A fingertip force prediction model for grasp patterns characterised from the chaotic behaviour of EEG.

PubMed

Roy, Rinku; Sikdar, Debdeep; Mahadevappa, Manjunatha; Kumar, C S

2018-05-19

A stable grasp is attained through appropriate hand preshaping and precise fingertip forces. Here, we have proposed a method to decode grasp patterns from motor imagery and subsequent fingertip force estimation model with a slippage avoidance strategy. We have developed a feature-based classification of electroencephalography (EEG) associated with imagination of the grasping postures. Chaotic behaviour of EEG for different grasping patterns has been utilised to capture the dynamics of associated motor activities. We have computed correlation dimension (CD) as the feature and classified with "one against one" multiclass support vector machine (SVM) to discriminate between different grasping patterns. The result of the analysis showed varying classification accuracies at different subband levels. Broad categories of grasping patterns, namely, power grasp and precision grasp, were classified at a 96.0% accuracy rate in the alpha subband. Furthermore, power grasp subtypes were classified with an accuracy of 97.2% in the upper beta subband, whereas precision grasp subtypes showed relatively lower 75.0% accuracy in the alpha subband. Following assessment of fingertip force distributions while grasping, a nonlinear autoregressive (NAR) model with proper prediction of fingertip forces was proposed for each grasp pattern. A slippage detection strategy has been incorporated with automatic recalibration of the regripping force. Intention of each grasp pattern associated with corresponding fingertip force model was virtualised in this work. This integrated system can be utilised as the control strategy for prosthetic hand in the future. The model to virtualise motor imagery based fingertip force prediction with inherent slippage correction for different grasp types ᅟ.

Cooperative heteroassembly of the adenoviral L4-22K and IVa2 proteins onto the viral packaging sequence DNA.

PubMed

Yang, Teng-Chieh; Maluf, Nasib Karl

2012-02-21

Human adenovirus (Ad) is an icosahedral, double-stranded DNA virus. Viral DNA packaging refers to the process whereby the viral genome becomes encapsulated by the viral particle. In Ad, activation of the DNA packaging reaction requires at least three viral components: the IVa2 and L4-22K proteins and a section of DNA within the viral genome, called the packaging sequence. Previous studies have shown that the IVa2 and L4-22K proteins specifically bind to conserved elements within the packaging sequence and that these interactions are absolutely required for the observation of DNA packaging. However, the equilibrium mechanism for assembly of IVa2 and L4-22K onto the packaging sequence has not been determined. Here we characterize the assembly of the IVa2 and L4-22K proteins onto truncated packaging sequence DNA by analytical sedimentation velocity and equilibrium methods. At limiting concentrations of L4-22K, we observe a species with two IVa2 monomers and one L4-22K monomer bound to the DNA. In this species, the L4-22K monomer is promoting positive cooperative interactions between the two bound IVa2 monomers. As L4-22K levels are increased, we observe a species with one IVa2 monomer and three L4-22K monomers bound to the DNA. To explain this result, we propose a model in which L4-22K self-assembly on the DNA competes with IVa2 for positive heterocooperative interactions, destabilizing binding of the second IVa2 monomer. Thus, we propose that L4-22K levels control the extent of cooperativity observed between adjacently bound IVa2 monomers. We have also determined the hydrodynamic properties of all observed stoichiometric species; we observe that species with three L4-22K monomers bound have more extended conformations than species with a single L4-22K bound. We suggest this might reflect a molecular switch that controls insertion of the viral DNA into the capsid.

Respiratory Motion-Resolved Compressed Sensing Reconstruction of Free-Breathing Radial Acquisition for Dynamic Liver MRI

PubMed Central

Chandarana, Hersh; Feng, Li; Ream, Justin; Wang, Annie; Babb, James S; Block, Kai Tobias; Sodickson, Daniel K; Otazo, Ricardo

2015-01-01

Purpose Demonstrate feasibility of free-breathing radial acquisition with respiratory motion-resolved compressed sensing (CS) reconstruction (XD-GRASP) for multiphase dynamic Gd-EOB-DTPA enhanced liver imaging, and compare image quality to CS reconstruction with respiratory motion-averaging (GRASP) and prior conventional breath-held Cartesian-sampled datasets (BH-VIBE) in same patients. Subjects and Methods In this HIPAA-compliant prospective study, 16 subjects underwent free-breathing continuous radial acquisition during Gd-EOB-DTPA injection, and had prior BH-VIBE exam available. Acquired data were reconstructed using motion-averaging GRASP approach, in which consecutive 84-spokes were grouped in each contrast-enhanced phase for a temporal resolution of ~14 seconds. Additionally, respiratory motion-resolved reconstruction was performed from the same k-space data, by sorting each contrast-enhanced phase into multiple respiratory motion states using compressed sensing algorithm named XD-GRASP, which exploits sparsity along both the contrast-enhancement and respiratory-state dimensions. Contrast-enhanced dynamic multi-phase XD-GRASP, GRASP, and BH-VIBE images were anonymized, pooled together in a random order and presented to two board-certified radiologists for independent evaluation of image quality, with higher score indicating more optimal exam. Results XD-GRASP reconstructions had significantly (all p<0.05) higher overall image quality scores compared to GRASP for early arterial (Reader 1: 4.3 ± 0.6 vs. 3.31 ± 0.6 ; Reader 2: 3.81 ± 0.8 vs. 3.38 ± 0.9) and late arterial (Reader 1: 4.5 ± 0.6 vs. 3.63 ± 0.6; Reader 2: 3.56 ± 0.5 vs. 2.88 ± 0.7) phases of enhancement for both readers. XD-GRASP also had higher overall image quality score in portal venous phase which was significant for Reader 1 (4.44 ± 0.5 vs. 3.75 ± 0.8; p=0.002). In addition, XD-GRASP had higher overall image quality score compared to BH-VIBE for early (Reader 1: 4.3±0.6 vs. 3.88±0.6; Reader 2: 3.81±0.8 vs. 3.50±1.0) and late (Reader 1: 4.5±0.6 vs. 3.44±0.6; Reader 2: 3.56±0.5 vs. 2.94±0.9) arterial phases. Conclusion Free-breathing motion-resolved XD-GRASP reconstructions provide diagnostic high-quality multiphase images in patients undergoing Gd-EOB-DTPA-enhanced liver exam. PMID:26146869

Correlation, Breit and Quantum Electrodynamics effects on energy level and transition properties of W54+ ion

NASA Astrophysics Data System (ADS)

Ding, Xiaobin; Sun, Rui; Koike, Fumihiro; Kato, Daiji; Murakami, Izumi; Sakaue, Hiroyuki A.; Dong, Chenzhong

2017-03-01

The electron correlation effects and Breit interaction as well as Quantum Electro-Dynamics (QED) effects were expected to have important contribution to the energy level and transition properties of heavy highly charged ions. The ground states [Ne]3s23p63d2 and first excited states [Ne]3s23p53d3 of W54+ ion have been studied by using Multi-Configuration Dirac-Fock method with the implementation of Grasp2K package. A restricted active space method was employed to investigate the correlation contribution from different models. The Breit interaction and QED effects were taken into account in the relativistic configuration interaction calculation with the converged wavefunction. It is found that the correlation contribution from 3s and 3p orbital have important contribution to the energy level, transition wavelength and probability of the ground and the first excited state of W54+ ion. Contribution to the Topical Issue "Atomic and Molecular Data and their Applications", edited by Gordon W.F. Drake, Jung-Sik Yoon, Daiji Kato, Grzegorz Karwasz.

Relativistic atomic structure calculations and electron impact excitations of Fe23+

NASA Astrophysics Data System (ADS)

El-Maaref, A. A.

2016-02-01

Relativistic calculations using the multiconfiguration Dirac-Fock method for energy levels, oscillator strengths, and electronic dipole transition probabilities of Li-like iron (Fe23+) are presented. A configuration state list with the quantum numbers nl, where n = 2 - 7 and l = s , p , d , f , g , h , i has been considered. Excitations up to three electrons and correlation contributions from higher orbitals up to 7 l have been included. Contributions from core levels have been taken into account, EOL (extended optimal level) type calculations have been applied, and doubly excited levels are considered. The calculations have been executed by using the fully relativistic atomic structure package GRASP2K. The present calculations have been compared with the available experimental and theoretical sources, the comparisons show a good agreement between the present results of energy levels and oscillator strengths with the literature. In the second part of the present study, the atomic data (energy levels, and radiative parameters) have been used to calculate the excitation and deexcitation rates of allowed transitions by electron impact, as well as the population densities of some excited levels at different electron temperatures.

Respiratory Motion-Resolved Compressed Sensing Reconstruction of Free-Breathing Radial Acquisition for Dynamic Liver Magnetic Resonance Imaging.

PubMed

Chandarana, Hersh; Feng, Li; Ream, Justin; Wang, Annie; Babb, James S; Block, Kai Tobias; Sodickson, Daniel K; Otazo, Ricardo

2015-11-01

This study aimed to demonstrate feasibility of free-breathing radial acquisition with respiratory motion-resolved compressed sensing reconstruction [extra-dimensional golden-angle radial sparse parallel imaging (XD-GRASP)] for multiphase dynamic gadolinium ethoxybenzyl diethylenetriamine pentaacetic acid (Gd-EOB-DTPA)-enhanced liver imaging, and to compare image quality to compressed sensing reconstruction with respiratory motion-averaging (GRASP) and prior conventional breath-held Cartesian-sampled data sets [BH volume interpolated breath-hold examination (VIBE)] in same patients. In this Health Insurance Portability and Accountability Act-compliant prospective study, 16 subjects underwent free-breathing continuous radial acquisition during Gd-EOB-DTPA injection and had prior BH-VIBE available. Acquired data were reconstructed using motion-averaging GRASP approach in which consecutive 84 spokes were grouped in each contrast-enhanced phase for a temporal resolution of approximately 14 seconds. Additionally, respiratory motion-resolved reconstruction was performed from the same k-space data by sorting each contrast-enhanced phase into multiple respiratory motion states using compressed sensing algorithm named XD-GRASP, which exploits sparsity along both the contrast-enhancement and respiratory-state dimensions.Contrast-enhanced dynamic multiphase XD-GRASP, GRASP, and BH-VIBE images were anonymized, pooled together in a random order, and presented to 2 board-certified radiologists for independent evaluation of image quality, with higher score indicating more optimal examination. The XD-GRASP reconstructions had significantly (all P < 0.05) higher overall image quality scores compared to GRASP for early arterial (reader 1: 4.3 ± 0.6 vs 3.31 ± 0.6; reader 2: 3.81 ± 0.8 vs 3.38 ± 0.9) and late arterial (reader 1: 4.5 ± 0.6 vs 3.63 ± 0.6; reader 2: 3.56 ± 0.5 vs 2.88 ± 0.7) phases of enhancement for both readers. The XD-GRASP also had higher overall image quality score in portal venous phase, which was significant for reader 1 (4.44 ± 0.5 vs 3.75 ± 0.8; P = 0.002). In addition, the XD-GRASP had higher overall image quality score compared to BH-VIBE for early (reader 1: 4.3 ± 0.6 vs 3.88 ± 0.6; reader 2: 3.81 ± 0.8 vs 3.50 ± 1.0) and late (reader 1: 4.5 ± 0.6 vs 3.44 ± 0.6; reader 2: 3.56 ± 0.5 vs 2.94 ± 0.9) arterial phases. Free-breathing motion-resolved XD-GRASP reconstructions provide diagnostic high-quality multiphase images in patients undergoing Gd-EOB-DTPA-enhanced liver examination.

Learning Grasp Strategies Composed of Contact Relative Motions

NASA Technical Reports Server (NTRS)

Platt, Robert, Jr.

2007-01-01

Of central importance to grasp synthesis algorithms are the assumptions made about the object to be grasped and the sensory information that is available. Many approaches avoid the issue of sensing entirely by assuming that complete information is available. In contrast, this paper proposes an approach to grasp synthesis expressed in terms of units of control that simultaneously change the contact configuration and sense information about the object and the relative manipulator-object pose. These units of control, known as contact relative motions (CRMs), allow the grasp synthesis problem to be recast as an optimal control problem where the goal is to find a strategy for executing CRMs that leads to a grasp in the shortest number of steps. An experiment is described that uses Robonaut, the NASA-JSC space humanoid, to show that CRMs are a viable means of synthesizing grasps. However, because of the limited amount of information that a single CRM can sense, the optimal control problem may be partially observable. This paper proposes expressing the problem as a k-order Markov Decision Process (MDP) and solving it using Reinforcement Learning. This approach is tested in a simulation of a two-contact manipulator that learns to grasp an object. Grasp strategies learned in simulation are tested on the physical Robonaut platform and found to lead to grasp configurations consistently.

Grasp-Based Functional Coupling Between Reach- and Grasp-Related Components of Forelimb Muscle Activity

PubMed Central

Geed, Shashwati; van Kan, Peter L. E.

2017-01-01

How are appropriate combinations of forelimb muscles selected during reach-to-grasp movements in the presence of neuromotor redundancy and important task-related constraints? The authors tested whether grasp type or target location preferentially influence the selection and synergistic coupling between forelimb muscles during reach-to-grasp movements. Factor analysis applied to 14–20 forelimb electromyograms recorded from monkeys performing reach-to-grasp tasks revealed 4–6 muscle components that showed transport/preshape- or grasp-related features. Weighting coefficients of transport/preshape-related components demonstrated strongest similarities for reaches that shared the same grasp type rather than the same target location. Scaling coefficients of transport/preshape- and grasp-related components showed invariant temporal coupling. Thus, grasp type influenced strongly both transport/preshape- and grasp-related muscle components, giving rise to grasp-based functional coupling between forelimb muscles. PMID:27589010

Research of grasping algorithm based on scara industrial robot

NASA Astrophysics Data System (ADS)

Peng, Tao; Zuo, Ping; Yang, Hai

2018-04-01

As the tobacco industry grows, facing the challenge of the international tobacco giant, efficient logistics service is one of the key factors. How to complete the tobacco sorting task of efficient economy is the goal of tobacco sorting and optimization research. Now the cigarette distribution system uses a single line to carry out the single brand sorting task, this article adopts a single line to realize the cigarette sorting task of different brands. Using scara robot special algorithm for sorting and packaging, the optimization scheme significantly enhances the indicators of smoke sorting system. Saving labor productivity, obviously improve production efficiency.

Calculation of levels, transition rates, and lifetimes for the arsenic isoelectronic sequence Sn XVIII-Ba XXIV, W XLII

NASA Astrophysics Data System (ADS)

Wang, K.; Chen, Z. B.; Chen, C. Y.; Yan, J.; Dang, W.; Zhao, X. H.; Yang, X.

2017-09-01

Multi-configuration Dirac-Fock (MCDF) calculations of energy levels, wavelengths, oscillator strengths, lifetimes, and electric dipole (E1), magnetic dipole (M1), electric quadrupole (E2), magnetic quadrupole (M2) transition rates are reported for the arsenic isoelectronic sequence Sn XVIII-Ba XXIV, W XLII. Results are presented among the 86 levels of the 4s2 4p3, 4 s 4p4, 4p5, 4s2 4p2 4 d, and 4 s 4p3 4 d configurations in each ion. The relativistic atomic structure package GRASP2K is adopted for the calculations, in which the contributions from the correlations within the n ≤ 7 complexes, Breit interaction (BI) and quantum electrodynamics (QED) effects are taking into account. The many-body perturbation theory (MBPT) method is also employed as an independent calculation for comparison purposes, taking W XLII as an example. Calculated results are compared with data from other calculations and the observed values from the Atomic Spectra Database (ASD) of the National Institute of Standards and Technology (NIST). Good agreements are obtained. i.e, the accuracy of our energy levels is assessed to be better than 0.6%. These accurate theoretical data should be useful for diagnostics of hot plasmas in fusion devices.

Membrane adhesion dictates Golgi stacking and cisternal morphology.

PubMed

Lee, Intaek; Tiwari, Neeraj; Dunlop, Myun Hwa; Graham, Morven; Liu, Xinran; Rothman, James E

2014-02-04

Two classes of proteins that bind to each other and to Golgi membranes have been implicated in the adhesion of Golgi cisternae to each other to form their characteristic stacks: Golgi reassembly and stacking proteins 55 and 65 (GRASP55 and GRASP65) and Golgin of 45 kDa and Golgi matrix protein of 130 kDa. We report here that efficient stacking occurs in the absence of GRASP65/55 when either Golgin is overexpressed, as judged by quantitative electron microscopy. The Golgi stacks in these GRASP-deficient HeLa cells were normal both in morphology and in anterograde cargo transport. This suggests the simple hypothesis that the total amount of adhesive energy gluing cisternae dictates Golgi cisternal stacking, irrespective of which molecules mediate the adhesive process. In support of this hypothesis, we show that adding artificial adhesive energy between cisternae and mitochondria by dimerizing rapamycin-binding domain and FK506-binding protein domains that are attached to cisternal adhesive proteins allows mitochondria to invade the stack and even replace Golgi cisternae within a few hours. These results indicate that although Golgi stacking is a highly complicated process involving a large number of adhesive and regulatory proteins, the overriding principle of a Golgi stack assembly is likely to be quite simple. From this simplified perspective, we propose a model, based on cisternal adhesion and cisternal maturation as the two core principles, illustrating how the most ancient form of Golgi stacking might have occurred using only weak cisternal adhesive processes because of the differential between the rate of influx and outflux of membrane transport through the Golgi.

Membrane adhesion dictates Golgi stacking and cisternal morphology

PubMed Central

Lee, Intaek; Tiwari, Neeraj; Dunlop, Myun Hwa; Graham, Morven; Liu, Xinran; Rothman, James E.

2014-01-01

Two classes of proteins that bind to each other and to Golgi membranes have been implicated in the adhesion of Golgi cisternae to each other to form their characteristic stacks: Golgi reassembly and stacking proteins 55 and 65 (GRASP55 and GRASP65) and Golgin of 45 kDa and Golgi matrix protein of 130 kDa. We report here that efficient stacking occurs in the absence of GRASP65/55 when either Golgin is overexpressed, as judged by quantitative electron microscopy. The Golgi stacks in these GRASP-deficient HeLa cells were normal both in morphology and in anterograde cargo transport. This suggests the simple hypothesis that the total amount of adhesive energy gluing cisternae dictates Golgi cisternal stacking, irrespective of which molecules mediate the adhesive process. In support of this hypothesis, we show that adding artificial adhesive energy between cisternae and mitochondria by dimerizing rapamycin-binding domain and FK506-binding protein domains that are attached to cisternal adhesive proteins allows mitochondria to invade the stack and even replace Golgi cisternae within a few hours. These results indicate that although Golgi stacking is a highly complicated process involving a large number of adhesive and regulatory proteins, the overriding principle of a Golgi stack assembly is likely to be quite simple. From this simplified perspective, we propose a model, based on cisternal adhesion and cisternal maturation as the two core principles, illustrating how the most ancient form of Golgi stacking might have occurred using only weak cisternal adhesive processes because of the differential between the rate of influx and outflux of membrane transport through the Golgi. PMID:24449908

Grasping with the Press of a Button: Grasp-selective Responses in the Human Anterior Intraparietal Sulcus Depend on Nonarbitrary Causal Relationships between Hand Movements and End-effector Actions

PubMed Central

Frey, Scott H.; Hansen, Marc; Marchal, Noah

2016-01-01

Evidence implicates ventral parieto-premotor cortices in representing the goal of grasping independent of the movements or effectors involved [Umilta, M. A., Escola, L., Intskirveli, I., Grammont, F., Rochat, M., Caruana, F., et al. When pliers become fingers in the monkey motor system. Proceedings of the National Academy of Sciences, U.S.A., 105, 2209–2213, 2008; Tunik, E., Frey, S. H., & Grafton, S. T. Virtual lesions of the anterior intraparietal area disrupt goal-dependent on-line adjustments of grasp. Nature Neuroscience, 8, 505–511, 2005]. Modern technologies that enable arbitrary causal relationships between hand movements and tool actions provide a strong test of this hypothesis. We capitalized on this unique opportunity by recording activity with fMRI during tasks in which healthy adults performed goal-directed reach and grasp actions manually or by depressing buttons to initiate these same behaviors in a remotely located robotic arm (arbitrary causal relationship). As shown previously [Binkofski, F., Dohle, C., Posse, S., Stephan, K. M., Hefter, H., Seitz, R. J., et al. Human anterior intraparietal area subserves prehension: A combined lesion and functional MRI activation study. Neurology, 50, 1253–1259, 1998], we detected greater activity in the vicinity of the anterior intraparietal sulcus (aIPS) during manual grasp versus reach. In contrast to prior studies involving tools controlled by nonarbitrarily related hand movements [Gallivan, J. P., McLean, D. A., Valyear, K. F., & Culham, J. C. Decoding the neural mechanisms of human tool use. Elife, 2, e00425, 2013; Jacobs, S., Danielmeier, C., & Frey, S. H. Human anterior intraparietal and ventral premotor cortices support representations of grasping with the hand or a novel tool. Journal of Cognitive Neuroscience, 22, 2594–2608, 2010], however, responses within the aIPS and premotor cortex exhibited no evidence of selectivity for grasp when participants employed the robot. Instead, these regions showed comparable increases in activity during both the reach and grasp conditions. Despite equivalent sensorimotor demands, the right cerebellar hemisphere displayed greater activity when participants initiated the robot’s actions versus when they pressed a button known to be nonfunctional and watched the very same actions undertaken autonomously. This supports the hypothesis that the cerebellum predicts the forthcoming sensory consequences of volitional actions [Blakemore, S. J., Frith, C. D., & Wolpert, D. M. The cerebellum is involved in predicting the sensory consequences of action. NeuroReport, 12, 1879–1884, 2001]. We conclude that grasp-selective responses in the human aIPS and premotor cortex depend on the existence of nonarbitrary causal relationships between hand movements and end-effector actions. PMID:25436672

Gain and Polarization Properties of a Large Radio Telescope from Calculation and Measurement: The John A. Galt Telescope

NASA Astrophysics Data System (ADS)

Du, X.; Landecker, T. L.; Robishaw, T.; Gray, A. D.; Douglas, K. A.; Wolleben, M.

2016-11-01

Measurement of the brightness temperature of extended radio emission demands knowledge of the gain (or aperture efficiency) of the telescope and measurement of the polarized component of the emission requires correction for the conversion of unpolarized emission from sky and ground to apparently polarized signal. Radiation properties of the John A. Galt Telescope at the Dominion Radio Astrophysical Observatory were studied through analysis and measurement in order to provide absolute calibration of a survey of polarized emission from the entire northern sky from 1280 to 1750 MHz, and to understand the polarization performance of the telescope. Electromagnetic simulation packages CST and GRASP-10 were used to compute complete radiation patterns of the telescope in all Stokes parameters, and thereby to establish gain and aperture efficiency. Aperture efficiency was also evaluated using geometrical optics and ray tracing analysis and was measured based on the known flux density of Cyg A. Measured aperture efficiency varied smoothly with frequency between values of 0.49 and 0.54; GRASP-10 yielded values 6.5% higher but with closely similar variation with frequency. Overall error across the frequency band is 3%, but values at any two frequencies are relatively correct to ˜1%. Dominant influences on aperture efficiency are the illumination taper of the feed radiation pattern and the shadowing of the reflector from the feed by the feed-support struts. A model of emission from the ground was developed based on measurements and on empirical data obtained from remote sensing of the Earth from satellite-borne telescopes. This model was convolved with the computed antenna response to estimate conversion of ground emission into spurious polarized signal. The computed spurious signal is comparable to measured values, but is not accurate enough to be used to correct observations. A simpler model, in which the ground is considered as an unpolarized emitter with a brightness temperature of ˜240 K, is shown to have useful accuracy when compared to measurements.

Density-based empirical likelihood procedures for testing symmetry of data distributions and K-sample comparisons.

PubMed

Vexler, Albert; Tanajian, Hovig; Hutson, Alan D

In practice, parametric likelihood-ratio techniques are powerful statistical tools. In this article, we propose and examine novel and simple distribution-free test statistics that efficiently approximate parametric likelihood ratios to analyze and compare distributions of K groups of observations. Using the density-based empirical likelihood methodology, we develop a Stata package that applies to a test for symmetry of data distributions and compares K -sample distributions. Recognizing that recent statistical software packages do not sufficiently address K -sample nonparametric comparisons of data distributions, we propose a new Stata command, vxdbel, to execute exact density-based empirical likelihood-ratio tests using K samples. To calculate p -values of the proposed tests, we use the following methods: 1) a classical technique based on Monte Carlo p -value evaluations; 2) an interpolation technique based on tabulated critical values; and 3) a new hybrid technique that combines methods 1 and 2. The third, cutting-edge method is shown to be very efficient in the context of exact-test p -value computations. This Bayesian-type method considers tabulated critical values as prior information and Monte Carlo generations of test statistic values as data used to depict the likelihood function. In this case, a nonparametric Bayesian method is proposed to compute critical values of exact tests.

GRASP92: a package for large-scale relativistic atomic structure calculations

NASA Astrophysics Data System (ADS)

Parpia, F. A.; Froese Fischer, C.; Grant, I. P.

2006-12-01

Program summaryTitle of program: GRASP92 Catalogue identifier: ADCU_v1_1 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADCU_v1_1 Program obtainable from: CPC Program Library, Queen's University of Belfast, N. Ireland Licensing provisions: no Programming language used: Fortran Computer: IBM POWERstation 320H Operating system: IBM AIX 3.2.5+ RAM: 64M words No. of lines in distributed program, including test data, etc.: 65 224 No of bytes in distributed program, including test data, etc.: 409 198 Distribution format: tar.gz Catalogue identifier of previous version: ADCU_v1_0 Journal reference of previous version: Comput. Phys. Comm. 94 (1996) 249 Does the new version supersede the previous version?: Yes Nature of problem: Prediction of atomic spectra—atomic energy levels, oscillator strengths, and radiative decay rates—using a 'fully relativistic' approach. Solution method: Atomic orbitals are assumed to be four-component spinor eigenstates of the angular momentum operator, j=l+s, and the parity operator Π=βπ. Configuration state functions (CSFs) are linear combinations of Slater determinants of atomic orbitals, and are simultaneous eigenfunctions of the atomic electronic angular momentum operator, J, and the atomic parity operator, P. Lists of CSFs are either explicitly prescribed by the user or generated from a set of reference CSFs, a set of subshells, and rules for deriving other CSFs from these. Approximate atomic state functions (ASFs) are linear combinations of CSFs. A variational functional may be constructed by combining expressions for the energies of one or more ASFs. Average level (AL) functionals are weighted sums of energies of all possible ASFs that may be constructed from a set of CSFs; the number of ASFs is then the same as the number, n, of CSFs. Optimal level (OL) functionals are weighted sums of energies of some subset of ASFs; the GRASP92 package is optimized for this latter class of functionals. The composition of an ASF in terms of CSFs sharing the same quantum numbers is determined using the configuration-interaction (CI) procedure that results upon varying the expansion coefficients to determine the extremum of a variational functional. Radial functions may be determined by numerically solving the multiconfiguration Dirac-Fock (MCDF) equations that result upon varying the orbital radial functions or some subset thereof so as to obtain an extremum of the variational functional. Radial wavefunctions may also be determined using a screened hydrogenic or Thomas-Fermi model, although these schemes generally provide initial estimates for MCDF self-consistent-field (SCF) calculations. Transition properties for pairs of ASFs are computed from matrix elements of multipole operators of the electromagnetic field. All matrix elements of CSFs are evaluated using the Racah algebra. Reasons for the new version: During recent studies using the general relativistic atomic structure package (GRASP92), several errors were found, some of which might have been present already in the earlier GRASP92 version (program ABJN_v1_0, Comput. Phys. Comm. 55 (1989) 425). These errors were reported and discussed by Froese Fischer, Gaigalas, and Ralchenko in a separate publication [C. Froese Fischer, G. Gaigalas, Y. Ralchenko, Comput. Phys. Comm. 175 (2006) 738-744. [7

Effect of γ-irradiation on commercial polypropylene based mono and multi-layered retortable food packaging materials

NASA Astrophysics Data System (ADS)

George, Johnsy; Kumar, R.; Sajeevkumar, V. A.; Sabapathy, S. N.; Vaijapurkar, S. G.; Kumar, D.; Kchawahha, A.; Bawa, A. S.

2007-07-01

Irradiation processing of food in the prepackaged form may affect chemical and physical properties of the plastic packaging materials. The effect of γ-irradiation doses (2.5-10.0 kGy) on polypropylene (PP)-based retortable food packaging materials, were investigated using Fourier transform infrared (FTIR) spectroscopic analysis, which revealed the changes happening to these materials after irradiation. The mechanical properties decreased with irradiation while oxygen transmission rate (OTR) was not affected significantly. Colour measurement indicated that Nylon 6 containing multilayer films became yellowish after irradiation. Thermal characterization revealed the changes in percentage crystallinity.

One- and two-dimensional search of an equation of state using a newly released 2DRoptimize package

NASA Astrophysics Data System (ADS)

Jamal, M.; Reshak, A. H.

2018-05-01

A new package called 2DRoptimize has been released for performing two-dimensional searches of the equation of state (EOS) for rhombohedral, tetragonal, and hexagonal compounds. The package is compatible and available with the WIEN2k package. The 2DRoptimize package performs a convenient volume and c/a structure optimization. First, the package finds the best value for c/a and the associated energy for each volume. In the second step, it calculates the EoS. The package then finds the equation of the c/a ratio vs. volume to calculate the c/a ratio at the optimized volume. In the last stage, by using the optimized volume and c/a ratio, the 2DRoptimize package calculates a and c lattice constants for tetragonal and hexagonal compounds, as well as the a lattice constant with the α angle for rhombohedral compounds. We tested our new package based on several hexagonal, tetragonal, and rhombohedral structures, and the 2D search results for the EOS showed that this method is more accurate than 1D search. Our results agreed very well with the experimental data and they were better than previous theoretical calculations.

Data-driven grasp synthesis using shape matching and task-based pruning.

PubMed

Li, Ying; Fu, Jiaxin L; Pollard, Nancy S

2007-01-01

Human grasps, especially whole-hand grasps, are difficult to animate because of the high number of degrees of freedom of the hand and the need for the hand to conform naturally to the object surface. Captured human motion data provides us with a rich source of examples of natural grasps. However, for each new object, we are faced with the problem of selecting the best grasp from the database and adapting it to that object. This paper presents a data-driven approach to grasp synthesis. We begin with a database of captured human grasps. To identify candidate grasps for a new object, we introduce a novel shape matching algorithm that matches hand shape to object shape by identifying collections of features having similar relative placements and surface normals. This step returns many grasp candidates, which are clustered and pruned by choosing the grasp best suited for the intended task. For pruning undesirable grasps, we develop an anatomically-based grasp quality measure specific to the human hand. Examples of grasp synthesis are shown for a variety of objects not present in the original database. This algorithm should be useful both as an animator tool for posing the hand and for automatic grasp synthesis in virtual environments.

Runwien: a text-based interface for the WIEN package

NASA Astrophysics Data System (ADS)

Otero de la Roza, A.; Luaña, Víctor

2009-05-01

A new text-based interface for WIEN2k, the full-potential linearized augmented plane-waves (FPLAPW) program, is presented. This code provides an easy to use, yet powerful way of generating arbitrarily large sets of calculations. Thus, properties over a potential energy surface and WIEN2k parameter exploration can be calculated using a simple input text file. This interface also provides new capabilities to the WIEN2k package, such as the calculation of elastic constants on hexagonal systems or the automatic gathering of relevant information. Additionally, runwien is modular, flexible and intuitive. Program summaryProgram title: runwien Catalogue identifier: AECM_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AECM_v1_0.html Program obtainable from: CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions: GPL version 3 No. of lines in distributed program, including test data, etc.: 62 567 No. of bytes in distributed program, including test data, etc.: 610 973 Distribution format: tar.gz Programming language: gawk (with locale POSIX or similar) Computer: All running Unix, Linux Operating system: Unix, GNU/Linux Classification: 7.3 External routines: WIEN2k ( http://www.wien2k.at/), GAWK ( http://www.gnu.org/software/gawk/), rename by L. Wall, a Perl script which renames files, modified by R. Barker to check for the existence of target files, gnuplot ( http://www.gnuplot.info/) Subprograms used:Cat Id: ADSY_v1_0/AECB_v1_0, Title: GIBBS/CRITIC, Reference: CPC 158 (2004) 57/CPC 999 (2009) 999 Nature of problem: Creation of a text-based, batch-oriented interface for the WIEN2k package. Solution method: WIEN2k solves the Kohn-Sham equations of a solid using the FPLAPW formalism. Runwien interprets an input file containing the description of the geometry and structure of the solid and drives the execution of the WIEN2k programs. The input is simplified thanks to the default values of the WIEN2k parameters known to runwien. Additional comments: Designed for WIEN2k versions 06.4, 07.2, 08.2, and 08.3. Running time: For the test case (TiC), a single geometry takes 5 to 10 minutes on a typical desktop PC (Intel Pentium 4, 3.4 GHz, 1 GB RAM). The full example including the calculation of the elastic constants and the equation of state, takes 9 hours and 32 minutes.

Multisession, noninvasive closed-loop neuroprosthetic control of grasping by upper limb amputees.

