their intensity is controlled by the spanwise gradient in imposed drag (where larger gradients associated with more dramatic transitions in roughness induce stronger cells). In this work, we have performed an order of magnitude analysis of the mean (Reynolds averaged) streamwise vorticity transport equation, revealing the scaling dependence of circulation upon spanwise spacing. The scaling arguments are supported by simulation data. Then, we demonstrate that mean streamwise velocity can be predicted a priori via a similarity solution to the mean streamwise vorticity transport equation. A vortex forcing term was used to represent the affects of spanwise topographic heterogeneity within the flow. Efficacy of the vortex forcing term was established with large-eddy simulation cases, wherein vortex forcing model parameters were altered to capture different values of spanwise spacing.

Electro-hydrodynamic force field and flow patterns generated by a DC corona discharge in the air

NASA Astrophysics Data System (ADS)

Monrolin, Nicolas; Plouraboue, Franck; Praud, Olivier

2016-11-01

Ionic wind refers to the electro-convection of ionised air between high voltage electrodes. Microscopic ion-neutral collisions are responsible for momentum transfer from accelerated ions, subjected to the electric field, to the neutral gas molecules resulting in a macroscopic airflow acceleration. In the past decades it has been investigated for various purposes from food drying through aerodynamic flow control and eventually laptop cooling. One consequence of air acceleration between the electrodes is thrust generation, often referred to as the Biefeld-Brown effect or electro-hydrodynamic thrust. In this experimental study, the ionic wind velocity field is measured with the PIV method. From computing the acceleration of the air we work out the electrostatic force field for various electrodes configurations. This enables an original direct evaluation of the force distribution as well as the influence of electrodes shape and position. Thrust computation based on the flow acceleration are compared with digital scale measurements. Complex flow features are highlighted such as vortex shedding, indicating that aerodynamic effects may play a significant role. Furthermore, the aerodynamic drag force exerted on the electrodes is quantified by choosing an appropriate control volume. Authors thank Region Midi-Pyrenee and CNES Launcher Directorate for financial support.

Experimental estimation of energy absorption during heel strike in human barefoot walking.

PubMed

Baines, Patricia M; Schwab, A L; van Soest, A J

2018-01-01

Metabolic energy expenditure during human gait is poorly understood. Mechanical energy loss during heel strike contributes to this energy expenditure. Previous work has estimated the energy absorption during heel strike as 0.8 J using an effective foot mass model. The aim of our study is to investigate the possibility of determining the energy absorption by more directly estimating the work done by the ground reaction force, the force-integral method. Concurrently another aim is to compare this method of direct determination of work to the method of an effective foot mass model. Participants of our experimental study were asked to walk barefoot at preferred speed. Ground reaction force and lower leg kinematics were collected at high sampling frequency (3000 Hz; 1295 Hz), with tight synchronization. The work done by the ground reaction force is 3.8 J, estimated by integrating this force over the foot-ankle deformation. The effective mass model is improved by dropping the assumption that foot-ankle deformation is maximal at the instant of the impact force peak. On theoretical grounds it is clear that in the presence of substantial damping that peak force and peak deformation do not occur simultaneously. The energy absorption results, due the vertical force only, corresponding to the force-integral method is similar to the results of the improved application of the effective mass model (2.7 J; 2.5 J). However the total work done by the ground reaction force calculated by the force-integral method is significantly higher than that of the vertical component alone. We conclude that direct estimation of the work done by the ground reaction force is possible and preferable over the use of the effective foot mass model. Assuming that energy absorbed is lost, the mechanical energy loss of heel strike is around 3.8 J for preferred walking speeds (≈ 1.3 m/s), which contributes to about 15-20% of the overall metabolic cost of transport.

Psychosocial work conditions, social capital, and daily smoking: a population based study.