PubMed

Agashe, H A; Paek, A Y; Contreras-Vidal, J L

2016-01-01

Upper limb amputation results in a severe reduction in the quality of life of affected individuals due to their inability to easily perform activities of daily living. Brain-machine interfaces (BMIs) that translate grasping intent from the brain's neural activity into prosthetic control may increase the level of natural control currently available in myoelectric prostheses. Current BMI techniques demonstrate accurate arm position and single degree-of-freedom grasp control but are invasive and require daily recalibration. In this study we tested if transradial amputees (A1 and A2) could control grasp preshaping in a prosthetic device using a noninvasive electroencephalography (EEG)-based closed-loop BMI system. Participants attempted to grasp presented objects by controlling two grasping synergies, in 12 sessions performed over 5 weeks. Prior to closed-loop control, the first six sessions included a decoder calibration phase using action observation by the participants; thereafter, the decoder was fixed to examine neuroprosthetic performance in the absence of decoder recalibration. Ability of participants to control the prosthetic was measured by the success rate of grasping; ie, the percentage of trials within a session in which presented objects were successfully grasped. Participant A1 maintained a steady success rate (63±3%) across sessions (significantly above chance [41±5%] for 11 sessions). Participant A2, who was under the influence of pharmacological treatment for depression, hormone imbalance, pain management (for phantom pain as well as shoulder joint inflammation), and drug dependence, achieved a success rate of 32±2% across sessions (significantly above chance [27±5%] in only two sessions). EEG signal quality was stable across sessions, but the decoders created during the first six sessions showed variation, indicating EEG features relevant to decoding at a smaller timescale (100ms) may not be stable. Overall, our results show that (a) an EEG-based BMI for grasping is a feasible strategy for further investigation of prosthetic control by amputees, and (b) factors that may affect brain activity such as medication need further examination to improve accuracy and stability of BMI performance. © 2016 Elsevier B.V. All rights reserved.

Cleanup Verification Package for the 116-K-2 Effluent Trench

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

J. M. Capron

2006-04-04

This cleanup verification package documents completion of remedial action for the 116-K-2 effluent trench, also referred to as the 116-K-2 mile-long trench and the 116-K-2 site. During its period of operation, the 116-K-2 site was used to dispose of cooling water effluent from the 105-KE and 105-KW Reactors by percolation into the soil. This site also received mixed liquid wastes from the 105-KW and 105-KE fuel storage basins, reactor floor drains, and miscellaneous decontamination activities.

Electron impact excitation of N IV: calculations with the DARC code and a comparison with ICFT results

NASA Astrophysics Data System (ADS)

Aggarwal, K. M.; Keenan, F. P.; Lawson, K. D.

2016-10-01

There have been discussions in the recent literature regarding the accuracy of the available electron impact excitation rates (equivalently effective collision strengths Υ) for transitions in Be-like ions. In the present paper we demonstrate, once again, that earlier results for Υ are indeed overestimated (by up to four orders of magnitude), for over 40 per cent of transitions and over a wide range of temperatures. To do this we have performed two sets of calculations for N IV, with two different model sizes consisting of 166 and 238 fine-structure energy levels. As in our previous work, for the determination of atomic structure the GRASP (General-purpose Relativistic Atomic Structure Package) is adopted and for the scattering calculations (the standard and parallelised versions of) the Dirac Atomic R-matrix Code (DARC) are employed. Calculations for collision strengths and effective collision strengths have been performed over a wide range of energy (up to 45 Ryd) and temperature (up to 2.0 × 106 K), useful for applications in a variety of plasmas. Corresponding results for energy levels, lifetimes and A-values for all E1, E2, M1 and M2 transitions among 238 levels of N IV are also reported.

Effect of visual and tactile feedback on kinematic synergies in the grasping hand.

PubMed

Patel, Vrajeshri; Burns, Martin; Vinjamuri, Ramana

2016-08-01

The human hand uses a combination of feedforward and feedback mechanisms to accomplish high degree of freedom in grasp control efficiently. In this study, we used a synergy-based control model to determine the effect of sensory feedback on kinematic synergies in the grasping hand. Ten subjects performed two types of grasps: one that included feedback (real) and one without feedback (memory-guided), at two different speeds (rapid and natural). Kinematic synergies were extracted from rapid real and rapid memory-guided grasps using principal component analysis. Synergies extracted from memory-guided grasps revealed greater preservation of natural inter-finger relationships than those found in corresponding synergies extracted from real grasps. Reconstruction of natural real and natural memory-guided grasps was used to test performance and generalizability of synergies. A temporal analysis of reconstruction patterns revealed the differing contribution of individual synergies in real grasps versus memory-guided grasps. Finally, the results showed that memory-guided synergies could not reconstruct real grasps as accurately as real synergies could reconstruct memory-guided grasps. These results demonstrate how visual and tactile feedback affects a closed-loop synergy-based motor control system.

How Weight Affects the Perceived Spacing between the Thumb and Fingers during Grasping

PubMed Central

Butler, Annie A.; Héroux, Martin E.; Gandevia, Simon C.

2015-01-01

We know much about mechanisms determining the perceived size and weight of lifted objects, but little about how these properties of size and weight affect the body representation (e.g. grasp aperture of the hand). Without vision, subjects (n = 16) estimated spacing between fingers and thumb (perceived grasp aperture) while lifting canisters of the same width (6.6cm) but varied weights (300, 600, 900, and 1200 g). Lifts were performed by movement of either the wrist, elbow or shoulder to examine whether lifting with different muscle groups affects the judgement of grasp aperture. Results for perceived grasp aperture were compared with changes in perceived weight of objects of different sizes (5.2, 6.6, and 10 cm) but the same weight (600 g). When canisters of the same width but different weights were lifted, perceived grasp aperture decreased 4.8% [2.2 ‒ 7.4] (mean [95% CI]; P < 0.001) from the lightest to the heaviest canister, no matter how they were lifted. For objects of the same weight but different widths, perceived weight decreased 42.3% [38.2 ‒ 46.4] from narrowest to widest (P < 0.001), as expected from the size-weight illusion. Thus, despite a highly distorted perception of the weight of objects based on their size, we conclude that proprioceptive afferents maintain a reasonably stable perception of the aperture of the grasping hand over a wide range of object weights. Given the small magnitude of this ‘weight-grasp aperture’ illusion, we propose the brain has access to a relatively stable ‘perceptual ruler’ to aid the manipulation of different objects. PMID:25996760

Phosphor chessboard packaging for white LEDs in high efficiency and high color performance

NASA Astrophysics Data System (ADS)

Nguyen, Quang-Khoi; Chang, Yu-Yu; Lu, Chun-Yan; Yang, Tsung-Hsun; Chung, Te-Yuan; Sun, Ching-Cherng

2016-09-01

We performed the simulation of white LEDs packaging with different chessboard structures of white light converting phosphor layer covered on GaN die chip. Three different types of chessboard structures are called type 1, type 2 and type 3, respectively. The result of investigation according to the phosphor thickness show the increasing of thickness of phosphor layer are, the decreasing of output blue light power are. Meanwhile, the changes of yellow light are neglect. Type 3 shows highest packaging efficiency of 74.3 % compares with packaging efficiency of type 2 and type 1 (72.5 % and 71.3 %, respectively). Type 3 also shows the most effect of forward light. Attention that the type 3 chessboard structure gets packaging efficiency of 74.3 % at color temperature of daylight as well as high saving of phosphor amount. The color temperatures of three types of chessboard structure are higher than 5000 K, so they are suitable for lighting purpose. The angular correlate color temperature deviation (ACCTD) of type 1, type 2 and type 3 are 6500K, 11500K and 17000K, respectively.

Combined effects of gamma-irradiation and modified atmosphere packaging on quality of some spices.

PubMed

Kirkin, Celale; Mitrevski, Blagoj; Gunes, Gurbuz; Marriott, Philip J

2014-07-01

Thyme (Thymus vidgaris L.), rosemary (Rosmarinus officinalis L.), black pepper (Piper nigrum L.) and cumin (Cuminum cyminum L.) in ground form were packaged in either air or 100% N2 and γ-irradiated at 3 different irradiation levels (7kGy, 12kGy, 17kGy). Total viable bacterial count, yeast and mould count, colour, essential oil yield and essential oil composition were determined. Microbial load was not detectable after 12kGy irradiation of all samples. Irradiation resulted in significant changes in colour values of rosemary and black pepper. The discolouration of the irradiated black pepper was lower in modified atmosphere packaging (MAP) compared to air packaging. Essential oil yield of irradiated black pepper and cumin was lower in air packaging compared to MAP. Gamma-irradiation generally decreased monoterpenes and increased oxygenated compounds, but the effect was lower in MAP. Overall, spices should be irradiated under an O2-free atmosphere to minimise quality deterioration. Copyright © 2014 Elsevier Ltd. All rights reserved.

VizieR Online Data Catalog: Energy levels & transition rates for F-like ions (Si+, 2016)

NASA Astrophysics Data System (ADS)

Si, R.; Li, S.; Guo, X. L.; Chen, Z. B.; Brage, T.; Jonsson, P.; Wang, K.; Yan, J.; Chen, C. Y.; Zou, Y. M.

2017-01-01

For the multiconfiguration Dirac-Hartree-Fock (MCDHF) calculation we use the latest version of the GRASP2K code (Jonsson+ 2013CoPhC.184.2197J), while the many-body perturbation theory (MBPT) calculation is performed using the Flexible Atomic Code (FAC; Gu 2008CaJPh..86..675G). (2 data files).

The influence of object shape and center of mass on grasp and gaze

PubMed Central

Desanghere, Loni; Marotta, Jonathan J.

2015-01-01

Recent experiments examining where participants look when grasping an object found that fixations favor the eventual index finger landing position on the object. Even though the act of picking up an object must involve complex high-level computations such as the visual analysis of object contours, surface properties, knowledge of an object’s function and center of mass (COM) location, these investigations have generally used simple symmetrical objects – where COM and horizontal midline overlap. Less research has been aimed at looking at how variations in object properties, such as differences in curvature and changes in COM location, affect visual and motor control. The purpose of this study was to examine grasp and fixation locations when grasping objects whose COM was positioned to the left or right of the objects horizontal midline (Experiment 1) and objects whose COM was moved progressively further from the midline of the objects based on the alteration of the object’s shape (Experiment 2). Results from Experiment 1 showed that object COM position influenced fixation locations and grasp locations differently, with fixations not as tightly linked to index finger grasp locations as was previously reported with symmetrical objects. Fixation positions were also found to be more central on the non-symmetrical objects. This difference in gaze position may provide a more holistic view, which would allow both index finger and thumb positions to be monitored while grasping. Finally, manipulations of COM distance (Experiment 2) exerted marked effects on the visual analysis of the objects when compared to its influence on grasp locations, with fixation locations more sensitive to these manipulations. Together, these findings demonstrate how object features differentially influence gaze vs. grasp positions during object interaction. PMID:26528207

K2 and K2*: efficient alignment-free sequence similarity measurement based on Kendall statistics.

PubMed

Lin, Jie; Adjeroh, Donald A; Jiang, Bing-Hua; Jiang, Yue

2018-05-15

Alignment-free sequence comparison methods can compute the pairwise similarity between a huge number of sequences much faster than sequence-alignment based methods. We propose a new non-parametric alignment-free sequence comparison method, called K2, based on the Kendall statistics. Comparing to the other state-of-the-art alignment-free comparison methods, K2 demonstrates competitive performance in generating the phylogenetic tree, in evaluating functionally related regulatory sequences, and in computing the edit distance (similarity/dissimilarity) between sequences. Furthermore, the K2 approach is much faster than the other methods. An improved method, K2*, is also proposed, which is able to determine the appropriate algorithmic parameter (length) automatically, without first considering different values. Comparative analysis with the state-of-the-art alignment-free sequence similarity methods demonstrates the superiority of the proposed approaches, especially with increasing sequence length, or increasing dataset sizes. The K2 and K2* approaches are implemented in the R language as a package and is freely available for open access (http://community.wvu.edu/daadjeroh/projects/K2/K2_1.0.tar.gz). yueljiang@163.com. Supplementary data are available at Bioinformatics online.

Computer Simulation Is an Undervalued Tool for Genetic Analysis: A Historical View and Presentation of SHIMSHON – A Web-Based Genetic Simulation Package

PubMed Central

Greenberg, David A.

2011-01-01

Computer simulation methods are under-used tools in genetic analysis because simulation approaches have been portrayed as inferior to analytic methods. Even when simulation is used, its advantages are not fully exploited. Here, I present SHIMSHON, our package of genetic simulation programs that have been developed, tested, used for research, and used to generated data for Genetic Analysis Workshops (GAW). These simulation programs, now web-accessible, can be used by anyone to answer questions about designing and analyzing genetic disease studies for locus identification. This work has three foci: (1) the historical context of SHIMSHON's development, suggesting why simulation has not been more widely used so far. (2) Advantages of simulation: computer simulation helps us to understand how genetic analysis methods work. It has advantages for understanding disease inheritance and methods for gene searches. Furthermore, simulation methods can be used to answer fundamental questions that either cannot be answered by analytical approaches or cannot even be defined until the problems are identified and studied, using simulation. (3) I argue that, because simulation was not accepted, there was a failure to grasp the meaning of some simulation-based studies of linkage. This may have contributed to perceived weaknesses in linkage analysis; weaknesses that did not, in fact, exist. PMID:22189467

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

PubMed Central

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-01-01

Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments. PMID:28216555

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems.

PubMed

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-02-14

Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

Judging and Actualizing Intrapersonal and Interpersonal Affordances

ERIC Educational Resources Information Center

Richardson, Michael J.; Marsh, Kerry L.; Baron, Reuben M.

2007-01-01

The current study investigated the perception of intrapersonal, interpersonal, and tool-based grasping possibilities. In Experiment 1, participants judged whether they would grasp planks of wood-presented in ascending, descending, and random orders of length-using one hand (1H), two hands (2H), or with a tool that extended their reach (TH). In…

Biclustering of gene expression data using reactive greedy randomized adaptive search procedure.

PubMed

Dharan, Smitha; Nair, Achuthsankar S

2009-01-30

Biclustering algorithms belong to a distinct class of clustering algorithms that perform simultaneous clustering of both rows and columns of the gene expression matrix and can be a very useful analysis tool when some genes have multiple functions and experimental conditions are diverse. Cheng and Church have introduced a measure called mean squared residue score to evaluate the quality of a bicluster and has become one of the most popular measures to search for biclusters. In this paper, we review basic concepts of the metaheuristics Greedy Randomized Adaptive Search Procedure (GRASP)-construction and local search phases and propose a new method which is a variant of GRASP called Reactive Greedy Randomized Adaptive Search Procedure (Reactive GRASP) to detect significant biclusters from large microarray datasets. The method has two major steps. First, high quality bicluster seeds are generated by means of k-means clustering. In the second step, these seeds are grown using the Reactive GRASP, in which the basic parameter that defines the restrictiveness of the candidate list is self-adjusted, depending on the quality of the solutions found previously. We performed statistical and biological validations of the biclusters obtained and evaluated the method against the results of basic GRASP and as well as with the classic work of Cheng and Church. The experimental results indicate that the Reactive GRASP approach outperforms the basic GRASP algorithm and Cheng and Church approach. The Reactive GRASP approach for the detection of significant biclusters is robust and does not require calibration efforts.

Cloud-Coffee: implementation of a parallel consistency-based multiple alignment algorithm in the T-Coffee package and its benchmarking on the Amazon Elastic-Cloud.

PubMed

Di Tommaso, Paolo; Orobitg, Miquel; Guirado, Fernando; Cores, Fernado; Espinosa, Toni; Notredame, Cedric

2010-08-01

We present the first parallel implementation of the T-Coffee consistency-based multiple aligner. We benchmark it on the Amazon Elastic Cloud (EC2) and show that the parallelization procedure is reasonably effective. We also conclude that for a web server with moderate usage (10K hits/month) the cloud provides a cost-effective alternative to in-house deployment. T-Coffee is a freeware open source package available from http://www.tcoffee.org/homepage.html

Energy levels, lifetimes and radiative data of W LV

NASA Astrophysics Data System (ADS)

Ding, Xiao-bin; Sun, Rui; Koike, Fumihiro; Murakami, Izumi; Kato, Daiji; Sakaue, Hiroyuki A.; Nakamura, Nobuyuki; Dong, Chen-zhong

2018-01-01

Calculations of energy levels, radiative data and lifetimes are reported for tungsten Ca-like ion (W LV) by using multi-configuration Dirac-Fock (MCDF) method. The GRASP2K package is adopted to carry out a large-scale systematic computation with a restricted active space treatment; the Breit interaction and QED effects are included in subsequent relativistic configuration interaction calculations. The energies and lifetimes of the lowest 119 levels are listed; the main leading configuration of the levels is of the ground state configuration [Ne]3s23p63d2 and the first excited configuration [Ne]3s23p53d3. The wavelengths, radiative rates and oscillator strengths for relatively strong E1, E2, M1, and M2 transitions are listed. Comparisons with earlier experimental and theoretical values are made. The average relative deviations of energy levels from the NIST results and E1 transition wavelengths from the EBIT experimental results have turned to be only 0.20% and 0.13%, respectively. The other present results are in reasonable agreement with available data. These agreements confirm the reliability and accuracy of the current results. The present datasets may help us with the investigation of the electron-electron correlation effects in complex multi-electron highly charged heavy ions and of the diagnosis of tungsten impurity plasmas in fusion science.

Micro packaged MEMS pressure sensor for intracranial pressure measurement

NASA Astrophysics Data System (ADS)

Xiong, Liu; Yan, Yao; Jiahao, Ma; Yanhang, Zhang; Qian, Wang; Zhaohua, Zhang; Tianling, Ren

2015-06-01

This paper presents a micro packaged MEMS pressure sensor for intracranial pressure measurement which belongs to BioMEMS. It can be used in lumbar puncture surgery to measure intracranial pressure. Miniaturization is key for lumbar puncture surgery because the sensor must be small enough to allow it be placed in the reagent chamber of the lumbar puncture needle. The size of the sensor is decided by the size of the sensor chip and package. Our sensor chip is based on silicon piezoresistive effect and the size is 400 × 400 μm2. It is much smaller than the reported polymer intracranial pressure sensors such as liquid crystal polymer sensors. In terms of package, the traditional dual in-line package obviously could not match the size need, the minimal size of recently reported MEMS-based intracranial pressure sensors after packaging is 10 × 10 mm2. In this work, we are the first to introduce a quad flat no-lead package as the package form of piezoresistive intracranial pressure sensors, the whole size of the sensor is minimized to only 3 × 3 mm2. Considering the liquid measurement environment, the sensor is gummed and waterproof performance is tested; the sensitivity of the sensor is 0.9 × 10-2 mV/kPa. Project supported by the National Natural Science Foundation of China (Nos. 61025021, 61434001), and the ‘Thousands Talents’ Program for Pioneer Researchers and Its Innovation Team, China.

Getting a grip on reality: Grasping movements directed to real objects and images rely on dissociable neural representations.

PubMed

Freud, Erez; Macdonald, Scott N; Chen, Juan; Quinlan, Derek J; Goodale, Melvyn A; Culham, Jody C

2018-01-01

In the current era of touchscreen technology, humans commonly execute visually guided actions directed to two-dimensional (2D) images of objects. Although real, three-dimensional (3D), objects and images of the same objects share high degree of visual similarity, they differ fundamentally in the actions that can be performed on them. Indeed, previous behavioral studies have suggested that simulated grasping of images relies on different representations than actual grasping of real 3D objects. Yet the neural underpinnings of this phenomena have not been investigated. Here we used functional magnetic resonance imaging (fMRI) to investigate how brain activation patterns differed for grasping and reaching actions directed toward real 3D objects compared to images. Multivoxel Pattern Analysis (MVPA) revealed that the left anterior intraparietal sulcus (aIPS), a key region for visually guided grasping, discriminates between both the format in which objects were presented (real/image) and the motor task performed on them (grasping/reaching). Interestingly, during action planning, the representations of real 3D objects versus images differed more for grasping movements than reaching movements, likely because grasping real 3D objects involves fine-grained planning and anticipation of the consequences of a real interaction. Importantly, this dissociation was evident in the planning phase, before movement initiation, and was not found in any other regions, including motor and somatosensory cortices. This suggests that the dissociable representations in the left aIPS were not based on haptic, motor or proprioceptive feedback. Together, these findings provide novel evidence that actions, particularly grasping, are affected by the realness of the target objects during planning, perhaps because real targets require a more elaborate forward model based on visual cues to predict the consequences of real manipulation. Copyright © 2017 Elsevier Ltd. All rights reserved.

Safety analysis report for packaging (onsite) multicanister overpack cask

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

Edwards, W.S.

1997-07-14

This safety analysis report for packaging (SARP) documents the safety of shipments of irradiated fuel elements in the MUlticanister Overpack (MCO) and MCO Cask for a highway route controlled quantity, Type B fissile package. This SARP evaluates the package during transfers of (1) water-filled MCOs from the K Basins to the Cold Vacuum Drying Facility (CVDF) and (2) sealed and cold vacuum dried MCOs from the CVDF in the 100 K Area to the Canister Storage Building in the 200 East Area.

GENERAL PURPOSE ADA PACKAGES

NASA Technical Reports Server (NTRS)

Klumpp, A. R.

1994-01-01

Ten families of subprograms are bundled together for the General-Purpose Ada Packages. The families bring to Ada many features from HAL/S, PL/I, FORTRAN, and other languages. These families are: string subprograms (INDEX, TRIM, LOAD, etc.); scalar subprograms (MAX, MIN, REM, etc.); array subprograms (MAX, MIN, PROD, SUM, GET, and PUT); numerical subprograms (EXP, CUBIC, etc.); service subprograms (DATE_TIME function, etc.); Linear Algebra II; Runge-Kutta integrators; and three text I/O families of packages. In two cases, a family consists of a single non-generic package. In all other cases, a family comprises a generic package and its instances for a selected group of scalar types. All generic packages are designed to be easily instantiated for the types declared in the user facility. The linear algebra package is LINRAG2. This package includes subprograms supplementing those in NPO-17985, An Ada Linear Algebra Package Modeled After HAL/S (LINRAG). Please note that LINRAG2 cannot be compiled without LINRAG. Most packages have widespread applicability, although some are oriented for avionics applications. All are designed to facilitate writing new software in Ada. Several of the packages use conventions introduced by other programming languages. A package of string subprograms is based on HAL/S (a language designed for the avionics software in the Space Shuttle) and PL/I. Packages of scalar and array subprograms are taken from HAL/S or generalized current Ada subprograms. A package of Runge-Kutta integrators is patterned after a built-in MAC (MIT Algebraic Compiler) integrator. Those packages modeled after HAL/S make it easy to translate existing HAL/S software to Ada. The General-Purpose Ada Packages program source code is available on two 360K 5.25" MS-DOS format diskettes. The software was developed using VAX Ada v1.5 under DEC VMS v4.5. It should be portable to any validated Ada compiler and it should execute either interactively or in batch. The largest package requires 205K of main memory on a DEC VAX running VMS. The software was developed in 1989, and is a copyrighted work with all copyright vested in NASA.

Biclustering of gene expression data using reactive greedy randomized adaptive search procedure

PubMed Central

Dharan, Smitha; Nair, Achuthsankar S

2009-01-01

Background Biclustering algorithms belong to a distinct class of clustering algorithms that perform simultaneous clustering of both rows and columns of the gene expression matrix and can be a very useful analysis tool when some genes have multiple functions and experimental conditions are diverse. Cheng and Church have introduced a measure called mean squared residue score to evaluate the quality of a bicluster and has become one of the most popular measures to search for biclusters. In this paper, we review basic concepts of the metaheuristics Greedy Randomized Adaptive Search Procedure (GRASP)-construction and local search phases and propose a new method which is a variant of GRASP called Reactive Greedy Randomized Adaptive Search Procedure (Reactive GRASP) to detect significant biclusters from large microarray datasets. The method has two major steps. First, high quality bicluster seeds are generated by means of k-means clustering. In the second step, these seeds are grown using the Reactive GRASP, in which the basic parameter that defines the restrictiveness of the candidate list is self-adjusted, depending on the quality of the solutions found previously. Results We performed statistical and biological validations of the biclusters obtained and evaluated the method against the results of basic GRASP and as well as with the classic work of Cheng and Church. The experimental results indicate that the Reactive GRASP approach outperforms the basic GRASP algorithm and Cheng and Church approach. Conclusion The Reactive GRASP approach for the detection of significant biclusters is robust and does not require calibration efforts. PMID:19208127

Helium refrigeration systems for super-conducting accelerators

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

Ganni, V.

Many of the present day accelerators are based on superconducting technology which requires 4.5-K or 2-K helium refrigeration systems. These systems utilize superconducting radio frequency (SRF) cavities and/or superconducting magnets which are packaged into vacuum vessels known as cryo-modules (CM’s). Many of the present day accelerators are optimized to operate primarily at around 2-K, requiring specialized helium refrigeration systems which are cost intensive to produce and to operate. Some of the cryogenic refrigeration system design considerations for these challenging applications are discussed.

Blended shared control utilizing online identification : Regulating grasping forces of a surrogate surgical grasper.

PubMed

Stephens, Trevor K; Kong, Nathan J; Dockter, Rodney L; O'Neill, John J; Sweet, Robert M; Kowalewski, Timothy M

2018-06-01

Surgical robots are increasingly common, yet routine tasks such as tissue grasping remain potentially harmful with high occurrences of tissue crush injury due to the lack of force feedback from the grasper. This work aims to investigate whether a blended shared control framework which utilizes real-time identification of the object being grasped as part of the feedback may help address the prevalence of tissue crush injury in robotic surgeries. This work tests the proposed shared control framework and tissue identification algorithm on a custom surrogate surgical robotic grasping setup. This scheme utilizes identification of the object being grasped as part of the feedback to regulate to a desired force. The blended shared control is arbitrated between human and an implicit force controller based on a computed confidence in the identification of the grasped object. The online identification is performed using least squares based on a nonlinear tissue model. Testing was performed on five silicone tissue surrogates. Twenty grasps were conducted, with half of the grasps performed under manual control and half of the grasps performed with the proposed blended shared control, to test the efficacy of the control scheme. The identification method resulted in an average of 95% accuracy across all time samples of all tissue grasps using a full leave-grasp-out cross-validation. There was an average convergence time of [Formula: see text] ms across all training grasps for all tissue surrogates. Additionally, there was a reduction in peak forces induced during grasping for all tissue surrogates when applying blended shared control online. The blended shared control using online identification more successfully regulated grasping forces to the desired target force when compared with manual control. The preliminary work on this surrogate setup for surgical grasping merits further investigation on real surgical tools and with real human tissues.

Kinematics and force analysis of a robot hand based on an artificial biological control scheme

NASA Astrophysics Data System (ADS)

Kim, Man Guen

An artificial biological control scheme (ABCS) is used to study the kinematics and statics of a multifingered hand with a view to developing an efficient control scheme for grasping. The ABCS is based on observation of human grasping, intuitively taking it as the optimum model for robotic grasping. A final chapter proposes several grasping measures to be applied to the design and control of a robot hand. The ABCS leads to the definition of two modes of the grasping action: natural grasping (NG), which is the human motion to grasp the object without any special task command, and forced grasping (FG), which is the motion with a specific task. The grasping direction line (GDL) is defined to determine the position and orientation of the object in the hand. The kinematic model of a redundant robot arm and hand is developed by reconstructing the human upper extremity and using anthropometric measurement data. The inverse kinematic analyses of various types of precision and power grasping are studied by replacing the three-link with one virtual link and using the GDL. The static force analysis for grasping with fingertips is studied by applying the ABCS. A measure of grasping stability, that maintains the positions of contacts as well as the configurations of the redundant fingers, is derived. The grasping stability measure (GSM), a measure of how well the hand maintains grasping under the existence of external disturbance, is derived by the torque vector of the hand calculated from the external force applied to the object. The grasping manipulability measure (GMM), a measure of how well the hand manipulates the object for the task, is derived by the joint velocity vector of the hand calculated from the object velocity. The grasping performance measure (GPM) is defined by the sum of the directional components of the GSM and the GMM. Finally, a planar redundant hand with two fingers is examined in order to study the various postures of the hand performing pinch grasping by applying the GSM and the GMM.

Real-time vision, tactile cues, and visual form agnosia: removing haptic feedback from a “natural” grasping task induces pantomime-like grasps

PubMed Central

Whitwell, Robert L.; Ganel, Tzvi; Byrne, Caitlin M.; Goodale, Melvyn A.

2015-01-01

Investigators study the kinematics of grasping movements (prehension) under a variety of conditions to probe visuomotor function in normal and brain-damaged individuals. “Natural” prehensile acts are directed at the goal object and are executed using real-time vision. Typically, they also entail the use of tactile, proprioceptive, and kinesthetic sources of haptic feedback about the object (“haptics-based object information”) once contact with the object has been made. Natural and simulated (pantomimed) forms of prehension are thought to recruit different cortical structures: patient DF, who has visual form agnosia following bilateral damage to her temporal-occipital cortex, loses her ability to scale her grasp aperture to the size of targets (“grip scaling”) when her prehensile movements are based on a memory of a target previewed 2 s before the cue to respond or when her grasps are directed towards a visible virtual target but she is denied haptics-based information about the target. In the first of two experiments, we show that when DF performs real-time pantomimed grasps towards a 7.5 cm displaced imagined copy of a visible object such that her fingers make contact with the surface of the table, her grip scaling is in fact quite normal. This finding suggests that real-time vision and terminal tactile feedback are sufficient to preserve DF’s grip scaling slopes. In the second experiment, we examined an “unnatural” grasping task variant in which a tangible target (along with any proxy such as the surface of the table) is denied (i.e., no terminal tactile feedback). To do this, we used a mirror-apparatus to present virtual targets with and without a spatially coincident copy for the participants to grasp. We compared the grasp kinematics from trials with and without terminal tactile feedback to a real-time-pantomimed grasping task (one without tactile feedback) in which participants visualized a copy of the visible target as instructed in our laboratory in the past. Compared to natural grasps, removing tactile feedback increased RT, slowed the velocity of the reach, reduced in-flight grip aperture, increased the slopes relating grip aperture to target width, and reduced the final grip aperture (FGA). All of these effects were also observed in the real time-pantomime grasping task. These effects seem to be independent of those that arise from using the mirror in general as we also compared grasps directed towards virtual targets to those directed at real ones viewed directly through a pane of glass. These comparisons showed that the grasps directed at virtual targets increased grip aperture, slowed the velocity of the reach, and reduced the slopes relating grip aperture to the widths of the target. Thus, using the mirror has real consequences on grasp kinematics, reflecting the importance of task-relevant sources of online visual information for the programming and updating of natural prehensile movements. Taken together, these results provide compelling support for the view that removing terminal tactile feedback, even when the grasps are target-directed, induces a switch from real-time visual control towards one that depends more on visual perception and cognitive supervision. Providing terminal tactile feedback and real-time visual information can evidently keep the dorsal visuomotor system operating normally for prehensile acts. PMID:25999834

Real-time vision, tactile cues, and visual form agnosia: removing haptic feedback from a "natural" grasping task induces pantomime-like grasps.

PubMed

Whitwell, Robert L; Ganel, Tzvi; Byrne, Caitlin M; Goodale, Melvyn A

2015-01-01

Investigators study the kinematics of grasping movements (prehension) under a variety of conditions to probe visuomotor function in normal and brain-damaged individuals. "Natural" prehensile acts are directed at the goal object and are executed using real-time vision. Typically, they also entail the use of tactile, proprioceptive, and kinesthetic sources of haptic feedback about the object ("haptics-based object information") once contact with the object has been made. Natural and simulated (pantomimed) forms of prehension are thought to recruit different cortical structures: patient DF, who has visual form agnosia following bilateral damage to her temporal-occipital cortex, loses her ability to scale her grasp aperture to the size of targets ("grip scaling") when her prehensile movements are based on a memory of a target previewed 2 s before the cue to respond or when her grasps are directed towards a visible virtual target but she is denied haptics-based information about the target. In the first of two experiments, we show that when DF performs real-time pantomimed grasps towards a 7.5 cm displaced imagined copy of a visible object such that her fingers make contact with the surface of the table, her grip scaling is in fact quite normal. This finding suggests that real-time vision and terminal tactile feedback are sufficient to preserve DF's grip scaling slopes. In the second experiment, we examined an "unnatural" grasping task variant in which a tangible target (along with any proxy such as the surface of the table) is denied (i.e., no terminal tactile feedback). To do this, we used a mirror-apparatus to present virtual targets with and without a spatially coincident copy for the participants to grasp. We compared the grasp kinematics from trials with and without terminal tactile feedback to a real-time-pantomimed grasping task (one without tactile feedback) in which participants visualized a copy of the visible target as instructed in our laboratory in the past. Compared to natural grasps, removing tactile feedback increased RT, slowed the velocity of the reach, reduced in-flight grip aperture, increased the slopes relating grip aperture to target width, and reduced the final grip aperture (FGA). All of these effects were also observed in the real time-pantomime grasping task. These effects seem to be independent of those that arise from using the mirror in general as we also compared grasps directed towards virtual targets to those directed at real ones viewed directly through a pane of glass. These comparisons showed that the grasps directed at virtual targets increased grip aperture, slowed the velocity of the reach, and reduced the slopes relating grip aperture to the widths of the target. Thus, using the mirror has real consequences on grasp kinematics, reflecting the importance of task-relevant sources of online visual information for the programming and updating of natural prehensile movements. Taken together, these results provide compelling support for the view that removing terminal tactile feedback, even when the grasps are target-directed, induces a switch from real-time visual control towards one that depends more on visual perception and cognitive supervision. Providing terminal tactile feedback and real-time visual information can evidently keep the dorsal visuomotor system operating normally for prehensile acts.

Postharvest changes in the phenolic profile of watercress induced by post-packaging irradiation and modified atmosphere packaging.

PubMed

Pinela, José; Barros, Lillian; Barreira, João C M; Carvalho, Ana Maria; Oliveira, M Beatriz P P; Santos-Buelga, Celestino; Ferreira, Isabel C F R

2018-07-15

The effects of γ-ray irradiation and modified atmosphere packaging (MAP) on watercress (Nasturtium officinale R. Br.) phenolic compounds were evaluated after 7-day storage at 4 °C. Irradiation doses of 1, 2 and 5 kGy were tested, as well as vacuum-packaging and MAP enriched with 100% N 2 and Ar. A non-irradiated, air-packaged control was included in all experiments. p-Coumaric acid was the most abundant compound in fresh watercress, followed by quercetin-3-O-sophoroside and isorhamnetin-O-hydroxyferuloylhexoside-O-hexoside. Four kaempferol glycoside derivatives were identified for the first time in this species. In general, flavonoids predominated over phenolic acids. Samples stored under vacuum and irradiated at 2 kGy revealed lower phenolic levels. Ar-enriched MAP and control conditions preserved the initial phenolic content. The 5 kGy dose also maintained concentrations of flavonoids and total phenolic compounds, but increased the phenolic acids content. Additionally, flavonoids were found strongly correlated to DPPH scavenging activity and β-carotene bleaching inhibition capacity. Copyright © 2018 Elsevier Ltd. All rights reserved.

A software package for interactive motor unit potential classification using fuzzy k-NN classifier.

PubMed

Rasheed, Sarbast; Stashuk, Daniel; Kamel, Mohamed

2008-01-01

We present an interactive software package for implementing the supervised classification task during electromyographic (EMG) signal decomposition process using a fuzzy k-NN classifier and utilizing the MATLAB high-level programming language and its interactive environment. The method employs an assertion-based classification that takes into account a combination of motor unit potential (MUP) shapes and two modes of use of motor unit firing pattern information: the passive and the active modes. The developed package consists of several graphical user interfaces used to detect individual MUP waveforms from a raw EMG signal, extract relevant features, and classify the MUPs into motor unit potential trains (MUPTs) using assertion-based classifiers.

Grasps Recognition and Evaluation of Stroke Patients for Supporting Rehabilitation Therapy

PubMed Central

Sale, Patrizio; Nijenhuis, Sharon; Prange, Gerdienke; Amirabdollahian, Farshid

2014-01-01

Stroke survivors often suffer impairments on their wrist and hand. Robot-mediated rehabilitation techniques have been proposed as a way to enhance conventional therapy, based on intensive repeated movements. Amongst the set of activities of daily living, grasping is one of the most recurrent. Our aim is to incorporate the detection of grasps in the machine-mediated rehabilitation framework so that they can be incorporated into interactive therapeutic games. In this study, we developed and tested a method based on support vector machines for recognizing various grasp postures wearing a passive exoskeleton for hand and wrist rehabilitation after stroke. The experiment was conducted with ten healthy subjects and eight stroke patients performing the grasping gestures. The method was tested in terms of accuracy and robustness with respect to intersubjects' variability and differences between different grasps. Our results show reliable recognition while also indicating that the recognition accuracy can be used to assess the patients' ability to consistently repeat the gestures. Additionally, a grasp quality measure was proposed to measure the capabilities of the stroke patients to perform grasp postures in a similar way than healthy people. These two measures can be potentially used as complementary measures to other upper limb motion tests. PMID:25258709

Wide-Field Imaging Telescope-0 (WIT0) with automatic observing system

NASA Astrophysics Data System (ADS)

Ji, Tae-Geun; Byeon, Seoyeon; Lee, Hye-In; Park, Woojin; Lee, Sang-Yun; Hwang, Sungyong; Choi, Changsu; Gibson, Coyne Andrew; Kuehne, John W.; Prochaska, Travis; Marshall, Jennifer L.; Im, Myungshin; Pak, Soojong

2018-01-01

We introduce Wide-Field Imaging Telescope-0 (WIT0), with an automatic observing system. It is developed for monitoring the variabilities of many sources at a time, e.g. young stellar objects and active galactic nuclei. It can also find the locations of transient sources such as a supernova or gamma-ray bursts. In 2017 February, we installed the wide-field 10-inch telescope (Takahashi CCA-250) as a piggyback system on the 30-inch telescope at the McDonald Observatory in Texas, US. The 10-inch telescope has a 2.35 × 2.35 deg field-of-view with a 4k × 4k CCD Camera (FLI ML16803). To improve the observational efficiency of the system, we developed a new automatic observing software, KAOS30 (KHU Automatic Observing Software for McDonald 30-inch telescope), which was developed by Visual C++ on the basis of a windows operating system. The software consists of four control packages: the Telescope Control Package (TCP), the Data Acquisition Package (DAP), the Auto Focus Package (AFP), and the Script Mode Package (SMP). Since it also supports the instruments that are using the ASCOM driver, the additional hardware installations become quite simplified. We commissioned KAOS30 in 2017 August and are in the process of testing. Based on the WIT0 experiences, we will extend KAOS30 to control multiple telescopes in future projects.

Changes in physiological and some nutritional, nutraceuticals, chemical-physical, microbiological and sensory quality of minimally processed cactus pears cvs 'Bianca', 'Gialla' and 'Rossa' stored under passive modified atmosphere.

PubMed

Palma, Amedeo; Continella, Alberto; La Malfa, Stefano; D'Aquino, Salvatore

2018-03-01

The objective of this study was to compare the overall quality changes of minimally processed cactus pears cvs 'Bianca', Gialla' and 'Rossa' stored at 4 °C for 10 days. Periodically in-package CO 2 , O 2 and C 2 H 4 were determined and fruit were assessed for overall quality changes (pH, acidity, sugars, phenolics, betacyanins and betaxanthines, antioxidant capacity, colour, firmness, microbiological population and sensory attributes). In a preliminary study three different polymeric films were tested to select the most suitable to design a package with a short lag time to achieve steady-state conditions. Results showed marked differences between measured in-package CO 2 and O 2 values and those calculated based on respiration of peeled fruit and film permeance to CO 2 and O 2 provided by manufactures. The sensory evaluation of packed fruit indicated in film BBT-Bolphane, which created a steady-state in-package partial pressure for CO 2 of 4.3-4.8 kPa and for O 2 of 4.8-5.5 kPa, as the best film. Results of in-package gas composition with the three cultivars were similar to those achieved in cv. 'Gialla' with the preliminary test. All measured qualitative parameters changed slightly over the storage period for all cultivars and followed the same trend, despite significant differences existing among cultivars. This study clearly showed a similar physiological behavior of minimally processed 'Bianca', 'Gialla' and 'Rossa' cactus pears. Storage conditions optimal for one cultivar fit well for the others; thus mixing fruit of different cultivars in a package designed for one specific cultivar does not lead to relevant deviation from expected results. © 2017 Society of Chemical Industry. © 2017 Society of Chemical Industry.

Use of gamma-irradiation technology in the manufacture of biopolymer-based packaging films for shelf-stable foods

NASA Astrophysics Data System (ADS)

Parra, Duclerc F.; Rodrigues, Juliana A. F. R.; Lugão, Ademar B.

2005-07-01

Gamma irradiation is an alternative method for the manufacture of sterilized packaging with increased storage stability and microbiological safety. Biopolymer-based packaging films are a potential solution to many environmental problems that have emerged from the production and accumulation of significant amounts of synthetic polymeric waste. This work was undertaken to verify the effectiveness of low-dose gamma-irradiation in obtaining biopolymer-based packaging films for shelf-stable foods. PHB polyester poly(3-hydroxybutyrate) is an interesting biodegradable polymer that has been intensely investigated as cast and sheet films, with applications in the food industry and medicine. The films obtained are, however, typically brittle, and many scientists have attempted to reduce this brittleness by blending PHB with other polymers. In the present work, PHB was blended with PEG (polyethyleneglycol) to obtain films by the casting method that were then irradiated at a dose rate of 5.72 kGy/h with a 60Co source. Samples were melted at 200 °C and quenched to 0 °C in order to evaluate film crystallinity levels by differential scanning calorimetry (DSC). DSC analyses were performed with the samples (10 mg) under N2 atmosphere, heating from -50 to 200 °C (10 °C min-1), cooling from 200 to -50 °C (10 °C min-1); and heating from -50 to 200 °C (10 °C min-1). The thermal and mechanical resistances of the films after irradiation at low doses (5, 10, 20 kGy) are discussed. Water vapour transmission decreased with increasing irradiation dose, indicating that the films' performance as water vapour barrier had improved. Critical loss of the mechanical properties was observed at 40 kGy.

Robot Grasps Rotating Object

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.; Tso, Kam S.; Litwin, Todd E.; Hayati, Samad A.; Bon, Bruce B.

1991-01-01

Experimental robotic system semiautomatically grasps rotating object, stops rotation, and pulls object to rest in fixture. Based on combination of advanced techniques for sensing and control, constructed to test concepts for robotic recapture of spinning artificial satellites. Potential terrestrial applications for technology developed with help of system includes tracking and grasping of industrial parts on conveyor belts, tracking of vehicles and animals, and soft grasping of moving objects in general.

Learning Grasp Context Distinctions that Generalize

NASA Technical Reports Server (NTRS)

Platt, Robert; Grupen, Roderic A.; Fagg, Andrew H.

2006-01-01

Control-based approaches to grasp synthesis create grasping behavior by sequencing and combining control primitives. In the absence of any other structure, these approaches must evaluate a large number of feasible control sequences as a function of object shape, object pose, and task. This work explores a new approach to grasp synthesis that limits consideration to variations on a generalized localize-reach-grasp control policy. A new learning algorithm, known as schema structured learning, is used to learn which instantiations of the generalized policy are most likely to lead to a successful grasp in different problem contexts. Two experiments are described where Dexter, a bimanual upper torso, learns to select an appropriate grasp strategy as a function of object eccentricity and orientation. In addition, it is shown that grasp skills learned in this way can generalize to new objects. Results are presented showing that after learning how to grasp a small, representative set of objects, the robot's performance quantitatively improves for similar objects that it has not experienced before.

yaImpute: An R package for kNN imputation

Treesearch

Nicholas L. Crookston; Andrew O. Finley

2008-01-01

This article introduces yaImpute, an R package for nearest neighbor search and imputation. Although nearest neighbor imputation is used in a host of disciplines, the methods implemented in the yaImpute package are tailored to imputation-based forest attribute estimation and mapping. The impetus to writing the yaImpute is a growing interest in nearest neighbor...

Energy levels, radiative rates and electron impact excitation rates for transitions in He-like Ga XXX, Ge XXXI, As XXXII, Se XXXIII and Br XXXIV

NASA Astrophysics Data System (ADS)

Aggarwal, Kanti M.; Keenan, Francis P.

2013-04-01

We report calculations of energy levels, radiative rates and electron impact excitation cross sections and rates for transitions in He-like Ga XXX, Ge XXXI, As XXXII, Se XXXIII and Br XXXIV. The grasp (general-purpose relativistic atomic structure package) is adopted for calculating energy levels and radiative rates. For determining the collision strengths, and subsequently the excitation rates, the Dirac atomic R-matrix code (darc) is used. Oscillator strengths, radiative rates and line strengths are reported for all E1, E2, M1 and M2 transitions among the lowest 49 levels of each ion. Additionally, theoretical lifetimes are provided for all 49 levels of the above five ions. Collision strengths are averaged over a Maxwellian velocity distribution and the effective collision strengths obtained listed over a wide temperature range up to 108 K. Comparisons are made with similar data obtained using the flexible atomic code (fac) to highlight the importance of resonances, included in calculations with darc, in the determination of effective collision strengths. Discrepancies between the collision strengths from darc and fac, particularly for some forbidden transitions, are also discussed. Finally, discrepancies between the present results for effective collision strengths with the darc code and earlier semi-relativistic R-matrix data are noted over a wide range of electron temperatures for many transitions in all ions.

Fast grasping of unknown objects using principal component analysis

NASA Astrophysics Data System (ADS)

Lei, Qujiang; Chen, Guangming; Wisse, Martijn

2017-09-01

Fast grasping of unknown objects has crucial impact on the efficiency of robot manipulation especially subjected to unfamiliar environments. In order to accelerate grasping speed of unknown objects, principal component analysis is utilized to direct the grasping process. In particular, a single-view partial point cloud is constructed and grasp candidates are allocated along the principal axis. Force balance optimization is employed to analyze possible graspable areas. The obtained graspable area with the minimal resultant force is the best zone for the final grasping execution. It is shown that an unknown object can be more quickly grasped provided that the component analysis principle axis is determined using single-view partial point cloud. To cope with the grasp uncertainty, robot motion is assisted to obtain a new viewpoint. Virtual exploration and experimental tests are carried out to verify this fast gasping algorithm. Both simulation and experimental tests demonstrated excellent performances based on the results of grasping a series of unknown objects. To minimize the grasping uncertainty, the merits of the robot hardware with two 3D cameras can be utilized to suffice the partial point cloud. As a result of utilizing the robot hardware, the grasping reliance is highly enhanced. Therefore, this research demonstrates practical significance for increasing grasping speed and thus increasing robot efficiency under unpredictable environments.

Patterns of muscle activity underlying object-specific grasp by the macaque monkey.

PubMed

Brochier, T; Spinks, R L; Umilta, M A; Lemon, R N

2004-09-01

During object grasp, a coordinated activation of distal muscles is required to shape the hand in relation to the physical properties of the object. Despite the fundamental importance of the grasping action, little is known of the muscular activation patterns that allow objects of different sizes and shapes to be grasped. In a study of two adult macaque monkeys, we investigated whether we could distinguish between EMG activation patterns associated with grasp of 12 differently shaped objects, chosen to evoke a wide range of grasping postures. Each object was mounted on a horizontal shuttle held by a weak spring (load force 1-2 N). Objects were located in separate sectors of a "carousel," and inter-trial rotation of the carousel allowed sequential presentation of the objects in pseudorandom order. EMG activity from 10 to 12 digit, hand, and arm muscles was recorded using chronically implanted electrodes. We show that the grasp of different objects was characterized by complex but distinctive patterns of EMG activation. Cluster analysis shows that these object-related EMG patterns were specific and consistent enough to identify the object unequivocally from the EMG recordings alone. EMG-based object identification required a minimum of six EMGs from simultaneously recorded muscles. EMG patterns were consistent across recording sessions in a given monkey but showed some differences between animals. These results identify the specific patterns of activity required to achieve distinct hand postures for grasping, and they open the way to our understanding of how these patterns are generated by the central motor network.

Effects of Irradiation Dose and O2 and CO2 Concentrations in Packages on Foodborne Pathogenic Bacteria and Quality of Ready-to-Cook Seasoned Ground Beef Product (Meatball) during Refrigerated Storage

PubMed Central

Gunes, Gurbuz; Yilmaz, Neriman; Ozturk, Aylin

2012-01-01

Combined effects of gamma irradiation and concentrations of O2 (0, 5, 21%) and CO2 (0, 50%) on survival of Escherichia coli O157:H7, Salmonella enteritidis, Listeria monocytogenes, lipid oxidation, and color changes in ready-to-cook seasoned ground beef (meatball) during refrigerated storage were investigated. Ground beef seasoned with mixed spices was packaged in varying O2 and CO2 levels and irradiated at 2 and 4 kGy. Irradiation (4 kGy) caused about 6 Log inactivation of the inoculated pathogens. Inactivation of Salmonella was 0.9- and 0.4-Log lower in 0 and 5% O2, respectively, compared to 21% O2. Irradiation at 2 and 4 kGy increased thiobarbituric acid reactive substances in meatballs by 0.12 and 0.28 mg malondialdehyde kg−1, respectively, compared to control. In reduced-O2 packages, radiation-induced oxidation was lower, and the initial color of an irradiated sample was maintained. Packaging with 0% + 50% CO2 or 5% O2 + 50% CO2 maintained the oxidative and the color quality of irradiated meatballs during 14-day refrigerated storage. MAP with 5%O2 + 50% CO2 combined with irradiation up to 4 kGy is suggested for refrigerated meatballs to reduce the foodborne pathogen risk and to maintain the quality. PMID:22566763

Effects of irradiation dose and O(2) and CO(2) concentrations in packages on foodborne pathogenic bacteria and quality of ready-to-cook seasoned ground beef product (meatball) during refrigerated storage.

PubMed

Gunes, Gurbuz; Yilmaz, Neriman; Ozturk, Aylin

2012-01-01

Combined effects of gamma irradiation and concentrations of O(2) (0, 5, 21%) and CO(2) (0, 50%) on survival of Escherichia coli O157:H7, Salmonella enteritidis, Listeria monocytogenes, lipid oxidation, and color changes in ready-to-cook seasoned ground beef (meatball) during refrigerated storage were investigated. Ground beef seasoned with mixed spices was packaged in varying O(2) and CO(2) levels and irradiated at 2 and 4 kGy. Irradiation (4 kGy) caused about 6 Log inactivation of the inoculated pathogens. Inactivation of Salmonella was 0.9- and 0.4-Log lower in 0 and 5% O(2), respectively, compared to 21% O(2). Irradiation at 2 and 4 kGy increased thiobarbituric acid reactive substances in meatballs by 0.12 and 0.28 mg malondialdehyde kg(-1), respectively, compared to control. In reduced-O(2) packages, radiation-induced oxidation was lower, and the initial color of an irradiated sample was maintained. Packaging with 0% + 50% CO(2) or 5% O(2) + 50% CO(2) maintained the oxidative and the color quality of irradiated meatballs during 14-day refrigerated storage. MAP with 5%O(2) + 50% CO(2) combined with irradiation up to 4 kGy is suggested for refrigerated meatballs to reduce the foodborne pathogen risk and to maintain the quality.

A comparative study on the effectiveness of ozonated water and peracetic acid in the storability of packaged fresh-cut melon.

PubMed

Botondi, Rinaldo; Moscetti, Roberto; Massantini, Riccardo

2016-05-01

Ozonated water and peracetic acid were tested as sanitizers to enhance the storability of fresh-cut melon cubes. Sanitizers were also combined with suitable packaging materials (polypropylene and polylactic acid based plastic films). Fresh-cut melon cubes were stored at 4 °C for up to 7 days. Ozonated water and peracetic acid treatments were given by dipping cubes into 0.8 ppm O3 and 100 ppm Tsunami 100™ solutions, respectively, for 3 min. Both sanitizers exhibited efficiency in reducing the total microbial counts on melon cubes (< 2 log CFU g(-1)). Respiratory activity and ethylene production were both affected by the interaction between the sanitizer and the packaging used. Carbon dioxide and oxygen reached 9.89 kPa and 12.20 kPa partial pressures, respectively, using peracetic acid treatment in combination with polypropylene film packaging, consequently developing off-odors starting from day 3. Strong color changes were noted in cubes stored in polylactic acid packaging after 7 days of storage, affecting the sensory quality of the melon cubes. Sensory evaluation (overall visual quality) indicated loss in flavor in the polypropylene packaging. The overall visual quality started to decline on 3rd day because of the development of translucency.Overall, the use of ozone in combination with polypropylene packaging provided the best solution to maintain the quality of melon cubes for up to 5 days of storage at 4 °C.

Self-gated fetal cardiac MRI with tiny golden angle iGRASP: A feasibility study.

PubMed

Haris, Kostas; Hedström, Erik; Bidhult, Sebastian; Testud, Frederik; Maglaveras, Nicos; Heiberg, Einar; Hansson, Stefan R; Arheden, Håkan; Aletras, Anthony H

2017-07-01

To develop and assess a technique for self-gated fetal cardiac cine magnetic resonance imaging (MRI) using tiny golden angle radial sampling combined with iGRASP (iterative Golden-angle RAdial Sparse Parallel) for accelerated acquisition based on parallel imaging and compressed sensing. Fetal cardiac data were acquired from five volunteers in gestational week 29-37 at 1.5T using tiny golden angles for eddy currents reduction. The acquired multicoil radial projections were input to a principal component analysis-based compression stage. The cardiac self-gating (CSG) signal for cardiac gating was extracted from the acquired radial projections and the iGRASP reconstruction procedure was applied. In all acquisitions, a total of 4000 radial spokes were acquired within a breath-hold of less than 15 seconds using a balanced steady-state free precession pulse sequence. The images were qualitatively compared by two independent observers (on a scale of 1-4) to a single midventricular cine image from metric optimized gating (MOG) and real-time acquisitions. For iGRASP and MOG images, good overall image quality (2.8 ± 0.4 and 2.6 ± 1.3, respectively, for observer 1; 3.6 ± 0.5 and 3.4 ± 0.9, respectively, for observer 2) and cardiac diagnostic quality (3.8 ± 0.4 and 3.4 ± 0.9, respectively, for observer 1; 3.6 ± 0.5 and 3.6 ± 0.9, respectively, for observer 2) were obtained, with visualized myocardial thickening over the cardiac cycle and well-defined myocardial borders to ventricular lumen and liver/lung tissue. For iGRASP, MOG, and real time, left ventricular lumen diameter (14.1 ± 2.2 mm, 14.2 ± 1.9 mm, 14.7 ± 1.1 mm, respectively) and wall thickness (2.7 ± 0.3 mm, 2.6 ± 0.3 mm, 3.0 ± 0.4, respectively) showed agreement and no statistically significant difference was found (all P > 0.05). Images with iGRASP tended to have higher overall image quality scores compared with MOG and particularly real-time images, albeit not statistically significant in this feasibility study (P > 0.99 and P = 0.12, respectively). Fetal cardiac cine MRI can be performed with iGRASP using tiny golden angles and CSG. Comparison with other fetal cardiac cine MRI methods showed that the proposed method produces high-quality fetal cardiac reconstructions. 2 Technical Efficacy: Stage 1 J. MAGN. RESON. IMAGING 2017;46:207-217. © 2017 International Society for Magnetic Resonance in Medicine.

Dynamical characteristics of surface EMG signals of hand grasps via recurrence plot.

PubMed

Ouyang, Gaoxiang; Zhu, Xiangyang; Ju, Zhaojie; Liu, Honghai

2014-01-01

Recognizing human hand grasp movements through surface electromyogram (sEMG) is a challenging task. In this paper, we investigated nonlinear measures based on recurrence plot, as a tool to evaluate the hidden dynamical characteristics of sEMG during four different hand movements. A series of experimental tests in this study show that the dynamical characteristics of sEMG data with recurrence quantification analysis (RQA) can distinguish different hand grasp movements. Meanwhile, adaptive neuro-fuzzy inference system (ANFIS) is applied to evaluate the performance of the aforementioned measures to identify the grasp movements. The experimental results show that the recognition rate (99.1%) based on the combination of linear and nonlinear measures is much higher than those with only linear measures (93.4%) or nonlinear measures (88.1%). These results suggest that the RQA measures might be a potential tool to reveal the sEMG hidden characteristics of hand grasp movements and an effective supplement for the traditional linear grasp recognition methods.

Effect of superatmospheric oxygen packaging on sensorial quality, spoilage, and Listeria monocytogenes and Aeromonas caviae growth in fresh processed mixed salads.

PubMed

Allende, Ana; Jacxsens, Liesbeth; Devlieghere, Frank; Debevere, Johan; Artés, Francisco

2002-10-01

Atmospheres with O2 levels higher than 70 kPa have recently been suggested as an innovation to modified atmosphere packaging (MAP) for fresh processed vegetables to maintain sensory quality and safety. In the present work, mixed vegetable salad collected from a commercial processing plant and stored with the MAP technique was studied. Two gas mixtures were actively generated by using an initial O2 concentration of 95 kPa and combined with two plastic films. The low-barrier film permeability for O2 was 1,629 mlO2/m2 x 24 h x atm with 30 microm of thickness (Hyplast, Hoogstraten, Belgium) and the O2 permeability of the high-barrier film was 2 mlO2/m2 x 24h x atm with 150 microm of thickness (Euralpack, Wommelgen, Belgium) at 23 degrees C. As control, active conventional MAP with application of 3 to 5 kPa of O2 and 6 to 8 kPa of CO2 was used. Packaged salads were stored up to 8 days at 4 degrees C and at temperatures simulating chilled distribution chain conditions. Microbial safety and sensory quality, as well as the survival of inoculated Listeria monocytogenes and Aeromonas caviae, were monitored. The effect of superatmospheric O2 on the growth of aerobic microflora was variable. Under superatmospheric conditions, lactic acid bacteria and members of Enterobacteriaceae were inhibited. Nevertheless, growth of yeast and A. caviae seem to be stimulated by superatmospheric O2, whereas growth of psychrotrophic bacteria and L monocytogenes was not affected. The overall visual appearance (mainly color) of the mixed vegetable salads was better maintained and the shelf life prolonged when packaged under O2 concentrations greater than 50 kPa.

Optimizing pattern recognition-based control for partial-hand prosthesis application.

PubMed

Earley, Eric J; Adewuyi, Adenike A; Hargrove, Levi J

2014-01-01

Partial-hand amputees often retain good residual wrist motion, which is essential for functional activities involving use of the hand. Thus, a crucial design criterion for a myoelectric, partial-hand prosthesis control scheme is that it allows the user to retain residual wrist motion. Pattern recognition (PR) of electromyographic (EMG) signals is a well-studied method of controlling myoelectric prostheses. However, wrist motion degrades a PR system's ability to correctly predict hand-grasp patterns. We studied the effects of (1) window length and number of hand-grasps, (2) static and dynamic wrist motion, and (3) EMG muscle source on the ability of a PR-based control scheme to classify functional hand-grasp patterns. Our results show that training PR classifiers with both extrinsic and intrinsic muscle EMG yields a lower error rate than training with either group by itself (p<0.001); and that training in only variable wrist positions, with only dynamic wrist movements, or with both variable wrist positions and movements results in lower error rates than training in only the neutral wrist position (p<0.001). Finally, our results show that both an increase in window length and a decrease in the number of grasps available to the classifier significantly decrease classification error (p<0.001). These results remained consistent whether the classifier selected or maintained a hand-grasp.

Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand

PubMed Central

Fu, Qiushi; Santello, Marco

2018-01-01

The concept of postural synergies of the human hand has been shown to potentially reduce complexity in the neuromuscular control of grasping. By merging this concept with soft robotics approaches, a multi degrees of freedom soft-synergy prosthetic hand [SoftHand-Pro (SHP)] was created. The mechanical innovation of the SHP enables adaptive and robust functional grasps with simple and intuitive myoelectric control from only two surface electromyogram (sEMG) channels. However, the current myoelectric controller has very limited capability for fine control of grasp forces. We addressed this challenge by designing a hybrid-gain myoelectric controller that switches control gains based on the sensorimotor state of the SHP. This controller was tested against a conventional single-gain (SG) controller, as well as against native hand in able-bodied subjects. We used the following tasks to evaluate the performance of grasp force control: (1) pick and place objects with different size, weight, and fragility levels using power or precision grasp and (2) squeezing objects with different stiffness. Sensory feedback of the grasp forces was provided to the user through a non-invasive, mechanotactile haptic feedback device mounted on the upper arm. We demonstrated that the novel hybrid controller enabled superior task completion speed and fine force control over SG controller in object pick-and-place tasks. We also found that the performance of the hybrid controller qualitatively agrees with the performance of native human hands. PMID:29375360

Telescoping Solar Array Concept for Achieving High Packaging Efficiency

NASA Technical Reports Server (NTRS)

Mikulas, Martin; Pappa, Richard; Warren, Jay; Rose, Geoff

2015-01-01

Lightweight, high-efficiency solar arrays are required for future deep space missions using high-power Solar Electric Propulsion (SEP). Structural performance metrics for state-of-the art 30-50 kW flexible blanket arrays recently demonstrated in ground tests are approximately 40 kW/cu m packaging efficiency, 150 W/kg specific power, 0.1 Hz deployed stiffness, and 0.2 g deployed strength. Much larger arrays with up to a megawatt or more of power and improved packaging and specific power are of interest to mission planners for minimizing launch and life cycle costs of Mars exploration. A new concept referred to as the Compact Telescoping Array (CTA) with 60 kW/cu m packaging efficiency at 1 MW of power is described herein. Performance metrics as a function of array size and corresponding power level are derived analytically and validated by finite element analysis. Feasible CTA packaging and deployment approaches are also described. The CTA was developed, in part, to serve as a NASA reference solar array concept against which other proposed designs of 50-1000 kW arrays for future high-power SEP missions could be compared.

Mechanical and Electrochemical Performance of Graphene-Based Flexible Supercapacitors

DTIC Science & Technology

2014-08-01

Charge/ discharge testing of a packaged, flexible, graphene-based supercapacitor using 0.5 M K2SO4 electrolyte...the use of electrochemical double-layer capacitors (commonly referred to as “supercapacitors”) for high power charging/ discharging and long cyclic...exhibit rapid charging/ discharging and good performance over a wide temperature range. 1 Supercapacitors may prove useful as a standalone power

Multiple parietal-frontal pathways mediate grasping in macaque monkeys

PubMed Central

Gharbawie, Omar A.; Stepniewska, Iwona; Qi, Huixin; Kaas, Jon H.

2011-01-01

The nodes of a parietal-frontal pathway that mediates grasping in primates are in anterior intraparietal area (AIP) and ventral premotor cortex (PMv). Nevertheless, multiple somatosensory and motor representations of the hand, respectively in parietal and frontal cortex, suggest that additional pathways remain unrealized. We explored this possibility in macaque monkeys by injecting retrograde tracers into grasp zones identified in M1, PMv, and area 2 with long train electrical stimulation. The M1 grasp zone was densely connected with other frontal cortex motor regions. The remainder of the connections originated from somatosensory areas 3a and S2/PV, and from the medial bank and fundus of the intraparietal sulcus (IPS). The PMv grasp zone was also densely connected with frontal cortex motor regions, albeit to a lesser extent than the M1 grasp zone. The remainder of the connections originated from areas S2/PV and aspects of the inferior parietal lobe such as PF, PFG, AIP, and the tip of the IPS. The area 2 grasp zone was densely connected with the hand representations of somatosensory areas 3b, 1, and S2/PV. The remainder of the connections was with areas 3a and 5 and the medial bank and fundus of the IPS. Connections with frontal cortex were relatively weak and concentrated in caudal M1. Thus, the three grasp zones may be nodes of parallel parietal-frontal pathways. Differential points of origin and termination of each pathway suggest varying functional specializations. Direct and indirect connections between those parietal-frontal pathways likely coordinate their respective functions into an accurate grasp. PMID:21832196

GRASP55 Senses Glucose Deprivation through O-GlcNAcylation to Promote Autophagosome-Lysosome Fusion.

PubMed

Zhang, Xiaoyan; Wang, Leibin; Lak, Behnam; Li, Jie; Jokitalo, Eija; Wang, Yanzhuang

2018-04-23

The Golgi apparatus is the central hub for protein trafficking and glycosylation in the secretory pathway. However, how the Golgi responds to glucose deprivation is so far unknown. Here, we report that GRASP55, the Golgi stacking protein located in medial- and trans-Golgi cisternae, is O-GlcNAcylated by the O-GlcNAc transferase OGT under growth conditions. Glucose deprivation reduces GRASP55 O-GlcNAcylation. De-O-GlcNAcylated GRASP55 forms puncta outside of the Golgi area, which co-localize with autophagosomes and late endosomes/lysosomes. GRASP55 depletion reduces autophagic flux and results in autophagosome accumulation, while expression of an O-GlcNAcylation-deficient mutant of GRASP55 accelerates autophagic flux. Biochemically, GRASP55 interacts with LC3-II on the autophagosomes and LAMP2 on late endosomes/lysosomes and functions as a bridge between LC3-II and LAMP2 for autophagosome and lysosome fusion; this function is negatively regulated by GRASP55 O-GlcNAcylation. Therefore, GRASP55 senses glucose levels through O-GlcNAcylation and acts as a tether to facilitate autophagosome maturation. Copyright © 2018 Elsevier Inc. All rights reserved.

Grasp posture alters visual processing biases near the hands

PubMed Central

Thomas, Laura E.

2015-01-01

Observers experience biases in visual processing for objects within easy reach of their hands that may assist them in evaluating items that are candidates for action. I investigated the hypothesis that hand postures affording different types of actions differentially bias vision. Across three experiments, participants performed global motion detection and global form perception tasks while their hands were positioned a) near the display in a posture affording a power grasp, b) near the display in a posture affording a precision grasp, or c) in their laps. Although the power grasp posture facilitated performance on the motion task, the precision grasp posture instead facilitated performance on the form task. These results suggest that the visual system weights processing based on an observer’s current affordances for specific actions: fast and forceful power grasps enhance temporal sensitivity, while detail-oriented precision grasps enhance spatial sensitivity. PMID:25862545

Grasp-specific motor resonance is influenced by the visibility of the observed actor.

PubMed

Bunday, Karen L; Lemon, Roger N; Kilner, James M; Davare, Marco; Orban, Guy A

2016-11-01

Motor resonance is the modulation of M1 corticospinal excitability induced by observation of others' actions. Recent brain imaging studies have revealed that viewing videos of grasping actions led to a differential activation of the ventral premotor cortex depending on whether the entire person is viewed versus only their disembodied hand. Here we used transcranial magnetic stimulation (TMS) to examine motor evoked potentials (MEPs) in the first dorsal interosseous (FDI) and abductor digiti minimi (ADM) during observation of videos or static images in which a whole person or merely the hand was seen reaching and grasping a peanut (precision grip) or an apple (whole hand grasp). Participants were presented with six visual conditions in which visual stimuli (video vs static image), view (whole person vs hand) and grasp (precision grip vs whole hand grasp) were varied in a 2 × 2 × 2 factorial design. Observing videos, but not static images, of a hand grasping different objects resulted in a grasp-specific interaction, such that FDI and ADM MEPs were differentially modulated depending on the type of grasp being observed (precision grip vs whole hand grasp). This interaction was present when observing the hand acting, but not when observing the whole person acting. Additional experiments revealed that these results were unlikely to be due to the relative size of the hand being observed. Our results suggest that observation of videos rather than static images is critical for motor resonance. Importantly, observing the whole person performing the action abolished the grasp-specific effect, which could be due to a variety of PMv inputs converging on M1. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Use of activated carbon inside modified atmosphere packages to maintain tomato fruit quality during cold storage.