PubMed

Lindström, M

2004-09-01

To investigate the associations between psychosocial conditions at work, social capital/social participation, and daily smoking. The 2000 public health survey in Scania is a cross sectional postal questionnaire study with a 59% participation rate. A total of 5180 persons aged 18-64 years that belonged to the work force and the unemployed were included in this study. Logistic regression models were used to investigate the associations between psychosocial factors at work/unemployment, social participation, and daily smoking. Psychosocial conditions at work were defined according to the Karasek-Theorell demand-control/decision latitudes into relaxed, active, passive, and jobstrain categories. The multivariate analyses included age, country of origin, education and economic stress. 17.2% proportion of all men and 21.9% of all women were daily smokers. The jobstrain (high demands/low control) and unemployed categories had significantly higher odds ratios of daily smoking among both men and women compared to the relaxed (low demands/high control) reference category. The passive (low demands/low control), jobstrain, and unemployed categories were also significantly associated with low social participation. Low social participation was significantly and positively associated with daily smoking within each of the psychosocial work conditions and unemployed categories. The positive association between low social capital/low social participation and daily smoking is well known. However, both social participation and daily smoking are associated with psychosocial work conditions and unemployment. Psychosocial work conditions and unemployment may affect daily smoking both directly and through a pathway including social participation.

Work and power outputs determined from pedalling and flywheel friction forces during brief maximal exertion on a cycle ergometer.

PubMed

Hibi, N; Fujinaga, H; Ishii, K

1996-01-01

Work and power outputs during short-term, maximal exertion on a friction loaded cycle ergometer are usually calculated from the friction force applied to the flywheel. The inertia of the flywheel is sometimes taken into consideration, but the effects of internal resistances and other factors have been ignored. The purpose of this study was to estimate their effects by comparing work or power output determined from the force exerted on the pedals (pedalling force) with work or power output determined from the friction force and the moment of inertia of the rotational parts. A group of 22 male college students accelerated a cycle ergometer as rapidly as possible for 3 s. The total work output determined from the pedalling force (TWp) was significantly greater than that calculated from the friction force and the moment of inertia (TWf). Power output determined from the pedalling force during each pedal stroke (SPp) was also significantly greater than that calculated from the friction force and the moment of inertia. Percentage difference (% diff), defined by % diff = ¿(TWp - TWf)/TWf¿ x 100, ranged from 16.8% to 49.3% with a mean value of 30.8 (SD 9.1)%. It was observed that % diff values were higher in subjects with greater TWp or greater maximal SPp. These results would indicate that internal resistances and other factors, such as the deformation of the chain and the vibrations of the entire system, may have significant effects on the measurements of work and power outputs. The effects appear to depend on the magnitudes of pedalling force and pedal velocity.

Work in America: Implications for Families. Hearing before the Select Committee on Children, Youth, and Families. House of Representatives, Ninety-Ninth Congress, Second Session.

ERIC Educational Resources Information Center

Congress of the U.S., Washington, DC. House Select Committee on Children, Youth, and Families.

This hearing explored the value of work, and how changes in the economy and the composition of the work force have affected families. Witnesses (1) reported data on such topics as the kinds of jobs currently available, women's participation in the work force, unemployment, and labor force growth over the next decade; (2) argued that the economy is…

A forced damped oscillation framework for undulatory swimming provides new insights into how propulsion arises in active and passive swimming.

PubMed

Bhalla, Amneet Pal Singh; Griffith, Boyce E; Patankar, Neelesh A

2013-01-01

A fundamental issue in locomotion is to understand how muscle forcing produces apparently complex deformation kinematics leading to movement of animals like undulatory swimmers. The question of whether complicated muscle forcing is required to create the observed deformation kinematics is central to the understanding of how animals control movement. In this work, a forced damped oscillation framework is applied to a chain-link model for undulatory swimming to understand how forcing leads to deformation and movement. A unified understanding of swimming, caused by muscle contractions ("active" swimming) or by forces imparted by the surrounding fluid ("passive" swimming), is obtained. We show that the forcing triggers the first few deformation modes of the body, which in turn cause the translational motion. We show that relatively simple forcing patterns can trigger seemingly complex deformation kinematics that lead to movement. For given muscle activation, the forcing frequency relative to the natural frequency of the damped oscillator is important for the emergent deformation characteristics of the body. The proposed approach also leads to a qualitative understanding of optimal deformation kinematics for fast swimming. These results, based on a chain-link model of swimming, are confirmed by fully resolved computational fluid dynamics (CFD) simulations. Prior results from the literature on the optimal value of stiffness for maximum speed are explained.