PubMed

Bailén, Gloria; Guillén, Fabián; Castillo, Salvador; Serrano, María; Valero, Daniel; Martínez-Romero, Domingo

2006-03-22

Ethylene triggers the ripening process of tomato affecting the storage durability and shelf life (loss of quality) and inducing fruit decay. In this paper, an active packaging has been developed on the basis of the combination of modified atmosphere packaging (MAP) and the addition of granular-activated carbon (GAC) alone or impregnated with palladium as a catalyst (GAC-Pd). A steady-state atmosphere was 4 and 10 kPa for O2 and CO2 in control packages, while it was 8 and 7 kPa for O2 and CO2 in treated ones. The addition of GAC-Pd led to the lower ethylene accumulation inside packages, while the higher was obtained in controls. The parameters related to ripening showed that treated tomatoes exhibited a reduction in color evolution, softening, and weight loss, especially for GAC-Pd treatment. Moreover, these treatments were also effective in delaying tomato decay. After sensorial panel, tomatoes treated with GAC-Pd received the higher scores in terms of sweetness, firmness, juiciness, color, odor, and flavor. Results from the GC-MS analysis of the MAP headspace showed that 23 volatile compounds were identified in control packages, with these volatiles being significantly reduced in MAP-treated packages, which was correlated to the odor intensity detected by panelists after bag opening.

Preliminary development of a GIS-tool to assess threats to shallow groundwater quality from soil pollutants in Glasgow, UK (GRASP).

NASA Astrophysics Data System (ADS)

Dochartaigh, B. É. Ó.; Fordyce, F. M.; Ander, E. L.; Bonsor, H. C.

2009-04-01

The protection of groundwater and related surface water quality is a key aspect of the European Union Water Framework Directive and environmental legislation in many countries worldwide. Globally, the protection of urban groundwater resources and related ecosystem services is of growing concern as urbanisation increases. Although urban areas are often where groundwater resources are most in need of protection, there is frequently a lack of information about threats to groundwater quality. Most studies of soil and groundwater contamination, although detailed, are site-specific, and city-wide overviews are generally lacking. The British Geological Survey (BGS) is currently undertaking the Clyde Urban Super-Project (CUSP), delivering multi-disciplinary geoscience products for the Glasgow conurbation. Under this project, a GIS-based prioritisation tool known as GRASP (GRoundwater And Soil Pollutants) has been trialled to aid urban planning and sustainable development by providing a broad-scale assessment of threats to groundwater quality across the conurbation. GRASP identifies areas where shallow groundwater quality is at greatest threat from the leaching and downward movement of potentially harmful metals in the soil. Metal contamination is a known problem in many urban centres including Glasgow, which has a long industrial heritage and associated contamination legacy, notably with respect to Cr. GRASP is based primarily upon an existing British Standard - International Standards Organisation methodology to determine the leaching potential of metals from soils, which has been validated for 11 metals: Al, Fe, Cd, Co, Cr, Cu, Hg, Ni, Mn, Pb and Zn (BS-ISO 15175:2004). However, the GRASP tool is innovative as it combines assessments of soil leaching potential with soil metal content data to highlight threats to shallow groundwater quality. The input parameters required for GRASP (soil pH, clay, organic matter, sesquioxide and metal content) are based upon a systematic geochemical dataset of 1600 soils (4 per km2) collected across Glasgow as part of the BGS Geochemical Baseline Survey of the Environment (G-BASE) project. These parameters are combined with assessments of climate, groundwater levels and the leaching potential of unsaturated Quaternary deposits to produce maps that prioritise the likely threats to shallow groundwater quality. Data processing for the GRASP methodology is carried out in five steps in Microsoft Excel®, using Visual Basic® programming language, and ArcGIS® software. The GRASP prioritisation tool is in the process of development; however, the rationale and initial derivation of the methodology for the city of Glasgow will be presented.

The observation of manual grasp actions affects the control of speech: a combined behavioral and Transcranial Magnetic Stimulation study.

PubMed

Gentilucci, Maurizio; Campione, Giovanna Cristina; Dalla Volta, Riccardo; Bernardis, Paolo

2009-12-01

Does the mirror system affect the control of speech? This issue was addressed in behavioral and Transcranial Magnetic Stimulation (TMS) experiments. In behavioral experiment 1, participants pronounced the syllable /da/ while observing (1) a hand grasping large and small objects with power and precision grasps, respectively, (2) a foot interacting with large and small objects and (3) differently sized objects presented alone. Voice formant 1 was higher when observing power as compared to precision grasp, whereas it remained unaffected by observation of the different types of foot interaction and objects alone. In TMS experiment 2, we stimulated hand motor cortex, while participants observed the two types of grasp. Motor Evoked Potentials (MEPs) of hand muscles active during the two types of grasp were greater when observing power than precision grasp. In experiments 3-5, TMS was applied to tongue motor cortex of participants silently pronouncing the syllable /da/ and simultaneously observing power and precision grasps, pantomimes of the two types of grasps, and differently sized objects presented alone. Tongue MEPs were greater when observing power than precision grasp either executed or pantomimed. Finally, in TMS experiment 6, the observation of foot interaction with large and small objects did not modulate tongue MEPs. We hypothesized that grasp observation activated motor commands to the mouth as well as to the hand that were congruent with the hand kinematics implemented in the observed type of grasp. The commands to the mouth selectively affected postures of phonation organs and consequently basic features of phonological units.

Grasp planning under uncertainty

NASA Technical Reports Server (NTRS)

Erkmen, A. M.; Stephanou, H. E.

1989-01-01

The planning of dexterous grasps for multifingered robot hands operating in uncertain environments is covered. A sensor-based approach to the planning of a reach path prior to grasping is first described. An on-line, joint space finger path planning algorithm for the enclose phase of grasping was then developed. The algorithm minimizes the impact momentum of the hand. It uses a Preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.

49 CFR Appendix B to Part 178 - Alternative Leakproofness Test Methods

Code of Federal Regulations, 2013 CFR

2013-10-01

... closed, and placed in a testing chamber. The testing chamber must be evacuated down to a pressure of 5 kPa which equals an over-pressure inside the packaging of 95 kPa. The air in the testing chamber must...(d) of this subchapter. A packaging passes the test if there is no leakage of helium. (2) Pressure...

49 CFR Appendix B to Part 178 - Alternative Leakproofness Test Methods

Code of Federal Regulations, 2014 CFR

2014-10-01

... closed, and placed in a testing chamber. The testing chamber must be evacuated down to a pressure of 5 kPa which equals an over-pressure inside the packaging of 95 kPa. The air in the testing chamber must...(d) of this subchapter. A packaging passes the test if there is no leakage of helium. (2) Pressure...

49 CFR Appendix B to Part 178 - Alternative Leakproofness Test Methods

Code of Federal Regulations, 2012 CFR

2012-10-01

... closed, and placed in a testing chamber. The testing chamber must be evacuated down to a pressure of 5 kPa which equals an over-pressure inside the packaging of 95 kPa. The air in the testing chamber must...(d) of this subchapter. A packaging passes the test if there is no leakage of helium. (2) Pressure...

49 CFR Appendix B to Part 178 - Alternative Leakproofness Test Methods

Code of Federal Regulations, 2011 CFR

2011-10-01

... closed, and placed in a testing chamber. The testing chamber must be evacuated down to a pressure of 5 kPa which equals an over-pressure inside the packaging of 95 kPa. The air in the testing chamber must...(d) of this subchapter. A packaging passes the test if there is no leakage of helium. (2) Pressure...

Force coordination in static manipulation tasks performed using standard and non-standard grasping techniques.

PubMed

de Freitas, Paulo B; Jaric, Slobodan

2009-04-01

We evaluated coordination of the hand grip force (GF; normal component of the force acting at the hand-object contact area) and load force (LF; the tangential component) in a variety of grasping techniques and two LF directions. Thirteen participants exerted a continuous sinusoidal LF pattern against externally fixed handles applying both standard (i.e., using either the tips of the digits or the palms; the precision and palm grasps, respectively) and non-standard grasping techniques (using wrists and the dorsal finger areas; the wrist and fist grasp). We hypothesized (1) that the non-standard grasping techniques would provide deteriorated indices of force coordination when compared with the standard ones, and (2) that the nervous system would be able to adjust GF to the differences in friction coefficients of various skin areas used for grasping. However, most of the indices of force coordination remained similar across the tested grasping techniques, while the GF adjustments for the differences in friction coefficients (highest in the palm and the lowest in the fist and wrist grasp) provided inconclusive results. As hypothesized, GF relative to the skin friction was lowest in the precision grasp, but highest in the palm grasp. Therefore, we conclude that (1) the elaborate coordination of GF and LF consistently seen across the standard grasping techniques could be generalized to the non-standard ones, while (2) the ability to adjust GF using the same grasping technique to the differences in friction of various objects cannot be fully generalized to the GF adjustment when different grasps (i.e., hand segments) are used to manipulate the same object. Due to the importance of the studied phenomena for understanding both the functional and neural control aspects of manipulation, future studies should extend the current research to the transient and dynamic tasks, as well as to the general role of friction in our mechanical interactions with the environment.

The continuous end-state comfort effect: weighted integration of multiple biases.

PubMed

Herbort, Oliver; Butz, Martin V

2012-05-01

The grasp orientation when grasping an object is frequently aligned in anticipation of the intended rotation of the object (end-state comfort effect). We analyzed grasp orientation selection in a continuous task to determine the mechanisms underlying the end-state comfort effect. Participants had to grasp a box by a circular handle-which allowed for arbitrary grasp orientations-and then had to rotate the box by various angles. Experiments 1 and 2 revealed both that the rotation's direction considerably determined grasp orientations and that end-postures varied considerably. Experiments 3 and 4 further showed that visual stimuli and initial arm postures biased grasp orientations if the intended rotation could be easily achieved. The data show that end-state comfort but also other factors determine grasp orientation selection. A simple mechanism that integrates multiple weighted biases can account for the data.

A novel algorithm for fast grasping of unknown objects using C-shape configuration

NASA Astrophysics Data System (ADS)

Lei, Qujiang; Chen, Guangming; Meijer, Jonathan; Wisse, Martijn

2018-02-01

Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate graspable position, this C-shape configuration is applied to fit geometric model of an unknown object. The geometric model of unknown object is constructed by using a single-view partial point cloud. To examine the algorithm using simulations, a comparison of the commonly used motion planners is made. The motion planner with the highest number of solved runs, lowest computing time and the shortest path length is chosen to execute grasps found by this grasping algorithm. The simulation results demonstrate that excellent grasping efficiency is achieved by adopting our algorithm. To validate this algorithm, experiment tests are carried out using a UR5 robot arm and an under-actuated gripper. The experimental results show that steady grasping actions are obtained. Hence, this research provides a novel algorithm for fast grasping of unknown objects.

Neural correlates of action perception at the onset of functional grasping

PubMed Central

Daum, Moritz M.; Handl, Andrea; Gredebäck, Gustaf

2015-01-01

Event-related potentials were recorded while infants observe congruent or incongruent grasping actions at the age when organized grasping first emerges (4–6 months of age). We demonstrate that the event-related potential component P400 encodes the congruency of power grasps at the age of 6 months (Experiment 1) and in 5-month-old infants that have developed the ability to use power grasps (Experiment 2). This effect does not extend to precision grasps, which infants cannot perform (Experiment 3). Our findings suggest that infants’ encoding of the relationship between an object and a grasping hand (the action–perception link) is highly specialized to actions and manual configurations of actions that infants are able to perform. PMID:25193947

Deep Space Network, Cryogenic HEMT LNAs

NASA Technical Reports Server (NTRS)

Bautista, J. Javier

2006-01-01

Exploration of the Solar System with automated spacecraft that are more than ten astronomical units (1 AU = 149,597,870.691 km) from earth requires very large antennae employing extremely sensitive receivers. A key figure of merit in the specification of the spacecraft-to-earth telecommunications link is the ratio of the antenna gain to operatio nal noise temperature (G/Top) of the system. The Deep Space Network (DSN) receivers are cryogenic, low-noise amplifiers (LNAs) which addres s the need to maintain Top as low as technology permits. Historicall y, the extra-ordinarily sensitive receive systems operated by the DSN have required ctyogenically cooled, ruby masers, operating at a physi cal temperature near the boiling point of helium, as the LNA. Althoug h masers continue to be used today, they are hand crafted at JPL and expensive to manufacture and maintain. Recent advances in the developm ent of indium phosphide (InP) based high electron mobility transistor s (HEMTs) combined with cryogenic cooling near the boiling point of h ydrogen have made this alternate technology comparable with and a fraction of the cost of maser technology. InP HEMT LNA modules are demons trating noise temperatures less than ten times the quantum noise limi t (10hf/k) from 1 to 100 GHz. To date, the lowest noise LNA modules developed for the DSN have demonstrated noise temperatures of 3.5 K and 8.5 K at 8.5 K at 32 GHz, respectively. Front-end receiver packages employing these modules have demonstrated operating system noise temperatures of 17 K at 8.4 GHz (on a 70m antenna at zenith) and 39 K at 3 2 GHz (on a 34m antenna at zenith). The development and demonstration of cryogenic, InP HEMT based front-end amplifiers for the DSN requir es accurate component and module characterization, and modeling from 1 to 100 GHz at physical temperatures down to 12 K. The characterizati on and modeling begins with the HEMT chip, proceeds to the multi-stag e HEMT LNA module, and culminates with the complete front-end cryogenic receiver package for the antenna. This presentation will provide a n overview of this development process. Examples will be shown for de vices, LNA modules, front-end receiver packages, antennae employing these packages and the improvements to the down-link capacity.

A novel cluster-tube self-adaptive robot hand.

PubMed

Fu, Hong; Yang, Haokun; Song, Weishu; Zhang, Wenzeng

2017-01-01

This paper proposes a novel cluster-tube self-adaptive robot hand (CTSA Hand). The CTSA Hand consists of a base, a motor, a transmission mechanism, multiple elastic tendons, and a group of sliding-tube assemblies. Each sliding-tube assembly is composed of a sliding tube, a guide rod, two springs and a hinge. When the hand grasping an object, the object pushes some sliding tubes to different positions according to the surface shape of the object, the motor pulls the tendons tight to cluster tubes. The CTSA Hand can realize self-adaptive grasping of objects of different sizes and shapes. The CTSA Hand can grasp multiple objects simultaneously because the grasping of the hand acts as many grippers in different directions and heights. The grasping forces of the hand are adjusted by a closed-loop control system with potentiometer. Experimental results show that the CTSA Hand has the features of highly self-adaption and large grasping forces when grasping various objects.

A learning scheme for reach to grasp movements: on EMG-based interfaces using task specific motion decoding models.

PubMed

Liarokapis, Minas V; Artemiadis, Panagiotis K; Kyriakopoulos, Kostas J; Manolakos, Elias S

2013-09-01

A learning scheme based on random forests is used to discriminate between different reach to grasp movements in 3-D space, based on the myoelectric activity of human muscles of the upper-arm and the forearm. Task specificity for motion decoding is introduced in two different levels: Subspace to move toward and object to be grasped. The discrimination between the different reach to grasp strategies is accomplished with machine learning techniques for classification. The classification decision is then used in order to trigger an EMG-based task-specific motion decoding model. Task specific models manage to outperform "general" models providing better estimation accuracy. Thus, the proposed scheme takes advantage of a framework incorporating both a classifier and a regressor that cooperate advantageously in order to split the task space. The proposed learning scheme can be easily used to a series of EMG-based interfaces that must operate in real time, providing data-driven capabilities for multiclass problems, that occur in everyday life complex environments.

Fast Grasp Contact Computation for a Serial Robot

NASA Technical Reports Server (NTRS)

Hargrave, Brian (Inventor); Shi, Jianying (Inventor); Diftler, Myron A. (Inventor)

2015-01-01

A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

NIPTmer: rapid k-mer-based software package for detection of fetal aneuploidies.

PubMed

Sauk, Martin; Žilina, Olga; Kurg, Ants; Ustav, Eva-Liina; Peters, Maire; Paluoja, Priit; Roost, Anne Mari; Teder, Hindrek; Palta, Priit; Brison, Nathalie; Vermeesch, Joris R; Krjutškov, Kaarel; Salumets, Andres; Kaplinski, Lauris

2018-04-04

Non-invasive prenatal testing (NIPT) is a recent and rapidly evolving method for detecting genetic lesions, such as aneuploidies, of a fetus. However, there is a need for faster and cheaper laboratory and analysis methods to make NIPT more widely accessible. We have developed a novel software package for detection of fetal aneuploidies from next-generation low-coverage whole genome sequencing data. Our tool - NIPTmer - is based on counting pre-defined per-chromosome sets of unique k-mers from raw sequencing data, and applying linear regression model on the counts. Additionally, the filtering process used for k-mer list creation allows one to take into account the genetic variance in a specific sample, thus reducing the source of uncertainty. The processing time of one sample is less than 10 CPU-minutes on a high-end workstation. NIPTmer was validated on a cohort of 583 NIPT samples and it correctly predicted 37 non-mosaic fetal aneuploidies. NIPTmer has the potential to reduce significantly the time and complexity of NIPT post-sequencing analysis compared to mapping-based methods. For non-commercial users the software package is freely available at http://bioinfo.ut.ee/NIPTMer/ .

Hand synergies during reach-to-grasp.

PubMed

Mason, C R; Gomez, J E; Ebner, T J

2001-12-01

An emerging viewpoint is that the CNS uses synergies to simplify the control of the hand. Previous work has shown that static hand postures for mimed grasps can be described by a few principal components in which the higher order components explained only a small fraction of the variance yet provided meaningful information. Extending that earlier work, this study addressed whether the entire act of grasp can be described by a small number of postural synergies and whether these synergies are similar for different grasps. Five right-handed adults performed five types of reach-to-grasps including power grasp, power grasp with a lift, precision grasp, and mimed power grasp and mimed precision grasp of 16 different objects. The object shapes were cones, cylinders, and spindles, systematically varied in size to produce a large range of finger joint angle combinations. Three-dimensional reconstructions of 21 positions on the hand and wrist throughout the reach-to-grasp were obtained using a four-camera video system. Singular value decomposition on the temporal sequence of the marker positions was used to identify the common patterns ("eigenpostures") across the 16 objects for each task and their weightings as a function of time. The first eigenposture explained an average of 97.3 +/- 0.89% (mean +/- SD) of the variance of the hand shape, and the second another 1.9 +/- 0.85%. The first eigenposture was characterized by an open hand configuration that opens and closes during reach. The second eigenposture contributed to the control of the thumb and long fingers, particularly in the opening of the hand during the reach and the closing in preparation for object grasp. The eigenpostures and their temporal evolutions were similar across subjects and grasps. The higher order eigenpostures, although explaining only small amounts of the variance, contributed to the movements of the fingers and thumb. These findings suggest that much of reach-to-grasp is effected using a base posture with refinements in finger and thumb positions added in time to yield unique hand shapes.

Influence of modified atmosphere and varying time in storage on the irradiation sensitivity of Salmonella on sliced roma tomatoes

NASA Astrophysics Data System (ADS)

Niemira, Brendan A.; Boyd, Glenn

2013-09-01

Salmonella contamination of tomatoes is a recurrent food safety concern. Irradiation inactivates pathogens on fresh and fresh cut produce. However, the interaction of time in refrigerated storage and modified atmosphere packaging (MAP) may influence the response of pathogens to irradiation. Roma tomatoes were sliced and inoculated with a cocktail of outbreak strains of Salmonella. The inoculated tomatoes were packaged under one of four atmospheres: air, 10/90 O2/N2, 5/95 O2/N2 or 100% N2. The packages were kept in refrigerated storage (10 °C) for various times after inoculation, to simulate the potential time delay between packaging and irradiation treatment. Tomatoes were irradiated immediately (0 h), or after 24 or 48 h in storage. The surviving populations were recovered and enumerated. Irradiation effectively reduced Salmonella at all times. Estimated D10 value (the dose necessary for 1 log reduction) varied significantly among the combinations of time and MAP, ranging from 0.165-0.335 kGy. Tomatoes packaged in air, irradiated at 0 h, had a D10 of 0.165 kGy; all other combinations showed significantly higher D10. Reduced oxygen generally resulted in higher D10 values, with the highest D10 of 0.335 kGy obtained for 100% N2, 0 h. Time in storage pre-irradiation tended to increase D10 for air and 5/95 O2/N2, but not for 10/90 O2/N2 or 100% N2. These results suggest that time required for refrigerated holding of processed Roma tomatoes or shipment to an off-site irradiation service provider may alter the efficacy of irradiation if reduced oxygen MAP is used.

Orientation priming of grasping decision for drawings of objects and blocks, and words.

PubMed

Chainay, Hanna; Naouri, Lucie; Pavec, Alice

2011-05-01

This study tested the influence of orientation priming on grasping decisions. Two groups of 20 healthy participants had to select a preferred grasping orientation (horizontal, vertical) based on drawings of everyday objects, geometric blocks or object names. Three priming conditions were used: congruent, incongruent and neutral. The facilitating effects of priming were observed in the grasping decision task for drawings of objects and blocks but not object names. The visual information about congruent orientation in the prime quickened participants' responses but had no effect on response accuracy. The results are discussed in the context of the hypothesis that an object automatically potentiates grasping associated with it, and that the on-line visual information is necessary for grasping potentiation to occur. The possibility that the most frequent orientation of familiar objects might be included in object-action representation is also discussed.

Force feedback requirements for efficient laparoscopic grasp control.

PubMed

Westebring-van der Putten, Eleonora P; van den Dobbelsteen, John J; Goossens, Richard H M; Jakimowicz, Jack J; Dankelman, Jenny

2009-09-01

During laparoscopic grasping, tissue damage may occur due to use of excessive grasp forces and tissue slippage, whereas in barehanded grasping, humans control their grasp to prevent slippage and use of excessive force (safe grasp). This study investigates the differences in grasp control during barehanded and laparoscopic lifts. Ten novices performed lifts in order to compare pinch forces under four conditions: barehanded; using tweezers; a low-efficient grasper; and a high-efficient grasper. Results showed that participants increased their pinch force significantly later during a barehanded lift (at a pull-force level of 2.63 N) than when lifting laparoscopically (from pull-force levels of 0.77 to 1.08 N). In barehanded lifts all participants could accomplish a safe grasp, whereas in laparoscopic lifts excessive force (up to 7.9 N) and slippage (up to 38% of the trials) occurred frequently. For novices, it can be concluded that force feedback (additional to the hand-tool interface), as in skin-tissue contact, is a prerequisite to maintain a safe grasp. Much is known about grasp control during barehanded object manipulation, especially the control of pinch forces to changing loading, whereas little is known about force perception and grasp control during tool usage. This knowledge is a prerequisite for the ergonomic design of tools that are used to manipulate objects.

Compact, High Power, Multi-Spectral Mid-Infrared Semiconductor Laser Package

NASA Astrophysics Data System (ADS)

Guo, Bujin; Hwang, Wen-Yen; Lin, Chich-Hsiang

2001-10-01

Through a vertically integrated effort involving atomic level material engineering, advanced device processing development, state-of-the-art optomechanical packaging, and thermal management, Applied Optoelectronics, Inc. (AOI), University of Houston (U H), and Physical Science, Inc. (PSI) have made progress in both Sb-based type-II semiconductor material and in P-based type-I laser device development. We have achieved record performance on inP based quantum cascade continuous wave (CW) laser (with more than 5 mW CW power at 210 K). Grating-coupled external-cavity quantum cascade lasers were studied for temperatures from 20 to 230 K. A tuning range of 88 nm has been obtained at 80 K. The technology can be made commercially available and represents a significant milestone with regard to the Dual Use Science and Technology (DUST) intention of fostering dual use commercial technology for defense need. AOI is the first commercial company to ship products of this licensed technology.

Multimodal Encoding of Goal-Directed Actions in Monkey Ventral Premotor Grasping Neurons.

PubMed

Bruni, Stefania; Giorgetti, Valentina; Fogassi, Leonardo; Bonini, Luca

2017-01-01

Visuo-motor neurons of the ventral premotor area F5 encode "pragmatic" representations of object in terms of the potential motor acts (e.g., precision grip) afforded by it. Likewise, objects with identical pragmatic features (e.g., small spheres) but different behavioral value (e.g., edible or inedible) convey different "semantic" information and thus afford different goal-directed behaviors (e.g., grasp-to-eat or grasp-to-place). However, whether F5 neurons can extract distinct behavioral affordances from objects with similar pragmatic features is unknown. We recorded 134 F5 visuo-motor neurons in 2 macaques during a contextually cued go/no-go task in which the monkey grasped, or refrained from grasping, a previously presented edible or inedible target to eat it or placing it, respectively. Sixty-nine visuo-motor neurons showed motor selectivity for the target (35 food and 34 object), and about half of them (N = 35) exhibited congruent visual preference. Interestingly, when the monkey grasped in complete darkness and could identify the target only based on haptic feedback, visuo-motor neurons lost their precontact selectivity, but most of them (80%) showed it again 60 ms after hand-target contact. These findings suggest that F5 neurons possess a multimodal access to semantic information on objects, which are transformed into motor representations of the potential goal-directed actions afforded by them. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

When pliers become fingers in the monkey motor system

PubMed Central

Umiltà, M. A.; Escola, L.; Intskirveli, I.; Grammont, F.; Rochat, M.; Caruana, F.; Jezzini, A.; Gallese, V.; Rizzolatti, G.

2008-01-01

The capacity to use tools is a fundamental evolutionary achievement. Its essence stands in the capacity to transfer a proximal goal (grasp a tool) to a distal goal (e.g., grasp food). Where and how does this goal transfer occur? Here, we show that, in monkeys trained to use tools, cortical motor neurons, active during hand grasping, also become active during grasping with pliers, as if the pliers were now the hand fingers. This motor embodiment occurs both for normal pliers and for “reverse pliers,” an implement that requires finger opening, instead of their closing, to grasp an object. We conclude that the capacity to use tools is based on an inherently goal-centered functional organization of primate cortical motor areas. PMID:18238904

Magnetic field dependence of the internal quality factor and noise performance of lumped-element kinetic inductance detectors

NASA Astrophysics Data System (ADS)

Flanigan, D.; Johnson, B. R.; Abitbol, M. H.; Bryan, S.; Cantor, R.; Day, P.; Jones, G.; Mauskopf, P.; McCarrick, H.; Miller, A.; Zmuidzinas, J.

2016-10-01

We present a technique for increasing the internal quality factor of kinetic inductance detectors (KIDs) by nulling ambient magnetic fields with a properly applied magnetic field. The KIDs used in this study are made from thin-film aluminum, they are mounted inside a light-tight package made from bulk aluminum, and they are operated near 150 mK. Since the thin-film aluminum has a slightly elevated critical temperature (Tc = 1.4 K), it therefore transitions before the package (Tc = 1.2 K), which also serves as a magnetic shield. On cooldown, ambient magnetic fields as small as approximately 30 µT can produce vortices in the thin-film aluminum as it transitions because the bulk aluminum package has not yet transitioned and therefore is not yet shielding. These vortices become trapped inside the aluminum package below 1.2 K and ultimately produce low internal quality factors in the thin-film superconducting resonators. We show that by controlling the strength of the magnetic field present when the thin film transitions, we can control the internal quality factor of the resonators. We also compare the noise performance with and without vortices present, and find no evidence for excess noise beyond the increase in amplifier noise, which is expected with increasing loss.

Maintenance of safety and quality of refrigerated ready-to-cook seasoned ground beef product (meatball) by combining gamma irradiation with modified atmosphere packaging.

PubMed

Gunes, Gurbuz; Ozturk, Aylin; Yilmaz, Neriman; Ozcelik, Beraat

2011-08-01

Meatballs were prepared by mixing ground beef and spices and inoculated with E. coli O157:H7, L. monocytogenes, and S. enteritidis before packaged in modified atmosphere (3% O₂ + 50% CO₂ + 47% N₂) or aerobic conditions. The packaged samples were irradiated at 0.75, 1.5, and 3 kGy doses and stored at 4 °C for 21 d. Survival of the pathogens, total plate count, lipid oxidation, color change, and sensory quality were analyzed during storage. Irradiation at 3 kGy inactivated all the inoculated (approximately 10⁶ CFU/g) S. enteritidis and L. monocytogenes cells in the samples. The inoculated (approximately 10⁶ CFU/g) E. coli O157:H7 cells were totally inactivated by 1.5 kGy irradiation. D¹⁰-values for E. coli O157:H7, S. enteritidis, and L. monocytogenes were 0.24, 0.43, and 0.41 kGy in MAP and 0.22, 0.39, and 0.39 kGy in aerobic packages, respectively. Irradiation at 1.5 and 3 kGy resulted in 0.13 and 0.36 mg MDA/kg increase in 2-thiobarbituric acid-reactive substances (TBARS) reaching 1.02 and 1.49 MDA/kg, respectively, on day 1. Irradiation also caused significant loss of color and sensory quality in aerobic packages. However, MAP effectively inhibited the irradiation-induced quality degradations during 21-d storage. Thus, combining irradiation (3 kGy) and MAP (3% O₂ + 50% CO₂ + 47% N₂) controlled the safety risk due to the potential pathogens and maintained qualities of meatballs during 21-d refrigerated storage. Combined use of gamma irradiation and modified atmosphere packaging (MAP) can maintain quality and safety of seasoned ground beef (meatball). Seasoned ground beef can be irradiated at 3 kGy and packaged in MAP with 3% O₂ + 50% CO₂ + 47% N₂ gas mixture in a high barrier packaging materials. These treatments can significantly decrease risk due to potential pathogens including E. coli O157:H7, L. monocytogenes, and S. enteritidis in the product. The MAP would reduce the undesirable effects of irradiation on quality, and extend the shelf life of the product for up to 21 d at 3 °C. © 2011 Institute of Food Technologists®

Home-based Reach-to-Grasp training for people after stroke is feasible: a pilot randomised controlled trial.

PubMed

Turton, A J; Cunningham, P; van Wijck, F; Smartt, Hjm; Rogers, C A; Sackley, C M; Jowett, S; Wolf, S L; Wheatley, K; van Vliet, P

2017-07-01

To determine feasibility of a randomised controlled trial (RCT) of home-based Reach-to-Grasp training after stroke. single-blind parallel group RCT. Residual arm deficit less than 12 months post-stroke. Reach-to-Grasp training in 14 one-hour therapist's visits over 6 weeks, plus one hour self-practice per day (total 56 hours). Usual care. Action Research Arm Test (ARAT), Wolf Motor Function Test (WMFT), pre-randomisation, 7, 12, 24 weeks post-randomisation. Forty-seven participants (Reach-to-Grasp=24, usual care=23) were randomised over 17 months. Reach-to-Grasp participants received a median (IQR) 14 (13,14) visits, and performed 157 (96,211) repetitions per visit; plus 30 minutes (22,45) self-practice per day. Usual care participants received 10.5 (5,14) therapist visits, comprising 38.6 (30,45) minutes of arm therapy with 16 (6,24) repetitions of functional tasks per visit. Median ARAT scores in the reach-to-grasp group were 8.5 (3.0,24.0) at baseline and 14.5 (3.5,26.0) at 24 weeks compared to median of 4 at both time points (IQR: baseline (3.0,14.0), 24 weeks (3.0,30.0)) in the usual-care group. Median WMFT tasks completed at baseline and 24 weeks were 6 (3.0,11.5) and 8.5 (4.5,13.5) respectively in the reach-to-grasp group and 4 (3.0,10.0), 6 (3.0,14.0) in the usual care group. Incidence of arm pain was similar between groups. The study was stopped before 11 patients reached the 24 weeks assessment. An RCT of home-based Reach-to-Grasp training after stroke is feasible and safe. With ARAT being our preferred measure it is estimated that 240 participants will be needed for a future two armed trial.

Changes in performance over time while learning to use a myoelectric prosthesis

PubMed Central

2014-01-01

Background Training increases the functional use of an upper limb prosthesis, but little is known about how people learn to use their prosthesis. The aim of this study was to describe the changes in performance with an upper limb myoelectric prosthesis during practice. The results provide a basis to develop an evidence-based training program. Methods Thirty-one able-bodied participants took part in an experiment as well as thirty-one age- and gender-matched controls. Participants in the experimental condition, randomly assigned to one of four groups, practiced with a myoelectric simulator for five sessions in a two-weeks period. Group 1 practiced direct grasping, Group 2 practiced indirect grasping, Group 3 practiced fixating, and Group 4 practiced a combination of all three tasks. The Southampton Hand Assessment Procedure (SHAP) was assessed in a pretest, posttest, and two retention tests. Participants in the control condition performed SHAP two times, two weeks apart with no practice in between. Compressible objects were used in the grasping tasks. Changes in end-point kinematics, joint angles, and grip force control, the latter measured by magnitude of object compression, were examined. Results The experimental groups improved more on SHAP than the control group. Interestingly, the fixation group improved comparable to the other training groups on the SHAP. Improvement in global position of the prosthesis leveled off after three practice sessions, whereas learning to control grip force required more time. The indirect grasping group had the smallest object compression in the beginning and this did not change over time, whereas the direct grasping and the combination group had a decrease in compression over time. Moreover, the indirect grasping group had the smallest grasping time that did not vary over object rigidity, while for the other two groups the grasping time decreased with an increase in object rigidity. Conclusions A training program should spend more time on learning fine control aspects of the prosthetic hand during rehabilitation. Moreover, training should start with the indirect grasping task that has the best performance, which is probably due to the higher amount of useful information available from the sound hand. PMID:24568148

On the road to a neuroprosthetic hand: a novel hand grasp orthosis based on functional electrical stimulation.

PubMed

Leeb, Robert; Gubler, Miguel; Tavella, Michele; Miller, Heather; Del Millan, Jose R

2010-01-01

To patients who have lost the functionality of their hands as a result of a severe spinal cord injury or brain stroke, the development of new techniques for grasping is indispensable for reintegration and independency in daily life. Functional Electrical Stimulation (FES) of residual muscles can reproduce the most dominant grasping tasks and can be initialized by brain signals. However, due to the very complex hand anatomy and current limitations in FES-technology with surface electrodes, these grasp patterns cannot be smoothly executed. In this paper, we present an adaptable passive hand orthosis which is capable of producing natural and smooth movements when coupled with FES. It evenly synchronizes the grasping movements and applied forces on all fingers, allowing for naturalistic gestures and functional grasps of everyday objects. The orthosis is also equipped with a lock, which allows it to remain in the desired position without the need for long-term stimulation. Furthermore, we quantify improvements offered by the orthosis compare them with natural grasps on healthy subjects.

Poor shape perception is the reason reaches-to-grasp are visually guided online.

PubMed

Lee, Young-Lim; Crabtree, Charles E; Norman, J Farley; Bingham, Geoffrey P

2008-08-01

Both judgment studies and studies of feedforward reaching have shown that the visual perception of object distance, size, and shape are inaccurate. However, feedback has been shown to calibrate feedfoward reaches-to-grasp to make them accurate with respect to object distance and size. We now investigate whether shape perception (in particular, the aspect ratio of object depth to width) can be calibrated in the context of reaches-to-grasp. We used cylindrical objects with elliptical cross-sections of varying eccentricity. Our participants reached to grasp the width or the depth of these objects with the index finger and thumb. The maximum grasp aperture and the terminal grasp aperture were used to evaluate perception. Both occur before the hand has contacted an object. In Experiments 1 and 2, we investigated whether perceived shape is recalibrated by distorted haptic feedback. Although somewhat equivocal, the results suggest that it is not. In Experiment 3, we tested the accuracy of feedforward grasping with respect to shape with haptic feedback to allow calibration. Grasping was inaccurate in ways comparable to findings in shape perception judgment studies. In Experiment 4, we hypothesized that online guidance is needed for accurate grasping. Participants reached to grasp either with or without vision of the hand. The result was that the former was accurate, whereas the latter was not. We conclude that shape perception is not calibrated by feedback from reaches-to-grasp and that online visual guidance is required for accurate grasping because shape perception is poor.

Artificial neural network EMG classifier for functional hand grasp movements prediction.

PubMed

Gandolla, Marta; Ferrante, Simona; Ferrigno, Giancarlo; Baldassini, Davide; Molteni, Franco; Guanziroli, Eleonora; Cotti Cottini, Michele; Seneci, Carlo; Pedrocchi, Alessandra

2017-12-01

Objective To design and implement an electromyography (EMG)-based controller for a hand robotic assistive device, which is able to classify the user's motion intention before the effective kinematic movement execution. Methods Multiple degrees-of-freedom hand grasp movements (i.e. pinching, grasp an object, grasping) were predicted by means of surface EMG signals, recorded from 10 bipolar EMG electrodes arranged in a circular configuration around the forearm 2-3 cm from the elbow. Two cascaded artificial neural networks were then exploited to detect the patient's motion intention from the EMG signal window starting from the electrical activity onset to movement onset (i.e. electromechanical delay). Results The proposed approach was tested on eight healthy control subjects (4 females; age range 25-26 years) and it demonstrated a mean ± SD testing performance of 76% ± 14% for correctly predicting healthy users' motion intention. Two post-stroke patients tested the controller and obtained 79% and 100% of correctly classified movements under testing conditions. Conclusion A task-selection controller was developed to estimate the intended movement from the EMG measured during the electromechanical delay.

Decoding Grasping Movements from the Parieto-Frontal Reaching Circuit in the Nonhuman Primate.

PubMed

Nelissen, Koen; Fiave, Prosper Agbesi; Vanduffel, Wim

2018-04-01

Prehension movements typically include a reaching phase, guiding the hand toward the object, and a grip phase, shaping the hand around it. The dominant view posits that these components rely upon largely independent parieto-frontal circuits: a dorso-medial circuit involved in reaching and a dorso-lateral circuit involved in grasping. However, mounting evidence suggests a more complex arrangement, with dorso-medial areas contributing to both reaching and grasping. To investigate the role of the dorso-medial reaching circuit in grasping, we trained monkeys to reach-and-grasp different objects in the dark and determined if hand configurations could be decoded from functional magnetic resonance imaging (MRI) responses obtained from the reaching and grasping circuits. Indicative of their established role in grasping, object-specific grasp decoding was found in anterior intraparietal (AIP) area, inferior parietal lobule area PFG and ventral premotor region F5 of the lateral grasping circuit, and primary motor cortex. Importantly, the medial reaching circuit also conveyed robust grasp-specific information, as evidenced by significant decoding in parietal reach regions (particular V6A) and dorsal premotor region F2. These data support the proposed role of dorso-medial "reach" regions in controlling aspects of grasping and demonstrate the value of complementing univariate with more sensitive multivariate analyses of functional MRI (fMRI) data in uncovering information coding in the brain.

The object-based Simon effect: grasping affordance or relative location of the graspable part?

PubMed

Cho, Dongbin Tobin; Proctor, Robert W

2010-08-01

Reaction time is often shorter when the irrelevant graspable handle of an object corresponds with the location of a keypress response to the relevant attribute than when it does not. This object-based Simon effect has been attributed to an affordance for grasping the handle with the hand to the same side. Because a grasping affordance should differentially affect keypress responses only when they are made with different hands, we conducted three experiments that measured the object-based Simon effect for frying pan stimuli using between- and within-hand response sets. When the relevant stimulus dimension was color, neither the object-based Simon effect nor the location-based Simon effect varied across response sets. When upright-inverted orientation judgments were made for the frying pan and for nongraspable stimuli derived from it, there again was no significant difference in size of the between- and within-hand Simon effects for any of the stimuli. The results provide evidence that the Simon effect for graspable frying pan stimuli is because of relative location of the handle and not to a grasping affordance.

Extending the Cortical Grasping Network: Pre-supplementary Motor Neuron Activity During Vision and Grasping of Objects

PubMed Central

Lanzilotto, Marco; Livi, Alessandro; Maranesi, Monica; Gerbella, Marzio; Barz, Falk; Ruther, Patrick; Fogassi, Leonardo; Rizzolatti, Giacomo; Bonini, Luca

2016-01-01

Grasping relies on a network of parieto-frontal areas lying on the dorsolateral and dorsomedial parts of the hemispheres. However, the initiation and sequencing of voluntary actions also requires the contribution of mesial premotor regions, particularly the pre-supplementary motor area F6. We recorded 233 F6 neurons from 2 monkeys with chronic linear multishank neural probes during reaching–grasping visuomotor tasks. We showed that F6 neurons play a role in the control of forelimb movements and some of them (26%) exhibit visual and/or motor specificity for the target object. Interestingly, area F6 neurons form 2 functionally distinct populations, showing either visually-triggered or movement-related bursts of activity, in contrast to the sustained visual-to-motor activity displayed by ventral premotor area F5 neurons recorded in the same animals and with the same task during previous studies. These findings suggest that F6 plays a role in object grasping and extend existing models of the cortical grasping network. PMID:27733538

Recent advances in photonics packaging materials

NASA Astrophysics Data System (ADS)

Zweben, Carl

2006-02-01

There are now over a dozen low-CTE materials with thermal conductivities between that of copper (400 w/m-K) and over 4X copper (1700 W/m-K). Most have low densities. For comparison, traditional low-CTE packaging materials like copper/tungsten have thermal conductivities that are little or no better than that of aluminum (200 W/m-K) and high densities. There are also low-density thermal insulators with low CTEs. Some advanced materials are low cost. Most do not outgas. They have a wide range of electrical properties that can be used to minimize electromagnetic emissions or provide EMI shielding. Several are now in commercial and aerospace applications, including laser diode packages; light-emitting diode (LED) packages; thermoelectric cooler bases, plasma displays; power modules; servers; laptops; heat sinks; thermally conductive, low-CTE printed circuit boards; and printed circuit board cold plates. Advanced material payoffs include: improved thermal performance, reliability, alignment and manufacturing yield; reduced thermal stresses and heating power requirements; simplified thermal design; enablement of hard solder direct attach; weight savings up to 85%; size reductions up to 65%; and lower cost. This paper discusses the large and increasing number of advanced packaging materials, including properties, development status, applications, increasing manufacturing yield, cost, lessons learned and future directions, including nanocomposites.

Haptically Guided Grasping. fMRI Shows Right-Hemisphere Parietal Stimulus Encoding, and Bilateral Dorso-Ventral Parietal Gradients of Object- and Action-Related Processing during Grasp Execution

PubMed Central

Marangon, Mattia; Kubiak, Agnieszka; Króliczak, Gregory

2016-01-01

The neural bases of haptically-guided grasp planning and execution are largely unknown, especially for stimuli having no visual representations. Therefore, we used functional magnetic resonance imaging (fMRI) to monitor brain activity during haptic exploration of novel 3D complex objects, subsequent grasp planning, and the execution of the pre-planned grasps. Haptic object exploration, involving extraction of shape, orientation, and length of the to-be-grasped targets, was associated with the fronto-parietal, temporo-occipital, and insular cortex activity. Yet, only the anterior divisions of the posterior parietal cortex (PPC) of the right hemisphere were significantly more engaged in exploration of complex objects (vs. simple control disks). None of these regions were re-recruited during the planning phase. Even more surprisingly, the left-hemisphere intraparietal, temporal, and occipital areas that were significantly invoked for grasp planning did not show sensitivity to object features. Finally, grasp execution, involving the re-recruitment of the critical right-hemisphere PPC clusters, was also significantly associated with two kinds of bilateral parieto-frontal processes. The first represents transformations of grasp-relevant target features and is linked to the dorso-dorsal (lateral and medial) parieto-frontal networks. The second monitors grasp kinematics and belongs to the ventro-dorsal networks. Indeed, signal modulations associated with these distinct functions follow dorso-ventral gradients, with left aIPS showing significant sensitivity to both target features and the characteristics of the required grasp. Thus, our results from the haptic domain are consistent with the notion that the parietal processing for action guidance reflects primarily transformations from object-related to effector-related coding, and these mechanisms are rather independent of sensory input modality. PMID:26779002

Haptically Guided Grasping. fMRI Shows Right-Hemisphere Parietal Stimulus Encoding, and Bilateral Dorso-Ventral Parietal Gradients of Object- and Action-Related Processing during Grasp Execution.

PubMed

Marangon, Mattia; Kubiak, Agnieszka; Króliczak, Gregory

2015-01-01

The neural bases of haptically-guided grasp planning and execution are largely unknown, especially for stimuli having no visual representations. Therefore, we used functional magnetic resonance imaging (fMRI) to monitor brain activity during haptic exploration of novel 3D complex objects, subsequent grasp planning, and the execution of the pre-planned grasps. Haptic object exploration, involving extraction of shape, orientation, and length of the to-be-grasped targets, was associated with the fronto-parietal, temporo-occipital, and insular cortex activity. Yet, only the anterior divisions of the posterior parietal cortex (PPC) of the right hemisphere were significantly more engaged in exploration of complex objects (vs. simple control disks). None of these regions were re-recruited during the planning phase. Even more surprisingly, the left-hemisphere intraparietal, temporal, and occipital areas that were significantly invoked for grasp planning did not show sensitivity to object features. Finally, grasp execution, involving the re-recruitment of the critical right-hemisphere PPC clusters, was also significantly associated with two kinds of bilateral parieto-frontal processes. The first represents transformations of grasp-relevant target features and is linked to the dorso-dorsal (lateral and medial) parieto-frontal networks. The second monitors grasp kinematics and belongs to the ventro-dorsal networks. Indeed, signal modulations associated with these distinct functions follow dorso-ventral gradients, with left aIPS showing significant sensitivity to both target features and the characteristics of the required grasp. Thus, our results from the haptic domain are consistent with the notion that the parietal processing for action guidance reflects primarily transformations from object-related to effector-related coding, and these mechanisms are rather independent of sensory input modality.

Dependence of behavioral performance on material category in an object grasping task with monkeys.

PubMed

Yokoi, Isao; Tachibana, Atsumichi; Minamimoto, Takafumi; Goda, Naokazu; Komatsu, Hidehiko

2018-05-02

Material perception is an essential part of our cognitive function that enables us to properly interact with our complex daily environment. One important aspect of material perception is its multimodal nature. When we see an object, we generally recognize its haptic properties as well as its visual properties. Consequently, one must examine behavior using real objects that are perceived both visually and haptically to fully understand the characteristics of material perception. As a first step, we examined whether there is any difference in the behavioral responses to different materials in monkeys trained to perform an object grasping task in which they saw and grasped rod-shaped real objects made of various materials. We found that the monkeys' behavior in the grasping task, measured based on the success rate and the pulling force, differed depending on the material category. Monkeys easily and correctly grasped objects of some materials, such as metal and glass, but failed to grasp objects of other materials. In particular, monkeys avoided grasping fur-covered objects. The differences in the behavioral responses to the material categories cannot be explained solely based on the degree of familiarity with the different materials. These results shed light on the organization of multimodal representation of materials, where their biological significance is an important factor. In addition, a monkey that avoided touching real fur-covered objects readily touched images of the same objects presented on a CRT display. This suggests employing real objects is important when studying behaviors related to material perception.

Gallic Acid as an Oxygen Scavenger in Bio-Based Multilayer Packaging Films

PubMed Central

Pant, Astrid F.; Sängerlaub, Sven; Müller, Kajetan

2017-01-01

Oxygen scavengers are used in food packaging to protect oxygen-sensitive food products. A mixture of gallic acid (GA) and sodium carbonate was used as an oxygen scavenger (OSc) in bio-based multilayer packaging films produced in a three-step process: compounding, flat film extrusion, and lamination. We investigated the film surface color as well as oxygen absorption at different relative humidities (RHs) and temperatures, and compared the oxygen absorption of OSc powder, monolayer films, and multilayer films. The films were initially brownish-red in color but changed to greenish-black during oxygen absorption under humid conditions. We observed a maximum absorption capacity of 447 mg O2/g GA at 21 °C and 100% RH. The incorporation of GA into a polymer matrix reduced the rate of oxygen absorption compared to the GA powder because the polymer acted as a barrier to oxygen and water vapor diffusion. As expected, the temperature had a significant effect on the initial absorption rate of the multilayer films; the corresponding activation energy was 75.4 kJ/mol. Higher RH significantly increased the oxygen absorption rate. These results demonstrate for the first time the production and the properties of a bio-based multilayer packaging film with GA as the oxygen scavenger. Potential applications include the packaging of food products with high water activity (aw > 0.86). PMID:28772849

Observation-based training for neuroprosthetic control of grasping by amputees.

PubMed

Agashe, Harshavardhan A; Contreras-Vidal, Jose L

2014-01-01

Current brain-machine interfaces (BMIs) allow upper limb amputees to position robotic arms with a high degree of accuracy, but lack the ability to control hand pre-shaping for grasping different objects. We have previously shown that low frequency (0.1-1 Hz) time domain cortical activity recorded at the scalp via electroencephalography (EEG) encodes information about grasp pre-shaping. To transfer this technology to clinical populations such as amputees, the challenge lies in constructing BMI models in the absence of overt training hand movements. Here we show that it is possible to train BMI models using observed grasping movements performed by a robotic hand attached to amputees' residual limb. Three transradial amputees controlled the grasping motion of an attached robotic hand via their EEG, following the action-observation training phase. Over multiple sessions, subjects successfully grasped the presented object (a bottle or a credit card) in 53±16 % of trials, demonstrating the validity of the BMI models. Importantly, the validation of the BMI model was through closed-loop performance, which demonstrates generalization of the model to unseen data. These results suggest `mirror neuron system' properties captured by delta band EEG that allows neural representation for action observation to be used for action control in an EEG-based BMI system.

NOAA's Van-Based Mobile Atmospheric Emissions Measurement Laboratory

NASA Astrophysics Data System (ADS)

Dube, W. P.; Peischl, J.; Neuman, J. A.; Eilerman, S. J.; Holloway, M.; Roberts, O.; Aikin, K. C.; Ryerson, T. B.

2015-12-01

The Chemical Science Division (CSD) mobile atmospheric emissions measurement laboratory is the second and latest of two mobile measurement vans outfitted for atmospheric sampling by the NOAA Earth System Research Laboratory. In this presentation we will describe the modifications made to this vehicle to provide a versatile and relatively inexpensive instrument platform including: the 2 kW 120 volt instrument power system; battery back-up system; data acquisition system; real-time display; meteorological, directional, and position sensor package; and the typical atmospheric emissions instrument package. The van conversion uses commercially available, off-the-shelf components from the marine and RV industries, thus keeping the costs quite modest.

K-Basins Sludge Treatment and Packaging at the Hanford Site - 13585

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

Fogwell, Thomas W.; Honeyman, James O.; Stegen, Gary

Highly radioactive sludge resulting from the storage of degraded spent nuclear fuel has been consolidated in Engineered Containers (ECs) in the 105-K West Storage Basin located on the Hanford site near the Columbia River in Washington State. CH2M Hill Plateau Remediation Company (CHPRC) is proceeding with a project to retrieve the sludge, place it in Sludge Transport and Storage Containers (STSCs) and store those filled containers within the T Plant Canyon facility on the Hanford Site Central Plateau (Phase 1). Retrieval and transfer of the sludge material will enable removal of the 105-K West Basin and allow remediation of themore » subsurface contamination plumes under the basin. The U.S. Department of Energy (DOE) plans to treat and dispose of this K Basins sludge (Phase 2) as Remote Handled Transuranic Waste (RH TRU) at the Waste Isolation Pilot Plant (WIPP) located in New Mexico. The K Basin sludge currently contains uranium metal which reacts with water present in the stored slurry, generating hydrogen and other byproducts. The established transportation and disposal requirements require the transformation of the K Basins sludge to a chemically stable, liquid-free, packaged waste form. The Treatment and Packaging Project includes removal of the containerised sludge from T Plant, the treatment of the sludge as required, and packaging of all the sludge into a form that is certifiable for transportation to and disposal at WIPP. Completion of this scope will require construction and operation of a Sludge Treatment and Packaging Facility (STPF), which could be either a completely new facility or a modification of an existing Hanford Site facility. A Technology Evaluation and Alternatives Analysis (TEAA) for the STP Phase 2 was completed in 2011. A Request for Technology Information (RFI) had been issued in October 2009 to solicit candidate technologies for use in Phase 2. The RFI also included a preliminary definition of Phase 2 functions and requirements. Potentially applicable technologies were identified through a commercial procurement process, technical workshops, and review of the numerous previous sludge treatment technology studies. The identified technology approaches were screened using the criteria established in the Decision Plan, and focused bench top feasibility testing was conducted. Engineering evaluations of the costs, schedules, and technical maturity were developed and evaluated. Recommendations were developed based on technical evaluations. The criteria used in the evaluation process were as follows: (1) Safety, (2) Regulatory/stakeholder acceptance, (3) Technical maturity, (4) Operability and maintainability, (5) Life cycle cost and schedule, (6) Potential for beneficial integration with ongoing STP-Phase 1 activities, and (7) Integration with Site-wide RH-TRU processing/packaging, planning, schedule, and approach. The TEAA recommended Warm Water Oxidation (WWO) as the baseline treatment technology and two risk reduction enhancement options for further consideration during development of the process - size reduction and chemical oxidation (Fenton's reagent). The enhancement options would potentially allow a useful reduction in the total operating time required to process the K Basins sludge. The U.S. Department of Energy's Richland Field Office (DOE-RL) has approved this recommended technical approach. The baseline process can be broken down into the following main process steps: (1) STSC transfer from T Plant to the Sludge Treatment and Packaging Facility (STPF). (2) Retrieval of sludge from the STSCs and transfer to the Receipt and Reaction Tank (RRT). (3) Preparation for immobilization by oxidation using heated water (i.e., WWO) for those batches that require it and concentration by evaporating water at about atmospheric pressure in the RRT. (4) Immobilization by using additives to eliminate free liquids and packaging of the treated sludge into drums. (5) Inspection and handling of the filled drums prior to transfer to a separate storage and shipping facility. (6) Handling of vapor, condensate, and other waste streams generated by the process. Each of these steps is discussed in the paper, together with the current state of progress in developing the technology and requirements for continued development. A schematic of the recommended baseline WWO treatment process is given below. (authors)« less

A formative evaluation of the implementation of an upper limb stroke rehabilitation intervention in clinical practice: a qualitative interview study.

PubMed

Connell, Louise A; McMahon, Naoimh E; Harris, Jocelyn E; Watkins, Caroline L; Eng, Janice J

2014-08-12

The Graded Repetitive Arm Supplementary Program (GRASP) is a hand and arm exercise programme designed to increase the intensity of exercise achieved in inpatient stroke rehabilitation. GRASP was shown to be effective in a randomised controlled trial in 2009 and has since experienced unusually rapid uptake into clinical practice. The aim of this study was to conduct a formative evaluation of the implementation of GRASP to inform the development and implementation of a similar intervention in the United Kingdom. Semi-structured interviews were conducted with therapists who were involved in implementing GRASP at their work site, or who had experience of using GRASP. Normalisation Process Theory (NPT), a sociological theory used to explore the processes of embedding innovations in practice, was used to develop an interview guide. Intervention components outlined within the GRASP Guideline Manual were used to develop prompts to explore how therapists use GRASP in practice. Interview transcripts were analysed using a coding frame based on implementation theory. Twenty interviews were conducted across eight sites in British Columbia Canada. Therapists identified informal networks and the free online availability of GRASP as key factors in finding out about the intervention. All therapists reported positive opinions about the value of GRASP. At all sites, therapists identified individuals who advocated for the use of GRASP, and in six of the eight sites this was the practice leader or senior therapist. Rehabilitation assistants were identified as instrumental in delivering GRASP in almost all sites as they were responsible for organising the GRASP equipment and assisting patients using GRASP. Almost all intervention components were found to be adapted to some degree when used in clinical practice; coverage was wider, the content adapted, and the dose, when monitored, was less. Although GRASP has translated into clinical practice, it is not always used in the way in which it was shown to be effective. This formative evaluation has informed the development of a novel intervention which aims to bridge this evidence-practice gap in upper limb rehabilitation after stroke.

An instrumented glove for grasp specification in virtual-reality-based point-and-direct telerobotics.

PubMed

Yun, M H; Cannon, D; Freivalds, A; Thomas, G

1997-10-01

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system will be used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. Here, an operator gives directives to a robot in the same natural way that human may direct another. Phrases such as "put that there" cause the robot to define a grasping strategy and motion strategy to complete the task on its own. In the VR-PAD concept, pointing is done using virtual tools such that an operator can appear to graphically grasp real items in live video. Rather than requiring full duplication of forces and kinesthetic movement throughout a task as is required in manual telemanipulation, hand posture and force are now specified only once. The grasp parameters then become object flavors. The robot maintains the specified force and hand posture flavors for an object throughout the task in handling the real workpiece or item of interest. In the Computer integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with Force-Sensitive Resistor (FSR) (pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach will finesse the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.

Myristoylation Restricts Orientation of the GRASP Domain on Membranes and Promotes Membrane Tethering*

PubMed Central

Heinrich, Frank; Nanda, Hirsh; Goh, Haw Zan; Bachert, Collin; Lösche, Mathias; Linstedt, Adam D.

2014-01-01

The mammalian Golgi reassembly stacking protein (GRASP) proteins are Golgi-localized homotypic membrane tethers that organize Golgi stacks into a long, contiguous ribbon-like structure. It is unknown how GRASPs undergo trans pairing given that cis interactions between the proteins in the plane of the membrane are intrinsically favored. To test the hypothesis that myristoylation of the self-interacting GRASP domain restricts its orientation on the membrane to favor trans pairing, we established an in vitro assay that recapitulates GRASP-dependent membrane tethering and used neutron reflection under similar conditions to determine the orientation of the GRASP domain. In vivo, the membrane association of GRASP proteins is conferred by the simultaneous insertion of an N-terminal myristic acid and binding to a Golgi-associated binding partner. In our assay, the latter contact was replaced using a C-terminal hexa-His moiety, which bound to Ni2+-conjugated lipids incorporated into a substrate-supported bilayer lipid membrane. Nonmyristoylated protein lacked a fixed orientation on the membrane and inefficiently tethered liposomes. In contrast, myristoylated GRASP promoted tethering and exhibited a unique membrane complex. Thus, myristoylation restricts the membrane orientation of the GRASP domain favoring interactions in trans for membrane tethering. PMID:24505136

A soft-contact model for computing safety margins in human prehension.

PubMed

Singh, Tarkeshwar; Ambike, Satyajit

2017-10-01

The soft human digit tip forms contact with grasped objects over a finite area and applies a moment about an axis normal to the area. These moments are important for ensuring stability during precision grasping. However, the contribution of these moments to grasp stability is rarely investigated in prehension studies. The more popular hard-contact model assumes that the digits exert a force vector but no free moment on the grasped object. Many sensorimotor studies use this model and show that humans estimate friction coefficients to scale the normal force to grasp objects stably, i.e. the smoother the surface, the tighter the grasp. The difference between the applied normal force and the minimal normal force needed to prevent slipping is called safety margin and this index is widely used as a measure of grasp planning. Here, we define and quantify safety margin using a more realistic contact model that allows digits to apply both forces and moments. Specifically, we adapt a soft-contact model from robotics and demonstrate that the safety margin thus computed is a more accurate and robust index of grasp planning than its hard-contact variant. Previously, we have used the soft-contact model to propose two indices of grasp planning that show how humans account for the shape and inertial properties of an object. A soft-contact based safety margin offers complementary insights by quantifying how humans may account for surface properties of the object and skin tissue during grasp planning and execution. Copyright © 2017 Elsevier B.V. All rights reserved.

Experiential Approaches to the Global City: London as Social Laboratory

ERIC Educational Resources Information Center

Gristwood, Anthony; Woolf, Michael

2011-01-01

London is the paramount example of a city that is not bounded by its geography and cannot be grasped in isolation. The U.K.'s national capital and the prime focus for business, finance and creative industries, London also transcends the U.K.'s borders as a hub of the world economy. This paper argues that London, a city riddled by the socioeconomic…

Irradiation and modified atmosphere packaging effects on residual nitrite, ascorbic acid, nitrosomyoglobin, and color in sausage.

PubMed

Ahn, Hyun-Joo; Jo, Cheorun; Lee, Ju-Woon; Kim, Jae-Hyun; Kim, Kee-Hyuk; Byun, Myung-Woo

2003-02-26

The present study was undertaken to evaluate the irradiation and modified atmosphere packaging effects on emulsion-type cooked pork sausage during storage for 4 weeks. CO(2) (100%), N(2) (100%), or 25% CO(2)/75% N(2) packaged sausage were irradiated at 0, 5, and 10 kGy, and residual nitrite, residual ascorbic acid, nitrosomyoglobin (NO-Mb), color values, and their correlation were observed. Irradiation significantly reduced the residual nitrite content and caused partial reduction of NO-Mb during storage. No difference was observed in ascorbic acid content by irradiation. Irradiation decreased the Hunter color a value of sausage. CO(2) or CO(2)/N(2) packaging were more effective for reducing residual nitrite and inhibiting the loss of the red color of sausage compared to N(2) packaging. Results indicated that the proper combination of irradiation and modified atmosphere packaging could reduce the residual nitrite in sausage with minimization of color change.

Multidigit force control during unconstrained grasping in response to object perturbations

PubMed Central

Haschke, Robert; Ritter, Helge; Santello, Marco; Ernst, Marc O.

2017-01-01

Because of the complex anatomy of the human hand, in the absence of external constraints, a large number of postures and force combinations can be used to attain a stable grasp. Motor synergies provide a viable strategy to solve this problem of motor redundancy. In this study, we exploited the technical advantages of an innovative sensorized object to study unconstrained hand grasping within the theoretical framework of motor synergies. Participants were required to grasp, lift, and hold the sensorized object. During the holding phase, we repetitively applied external disturbance forces and torques and recorded the spatiotemporal distribution of grip forces produced by each digit. We found that the time to reach the maximum grip force during each perturbation was roughly equal across fingers, consistent with a synchronous, synergistic stiffening across digits. We further evaluated this hypothesis by comparing the force distribution of human grasping vs. robotic grasping, where the control strategy was set by the experimenter. We controlled the global hand stiffness of the robotic hand and found that this control algorithm produced a force pattern qualitatively similar to human grasping performance. Our results suggest that the nervous system uses a default whole hand synergistic control to maintain a stable grasp regardless of the number of digits involved in the task, their position on the objects, and the type and frequency of external perturbations. NEW & NOTEWORTHY We studied hand grasping using a sensorized object allowing unconstrained finger placement. During object perturbation, the time to reach the peak force was roughly equal across fingers, consistently with a synergistic stiffening across fingers. Force distribution of a robotic grasping hand, where the control algorithm is based on global hand stiffness, was qualitatively similar to human grasping. This suggests that the central nervous system uses a default whole hand synergistic control to maintain a stable grasp. PMID:28228582

Effect of modified atmosphere packaging and irradiation in combination on content of nitrosamines in cooked pork sausage.

PubMed

Song, I H; Kim, W J; Jo, C; Ahn, H J; Kim, J H; Byun, M W

2003-06-01

The effect of modified atmosphere packaging and irradiation in combination on nitrosodimethylamine (NDMA) and nitrosopyrrolidine (NPYR) levels in pork sausage was studied. Emulsion-type cooked pork sausage was manufactured and packaged in aerobic, CO2 (100%), N2 (100%), and CO2/N2 (25%/75%) environments, respectively, and irradiated at 0, 5, 10, and 20 kGy with gamma irradiation. The nitrosamine contents were significantly reduced by irradiation, and the reduction of nitrosamines was more extensive with modified atmosphere packaging than with aerobic packaging. The correlation coefficient between irradiation dose and nitrosamine content indicated that irradiation can reduce the levels of nitrosamines. The combination of irradiation and modified atmosphere packaging is effective in enhancing the chemical safety of sausage by reducing nitrosamines, if present, as well as enhancing the microbial safety of cooked pork sausage.

Goal-Directed Grasping: The Dimensional Properties of an Object Influence the Nature of the Visual Information Mediating Aperture Shaping

ERIC Educational Resources Information Center

Holmes, Scott A.; Heath, Matthew

2013-01-01

An issue of continued debate in the visuomotor control literature surrounds whether a 2D object serves as a representative proxy for a 3D object in understanding the nature of the visual information supporting grasping control. In an effort to reconcile this issue, we examined the extent to which aperture profiles for grasping 2D and 3D objects…

Anatomy of the crus and pes of neotropical iguanian lizards in relation to habitat use and digitally based grasping capabilities.

PubMed

Abdala, Virginia; Tulli, María José; Russell, Anthony P; Powell, George L; Cruz, Félix B

2014-03-01

Ecomorphological studies of lizards have explored the role of various morphological traits and how these may be associated with, among other things, habitat use. We present an analysis of selected traits of internal morphology of the hind limbs of Neotropical iguanian lizards and their relationship to habitat use. Considering that one of the most widely-held hypotheses relating to the origin of grasping is associated with the exploitation of the narrow-branch arboreal habitat, we include subdivisions of this designation as two of our ecologically defined categories of habitat exploitation for analysis, and compare lizards assigned to these categories to the features displayed by terrestrial lizards. The influence of phylogeny in shaping the morphology of lizards was assessed by using the comparative method. K values were significant for several osteological traits. Most of the K values for the variables based upon muscle and tendon morphometric characters (13 out 21), by contrast, had values <1, suggesting that their variation cannot be explained by phylogeny alone. Results of our phylogenetic and conventional ANCOVA analyses reveal that the characters highlighted through the application of the comparative method are not absolutely related to habitat in terms of the categories considered here. It appears that the bauplan of the lizard pes incorporates a morphological configuration that is sufficiently versatile to enable exploitation of almost all of the available habitats. As unexpected as conservation of internal gross morphology appears, it represents a means of accommodating to environmental challenges by apparently permitting adequacy for all situations examined. Copyright © 2014 Wiley Periodicals, Inc.

Interaction in planning vocalizations and grasping.

PubMed

Tiainen, Mikko; Tiippana, Kaisa; Vainio, Martti; Komeilipoor, Naeem; Vainio, Lari

2017-08-01

Previous studies have shown a congruency effect between manual grasping and syllable articulation. For instance, a power grip is associated with syllables whose articulation involves the tongue body and/or large mouth aperture ([kɑ]) whereas a precision grip is associated with articulations that involve the tongue tip and/or small mouth aperture ([ti]). Previously, this effect has been observed in manual reaction times. The primary aim of the current study was to investigate whether this congruency effect also takes place in vocal responses and to investigate involvement of action selection processes in the effect. The congruency effect was found in vocal and manual responses regardless of whether or not the syllable or grip was known a priori, suggesting that the effect operates with minimal or absent action selection processes. In addition, the effect was observed in vocal responses even when the grip was only prepared but not performed, suggesting that merely planning a grip response primes the corresponding articulatory response. These results support the view that articulation and grasping are processed in a partially overlapping network.

Comparison of different soft grippers for lunch box packaging.

PubMed

Wang, Zhongkui; Zhu, Mingzhu; Kawamura, Sadao; Hirai, Shinichi

2017-01-01

Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication methods and compared their performances through a series of tests. We found that the actuators fabricated by 3D printing showed better linearity and less individual differences, but showed low durability compared to actuators fabricated by traditional casting process. Robotic grippers were assembled using the soft actuators, and grasping tests were performed on soft paper containers filled with food materials. Results suggested that grippers with softer actuators required lower air pressure to lift up the same weight and generated less deformation on the soft container. The actuator made of casting process with Dragon Skin 10 material lifted the most weight among different actuators.

Implementing finite state machines in a computer-based teaching system

NASA Astrophysics Data System (ADS)

Hacker, Charles H.; Sitte, Renate

1999-09-01

Finite State Machines (FSM) are models for functions commonly implemented in digital circuits such as timers, remote controls, and vending machines. Teaching FSM is core in the curriculum of many university digital electronic or discrete mathematics subjects. Students often have difficulties grasping the theoretical concepts in the design and analysis of FSM. This has prompted the author to develop an MS-WindowsTM compatible software, WinState, that provides a tutorial style teaching aid for understanding the mechanisms of FSM. The animated computer screen is ideal for visually conveying the required design and analysis procedures. WinState complements other software for combinatorial logic previously developed by the author, and enhances the existing teaching package by adding sequential logic circuits. WinState enables the construction of a students own FSM, which can be simulated, to test the design for functionality and possible errors.