Haptic force-feedback devices for the office computer: performance and musculoskeletal loading issues.

PubMed

Dennerlein, J T; Yang, M C

2001-01-01

Pointing devices, essential input tools for the graphical user interface (GUI) of desktop computers, require precise motor control and dexterity to use. Haptic force-feedback devices provide the human operator with tactile cues, adding the sense of touch to existing visual and auditory interfaces. However, the performance enhancements, comfort, and possible musculoskeletal loading of using a force-feedback device in an office environment are unknown. Hypothesizing that the time to perform a task and the self-reported pain and discomfort of the task improve with the addition of force feedback, 26 people ranging in age from 22 to 44 years performed a point-and-click task 540 times with and without an attractive force field surrounding the desired target. The point-and-click movements were approximately 25% faster with the addition of force feedback (paired t-tests, p < 0.001). Perceived user discomfort and pain, as measured through a questionnaire, were also smaller with the addition of force feedback (p < 0.001). However, this difference decreased as additional distracting force fields were added to the task environment, simulating a more realistic work situation. These results suggest that for a given task, use of a force-feedback device improves performance, and potentially reduces musculoskeletal loading during mouse use. Actual or potential applications of this research include human-computer interface design, specifically that of the pointing device extensively used for the graphical user interface.

A Forced Damped Oscillation Framework for Undulatory Swimming Provides New Insights into How Propulsion Arises in Active and Passive Swimming

PubMed Central

Bhalla, Amneet Pal Singh; Griffith, Boyce E.; Patankar, Neelesh A.

2013-01-01

A fundamental issue in locomotion is to understand how muscle forcing produces apparently complex deformation kinematics leading to movement of animals like undulatory swimmers. The question of whether complicated muscle forcing is required to create the observed deformation kinematics is central to the understanding of how animals control movement. In this work, a forced damped oscillation framework is applied to a chain-link model for undulatory swimming to understand how forcing leads to deformation and movement. A unified understanding of swimming, caused by muscle contractions (“active” swimming) or by forces imparted by the surrounding fluid (“passive” swimming), is obtained. We show that the forcing triggers the first few deformation modes of the body, which in turn cause the translational motion. We show that relatively simple forcing patterns can trigger seemingly complex deformation kinematics that lead to movement. For given muscle activation, the forcing frequency relative to the natural frequency of the damped oscillator is important for the emergent deformation characteristics of the body. The proposed approach also leads to a qualitative understanding of optimal deformation kinematics for fast swimming. These results, based on a chain-link model of swimming, are confirmed by fully resolved computational fluid dynamics (CFD) simulations. Prior results from the literature on the optimal value of stiffness for maximum speed are explained. PMID:23785272

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

Schulte, Kevin L.; France, Ryan M.; McMahon, William E.

In this work we develop control over dislocation glide dynamics in Ga xIn 1-xP compositionally graded buffer layers (CGBs) through control of CuPt ordering on the group-III sublattice. The ordered structure is metastable in the bulk, so any glissile dislocation that disrupts the ordered pattern will release stored energy, and experience an increased glide force. Here we show how this connection between atomic ordering and dislocation glide force can be exploited to control the threading dislocation density (TDD) in Ga xIn 1-xP CGBs. When ordered Ga xIn 1-xP is graded from the GaAs lattice constant to InP, the order parametermore » ..eta.. decreases as x decreases, and dislocation glide switches from one set of glide planes to the other. This glide plane switch (GPS) is accompanied by the nucleation of dislocations on the new glide plane, which typically leads to increased TDD. We develop control of the GPS position within a Ga xIn 1-xP CGB through manipulation of deposition temperature, surfactant concentration, and strain-grading rate. We demonstrate a two-stage Ga xIn 1-xP CGB from GaAs to InP with sufficiently low TDD for high performance devices, such as the 4-junction inverted metamorphic multi-junction solar cell, achieved through careful control the GPS position. Here, experimental results are analyzed within the context of a model that considers the force balance on dislocations on the two competing glide planes as a function of the degree of ordering.« less

The effect of aircraft control forces on pilot performance during instrument landings in a flight simulator.