Acceleration techniques and their impact on arterial input function sampling: Non-accelerated versus view-sharing and compressed sensing sequences.

PubMed

Benz, Matthias R; Bongartz, Georg; Froehlich, Johannes M; Winkel, David; Boll, Daniel T; Heye, Tobias

2018-07-01

The aim was to investigate the variation of the arterial input function (AIF) within and between various DCE MRI sequences. A dynamic flow-phantom and steady signal reference were scanned on a 3T MRI using fast low angle shot (FLASH) 2d, FLASH3d (parallel imaging factor (P) = P0, P2, P4), volumetric interpolated breath-hold examination (VIBE) (P = P0, P3, P2 × 2, P2 × 3, P3 × 2), golden-angle radial sparse parallel imaging (GRASP), and time-resolved imaging with stochastic trajectories (TWIST). Signal over time curves were normalized and quantitatively analyzed by full width half maximum (FWHM) measurements to assess variation within and between sequences. The coefficient of variation (CV) for the steady signal reference ranged from 0.07-0.8%. The non-accelerated gradient echo FLASH2d, FLASH3d, and VIBE sequences showed low within sequence variation with 2.1%, 1.0%, and 1.6%. The maximum FWHM CV was 3.2% for parallel imaging acceleration (VIBE P2 × 3), 2.7% for GRASP and 9.1% for TWIST. The FWHM CV between sequences ranged from 8.5-14.4% for most non-accelerated/accelerated gradient echo sequences except 6.2% for FLASH3d P0 and 0.3% for FLASH3d P2; GRASP FWHM CV was 9.9% versus 28% for TWIST. MRI acceleration techniques vary in reproducibility and quantification of the AIF. Incomplete coverage of the k-space with TWIST as a representative of view-sharing techniques showed the highest variation within sequences and might be less suited for reproducible quantification of the AIF. Copyright © 2018 Elsevier B.V. All rights reserved.

Extending the Cortical Grasping Network: Pre-supplementary Motor Neuron Activity During Vision and Grasping of Objects.

PubMed

Lanzilotto, Marco; Livi, Alessandro; Maranesi, Monica; Gerbella, Marzio; Barz, Falk; Ruther, Patrick; Fogassi, Leonardo; Rizzolatti, Giacomo; Bonini, Luca

2016-12-01

Grasping relies on a network of parieto-frontal areas lying on the dorsolateral and dorsomedial parts of the hemispheres. However, the initiation and sequencing of voluntary actions also requires the contribution of mesial premotor regions, particularly the pre-supplementary motor area F6. We recorded 233 F6 neurons from 2 monkeys with chronic linear multishank neural probes during reaching-grasping visuomotor tasks. We showed that F6 neurons play a role in the control of forelimb movements and some of them (26%) exhibit visual and/or motor specificity for the target object. Interestingly, area F6 neurons form 2 functionally distinct populations, showing either visually-triggered or movement-related bursts of activity, in contrast to the sustained visual-to-motor activity displayed by ventral premotor area F5 neurons recorded in the same animals and with the same task during previous studies. These findings suggest that F6 plays a role in object grasping and extend existing models of the cortical grasping network. © The Author 2016. Published by Oxford University Press.

The extended object-grasping network.

PubMed

Gerbella, Marzio; Rozzi, Stefano; Rizzolatti, Giacomo

2017-10-01

Grasping is the most important skilled motor act of primates. It is based on a series of sensorimotor transformations through which the affordances of the objects to be grasped are transformed into appropriate hand movements. It is generally accepted that a circuit formed by inferior parietal areas AIP and PFG and ventral premotor area F5 represents the core circuit for sensorimotor transformations for grasping. However, selection and control of appropriate grip should also depend on higher-order information, such as the meaning of the object to be grasped, and the overarching goal of the action in which grasping is embedded. In this review, we describe recent findings showing that specific sectors of the ventrolateral prefrontal cortex are instrumental in controlling higher-order aspects of grasping. We show that these prefrontal sectors control the premotor cortex through two main gateways: the anterior subdivision of ventral area F5-sub-area F5a-, and the pre-supplementary area (area F6). We then review functional studies showing that both F5a and F6, besides being relay stations of prefrontal information, also play specific roles in grasping. Namely, sub-area F5a is involved in stereoscopic analysis of 3D objects, and in planning cue-dependent grasping activity. As for area F6, this area appears to play a crucial role in determining when to execute the motor program encoded in the parieto-premotor circuit. The recent discovery that area F6 contains a set of neurons encoding specific grip types suggests that this area, besides controlling "when to go", also may control the grip type, i.e., "how to go". We conclude by discussing clinical syndromes affecting grasping actions and their possible mechanisms.

Therapists' Use of the Graded Repetitive Arm Supplementary Program (GRASP) Intervention: A Practice Implementation Survey Study

PubMed Central

McMahon, Naoimh E.; Watkins, Caroline L.; Eng, Janice J.

2014-01-01

Background Only a small percentage of research is ever successfully translated into practice. The Graded Repetitive Arm Supplementary Program (GRASP) is a stroke rehabilitation intervention that anecdotally has had rapid translation from research to clinical practice. This study was conducted to explore the characteristics of this practice implementation. Objectives The aims of this study were: (1) to explore the extent of practice implementation of GRASP in the United Kingdom; (2) using an implementation framework, to explore UK therapists' opinions of implementing GRASP; and (3) if GRASP is found to be used in the United Kingdom, to investigate differences in opinions between therapists who are using GRASP in practice and those who are not. Design A cross-sectional study design was used. Methods Data were collected via an online questionnaire. Participants in this study were members of the College of Occupational Therapy Specialist Section Neurological Practice and the Association of Chartered Physiotherapists Interested in Neurology. Results Of the 274 therapists who responded to the survey, 61 (22.3%) had experience of using GRASP, 114 (41.6%) knew of GRASP but had never used it, and 99 (36.1%) had never heard of GRASP. Therapists displayed positive opinions toward the implementation of a manual with graded progressions of structured upper limb exercises for people after stroke. Opinions were different between therapists who had used GRASP and those who had not. Limitations The findings of this study may be limited by response bias. Conclusions GRASP is a relatively new stroke rehabilitation intervention that has made impressive translation into the knowledge and practice of UK therapists. Therapists' opinions would suggest that GRASP is both an acceptable and feasible intervention and has the potential to be implemented by a greater number of therapists in a range of settings. PMID:24505098

The destination defines the journey: an examination of the kinematics of hand-to-mouth movements

PubMed Central

Gonzalez, Claudia L. R.

2016-01-01

Long-train electrical stimulation of the motor and premotor cortices of nonhuman primates can produce either hand-to-mouth or grasp-to-inspect movements, depending on the precise location of stimulation. Furthermore, single-neuron recording studies identify discrete neuronal populations in the inferior parietal and ventral premotor cortices that respond uniquely to either grasp-to-eat or grasp-to-place movements, despite their identical mechanistic requirements. These studies demonstrate that the macaque motor cortex is organized around producing functional, goal-oriented movements, rather than simply fulfilling muscular prerequisites of action. In humans, right-handed hand-to-mouth movements have a unique kinematic signature; smaller maximum grip apertures are produced when grasping to eat than when grasping to place identical targets. This is evidence that the motor cortex in humans is also organized around producing functional movements. However, in both macaques and humans, grasp-to-eat/hand-to-mouth movements have always been elicited using edible targets and have (necessarily) been paired with mouth movement. It is therefore unknown whether the kinematic distinction is a natural result of grasping food and/or is simply attributable to concurrent opening of the mouth while grasping. In experiment 1, we used goal-differentiated grasping tasks, directed toward edible and inedible targets, to show that the unique kinematic signature is present even with inedible targets. In experiment 2, we used the same goal-differentiated grasping tasks, either coupled with or divorced from an open-mouth movement, to show that the signature is not attributable merely to a planned opening of the mouth during the grasp. These results are discussed in relation to the role of hand-to-mouth movements in human development, independently of grasp-to-eat behavior. PMID:27512020

Development of a non-invasive, multifunctional grasp neuroprosthesis and its evaluation in an individual with a high spinal cord injury.

PubMed

Rupp, Rüdiger; Kreilinger, Alex; Rohm, Martin; Kaiser, Vera; Müller-Putz, Gernot R

2012-01-01

Over the last decade the improvement of a missing hand function by application of neuroprostheses in particular the implantable Freehand system has been successfully shown in high spinal cord injured individuals. The clinically proven advantages of the Freehand system is its ease of use, the reproducible generation of two distinct functional grasp patterns and an analog control scheme based on movements of the contralateral shoulder. However, after the Freehand system is not commercially available for more than ten years, alternative grasp neuroprosthesis with a comparable functionality are still missing. Therefore, the aim of this study was to develop a non-invasive neuroprosthesis and to show that a degree of functional restoration can be provided to end users comparable to implanted devices. By introduction of an easy to handle forearm electrode sleeve the reproducible generation of two grasp patterns has been achieved. Generated grasp forces of the palmar grasp are in the range of the implanted system. Though pinch force of the lateral grasp is significantly lower, it can effectively used by a tetraplegic subject to perform functional tasks. The non-invasive grasp neuroprosthesis developed in this work may serve as an easy to apply and inexpensive way to restore a missing hand and finger function at any time after spinal cord injury.

Cognitive vision system for control of dexterous prosthetic hands: Experimental evaluation

PubMed Central

2010-01-01

Background Dexterous prosthetic hands that were developed recently, such as SmartHand and i-LIMB, are highly sophisticated; they have individually controllable fingers and the thumb that is able to abduct/adduct. This flexibility allows implementation of many different grasping strategies, but also requires new control algorithms that can exploit the many degrees of freedom available. The current study presents and tests the operation of a new control method for dexterous prosthetic hands. Methods The central component of the proposed method is an autonomous controller comprising a vision system with rule-based reasoning mounted on a dexterous hand (CyberHand). The controller, termed cognitive vision system (CVS), mimics biological control and generates commands for prehension. The CVS was integrated into a hierarchical control structure: 1) the user triggers the system and controls the orientation of the hand; 2) a high-level controller automatically selects the grasp type and size; and 3) an embedded hand controller implements the selected grasp using closed-loop position/force control. The operation of the control system was tested in 13 healthy subjects who used Cyberhand, attached to the forearm, to grasp and transport 18 objects placed at two different distances. Results The system correctly estimated grasp type and size (nine commands in total) in about 84% of the trials. In an additional 6% of the trials, the grasp type and/or size were different from the optimal ones, but they were still good enough for the grasp to be successful. If the control task was simplified by decreasing the number of possible commands, the classification accuracy increased (e.g., 93% for guessing the grasp type only). Conclusions The original outcome of this research is a novel controller empowered by vision and reasoning and capable of high-level analysis (i.e., determining object properties) and autonomous decision making (i.e., selecting the grasp type and size). The automatic control eases the burden from the user and, as a result, the user can concentrate on what he/she does, not on how he/she should do it. The tests showed that the performance of the controller was satisfactory and that the users were able to operate the system with minimal prior training. PMID:20731834

Improving Grasp Skills Using Schema Structured Learning

NASA Technical Reports Server (NTRS)

Platt, Robert; Grupen, ROderic A.; Fagg, Andrew H.

2006-01-01

Abstract In the control-based approach to robotics, complex behavior is created by sequencing and combining control primitives. While it is desirable for the robot to autonomously learn the correct control sequence, searching through the large number of potential solutions can be time consuming. This paper constrains this search to variations of a generalized solution encoded in a framework known as an action schema. A new algorithm, SCHEMA STRUCTURED LEARNING, is proposed that repeatedly executes variations of the generalized solution in search of instantiations that satisfy action schema objectives. This approach is tested in a grasping task where Dexter, the UMass humanoid robot, learns which reaching and grasping controllers maximize the probability of grasp success.

Control of a Glove-Based Grasp Assist Device

NASA Technical Reports Server (NTRS)

Bergelin, Bryan J (Inventor); Ihrke, Chris A. (Inventor); Davis, Donald R. (Inventor); Linn, Douglas Martin (Inventor); Sanders, Adam M (Inventor); Askew, R. Scott (Inventor); Laske, Evan (Inventor); Ensley, Kody (Inventor)

2015-01-01

A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.

Artificial neural network EMG classifier for functional hand grasp movements prediction

PubMed Central

Ferrante, Simona; Ferrigno, Giancarlo; Baldassini, Davide; Molteni, Franco; Guanziroli, Eleonora; Cotti Cottini, Michele; Seneci, Carlo; Pedrocchi, Alessandra

2016-01-01

Objective To design and implement an electromyography (EMG)-based controller for a hand robotic assistive device, which is able to classify the user's motion intention before the effective kinematic movement execution. Methods Multiple degrees-of-freedom hand grasp movements (i.e. pinching, grasp an object, grasping) were predicted by means of surface EMG signals, recorded from 10 bipolar EMG electrodes arranged in a circular configuration around the forearm 2–3 cm from the elbow. Two cascaded artificial neural networks were then exploited to detect the patient's motion intention from the EMG signal window starting from the electrical activity onset to movement onset (i.e. electromechanical delay). Results The proposed approach was tested on eight healthy control subjects (4 females; age range 25–26 years) and it demonstrated a mean ± SD testing performance of 76% ± 14% for correctly predicting healthy users' motion intention. Two post-stroke patients tested the controller and obtained 79% and 100% of correctly classified movements under testing conditions. Conclusion A task-selection controller was developed to estimate the intended movement from the EMG measured during the electromechanical delay. PMID:27677300

Grasp with hand and mouth: a kinematic study on healthy subjects.

PubMed

Gentilucci, M; Benuzzi, F; Gangitano, M; Grimaldi, S

2001-10-01

Neurons involved in grasp preparation with hand and mouth were previously recorded in the premotor cortex of monkey. The aim of the present kinematic study was to determine whether a unique planning underlies the act of grasping with hand and mouth in humans as well. In a set of four experiments, healthy subjects reached and grasped with the hand an object of different size while opening the mouth (experiments 1 and 3), or extending the other forearm (experiment 4), or the fingers of the other hand (experiment 5). In a subsequent set of three experiments, subjects grasped an object of different size with the mouth, while opening the fingers of the right hand (experiments 6-8). The initial kinematics of mouth and finger opening, but not of forearm extension, was affected by the size of the grasped object congruently with the size effect on initial grasp kinematics. This effect was due neither to visual presentation of the object, without the successive grasp motor act (experiment 2) nor to synchronism between finger and mouth opening (experiments 3, 7, and 8). In experiment 9 subjects grasped with the right hand an object of different size while pronouncing a syllable printed on the target. Mouth opening and sound production were affected by the grasped object size. The results of the present study are discussed according to the notion that in an action each motor act is prepared before the beginning of the motor sequence. Double grasp preparation can be used for successive motor acts on the same object as, for example, grasping food with the hand and ingesting it after bringing it to the mouth. We speculate that the circuits involved in double grasp preparation might have been the neural substrate where hand motor patterns used as primitive communication signs were transferred to mouth articulation system. This is in accordance with the hypothesis that Broca's area derives phylogenetically from the monkey premotor area where hand movements are controlled.

Grasping trajectories in a virtual environment adhere to Weber's law.

PubMed

Ozana, Aviad; Berman, Sigal; Ganel, Tzvi

2018-06-01

Virtual-reality and telerobotic devices simulate local motor control of virtual objects within computerized environments. Here, we explored grasping kinematics within a virtual environment and tested whether, as in normal 3D grasping, trajectories in the virtual environment are performed analytically, violating Weber's law with respect to object's size. Participants were asked to grasp a series of 2D objects using a haptic system, which projected their movements to a virtual space presented on a computer screen. The apparatus also provided object-specific haptic information upon "touching" the edges of the virtual targets. The results showed that grasping movements performed within the virtual environment did not produce the typical analytical trajectory pattern obtained during 3D grasping. Unlike as in 3D grasping, grasping trajectories in the virtual environment adhered to Weber's law, which indicates relative resolution in size processing. In addition, the trajectory patterns differed from typical trajectories obtained during 3D grasping, with longer times to complete the movement, and with maximum grip apertures appearing relatively early in the movement. The results suggest that grasping movements within a virtual environment could differ from those performed in real space, and are subjected to irrelevant effects of perceptual information. Such atypical pattern of visuomotor control may be mediated by the lack of complete transparency between the interface and the virtual environment in terms of the provided visual and haptic feedback. Possible implications of the findings to movement control within robotic and virtual environments are further discussed.

Energy levels and radiative rates for transitions in Cr-like Co IV and Ni V

NASA Astrophysics Data System (ADS)

Aggarwal, K. M.; Bogdanovich, P.; Karpuškienė, R.; Keenan, F. P.; Kisielius, R.; Stancalie, V.

2016-01-01

We report calculations of energy levels and radiative rates (A-values) for transitions in Cr-like Co IV and Ni V. The quasi-relativistic Hartree-Fock (QRHF) code is adopted for calculating the data although GRASP (general-purpose relativistic atomic structure package) and flexible atomic code (FAC) have also been employed for comparison purposes. No radiative rates are available in the literature to compare with our results, but our calculated energies are in close agreement with those compiled by NIST for a majority of the levels. However, there are discrepancies for a few levels of up to 3%. The A-values are listed for all significantly contributing E1, E2 and M1 transitions, and the corresponding lifetimes reported, although unfortunately no previous theoretical or experimental results exist to compare with our data.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

PubMed Central

Mateo, Carlos M.; Gil, Pablo; Torres, Fernando

2016-01-01

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments. PMID:27164102

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands.

PubMed

Mateo, Carlos M; Gil, Pablo; Torres, Fernando

2016-05-05

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object's surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand's fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Encoding of Both Reaching and Grasping Kinematics in Dorsal and Ventral Premotor Cortices

PubMed Central

Best, Matthew D.

2017-01-01

Classically, it has been hypothesized that reach-to-grasp movements arise from two discrete parietofrontal cortical networks. As part of these networks, the dorsal premotor cortex (PMd) has been implicated in the control of reaching movements of the arm, whereas the ventral premotor cortex (PMv) has been associated with the control of grasping movements of the hand. Recent studies have shown that such a strict delineation of function along anatomical boundaries is unlikely, partly because reaching to different locations can alter distal hand kinematics and grasping different objects can affect kinematics of the proximal arm. Here, we used chronically implanted multielectrode arrays to record unit-spiking activity in both PMd and PMv simultaneously while rhesus macaques engaged in a reach-to-grasp task. Generalized linear models were used to predict the spiking activity of cells in both areas as a function of different kinematic parameters, as well as spike history. To account for the influence of reaching on hand kinematics and vice versa, we applied demixed principal components analysis to define kinematics synergies that maximized variance across either different object locations or grip types. We found that single cells in both PMd and PMv encode the kinematics of both reaching and grasping synergies, suggesting that this classical division of reach and grasp in PMd and PMv, respectively, does not accurately reflect the encoding preferences of cells in those areas. SIGNIFICANCE STATEMENT For reach-to-grasp movements, the dorsal premotor cortex (PMd) has been implicated in the control of reaching movements of the arm, whereas the ventral premotor cortex (PMv) has been associated with the control of grasping movements of the hand. We recorded unit-spiking activity in PMd and PMv simultaneously while macaques performed a reach-to-grasp task. We modeled the spiking activity of neurons as a function of kinematic parameters and spike history. We applied demixed principal components analysis to define kinematics synergies. We found that single units in both PMd and PMv encode the kinematics of both reaching and grasping synergies, suggesting that the division of reach and grasp in PMd and PMv, respectively, cannot be made based on their encoding properties. PMID:28077725

Correspondence effects with torches: grasping affordance or visual feature asymmetry?

PubMed

Song, Xiaolei; Chen, Jing; Proctor, Robert W

2014-01-01

Three experiments were conducted to determine whether an object-based correspondence effect for torch (flashlight) stimuli reported by Pellicano et al. [( 2010 ). Simon-like and functional affordance effects with tools: The effects of object perceptual discrimination and object action state. Quarterly Journal of Experimental Psychology, 63, 2190-2201] is due to a grasping affordance provided by the handle or asymmetry of feature markings on the torch. In Experiment 1 the stimuli were the same as those from Pellicano et al.'s Experiment 2, whereas in Experiments 2 and 3 the stimuli were modified versions with the graspable handle removed. Participants in all experiments performed upright/inverted orientation judgements on the torch stimuli. The results of Experiment 1 replicated those of Pellicano et al.: A small but significant object-based correspondence effect was evident, mainly when the torch was in an active state. With the handle of the torch removed in Experiment 2, making the barrel markings more asymmetric in the display, the correspondence effect was larger. Experiment 3 directly demonstrated an effect of barrel-marking asymmetry on the correspondence effect: When only the half of the markings nearest the light end of the torch was included, the correspondence effect reversed to favour the light end. The results are in agreement with a visual feature-asymmetry account and are difficult to reconcile with a grasping-affordance account.

Safety evaluation for packaging for the transport of K Basin sludge samples in the PAS-1 cask

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

SMITH, R.J.

1998-11-17

This safety evaluation for packaging authorizes the shipment of up to two 4-L sludge samples to and from the 325 Lab or 222-S Lab for characterization. The safety of this shipment is based on the current U.S. Department of Energy Certification of Compliance (CoC) for the PAS-1 cask, USA/9184/B(U) (DOE).

Effect of low-dose (1 kGy) gamma radiation and selected phosphates on the microflora of vacuum-packaged ground pork

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

Ehioba, R.M.

1987-01-01

The effects of low-dose (1 kGy) gamma radiation and selected phosphates on the microbiology of refrigerated, vacuum-packaged ground pork were studied. Low-dose gamma radiation reduced the numbers of naturally occurring mesophiles, psychrotrophs, and anaerobes. The effect of low-dose radiation on the populations of lactic acid bacteria was minimal. On storage of the irradiated vacuum-packaged ground pork at 5/sup 0/C, there was a partial bacterial recovery, suggesting sublethal bacterial injury due to irradiation. When 10/sup 7/ CFU/g of meat is taken to be the level beyond which the meat would be considered spoiled, uninoculated, vacuum-packaged ground pork treated with 1 kGymore » (100 krad) of gamma radiation had 3.5 more days of shelf-life in terms of psychrotrophic total counts. In relation to anaerobic bacterial numbers, meat shelf-life was extended 2.5 days, while the shelf-life of meat was extended 1 day in terms of aerobic mesophilic bacteria. Irradiation prolonged shelf-life in inoculated (10/sup 5/CFU/g) meat for 1.0-1.5 days. Addition of 0.4% sodium acid pyrophosphate (SAPP) contributed 2 additional days to inoculated, irradiated vacuum-packaged ground pork shelf-life. However, SAPP had no added effect on naturally occurring microflora. Irradiation greatly decreased the numbers of gram-negative microorganisms, resulting in predominance of the gram-positive, nonsporeforming Lactobacillus and coryneform bacteria.« less

Assessment of input-output properties and control of neuroprosthetic hand grasp.

PubMed

Hines, A E; Owens, N E; Crago, P E

1992-06-01

Three tests have been developed to evaluate rapidly and quantitatively the input-output properties and patient control of neuroprosthetic hand grasp. Each test utilizes a visual pursuit tracking task during which the subject controls the grasp force and grasp opening (position) of the hand. The first test characterizes the static input-output properties of the hand grasp, where the input is a slowly changing patient generated command signal and the outputs are grasp force and grasp opening. Nonlinearities and inappropriate slopes have been documented in these relationships, and in some instances the need for system returning has been indicated. For each subject larger grasp forces were produced when grasping larger objects, and for some subjects the shapes of the relationships also varied with object size. The second test quantifies the ability of the subject to control the hand grasp outputs while tracking steps and ramps. Neuroprosthesis users had rms errors two to three times larger when tracking steps versus ramps, and had rms errors four to five times larger than normals when tracking ramps. The third test provides an estimate of the frequency response of the hand grasp system dynamics, from input and output data collected during a random tracking task. Transfer functions were estimated by spectral analysis after removal of the static input-output nonlinearities measured in the first test. The dynamics had low-pass filter characteristics with 3 dB cutoff frequencies from 1.0 to 1.4 Hz. The tests developed in this study provide a rapid evaluation of both the system and the user. They provide information to 1) help interpret subject performance of functional tasks, 2) evaluate the efficacy of system features such as closed-loop control, and 3) screen the neuroprosthesis to indicate the need for retuning.

Helium refrigeration considerations for cryomodule design

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

Ganni, V.; Knudsen, P.

Many of the present day accelerators are based on superconducting radio frequency (SRF) cavities, packaged in cryo-modules (CM), which depend on helium refrigeration at sub-atmospheric pressures, nominally 2 K. These specialized helium refrigeration systems are quite cost intensive to produce and operate. Particularly as there is typically no work extraction below the 4.5-K supply, it is important that the exergy loss between this temperature level and the CM load temperature(s) be minimized by the process configuration choices. This paper will present, compare and discuss several possible helium distribution process arrangements to support the CM loads.

Incrementally learning objects by touch: online discriminative and generative models for tactile-based recognition.

PubMed

Soh, Harold; Demiris, Yiannis

2014-01-01

Human beings not only possess the remarkable ability to distinguish objects through tactile feedback but are further able to improve upon recognition competence through experience. In this work, we explore tactile-based object recognition with learners capable of incremental learning. Using the sparse online infinite Echo-State Gaussian process (OIESGP), we propose and compare two novel discriminative and generative tactile learners that produce probability distributions over objects during object grasping/palpation. To enable iterative improvement, our online methods incorporate training samples as they become available. We also describe incremental unsupervised learning mechanisms, based on novelty scores and extreme value theory, when teacher labels are not available. We present experimental results for both supervised and unsupervised learning tasks using the iCub humanoid, with tactile sensors on its five-fingered anthropomorphic hand, and 10 different object classes. Our classifiers perform comparably to state-of-the-art methods (C4.5 and SVM classifiers) and findings indicate that tactile signals are highly relevant for making accurate object classifications. We also show that accurate "early" classifications are possible using only 20-30 percent of the grasp sequence. For unsupervised learning, our methods generate high quality clusterings relative to the widely-used sequential k-means and self-organising map (SOM), and we present analyses into the differences between the approaches.

Shared processing of planning articulatory gestures and grasping.

PubMed

Vainio, L; Tiainen, M; Tiippana, K; Vainio, M

2014-07-01

It has been proposed that articulatory gestures are shaped by tight integration in planning mouth and hand acts. This hypothesis is supported by recent behavioral evidence showing that response selection between the precision and power grip is systematically influenced by simultaneous articulation of a syllable. For example, precision grip responses are performed relatively fast when the syllable articulation employs the tongue tip (e.g., [te]), whereas power grip responses are performed relatively fast when the syllable articulation employs the tongue body (e.g., [ke]). However, this correspondence effect, and other similar effects that demonstrate the interplay between grasping and articulatory gestures, has been found when the grasping is performed during overt articulation. The present study demonstrates that merely reading the syllables silently (Experiment 1) or hearing them (Experiment 2) results in a similar correspondence effect. The results suggest that the correspondence effect is based on integration in planning articulatory gestures and grasping rather than requiring an overt articulation of the syllables. We propose that this effect reflects partially overlapped planning of goal shapes of the two distal effectors: a vocal tract shape for articulation and a hand shape for grasping. In addition, the paper shows a pitch-grip correspondence effect in which the precision grip is associated with a high-pitched vocalization of the auditory stimuli and the power grip is associated with a low-pitched vocalization. The underlying mechanisms of this phenomenon are discussed in relation to the articulation-grip correspondence.

Air-cooling characteristics of simulated grape packages

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

Frederick, R.L.; Comunian, F.

Experimental simulation of the external forced convection on the outside of grape packages was performed. Average heat transfer coefficients for air flow around such containers were found to range from 8 to 13.4 W/(m[sup 2]K). A physical description of the convective process was formulated on the basis of data obtained in three types of experiment. Expressions for the average heat transfer coefficient from single packages in air flow were proposed.

The Islamic State Battle Plan: Press Release Natural Language Processing

DTIC Science & Technology

2016-06-01

Processing, text mining , corpus, generalized linear model, cascade, R Shiny, leaflet, data visualization 15. NUMBER OF PAGES 83 16. PRICE CODE...Terrorism and Responses to Terrorism TDM Term Document Matrix TF Term Frequency TF-IDF Term Frequency-Inverse Document Frequency tm text mining (R...package=leaflet. Feinerer I, Hornik K (2015) Text Mining Package “tm,” Version 0.6-2. (Jul 3) https://cran.r-project.org/web/packages/tm/tm.pdf

Effects of Low-Oxygen Environments on the Radiation Tolerance of the Cabbage Looper Moth (Lepidoptera: Noctuidae).

PubMed

Condon, Catriona H; White, Sabrina; Meagher, Robert L; Jeffers, Laura A; Bailey, Woodward D; Hahn, Daniel A

2017-02-01

Ionizing radiation is used as a phytosanitary treatment to mitigate risks from invasive species associated with trade of fresh fruits and vegetables. Commodity producers prefer to irradiate fresh product stored in modified atmosphere packaging that increases shelf life and delays ripening. However, irradiating insects in low oxygen may increase radiation tolerance, and regulatory agencies are concerned modified atmosphere packaging will decrease efficacy of radiation doses. Here, we examined how irradiation in a series of oxygen conditions (0.1-20.9 kPa O2) alters radiotolerance of larvae and pupae of a model lepidopteran Trichoplusia ni (Hubner) (Diptera: Noctuidae). Irradiating in severe hypoxia (0.1 kPa O2) increased radiation tolerance of insects compared with irradiating in atmospheric oxygen (20.9 kPa O2). Our data show irradiating pharate adult pupae at 600 Gy in moderately severe hypoxia (5 kPa O2) increased adult emergence compared with irradiation in atmospheric oxygen (20.9 kPa O2). Our data also show that in one of the three temporal replicates, irradiating T. ni larvae in moderately severe hypoxia (5 kPa O2) can also increase radiotolerance at an intermediate radiation dose of 100 Gy compared with irradiating in atmospheric oxygen conditions, but not at higher or lower doses. We discuss implications of our results in this model insect for the current generic doses for phytosanitary irradiation, including the recently proposed 250 Gy generic dose for lepidioptera larvae, and temporary restriction on irradiating commodities in modified atmosphere packaging that reduces the atmosphere to < 18 kPa O2. © The Authors 2016. Published by Oxford University Press on behalf of Entomological Society of America. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

The Observation of Manual Grasp Actions Affects the Control of Speech: A Combined Behavioral and Transcranial Magnetic Stimulation Study

ERIC Educational Resources Information Center

Gentilucci, Maurizio; Campione, Giovanna Cristina; Volta, Riccardo Dalla; Bernardis, Paolo

2009-01-01

Does the mirror system affect the control of speech? This issue was addressed in behavioral and Transcranial Magnetic Stimulation (TMS) experiments. In behavioral experiment 1, participants pronounced the syllable /da/ while observing (1) a hand grasping large and small objects with power and precision grasps, respectively, (2) a foot interacting…

Automated System Organizations Under Spatial Grasp Technology

DTIC Science & Technology

2014-06-01

Schade, M. R Hieb, “Formalizing Battle Management Language: A Grammar for Specifying Orders”, Paper 06S- SIW -068, 2006 Spring Simulation...Interoperability Workshop (Paper 06S- SIW -068), Huntsville, Alabama, April 2006. [13] U. Schade, M. R. Hieb, M. Frey, K. Rein, “Command and Control Lexical

Toward autonomous avian-inspired grasping for micro aerial vehicles.

PubMed

Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Sreenath, Koushil; Kumar, Vijay

2014-06-01

Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches.

Effect of irradiation, active and modified atmosphere packaging, container oxygen barrier and storage conditions on the physicochemical and sensory properties of raw unpeeled almond kernels (Prunus dulcis).

PubMed

Mexis, Stamatios F; Riganakos, Kyriakos A; Kontominas, Michael G

2011-03-15

The present study investigated the effect of irradiation, active and modified atmosphere packaging, and storage conditions on quality retention of raw, whole, unpeeled almonds. Almond kernels were packaged in barrier and high-barrier pouches, under N(2) or with an O(2) absorber and stored either under fluorescent lighting or in the dark at 20 °C for 12 months. Quality parameters monitored were peroxide value, hexanal content, colour, fatty acid composition and volatile compounds. Of the sensory attributes colour, texture, odour and taste were evaluated. Peroxide value and hexanal increased with dose of irradiation and storage time. Irradiation resulted in a decrease of polyunsaturated and monounsaturated fatty acids during storage with a parallel increase of saturated fatty acids. Volatile compounds were not affected by irradiation but increased with storage time indicating enhanced lipid oxidation. Colour parameters of samples remained unaffected immediately after irradiation. For samples packaged under a N(2) , atmosphere L and b values decreased during storage with a parallel increase of value a resulting to gradual product darkening especially in irradiated samples. Non-irradiated almonds retained acceptable quality for ca. 12 months stored at 20 °C with the O(2) absorber irrespective of lighting conditions and packaging material oxygen barrier. The respective shelf life for samples irradiated at 1.0 kGy was 12 months packaged in PET-SiOx//LDPE irrespective of lighting conditions and 12 months for samples irradiated at 3 kGy packaged in PET-SiOx//LDPE stored in the dark. Copyright © 2010 Society of Chemical Industry.

Effect of a perturbation-based balance training program on compensatory stepping and grasping reactions in older adults: a randomized controlled trial.

PubMed

Mansfield, Avril; Peters, Amy L; Liu, Barbara A; Maki, Brian E

2010-04-01

Compensatory stepping and grasping reactions are prevalent responses to sudden loss of balance and play a critical role in preventing falls. The ability to execute these reactions effectively is impaired in older adults. The purpose of this study was to evaluate a perturbation-based balance training program designed to target specific age-related impairments in compensatory stepping and grasping balance recovery reactions. This was a double-blind randomized controlled trial. The study was conducted at research laboratories in a large urban hospital. Thirty community-dwelling older adults (aged 64-80 years) with a recent history of falls or self-reported instability participated in the study. Participants were randomly assigned to receive either a 6-week perturbation-based (motion platform) balance training program or a 6-week control program involving flexibility and relaxation training. Features of balance reactions targeted by the perturbation-based program were: (1) multi-step reactions, (2) extra lateral steps following anteroposterior perturbations, (3) foot collisions following lateral perturbations, and (4) time to complete grasping reactions. The reactions were evoked during testing by highly unpredictable surface translation and cable pull perturbations, both of which differed from the perturbations used during training. /b> Compared with the control program, the perturbation-based training led to greater reductions in frequency of multi-step reactions and foot collisions that were statistically significant for surface translations but not cable pulls. The perturbation group also showed significantly greater reduction in handrail contact time compared with the control group for cable pulls and a possible trend in this direction for surface translations. Further work is needed to determine whether a maintenance program is needed to retain the training benefits and to assess whether these benefits reduce fall risk in daily life. Perturbation-based training shows promise as an effective intervention to improve the ability of older adults to prevent themselves from falling when they lose their balance.

Discharge of primate magnocellular red nucleus neurons during reaching to grasp in different spatial locations.

PubMed

van Kan, Peter L E; McCurdy, Martha L

2002-01-01

Reaching to grasp is of fundamental importance to primate motor behavior. One descending motor pathway that contributes to the control of this behavior is the rubrospinal tract. An important source of origin of the rubrospinal tract is the magnocellular red nucleus (RNm). Forelimb RNm neurons discharge vigorously during reach-to-grasp movements. RNm discharge is important for hand use, as coordinated whole-limb movements without hand use are not associated with strong discharge. Because RNm is functionally linked to muscles of the entire forelimb, RNm discharge may also contribute to use of the proximal limb that accompanies hand use. If RNm contributes to proximal limb use, we predict discharge to differ for reaches that differ in proximal limb involvement but require the same grasp. We tested this prediction by measuring discharge of individual RNm neurons while monkeys reached to grasp objects in four spatial locations in front of them. The animals reached from the waist to locations to the left, right, above, and below the shoulder of the "reaching" limb. RNm neurons of our sample were activated strongly during reach-to-grasp, and discharge of a third of the neurons tested depended on the spatial location of the object grasped. Discharge of RNm neurons and EMG activity of many of the distal and proximal forelimb muscles we tested were larger for reaching to grasp in the upper and/or right than lower and left target locations. Based on comparisons of each individual neuron's discharge patterns during reaches with and without preshaping the hand, we conclude that target location-dependent modulations in discharge rate of the majority of RNm neurons whose discharge differed for reaching to grasp in the four target locations contributed to aspects of hand preshaping that covaried with reach direction.

Effects of ionizing radiation on properties of monolayer and multilayer flexible food packaging materials

NASA Astrophysics Data System (ADS)

Riganakos, K. A.; Koller, W. D.; Ehlermann, D. A. E.; Bauer, B.; Kontominas, M. G.

1999-05-01

Volatile compounds produced in flexible food packaging materials (LDPE, EVAc, PET/PE/EVOH/PE) during electron beam irradiation were isolated by purge and trap technique and identified by combined gas chromatography-mass spectrometry (GC/MS), after thermal desorption and concentration. For comparison purposes non-irradiated films were also studied. Film samples were irradiated at low (5 kGy, corresponding to cold pasteurization), intermediate (20 kGy, corresponding to cold sterilization) and high (100 kGy) doses. It was observed that a number of volatile compounds are produced after irradiation in all cases. Furthermore the amounts of all volatile compounds increase with increasing irradiation dose. Both primary (methyl-derivatives etc.) as well as secondary i.e. oxidation products (ketones, aldehydes, alcohols, carboxylic acids etc.) are produced upon irradiation. These products may affect organoleptic properties and thus shelf-life of prepackaged irradiated foods. No significant changes were observed in the structure of polymer matrices as exhibited by IR spectra after irradiation of the materials at doses tested. Likewise, no significant changes were observed in O 2, H 2O and CO 2 permeability values of plastic packaging materials after irradiation.

Transition properties of the Be-like Kα X-ray from Mg IX

NASA Astrophysics Data System (ADS)

Hu, Feng; Zhang, Shufang; Sun, Yan; Mei, Maofei; Sang, Cuicui; Yang, Jiamin

2017-12-01

Energy levels among the lowest 40 fine-structure levels in Be-like Mg IX are calculated using grasp2K code. The wavelengths, oscillator strengths, radiative rates and lifetimes for all possible Kα transitions have been calculated using the multiconfiguration Dirac-Fock method. The accuracy of the results is determined through extensive comparisons with the existing laboratory measurements and theoretical results. The present data can be used reliably for many purposes, such as the line identification of the observed spectra, and modelling and diagnostics of magnesium plasma.

[Junior High School Program.

ERIC Educational Resources Information Center

Wisconsin Univ. - Stout, Menomonie. Center for Vocational, Technical and Adult Education.

The document contains eight student directed and two teacher directed activity packages, and a proposed curriculum guide; all pertain to field objectives 1, 2, or 3 of the Wisconsin Guide to Local Curriculum Improvement in Industrial Education, K-12. Geared to the junior high level, the student packages are entitled: Repair of a Lamp Cord and…

Let's Cut the Cake

ERIC Educational Resources Information Center

Zeybek, Zulfiye; Cross Francis, Dionne I.

2017-01-01

Measurement is an important component of K-grade 12 mathematics curricula. The concepts of area and perimeter of polygons are first introduced in third grade and serve as the basis for teaching in the upper grades. Without a strong understanding of measurement, students will struggle to meaningfully grasp three-dimensional measurement concepts…

Instrumented toys for studying power and precision grasp forces in infants.

PubMed

Serio, S M; Cecchi, F; Boldrini, E; Laschi, C; Sgandurra, G; Cioni, G; Dario, P

2011-01-01

Currently the study of infants grasping development is purely clinical, based on functional scales or on the observation of the infant while playing; no quantitative variables are measured or known for diagnosis of eventually disturbed development. The aim of this work is to show the results of a longitudinal study achieved by using a "baby gym" composed by a set of instrumented toys, as a tool to measure and stimulate grasping actions, in infants from 4 to 9 months of life. The study has been carried out with 7 healthy infants and it was observed, during infants development, an increase of precision grasp and a reduction of power grasp with age. Moreover the forces applied for performing both precision and power grasp increase with age. The proposed devices represent a valid tool for continuous and quantitative measuring infants manual function and motor development, without being distressful for the infant and consequently it could be suitable for early intervention training during the first year of life. The same system, in fact, could be used with infants at high risk for developmental motor disorder in order to evaluate any potential difference from control healthy infants.

Rcupcake: an R package for querying and analyzing biomedical data through the BD2K PIC-SURE RESTful API.

PubMed

Gutiérrez-Sacristán, Alba; Guedj, Romain; Korodi, Gabor; Stedman, Jason; Furlong, Laura I; Patel, Chirag J; Kohane, Isaac S; Avillach, Paul

2018-04-15

In the era of big data and precision medicine, the number of databases containing clinical, environmental, self-reported and biochemical variables is increasing exponentially. Enabling the experts to focus on their research questions rather than on computational data management, access and analysis is one of the most significant challenges nowadays. We present Rcupcake, an R package that contains a variety of functions for leveraging different databases through the BD2K PIC-SURE RESTful API and facilitating its query, analysis and interpretation. The package offers a variety of analysis and visualization tools, including the study of the phenotype co-occurrence and prevalence, according to multiple layers of data, such as phenome, exposome or genome. The package is implemented in R and is available under Mozilla v2 license from GitHub (https://github.com/hms-dbmi/Rcupcake). Two reproducible case studies are also available (https://github.com/hms-dbmi/Rcupcake-case-studies/blob/master/SSCcaseStudy_v01.ipynb, https://github.com/hms-dbmi/Rcupcake-case-studies/blob/master/NHANEScaseStudy_v01.ipynb). paul_avillach@hms.harvard.edu. Supplementary data are available at Bioinformatics online.

Classification of right-hand grasp movement based on EMOTIV Epoc+

NASA Astrophysics Data System (ADS)

Tobing, T. A. M. L.; Prawito, Wijaya, S. K.

2017-07-01

Combinations of BCT elements for right-hand grasp movement have been obtained, providing the average value of their classification accuracy. The aim of this study is to find a suitable combination for best classification accuracy of right-hand grasp movement based on EEG headset, EMOTIV Epoc+. There are three movement classifications: grasping hand, relax, and opening hand. These classifications take advantage of Event-Related Desynchronization (ERD) phenomenon that makes it possible to differ relaxation, imagery, and movement state from each other. The combinations of elements are the usage of Independent Component Analysis (ICA), spectrum analysis by Fast Fourier Transform (FFT), maximum mu and beta power with their frequency as features, and also classifier Probabilistic Neural Network (PNN) and Radial Basis Function (RBF). The average values of classification accuracy are ± 83% for training and ± 57% for testing. To have a better understanding of the signal quality recorded by EMOTIV Epoc+, the result of classification accuracy of left or right-hand grasping movement EEG signal (provided by Physionet) also be given, i.e.± 85% for training and ± 70% for testing. The comparison of accuracy value from each combination, experiment condition, and external EEG data are provided for the purpose of value analysis of classification accuracy.

Neuromimetic Event-Based Detection for Closed-Loop Tactile Feedback Control of Upper Limb Prostheses

PubMed Central

Osborn, Luke; Kaliki, Rahul; Soares, Alcimar; Thakor, Nitish

2016-01-01

Upper limb amputees lack the valuable tactile sensing that helps provide context about the surrounding environment. Here we utilize tactile information to provide active touch feedback to a prosthetic hand. First, we developed fingertip tactile sensors for producing biomimetic spiking responses for monitoring contact, release, and slip of an object grasped by a prosthetic hand. We convert the sensor output into pulses, mimicking the rapid and slowly adapting spiking responses of receptor afferents found in the human body. Second, we designed and implemented two neuromimetic event-based algorithms, Compliant Grasping and Slip Prevention, on a prosthesis to create a local closed-loop tactile feedback control system (i.e. tactile information is sent to the prosthesis). Grasping experiments were designed to assess the benefit of this biologically inspired neuromimetic tactile feedback to a prosthesis. Results from able-bodied and amputee subjects show the average number of objects that broke or slipped during grasping decreased by over 50% and the average time to complete a grasping task decreased by at least 10% for most trials when comparing neuromimetic tactile feedback with no feedback on a prosthesis. Our neuromimetic method of closed-loop tactile sensing is a novel approach to improving the function of upper limb prostheses. PMID:27777640

High performance large infrared and visible astronomy arrays for low background applications: instruments performance data and future developments at Raytheon

NASA Astrophysics Data System (ADS)

Beuville, Eric; Acton, David; Corrales, Elizabeth; Drab, John; Levy, Alan; Merrill, Michael; Peralta, Richard; Ritchie, William

2007-09-01

Raytheon Vision Systems (RVS) has developed a family of high performance large format infrared detector arrays for astronomy and civil space applications. RVS offers unique off-the-shelf solutions to the astronomy community. This paper describes mega-pixel arrays, based on multiple detector materials, developed for astronomy and low-background applications. New focal plane arrays under development at RVS for the astronomy community will also be presented. Large Sensor Chip Assemblies (SCAs) using various detector materials like Si:PIN, HgCdTe, InSb, and Si:As IBC, covering a detection range from visible to large wavelength infrared (LWIR) have been demonstrated with an excellent quantum efficiency and very good uniformity. These focal plane arrays have been assembled using state-of-the-art low noise, low power, readout integrated circuits (ROIC) designed at RVS. Raytheon packaging capabilities address reliability, precision alignment and flatness requirements for both ground-based and space applications. Multiple SCAs can be packaged into even larger focal planes. The VISTA telescope, for example, contains sixteen 2k × 2k infrared focal plane arrays. RVS astronomical arrays are being deployed world-wide in ground-based and space-based applications. A summary of performance data for each of these array types from instruments in operation will be presented (VIRGO Array for large format SWIR, the ORION and VISTA Arrays, NEWFIRM and other solutions for MWIR spectral ranges).

Microscopic spin Hamiltonian approaches for 3d8 and 3d2 ions in a trigonal crystal field - perturbation theory methods versus complete diagonalization methods

NASA Astrophysics Data System (ADS)

Rudowicz, Czeslaw; Yeung, Yau-yuen; Yang, Zi-Yuan; Qin, Jian

2002-06-01

In this paper, we critically review the existing microscopic spin Hamiltonian (MSH) approaches, namely the complete diagonalization method (CDM) and the perturbation theory method (PTM), for 3d8(3d2) ions in a trigonal (C3v, D3, D3d) symmetry crystal field (CF). A new CDM is presented and a CFA/MSH computer package based on our crystal-field analysis (CFA) package for 3dN ions is developed for numerical calculations. Our method takes into account the contribution to the SH parameters (D, g∥ and g⊥) from all 45 CF states for 3d8(3d2) ions and is based on the complete diagonalization of the Hamiltonian including the electrostatic interactions, the CF terms (in the intermediate CF scheme) and the spin-orbit coupling. The CFA/MSH package enables us to study not only the CF energy levels and wavefunctions but also the SH parameters as functions of the CF parameters (B20, B40 and B43 or alternatively Dq, v and v') for 3d8(3d2) ions in trigonal symmetry. Extensive comparative studies of other MSH approaches are carried out using the CFA/MSH package. First, we check the accuracy of the approximate PTM based on the `quasi-fourth-order' perturbation formulae developed by Petrosyan and Mirzakhanyan (PM). The present investigations indicate that the PM formulae for the g-factors (g∥ and g⊥) indeed work well, especially for the cases of small v and v' and large Dq, whereas the PM formula for the zero-field splitting (ZFS) exhibits serious shortcomings. Earlier criticism of the PM approach by Zhou et al (Zhou K W, Zhao S B, Wu P F and Xie J K 1990 Phys. Status Solidi b 162 193) is then revisited. Second, we carry out an extensive comparison of the results of the present CFA/MSH package and those of other CDMs based on the strong- and weak-CF schemes. The CF energy levels and the SH parameters for 3d2 and 3d8 ions at C3v symmetry sites in several crystals are calculated and analysed. Our investigations reveal serious inconsistencies in the CDM results of Zhou et al and Li (Li Y 1995 J. Phys.: Condens. Matter 7 4075) based on the strong-CF scheme for Ni2+ ions in LiNbO3 crystals. The correctness of our CFA/MSH package is verified by comparing our results with the predictions of Ma et al (Ma D P, Ma N, Ma X D and Zhang H M 1998 J. Phys. Chem. Solids 59 1211, Ma D P, Ma X D, Chen J R and Liu Y Y 1997 Phys. Rev. B 56 1780) and Macfarlane (Macfarlane R M 1964 J. Chem. Phys. 40 373) for α-Al2O3 : V3+(3d2) and MgO : Ni2+(3d8). It appears that the two independent approaches show perfect agreement with our approach, unlike those of Zhou et al and Li, which turn out to be unreliable. Our results reveal that the contributions to the ZFS parameter from the higher excited states cannot be neglected; also, the ZFS parameter is very sensitive to slight changes of the crystal structure. Hence our CFA/MSH package, which takes into account the contributions to the ZFS parameter from the higher excited states, can provide reliable results and proves to be a useful tool for the studies of the effect of the lattice distortions, defects and structural disorder on the spectroscopic properties of 3d2 and 3d8 ions at trigonal symmetry sites in crystals.

Clumpak: a program for identifying clustering modes and packaging population structure inferences across K.

PubMed

Kopelman, Naama M; Mayzel, Jonathan; Jakobsson, Mattias; Rosenberg, Noah A; Mayrose, Itay

2015-09-01

The identification of the genetic structure of populations from multilocus genotype data has become a central component of modern population-genetic data analysis. Application of model-based clustering programs often entails a number of steps, in which the user considers different modelling assumptions, compares results across different predetermined values of the number of assumed clusters (a parameter typically denoted K), examines multiple independent runs for each fixed value of K, and distinguishes among runs belonging to substantially distinct clustering solutions. Here, we present Clumpak (Cluster Markov Packager Across K), a method that automates the postprocessing of results of model-based population structure analyses. For analysing multiple independent runs at a single K value, Clumpak identifies sets of highly similar runs, separating distinct groups of runs that represent distinct modes in the space of possible solutions. This procedure, which generates a consensus solution for each distinct mode, is performed by the use of a Markov clustering algorithm that relies on a similarity matrix between replicate runs, as computed by the software Clumpp. Next, Clumpak identifies an optimal alignment of inferred clusters across different values of K, extending a similar approach implemented for a fixed K in Clumpp and simplifying the comparison of clustering results across different K values. Clumpak incorporates additional features, such as implementations of methods for choosing K and comparing solutions obtained by different programs, models, or data subsets. Clumpak, available at http://clumpak.tau.ac.il, simplifies the use of model-based analyses of population structure in population genetics and molecular ecology. © 2015 John Wiley & Sons Ltd.

Effect of ionizing radiation on physicochemical and mechanical properties of commercial multilayer coextruded flexible plastics packaging materials

NASA Astrophysics Data System (ADS)

Goulas, Antonios E.; Riganakos, Kyriakos A.; Kontominas, Michael G.

2003-12-01

The effect of gamma radiation (doses: 5, 10 and 30 kGy) on mechanical properties, gas and water vapour permeability and overall migration values into distilled water, 3% aqueous acetic acid and iso-octane was studied for a series of commercial multilayer flexible packaging materials based on coextruded polypropylene (PP), ethylene vinyl alcohol (EVOH), low-density polyethylene (LDPE), linear low-density polyethylene (LLDPE), polyamide (PA) and Ionomer. The results showed that radiation doses of 5 and 10 kGy induced no statistically significant differences ( p>0.05) in all polymer properties examined. A dose of 30 kGy induced differences ( p<0.05) in the mechanical properties of PA/LDPE, LDPE/EVOH/LDPE and LDPE/PA/Ionomer films. In addition, the same dose induced differences ( p<0.05) in the overall migration from Ionomer/EVOH/LDPE and LDPE/PA/Ionomer films into 3% acetic acid and iso-octane and in the overall migration from PP/EVOH/LDPE-LLDPE into iso-octane. Differences recorded, are discussed in relation to food irradiation applications of respective packaging materials.

e-GRASP: an integrated evolutionary and GRASP resource for exploring disease associations.

PubMed

Karim, Sajjad; NourEldin, Hend Fakhri; Abusamra, Heba; Salem, Nada; Alhathli, Elham; Dudley, Joel; Sanderford, Max; Scheinfeldt, Laura B; Chaudhary, Adeel G; Al-Qahtani, Mohammed H; Kumar, Sudhir

2016-10-17

Genome-wide association studies (GWAS) have become a mainstay of biological research concerned with discovering genetic variation linked to phenotypic traits and diseases. Both discrete and continuous traits can be analyzed in GWAS to discover associations between single nucleotide polymorphisms (SNPs) and traits of interest. Associations are typically determined by estimating the significance of the statistical relationship between genetic loci and the given trait. However, the prioritization of bona fide, reproducible genetic associations from GWAS results remains a central challenge in identifying genomic loci underlying common complex diseases. Evolutionary-aware meta-analysis of the growing GWAS literature is one way to address this challenge and to advance from association to causation in the discovery of genotype-phenotype relationships. We have created an evolutionary GWAS resource to enable in-depth query and exploration of published GWAS results. This resource uses the publically available GWAS results annotated in the GRASP2 database. The GRASP2 database includes results from 2082 studies, 177 broad phenotype categories, and ~8.87 million SNP-phenotype associations. For each SNP in e-GRASP, we present information from the GRASP2 database for convenience as well as evolutionary information (e.g., rate and timespan). Users can, therefore, identify not only SNPs with highly significant phenotype-association P-values, but also SNPs that are highly replicated and/or occur at evolutionarily conserved sites that are likely to be functionally important. Additionally, we provide an evolutionary-adjusted SNP association ranking (E-rank) that uses cross-species evolutionary conservation scores and population allele frequencies to transform P-values in an effort to enhance the discovery of SNPs with a greater probability of biologically meaningful disease associations. By adding an evolutionary dimension to the GWAS results available in the GRASP2 database, our e-GRASP resource will enable a more effective exploration of SNPs not only by the statistical significance of trait associations, but also by the number of studies in which associations have been replicated, and the evolutionary context of the associated mutations. Therefore, e-GRASP will be a valuable resource for aiding researchers in the identification of bona fide, reproducible genetic associations from GWAS results. This resource is freely available at http://www.mypeg.info/egrasp .

View of the Columbia's RMS arm and end effector grasping IECM

NASA Image and Video Library

1982-06-27

STS004-37-670 (27 June-4 July 1982) --- The North Atlantic Ocean southeast of the Bahamas serves as backdrop for this 70mm scene of the Columbia?s remote manipulator system (RMS) arm and hand-like device (called and end effector) grasping a multi-instrument monitor for detecting contaminants. The experiments is called the induced environment contaminant monitor (IECM). The small box contains 11 instruments for checking the contaminants in and around the orbiter?s cargo bay which might adversely affect delicate experiments carried onboard. Astronauts Thomas K. Mattingly II and Henry W. Hartsfield Jr. manned the Columbia for seven days and one hour. The Columbia?s vertical tail and orbital maneuvering system (OMS) pods are at left foreground. Photo credit: NASA

Integration of antimicrobial pectin-based edible coating and active modified atmosphere packaging to preserve the quality and microbial safety of fresh-cut persimmon (Diospyros kaki Thunb. cv. Rojo Brillante).

PubMed

Sanchís, Elena; Ghidelli, Christian; Sheth, Chirag C; Mateos, Milagros; Palou, Lluís; Pérez-Gago, María B

2017-01-01

The greatest hurdle to the commercial marketing of fresh-cut fruits is related to their higher susceptibility to enzymatic browning, tissue softening, and microbial growth. The aim of this study was to test the efficacy of a pectin-based edible coating and low oxygen modified atmosphere packaging (MAP) to control enzymatic browning and reduce microbial growth of fresh-cut 'Rojo Brillante' persimmon. The survival of Escherichia coli, Salmonella enteritidis and Listeria monocytogenes artificially inoculated on fresh-cut fruit was also assessed. The pectin coating was amended with 500 IU mL -1 nisin (NI) as antimicrobial agent and 10 g kg -1 citric acid and 10 g kg -1 calcium chloride as anti-browning and firming agents, respectively. Persimmon slices were dipped in the coating or in water (control) and packed under 5 kPa O 2 (MAP) or in ambient atmosphere for up to 9 days at 5 °C. Microbial growth, package gas composition, colour, firmness, polyphenol oxidase activity, visual quality and overall sensory flavour of persimmon slices were measured during storage. Coating application combined with active MAP significantly reduced the CO 2 emission and O 2 consumption in the package. The coating was effective in reducing browning and also inhibited the growth of mesophilic aerobic bacteria. Coating also reduced the populations of E. coli, S. enteritidis and L. monocytogenes. The combination of the pectin-based edible coating and active MAP proved to be the most effective treatment to maintain the sensory and microbiological quality of persimmon slices for more than 9 days of storage. © 2016 Society of Chemical Industry. © 2016 Society of Chemical Industry.

An analysis of the input-output properties of neuroprosthetic hand grasps.

PubMed

Memberg, W D; Crago, P E

2000-01-01

We measured the input-output properties of the hand grasps of 14 individuals with tetraplegia at the C5/C6 level who had received an implanted upper limb neuroprosthesis. The data provide a quantitative description of grasp-opening and grasp-force control with neuroprosthetic hand grasp systems. Static properties were estimated by slowly ramping the command (input) from 0 to 100%. A hand-held sensor monitored the outputs: grasp force and grasp opening. Trials were performed at different wrist positions, with two different-sized objects being held, and with both grasp modes (lateral and palmar grasps). Larger forces were produced when grasping larger objects, and greater opening was achieved with the wrist in flexion. Although active grasp force increased with wrist extension, it was not significant statistically. Lateral grasp produced larger forces than the palmar grasp. The command range can be divided into a portion that controls grasp opening and a portion that controls grasp force. The portion controlling force increased with spacer size, but did not depend significantly on grasp mode or wrist position. The force-command relationships were more linear than the position-command relationships. Grasp opening decreased significantly over a one-year period, while no significant change in grasp force was observed. These quantitative descriptions of neuroprosthetic hand grasps under varying conditions provide useful information about output capabilities that can be used to gauge the effectiveness of different control schemes and to design future control systems.

Interest of the MICROSTAR Accelerometer to improve the GRASP Mission.

NASA Astrophysics Data System (ADS)

Perrot, E.; Lebat, V.; Foulon, B.; Christophe, B.; Liorzou, F.; Huynh, P. A.

2015-12-01

The Geodetic Reference Antenna in Space (GRASP) is a micro satellite mission concept proposed by JPL to improve the definition of the Terrestrial Reference Frame (TRF). GRASP collocates GPS, SLR, VLBI, and DORIS sensors on a dedicated spacecraft in order to establish precise and stable ties between the key geodetic techniques used to define and disseminate the TRF. GRASP also offers a space-based reference antenna for the present and future Global Navigation Satellite Systems (GNSS). By taking advantage of the new testing possibilities offer by the catapult facility at the ZARM drop tower, the ONERA's space accelerometer team proposes an up-dated version, called MICROSTAR, of its ultra sensitive electrostatic accelerometers which have contributed to the success of the last Earth's gravity missions GRACE and GOCE. Built around a cubic proof-mass, it provides the 3 linear accelerations with a resolution better than 10-11 ms-2/Hz1/2 into a measurement bandwidth between 10-3 Hz and 0.1 Hz and the 3 angular accelerations about its 3 orthogonal axes with 5´10-10 rad.s-2/Hz1/2 resolution. Integrated at the centre of mass of the satellite, MICROSTAR improves the Precise Orbit Determination (POD) by accurate measurement of the non-gravitational force acting on the satellite. It offers also the possibility to calibrate the change in the position of the satellite center of mass with an accuracy better than 100 μm as demonstrated in the GRACE mission. Assuming a sufficiently rigid structure between the antennas and the accelerometer, its data can participate to reach the mission objective of 1 mm precision for the TRF position.

Online kinematic regulation by visual feedback for grasp versus transport during reach-to-pinch

PubMed Central

Nataraj, Raviraj; Pasluosta, Cristian; Li, Zong-Ming

2014-01-01

Purpose This study investigated novel kinematic performance parameters to understand regulation by visual feedback (VF) of the reaching hand on the grasp and transport components during the reach-to-pinch maneuver. Conventional metrics often signify discrete movement features to postulate sensory-based control effects (e.g., time for maximum velocity to signify feedback delay). The presented metrics of this study were devised to characterize relative vision-based control of the sub-movements across the entire maneuver. Methods Movement performance was assessed according to reduced variability and increased efficiency of kinematic trajectories. Variability was calculated as the standard deviation about the observed mean trajectory for a given subject and VF condition across kinematic derivatives for sub-movements of inter-pad grasp (distance between thumb and index finger-pads; relative orientation of finger-pads) and transport (distance traversed by wrist). A Markov analysis then examined the probabilistic effect of VF on which movement component exhibited higher variability over phases of the complete maneuver. Jerk-based metrics of smoothness (minimal jerk) and energy (integrated jerk-squared) were applied to indicate total movement efficiency with VF. Results/Discussion The reductions in grasp variability metrics with VF were significantly greater (p<0.05) compared to transport for velocity, acceleration, and jerk, suggesting separate control pathways for each component. The Markov analysis indicated that VF preferentially regulates grasp over transport when continuous control is modeled probabilistically during the movement. Efficiency measures demonstrated VF to be more integral for early motor planning of grasp than transport in producing greater increases in smoothness and trajectory adjustments (i.e., jerk-energy) early compared to late in the movement cycle. Conclusions These findings demonstrate the greater regulation by VF on kinematic performance of grasp compared to transport and how particular features of this relativistic control occur continually over the maneuver. Utilizing the advanced performance metrics presented in this study facilitated characterization of VF effects continuously across the entire movement in corroborating the notion of separate control pathways for each component. PMID:24968371

A Lateral Differential Resonant Pressure Microsensor Based on SOI-Glass Wafer-Level Vacuum Packaging.

PubMed

Xie, Bo; Xing, Yonghao; Wang, Yanshuang; Chen, Jian; Chen, Deyong; Wang, Junbo

2015-09-21

This paper presents the fabrication and characterization of a resonant pressure microsensor based on SOI-glass wafer-level vacuum packaging. The SOI-based pressure microsensor consists of a pressure-sensitive diaphragm at the handle layer and two lateral resonators (electrostatic excitation and capacitive detection) on the device layer as a differential setup. The resonators were vacuum packaged with a glass cap using anodic bonding and the wire interconnection was realized using a mask-free electrochemical etching approach by selectively patterning an Au film on highly topographic surfaces. The fabricated resonant pressure microsensor with dual resonators was characterized in a systematic manner, producing a quality factor higher than 10,000 (~6 months), a sensitivity of about 166 Hz/kPa and a reduced nonlinear error of 0.033% F.S. Based on the differential output, the sensitivity was increased to two times and the temperature-caused frequency drift was decreased to 25%.

A Lateral Differential Resonant Pressure Microsensor Based on SOI-Glass Wafer-Level Vacuum Packaging

PubMed Central

Xie, Bo; Xing, Yonghao; Wang, Yanshuang; Chen, Jian; Chen, Deyong; Wang, Junbo

2015-01-01

This paper presents the fabrication and characterization of a resonant pressure microsensor based on SOI-glass wafer-level vacuum packaging. The SOI-based pressure microsensor consists of a pressure-sensitive diaphragm at the handle layer and two lateral resonators (electrostatic excitation and capacitive detection) on the device layer as a differential setup. The resonators were vacuum packaged with a glass cap using anodic bonding and the wire interconnection was realized using a mask-free electrochemical etching approach by selectively patterning an Au film on highly topographic surfaces. The fabricated resonant pressure microsensor with dual resonators was characterized in a systematic manner, producing a quality factor higher than 10,000 (~6 months), a sensitivity of about 166 Hz/kPa and a reduced nonlinear error of 0.033% F.S. Based on the differential output, the sensitivity was increased to two times and the temperature-caused frequency drift was decreased to 25%. PMID:26402679

Robot Would Reconfigure Modular Equipment

NASA Technical Reports Server (NTRS)

Purves, Lloyd R.

1993-01-01

Special-purpose sets of equipment, packaged in identical modules with identical interconnecting mechanisms, attached to or detached from each other by specially designed robot, according to proposal. Two-arm walking robot connects and disconnects modules, operating either autonomously or under remote supervision. Robot walks along row of connected modules by grasping successive attachment subassemblies in hand-over-hand motion. Intended application for facility or station in outer space; robot reconfiguration scheme makes it unnecessary for astronauts to venture outside spacecraft or space station. Concept proves useful on Earth in assembly, disassembly, or reconfiguration of equipment in such hostile environments as underwater, near active volcanoes, or in industrial process streams.

Energy Levels and Radiative Rates for Transitions in F-like Sc XIII and Ne-like Sc XII and Y XXX

NASA Astrophysics Data System (ADS)

Aggarwal, Kanti

2018-05-01

Energy levels, radiative rates and lifetimes are reported for F-like Sc~XIII and Ne-like Sc~XII and Y~XXX for which the general-purpose relativistic atomic structure package ({\\sc grasp}) has been adopted. For all three ions limited data exist in the literature but comparisons have been made wherever possible to assess the accuracy of the calculations. In the present work the lowest 102, 125 and 139 levels have been considered for the respective ions. Additionally, calculations have also been performed with the flexible atomic code ({\\sc fac}) to (particularly) confirm the accuracy of energy levels.

View of the Columbia's remote manipulator system

NASA Image and Video Library

1982-03-30

STS003-09-444 (22-30 March 1982) --- The darkness of space provides the backdrop for this scene of the plasma diagnostics package (PDR) experiment in the grasp of the end effector or ?hand? of the remote manipulator system (RMS) arm, and other components of the Office of Space Sciences (OSS-1) package in the aft section of the Columbia?s cargo hold. The PDP is a compact, comprehensive assembly of electromagnetic and particle sensors that will be used to study the interaction of the orbiter with its surrounding environment; to test the capabilities of the shuttle?s remote manipulator system; and to carry out experiments in conjunction with the fast pulse electron generator of the vehicle charging and potential experiment, another experiment on the OSS-1 payload pallet. This photograph was exposed with a 70mm handheld camera by the astronaut crew of STS-3, with a handheld camera aimed through the flight deck?s aft window. Photo credit: NASA

Development of an FBG-based low temperature measurement system for cargo containment of LNG tankers

NASA Astrophysics Data System (ADS)

Kim, D. G.; Yoo, W.; Swinehart, P.; Jiang, B.; Haber, T.; Mendez, A.

2007-09-01

Given the growing demand for oil and natural gas to meet the world's energy needs, there is nowadays renewed interest in the use of liquefied natural gas (LNG) systems. For LNG to remain in its liquid phase, the gas has to be kept at cryogenic temperatures (< 160°C). And, as part of the LNG supply process, it becomes necessary to transport it using massive carrier tankers with cargo hulls operating at low temperatures and using special insulating double-wall construction. The safe and reliable storage and transportation of LNG products calls for low temperature monitoring of said containers to detect the onset of any potential leaks and possible thermal insulation degradation. Because of the hazardous nature of this cargo, only intrinsically-safe, explosion proof devices can be used. Optical fiber sensors-- such as fiber Bragg gratings-- are ideal for this application given their dielectric nature and multi-point sensing telemetry capability. In this paper, we describe the development of an on-line, multi-point FBG-based low temperature monitoring system based on a network of specially packaged FBG temperature and strain sensors mounted at critical locations within the inner hull, cofferdam and secondary barriers of a LNG carrier tanker. Given the stringent cryogenic operating temperature conditions, pertinent FBG designs, coatings and packaging approaches were formulated along with adequate installation techniques and integration of the interrogating FBG electronics into the tanker's overall SCADA monitoring system. FBG temperature sensors were demonstrated to be stable and sensitive over the 80-480K range. Stability is +/- 0.25K or better with repeated calibrations, and long term stability at 480K is ~0.2mK/hour.