PubMed

Hewson, D J; McNair, P J; Marshall, R N

2001-07-01

Pilots may have difficulty controlling aircraft at both high and low force levels due to larger variability in force production at these force levels. The aim of this study was to measure the force variability and landing performance of pilots during an instrument landing in a flight simulator. There were 12 pilots who were tested while performing 5 instrument landings in a flight simulator, each of which required different control force inputs. Pilots can produce the least force when pushing the control column to the right, therefore the force levels for the landings were set relative to each pilot's maximum aileron-right force. The force levels for the landings were 90%, 60%, and 30% of maximal aileron-right force, normal force, and 25% of normal force. Variables recorded included electromyographic activity (EMG), aircraft control forces, aircraft attitude, perceived exertion and deviation from glide slope and heading. Multivariate analysis of variance was used to test for differences between landings. Pilots were least accurate in landing performance during the landing at 90% of maximal force (p < 0.05). There was also a trend toward decreased landing performance during the landing at 25% of normal force. Pilots were more variable in force production during the landings at 60% and 90% of maximal force (p < 0.05). Pilots are less accurate at performing instrument landings when control forces are high due to the increased variability of force production. The increase in variability at high force levels is most likely associated with motor unit recruitment, rather than rate coding. Aircraft designers need to consider the reduction in pilot performance at high force levels, as well as pilot strength limits when specifying new standards.

Effective force control by muscle synergies.

PubMed

Berger, Denise J; d'Avella, Andrea

2014-01-01

Muscle synergies have been proposed as a way for the central nervous system (CNS) to simplify the generation of motor commands and they have been shown to explain a large fraction of the variation in the muscle patterns across a variety of conditions. However, whether human subjects are able to control forces and movements effectively with a small set of synergies has not been tested directly. Here we show that muscle synergies can be used to generate target forces in multiple directions with the same accuracy achieved using individual muscles. We recorded electromyographic (EMG) activity from 13 arm muscles and isometric hand forces during a force reaching task in a virtual environment. From these data we estimated the force associated to each muscle by linear regression and we identified muscle synergies by non-negative matrix factorization. We compared trajectories of a virtual mass displaced by the force estimated using the entire set of recorded EMGs to trajectories obtained using 4-5 muscle synergies. While trajectories were similar, when feedback was provided according to force estimated from recorded EMGs (EMG-control) on average trajectories generated with the synergies were less accurate. However, when feedback was provided according to recorded force (force-control) we did not find significant differences in initial angle error and endpoint error. We then tested whether synergies could be used as effectively as individual muscles to control cursor movement in the force reaching task by providing feedback according to force estimated from the projection of the recorded EMGs into synergy space (synergy-control). Human subjects were able to perform the task immediately after switching from force-control to EMG-control and synergy-control and we found no differences between initial movement direction errors and endpoint errors in all control modes. These results indicate that muscle synergies provide an effective strategy for motor coordination.

Thermophoretic transport of water nanodroplets confined in carbon nanotubes: The role of friction

NASA Astrophysics Data System (ADS)

Oyarzua, Elton; Walther, Jens H.; Zambrano, Harvey A.

2017-11-01

The development of efficient nanofluidic devices requires driving mechanisms that provide controlled transport of fluids through nanoconduits. Temperature gradients have been proposed as a mechanism to drive particles, fullerenes and nanodroplets inside carbon nanotubes (CNTs). In this work, molecular dynamics (MD) simulations are conducted to study thermophoresis of water nanodroplets inside CNTs. To gain insight into the interplay between the thermophoretic force acting on the droplet and the retarding liquid-solid friction, sets of constrained and unconstrained MD simulations are conducted. The results indicate that the thermophoretic motion of a nanodroplet displays two kinetic regimes: an initial regime characterized by a decreasing acceleration and afterwards a terminal regime with constant velocity. During the initial regime, the magnitude of the friction force increases linearly with the droplet velocity whereas the thermophoretic force has a constant magnitude defined by the magnitude of the thermal gradient and the droplet size. Subsequently, in the terminal regime, the droplet moves at constant velocity due to a dynamic balance between the thermophoretic force and the retarding friction force. We acknowledge partial support from CONICYT (Chile) under scholarship No. 21140427.