Nutritional quality changes throughout shelf-life of fresh-cut kailan-hybrid and 'Parthenon' broccoli as affected by temperature and atmosphere composition.

PubMed

Martínez-Hernández, Ginés Benito; Gómez, Perla A; Artés, Francisco; Artés-Hernández, Francisco

2015-01-01

The nutritional quality changes of the fresh-cut kailan-hybrid broccoli were compared with those of the 'Parthenon' cv. throughout 15 days at 2 ℃, 5 ℃ and 8 ℃ under air and modified atmosphere packaging. Florets showed higher dietary fiber content than stems. The total protein content of kailan-hybrid florets was 2.2-fold higher than that of 'Parthenon' cv. and higher amounts of S, Ca, Mg, Fe, Sr, Mn, Zn and Cu were found. However, 'Parthenon' florets registered higher initial total phenolics content than the kailan-hybrid edible part, followed by an increase throughout shelf-life favored at 5 ℃ and 8 ℃ under modified atmosphere packaging (5-7 kPa O2 + 14-15 kPa CO2). Modified atmosphere packaging stored samples at 8 ℃ showed higher individual phenolics content than modified atmosphere packaging stored samples at 2 ℃. The initial total antioxidant capacity of the kailan-hybrid edible part was higher than that of 'Parthenon' cv. florets. In conclusion, the kailan-hybrid florets generally showed healthier properties on the analyzed bioactive compounds, except total phenolic content, compared to the conventional 'Parthenon' cv. © The Author(s) 2013 Reprints and permissions: sagepub.co.uk/journalsPermissions.nav.

Sensory and semantic activations evoked by action attributes of manipulable objects: Evidence from ERPs

PubMed Central

Lee, Chia-lin; Huang, Hsu-Wen; Federmeier, Kara D.; Buxbaum, Laurel J.

2018-01-01

“Two route” theories of object-related action processing posit different temporal activation profiles of grasp-to-move actions (rapidly evoked based on object structure) versus skilled use actions (more slowly activated based on semantic knowledge). We capitalized on the exquisite temporal resolution and multidimensionality of Event-Related Potentials (ERPs) to directly test this hypothesis. Participants viewed manipulable objects (e.g., calculator) preceded by objects sharing either “grasp”, “use”, or no action attributes (e.g., bar of soap, keyboard, earring, respectively), as well as by action-unrelated but taxonomically-related objects (e.g., abacus); participants judged whether the two objects were related. The results showed more positive responses to “grasp-to-move” primed objects than “skilled use” primed objects or unprimed objects starting in the P1 (0–150 ms) time window and continuing onto the subsequent N1 and P2 components (150–300 ms), suggesting that only “grasp-to-move”, but not “skilled use”, actions may facilitate visual attention to object attributes. Furthermore, reliably reduced N400s (300–500 ms), an index of semantic processing, were observed to taxonomically primed and “skilled use” primed objects relative to unprimed objects, suggesting that “skilled use” action attributes are a component of distributed, multimodal semantic representations of objects. Together, our findings provide evidence supporting two-route theories by demonstrating that “grasp-to-move” and “skilled use” actions impact different aspects of object processing and highlight the relationship of “skilled use” information to other aspects of semantic memory. PMID:29183777

Effect of pencil grasp on the speed and legibility of handwriting in children.

PubMed

Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl; Chau, Tom

2012-01-01

Pencil grasps other than the dynamic tripod may be functional for handwriting. This study examined the impact of grasp on handwriting speed and legibility. We videotaped 120 typically developing fourth-grade students while they performed a writing task. We categorized the grasps they used and evaluated their writing for speed and legibility using a handwriting assessment. Using linear regression analysis, we examined the relationship between grasp and handwriting. We documented six categories of pencil grasp: four mature grasp patterns, one immature grasp pattern, and one alternating grasp pattern. Multiple linear regression results revealed no significant effect for mature grasp on either legibility or speed. Pencil grasp patterns did not influence handwriting speed or legibility in this sample of typically developing children. This finding adds to the mounting body of evidence that alternative grasps may be acceptable for fast and legible handwriting. Copyright © 2012 by the American Occupational Therapy Association, Inc.

Temporal-spatial parameters of the upper limb during a Reach & Grasp Cycle for children.

PubMed

Butler, Erin E; Ladd, Amy L; Lamont, Lauren E; Rose, Jessica

2010-07-01

The objective of this study was to characterize normal temporal-spatial patterns during the Reach & Grasp Cycle and to identify upper limb motor deficits in children with cerebral palsy (CP). The Reach & Grasp Cycle encompasses six sequential tasks: reach, grasp cylinder, transport to self (T(1)), transport back to table (T(2)), release cylinder, and return to initial position. Three-dimensional motion data were recorded from 25 typically developing children (11 males, 14 females; ages 5-18 years) and 12 children with hemiplegic CP (2 males, 10 females; ages 5-17 years). Within-day and between-day coefficients of variation for the control group ranged from 0 to 0.19, indicating good repeatability of all parameters. The mean duration of the Cycle for children with CP was nearly twice as long as controls, 9.5±4.3s versus 5.1±1.2s (U=37.0, P=.002), partly due to prolonged grasp and release durations. Peak hand velocity occurred at approximately 40% of each phase and was greater during the transport (T(1), T(2)) than non-transport phases (reach, return) in controls (P<.001). Index of curvature was lower during transport versus non-transport phases for all children. Children with CP demonstrated an increased index of curvature during reach (U=46.0, P=.0074) and an increased total number of movement units (U=16.5, P<.0001) compared to controls, indicating less efficient and less smooth movements. Total duration of the Reach & Grasp Cycle (rho=.957, P<.0001), index of curvature during reach and T(1) (rho=.873, P=.0002 and rho=.778, P=.0028), and total number of movement units (rho=.907, P<.0001) correlated strongly with MACS score. The consistent normative data and the substantial differences between children with CP and controls reflect utility of the Reach & Grasp Cycle for quantitative evaluation of upper limb motor deficits. Copyright © 2010 Elsevier B.V. All rights reserved.

Remotely piloted vehicle: Application of the GRASP analysis method

NASA Technical Reports Server (NTRS)

Andre, W. L.; Morris, J. B.

1981-01-01

The application of General Reliability Analysis Simulation Program (GRASP) to the remotely piloted vehicle (RPV) system is discussed. The model simulates the field operation of the RPV system. By using individual component reliabilities, the overall reliability of the RPV system is determined. The results of the simulations are given in operational days. The model represented is only a basis from which more detailed work could progress. The RPV system in this model is based on preliminary specifications and estimated values. The use of GRASP from basic system definition, to model input, and to model verification is demonstrated.

A rehabilitation device to improve the hand grasp function of stroke patients using a patient-driven approach.

PubMed

Park, Wanjoo; Jeong, Wookjin; Kwon, Gyu-Hyun; Kim, Yun-Hee; Kim, Laehyun

2013-06-01

This paper proposes a robotic hand rehabilitation device for grasp training. The device is designed for stroke patients to train and recover their hand grasp function in order to undertake activities of daily living (ADL). The device consists of a control unit, two small actuators, an infrared (IR) sensor, and pressure sensors in the grasp handle. The advantages of this device are that it is small in size, inexpensive, and available for use at home without specialist's supervision. In addition, a novel patient-driven strategy based on the patient's movement intention detected by the pressure sensors without bio-signals is introduced. Once the system detects a patient's movement intention, it triggers the robotic device to move the patient's hand to form the normal grasping behavior. This strategy may encourage stroke patients to participate in rehabilitation training to recover their hand grasp function and it may also enhance neural plasticity. A user study was conducted in order to investigate the usability, acceptability, satisfaction, and suggestions for improvement of the proposed device. The results of this survey included positive reviews from therapists and a stroke patient. In particular, therapists expected that the proposed patient-driven mode can motivate patients for their rehabilitation training and it can be effective to prevent a compensational strategy in active movements. It is expected that the proposed device will assist stroke patients in restoring their grasp function efficiently.

Grasp Representations Depend on Knowledge and Attention

ERIC Educational Resources Information Center

Chua, Kao-Wei; Bub, Daniel N.; Masson, Michael E. J.; Gauthier, Isabel

2018-01-01

Seeing pictures of objects activates the motor cortex and can have an influence on subsequent grasping actions. However, the exact nature of the motor representations evoked by these pictures is unclear. For example, action plans engaged by pictures could be most affected by direct visual input and computed online based on object shape.…

Decoding 3-D Reach and Grasp Kinematics from High-Frequency Local Field Potentials in Primate Primary Motor Cortex

PubMed Central

Zhuang, Jun; Vargas-Irwin, Carlos; Donoghue, John P.

2011-01-01

Intracortical microelectrode array recordings generate a variety of neural signals with potential application as control signals in neural interface systems. Previous studies have focused on single and multiunit activity, as well as low frequency local field potentials (LFPs), but have not explored higher frequency (>200 Hz) LFPs. In addition, the potential to decode three dimensional (3-D) reach and grasp kinematics based on LFPs has not been demonstrated. Here, we use mutual information and decoding analyses to probe the information content about 3-D reaching and grasping of 7 different LFP frequency bands in the range of 0.3 Hz – 400 Hz. LFPs were recorded via 96-microelectrode arrays in primary motor cortex (M1) of two monkeys performing free reaching to grasp moving objects. Mutual information analyses revealed that higher frequency bands (e.g. 100 – 200 Hz and 200 – 400 Hz) carried the most information about the examined kinematics. Furthermore, Kalman filter decoding revealed that broadband high frequency LFPs, likely reflecting multiunit activity, provided the best decoding performance as well as substantial accuracy in reconstructing reach kinematics, grasp aperture and aperture velocity. These results indicate that LFPs, especially high frequency bands, could be useful signals for neural interfaces controlling 3-D reach and grasp kinematics. PMID:20403782

Suction-based grasping tool for removal of regular- and irregular-shaped intraocular foreign bodies.

PubMed

Erlanger, Michael S; Velez-Montoya, Raul; Mackenzie, Douglas; Olson, Jeffrey L

2013-01-01

To describe a suction-based grasping tool for the surgical removal of irregular-shaped and nonferromagnetic intraocular foreign bodies. A surgical tool with suction capabilities, consisting of a stainless steel shaft with a plastic handle and a customizable and interchangeable suction tip, was designed in order to better engage and manipulate irregular-shaped in-traocular foreign bodies of various sizes and physical properties. The maximal suction force and surgical capabilities were assessed in the laboratory and on a cadaveric eye vitrectomy model. The suction force of the water-tight seal between the intraocular foreign body and the suction tip was estimated to be approximately 40 MN. During an open-sky vitrectomy in a porcine model, the device was successful in engaging and firmly securing foreign bodies of different sizes and shapes. The suction-based grasping tool enables removal of irregular-shaped and nonferromagnetic foreign bodies. Copyright 2013, SLACK Incorporated.

Compounding of vitamin A, D3, E and K3 supplements for cystic fibrosis patients: formulation and stability study.

PubMed

Huyghebaert, N; De Beer, J; Vervaet, C; Remon, J P

2007-10-01

Cystic fibrosis (CF) patients suffer from malabsorption of fat-soluble vitamins (A, D, E and K). These vitamins are available as water-dispersible (A, D(3) and E) or water-soluble grades (K(3)), which is favoured in CF patients as they fail to absorb oil-based products. The objective of this study was to determine stability of these raw materials after opening the original package and to develop a compounded formulation of acceptable quality, stability and taste, allowing flexible dose adaptation and being appropriate for administration to children and elderly people. The raw materials were stored after opening their original package for 8 months at 8 degrees C and room temperature (RT). Stability was assessed using a validated HPLC method after extraction of the vitamin from the cold water-soluble matrix (vitamin A acetate, D(3) and E) or using a spectrophotometrical method (vitamin K(3)). These materials were mixed with an appropriate lactose grade (lactose 80 m for vitamins A and D(3); lactose 90 m for vitamin E, lactose very fine powder for vitamin K(3)) and filled in hard gelatin capsules. Mass and content uniformity were determined and stability of the vitamins in the capsules was assessed after 2 months storage at 8 degrees C and RT. All raw materials showed good stability during storage in the opened original package for 8 months storage at 8 degrees C as well as RT (>95% of the initial content). The compounded formulations complied with the requirements of the European Pharmacopoeia for mass and content uniformity and can be stored for 2 months at 8 degrees C or RT while maintaining the vitamin content between 90% and 110%. As these fat-soluble vitamins are not commercially available on the Belgian market, compounded formulations are a valuable alternative for prophylactic administration of these vitamins to CF patients, i.e. a stable formulation, having an acceptable taste, allowing flexible dose adaptation and being appropriate for administration to children and elderly people.

Müller-Lyer figures influence the online reorganization of visually guided grasping movements.

PubMed

Heath, Matthew; Rival, Christina; Neely, Kristina; Krigolson, Olav

2006-03-01

In advance of grasping a visual object embedded within fins-in and fins-out Müller-Lyer (ML) configurations, participants formulated a premovement grip aperture (GA) based on the size of a neutral preview object. Preview objects were smaller, veridical, or larger than the size of the to-be-grasped target object. As a result, premovement GA associated with the small and large preview objects required significant online reorganization to appropriately grasp the target object. We reasoned that such a manipulation would provide an opportunity to examine the extent to which the visuomotor system engages egocentric and/or allocentric visual cues for the online, feedback-based control of action. It was found that the online reorganization of GA was reliably influenced by the ML figures (i.e., from 20 to 80% of movement time), regardless of the size of the preview object, albeit the small and large preview objects elicited more robust illusory effects than the veridical preview object. These results counter the view that online grasping control is mediated by absolute visual information computed with respect to the observer (e.g., Glover in Behav Brain Sci 27:3-78, 2004; Milner and Goodale in The visual brain in action 1995). Instead, the impact of the ML figures suggests a level of interaction between egocentric and allocentric visual cues in online action control.

A Computational Model for Aperture Control in Reach-to-Grasp Movement Based on Predictive Variability

PubMed Central

Takemura, Naohiro; Fukui, Takao; Inui, Toshio

2015-01-01

In human reach-to-grasp movement, visual occlusion of a target object leads to a larger peak grip aperture compared to conditions where online vision is available. However, no previous computational and neural network models for reach-to-grasp movement explain the mechanism of this effect. We simulated the effect of online vision on the reach-to-grasp movement by proposing a computational control model based on the hypothesis that the grip aperture is controlled to compensate for both motor variability and sensory uncertainty. In this model, the aperture is formed to achieve a target aperture size that is sufficiently large to accommodate the actual target; it also includes a margin to ensure proper grasping despite sensory and motor variability. To this end, the model considers: (i) the variability of the grip aperture, which is predicted by the Kalman filter, and (ii) the uncertainty of the object size, which is affected by visual noise. Using this model, we simulated experiments in which the effect of the duration of visual occlusion was investigated. The simulation replicated the experimental result wherein the peak grip aperture increased when the target object was occluded, especially in the early phase of the movement. Both predicted motor variability and sensory uncertainty play important roles in the online visuomotor process responsible for grip aperture control. PMID:26696874

Thermal Analysis of the Mound One Kilowatt Package

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

Or, Chuen T.

The Mound One Kilowatt (1 KW) package was designed for the shipment of plutonium (Pu-238) with not more than 1 kW total heat dissipation. To comply with regulations, the Mound 1 kW package has to pass all the requirements under Normal Conditions of Transport (NCT; 38 degrees C ambient temperature) and Hypothetical Accident Conditions (HAC; package engulfed in fire for 30 minutes). Analytical and test results were presented in the Safety Analysis Report for Packaging (SARP) for the Mound 1 kW package, revision 1, April 1991. Some issues remained unresolved in that revision. In March 1992, Fairchild Space and Defensemore » Corporation was commissioned by the Department of Energy to perform the thermal analyses. 3-D thermal models were created to perform the NCT and HAC analyses. Four shipping configurations in the SARP revision 3 were analyzed. They were: (1) The GPHS graphite impact shell (GIS) in the threaded product can (1000 W total heat generation); (2) The fueled clads in the welded product can (1000 W total heat generation); (3) The General Purpose Heat Source (GPHS) module (750 W total heat generation); and (4) The Multi-Hundred Watt (MHW) spheres (810 W total heat generation). Results from the four cases show that the GIS or fuel clad in the product can is the worse case. The temperatures predicted under NCT and HAC in all four cases are within the design limits. The use of helium instead of argon as cover gas provides a bigger safety margin. There is a duplicate copy.« less

Degradation of carotenoids in dehydrated pumpkins as affected by different storage conditions.

PubMed

Song, Jiangfeng; Wei, Qiuyu; Wang, Xiaoping; Li, Dajing; Liu, Chunquan; Zhang, Min; Meng, Lili

2018-05-01

The degradation kinetics of carotenoids in dehydrated pumpkins, stored at 4, 25, and 40 °C under air or controlled atmosphere conditions (N 2 ), was evaluated using reversed-phase high performance liquid chromatography coupled with diode array and mass spectrometry detectors. The degradations of predominant carotenoids including β-carotene, α-carotene and lutein depended on the storage temperature, the storage duration as well as the presence of oxygen, which was following the first-order kinetics. The temperature dependence of reaction constants were well explained by the Arrhenius relationship. The activation energy (Ea) for carotenoids degradation ranged from 23.69 kJ/mol for lutein in N 2 -packaged dehydrated pumpkins to 13.82 kJ/mol for β-carotene in air-packaged samples. Lutein was less degradable than α-carotene and β-carotene in dehydrated pumpkins during storage. Higher all-E-carotenoid degradation in N 2 -packaged dehydrated pumpkins stored at 40 °C occurred than that stored at lower temperature under N 2 or air storage, and those storage conditions were beneficial to the formation of Z-isomers (e.g., 15-Z-β-carotene and 13-Z-β-carotene). Storage under N 2 at 4 °C enhanced the retention of all-E-carotenoids in dehydrated pumpkins. Thus, package atmosphere should be paid more attention during long-term storage. Copyright © 2018 Elsevier Ltd. All rights reserved.

From reaching to reach-to-grasp: the arm posture difference and its implications on human motion control strategy.

PubMed

Li, Zhi; Milutinović, Dejan; Rosen, Jacob

2017-05-01

Reach-to-grasp arm postures differ from those in pure reaching because they are affected by grasp position/orientation, rather than simple transport to a position during a reaching motion. This paper investigates this difference via an analysis of experimental  data collected on reaching and reach-to-grasp motions. A seven-degree-of-freedom (DOFs) kinematic arm model with the swivel angle is used for the motion analysis. Compared to a widely used anatomical arm model, this model distinguishes clearly the four grasping-relevant DOFs (GR-DOFs) that are affected by positions and orientations of the objects to be grasped. These four GR-DOFs include the swivel angle that measures the elbow rotation about the shoulder-wrist axis, and three wrist joint angles. For each GR-DOF, we quantify position vs orientation task-relevance bias that measures how much the DOF is affected by the grasping position vs orientation. The swivel angle and forearm supination have similar bias, and the analysis of their motion suggests two hypotheses regarding the synergistic coordination of the macro- and micro-structures of the human arm (1) DOFs with similar task-relevance are synergistically coordinated; and (2) such synergy breaks when a task-relevant DOF is close to its joint limit without necessarily reaching the limit. This study provides a motion analysis method to reduce the control complexity for reach-to-grasp tasks, and suggests using dynamic coupling to coordinate the hand and arm of upper-limb exoskeletons.

Functional classification of grasp strategies used by hemiplegic patients

PubMed Central

Roby-Brami, Agnès; Robertson, Johanna; Roche, Nicolas

2017-01-01

This study aimed to identify and qualify grasp-types used by patients with stroke and determine the clinical parameters that could explain the use of each grasp. Thirty-eight patients with chronic stroke-related hemiparesis and a range of motor and functional capacities (17 females and 21 males, aged 25–78), and 10 healthy subjects were included. Four objects were used (tissue packet, teaspoon, bottle and tennis ball). Participants were instructed to “grasp the object as if you are going to use it”. Three trials were video-recorded for each object. A total of 456 grasps were analysed and rated using a custom-designed Functional Grasp Scale. Eight grasp-types were identified from the analysis: healthy subjects used Multi-pulpar, Pluri-digital, Lateral-pinch and Palmar grasps (Standard Grasps). Patients used the same grasps with in addition Digito-palmar, Raking, Ulnar and Interdigital grasps (Alternative Grasps). Only patients with a moderate or relatively good functional ability used Standard grasps. The correlation and regression analyses showed this was conditioned by sufficient finger and elbow extensor strength (Pluri-digital grasp); thumb extensor and wrist flexor strength (Lateral pinch) or in forearm supinator strength (Palmar grasp). By contrast, the patients who had severe impairment used Alternative grasps that did not involve the thumb. These strategies likely compensate specific impairments. Regression and correlation analyses suggested that weakness had a greater influence over grasp strategy than spasticity. This would imply that treatment should focus on improving hand strength and control although reducing spasticity may be useful in some cases. PMID:29125855

Simple method for the selection of the appropriate food simulant for the evaluation of a specific food/packaging interaction.

PubMed

Hernández-Muñoz, P; Catalá, R; Gavara, R

2002-01-01

Knowledge of the extent of food/packaging interactions is essential to provide assurance of food quality and shelf life, especially in migration and sorption processes that commonly reach equilibrium during the lifetime of a commercial packaged foodstuff. The limits of sorption and migration must be measured in the presence of the specific food or an appropriate food simulant. The partition equilibrium of food aroma compounds between plastic films and foods or food simulants (K(A,P/L) has been characterized. Two polymers (LLDPE and PET), three organic compounds (ethyl caproate, hexanal and 2-phenylethanol), four food products with varying fat content (milk cream, mayonnaise, margarine and oil) and three simulants (ethanol 95%, n-heptane and isooctane) were selectedfor study. The results show the effect of the aroma compound volatility, and polarity, as well as its compatibility with the polymer and the food or food simulant. Equilibrium constants for the organic compound between the polymers and a gaseous phase (K(A,P/V)) as well as between the food (or food simulant) and a gaseous phase (K(A,L/V)) were also determined. An approach is presented to estimate K(A,P/V) from the binary equilibrium constants K(A,P/V) and K(A,L/V). Calculated results were shown to describe experimental data very well and indicated that compatibility between the aroma and the food or food simulant is the main contributing factor to the partition equilibrium describing the extent of food/packaging interactions. Therefore, the measurement of liquid/vapour equilibrium can be regarded as a powerful tool to compare the effectiveness of food simulants as substitutes of a particular food product and can be used as a guide for the selection of the appropriate simulant.

An Investigation of Nonuniform Dose Deposition From an Electron Beam

DTIC Science & Technology

1994-08-01

to electron - beam pulse. Ceramic package HIPEC Lid Electron beam Die Bond wires TLD TLD Silver epoxy 6 package cavity die TLD’s 21 3 4 5 Figure 2...these apertures was documented in a previous experiment relating to HIFX electron -beam dosimetry .2 The hardware required for this setup was a 60-cm...impurity serves 2Gregory K. Ovrebo, Steven M. Blomquist, and Steven R. Murrill, A HIFX Electron -Beam Dosimetry System, Army Research Laboratory, ARL-TR

Testing of visual field with virtual reality goggles in manual and visual grasp modes.

PubMed

Wroblewski, Dariusz; Francis, Brian A; Sadun, Alfredo; Vakili, Ghazal; Chopra, Vikas

2014-01-01

Automated perimetry is used for the assessment of visual function in a variety of ophthalmic and neurologic diseases. We report development and clinical testing of a compact, head-mounted, and eye-tracking perimeter (VirtualEye) that provides a more comfortable test environment than the standard instrumentation. VirtualEye performs the equivalent of a full threshold 24-2 visual field in two modes: (1) manual, with patient response registered with a mouse click, and (2) visual grasp, where the eye tracker senses change in gaze direction as evidence of target acquisition. 59 patients successfully completed the test in manual mode and 40 in visual grasp mode, with 59 undergoing the standard Humphrey field analyzer (HFA) testing. Large visual field defects were reliably detected by VirtualEye. Point-by-point comparison between the results obtained with the different modalities indicates: (1) minimal systematic differences between measurements taken in visual grasp and manual modes, (2) the average standard deviation of the difference distributions of about 5 dB, and (3) a systematic shift (of 4-6 dB) to lower sensitivities for VirtualEye device, observed mostly in high dB range. The usability survey suggested patients' acceptance of the head-mounted device. The study appears to validate the concepts of a head-mounted perimeter and the visual grasp mode.

Development of a bio-inspired UAV perching system

NASA Astrophysics Data System (ADS)

Xie, Pu

Although technologies of unmanned aerial vehicles (UAVs) including micro air vehicles (MAVs) have been greatly advanced in the recent years, it is still very difficult for a UAV to perform some very challenging tasks such as perching to any desired spot reliably and agilely like a bird. Unlike the UAVs, the biological control mechanism of birds has been optimized through millions of year evolution and hence, they can perform many extremely maneuverability tasks, such as perching or grasping accurately and robustly. Therefore, we have good reason to learn from the nature in order to significantly improve the capabilities of UAVs. The development of a UAV perching system is becoming feasible, especially after a lot of research contributions in ornithology which involve the analysis of the bird's functionalities. Meanwhile, as technology advances in many engineering fields, such as airframes, propulsion, sensors, batteries, micro-electromechanical-system (MEMS), and UAV technology is also advancing rapidly. All of these research efforts in ornithology and the fast growing development technologies in UAV applications are motivating further interests and development in the area of UAV perching and grasping research. During the last decade, the research contributions about UAV perching and grasping were mainly based on fixed-wing, flapping-wing, and rotorcraft UAVs. However, most of the current researches in UAV systems with perching and grasping capability are focusing on either active (powered) grasping and perching or passive (unpowered) perching. Although birds do have both active and passive perching capabilities depending on their needs, there is no UAV perching system with both capabilities. In this project, we focused on filling this gap. Inspired by the anatomy analysis of bird legs and feet, a novel perching system has been developed to implement the bionics action for both active grasping and passive perching. In addition, for developing a robust and autonomous perching system, the following objectives were included for this project. The statics model was derived through both quasi-static and analytical method. The grasping stable condition and grasping target of the mechanical gripper were studied through the static analysis. Furthermore, the contact behavior between each foot and the perched object was modeled and evaluated on SimMechanics based on the contact force model derived through virtual principle. The kinematics modeling of UAV perching system was governed with Euler angles and quaternions. Also the propulsion model of the brushless motors was introduced and calibrated. In addition, the flight dynamics model of the UAV system was developed for simulation-based analysis prior to developing a hardware prototype and flight experiment. A special inertial measurement unit (IMU) was designed which has the capability of indirectly calculating the angular acceleration from the angular velocity and the linear acceleration readings. Moreover, a commercial-of-the-shelf (COTS) autopilot-APM 2.6 was selected for the autonomous flight control of the quadrotor. The APM 2.6 is a complete open source autopilot system, which allows the user to turn any fixed, rotary wing or multi-rotor vehicle into a fully autonomous vehicle and capable of performing programmed GPS missions with pre-programed waypoints. In addition, algorithms for inverted pendulum control and autonomous perching control was introduced. The proportion-integrate-differential (PID) controller was used for the simplified UAV perching with inverted pendulum model for horizontal balance. The performance of the controller was verified through both simulation and experiment. In addition, for the purpose of achieving the autonomous perching, guidance and control algorithms were developed the UAV perching system. For guidance, the desired flight trajectory was developed based on a bio-behavioral tau theory which was established from studying the natural motion patterns of animals and human arms approaching to a fixed or moving target for grasping or capturing. The autonomous flight control was also implemented through a PID controller. Autonomous flight performance was proved through simulation in SimMechanics. Finally, the prototyping of our designs were conducted in different generations of our bio-inspired UAV perching system, which include the leg prototype, gripper prototype, and system prototype. Both the machined prototype and 3D printed prototype were tried. The performance of these prototypes was tested through experiments.

Deep learning-based artificial vision for grasp classification in myoelectric hands.

PubMed

Ghazaei, Ghazal; Alameer, Ali; Degenaar, Patrick; Morgan, Graham; Nazarpour, Kianoush

2017-06-01

Computer vision-based assistive technology solutions can revolutionise the quality of care for people with sensorimotor disorders. The goal of this work was to enable trans-radial amputees to use a simple, yet efficient, computer vision system to grasp and move common household objects with a two-channel myoelectric prosthetic hand. We developed a deep learning-based artificial vision system to augment the grasp functionality of a commercial prosthesis. Our main conceptual novelty is that we classify objects with regards to the grasp pattern without explicitly identifying them or measuring their dimensions. A convolutional neural network (CNN) structure was trained with images of over 500 graspable objects. For each object, 72 images, at [Formula: see text] intervals, were available. Objects were categorised into four grasp classes, namely: pinch, tripod, palmar wrist neutral and palmar wrist pronated. The CNN setting was first tuned and tested offline and then in realtime with objects or object views that were not included in the training set. The classification accuracy in the offline tests reached [Formula: see text] for the seen and [Formula: see text] for the novel objects; reflecting the generalisability of grasp classification. We then implemented the proposed framework in realtime on a standard laptop computer and achieved an overall score of [Formula: see text] in classifying a set of novel as well as seen but randomly-rotated objects. Finally, the system was tested with two trans-radial amputee volunteers controlling an i-limb Ultra TM prosthetic hand and a motion control TM prosthetic wrist; augmented with a webcam. After training, subjects successfully picked up and moved the target objects with an overall success of up to [Formula: see text]. In addition, we show that with training, subjects' performance improved in terms of time required to accomplish a block of 24 trials despite a decreasing level of visual feedback. The proposed design constitutes a substantial conceptual improvement for the control of multi-functional prosthetic hands. We show for the first time that deep-learning based computer vision systems can enhance the grip functionality of myoelectric hands considerably.

Deep learning-based artificial vision for grasp classification in myoelectric hands

NASA Astrophysics Data System (ADS)

Ghazaei, Ghazal; Alameer, Ali; Degenaar, Patrick; Morgan, Graham; Nazarpour, Kianoush

2017-06-01

Objective. Computer vision-based assistive technology solutions can revolutionise the quality of care for people with sensorimotor disorders. The goal of this work was to enable trans-radial amputees to use a simple, yet efficient, computer vision system to grasp and move common household objects with a two-channel myoelectric prosthetic hand. Approach. We developed a deep learning-based artificial vision system to augment the grasp functionality of a commercial prosthesis. Our main conceptual novelty is that we classify objects with regards to the grasp pattern without explicitly identifying them or measuring their dimensions. A convolutional neural network (CNN) structure was trained with images of over 500 graspable objects. For each object, 72 images, at {{5}\\circ} intervals, were available. Objects were categorised into four grasp classes, namely: pinch, tripod, palmar wrist neutral and palmar wrist pronated. The CNN setting was first tuned and tested offline and then in realtime with objects or object views that were not included in the training set. Main results. The classification accuracy in the offline tests reached 85 % for the seen and 75 % for the novel objects; reflecting the generalisability of grasp classification. We then implemented the proposed framework in realtime on a standard laptop computer and achieved an overall score of 84 % in classifying a set of novel as well as seen but randomly-rotated objects. Finally, the system was tested with two trans-radial amputee volunteers controlling an i-limb UltraTM prosthetic hand and a motion controlTM prosthetic wrist; augmented with a webcam. After training, subjects successfully picked up and moved the target objects with an overall success of up to 88 % . In addition, we show that with training, subjects’ performance improved in terms of time required to accomplish a block of 24 trials despite a decreasing level of visual feedback. Significance. The proposed design constitutes a substantial conceptual improvement for the control of multi-functional prosthetic hands. We show for the first time that deep-learning based computer vision systems can enhance the grip functionality of myoelectric hands considerably.

From a meso- to micro-scale connectome: array tomography and mGRASP

PubMed Central

Rah, Jong-Cheol; Feng, Linqing; Druckmann, Shaul; Lee, Hojin; Kim, Jinhyun

2015-01-01

Mapping mammalian synaptic connectivity has long been an important goal of neuroscience because knowing how neurons and brain areas are connected underpins an understanding of brain function. Meeting this goal requires advanced techniques with single synapse resolution and large-scale capacity, especially at multiple scales tethering the meso- and micro-scale connectome. Among several advanced LM-based connectome technologies, Array Tomography (AT) and mammalian GFP-Reconstitution Across Synaptic Partners (mGRASP) can provide relatively high-throughput mapping synaptic connectivity at multiple scales. AT- and mGRASP-assisted circuit mapping (ATing and mGRASPing), combined with techniques such as retrograde virus, brain clearing techniques, and activity indicators will help unlock the secrets of complex neural circuits. Here, we discuss these useful new tools to enable mapping of brain circuits at multiple scales, some functional implications of spatial synaptic distribution, and future challenges and directions of these endeavors. PMID:26089781

Purkinje cells signal hand shape and grasp force during reach-to-grasp in the monkey.

PubMed

Mason, Carolyn R; Hendrix, Claudia M; Ebner, Timothy J

2006-01-01

The cerebellar cortex and nuclei play important roles in the learning, planning, and execution of reach-to-grasp and prehensile movements. However, few studies have investigated the signals carried by cerebellar neurons during reach-to-grasp, particularly signals relating to target object properties, hand shape, and grasp force. In this study, the simple spike discharge of 77 Purkinje cells was recorded as two rhesus monkeys reached and grasped 16 objects. The objects varied systematically in volume, shape, and orientation and each was grasped at five different force levels. Linear multiple regression analyses showed the simple spike discharge was significantly modulated in relation to objects and force levels. Object related modulation occurred preferentially during reach or early in the grasp and was linearly related to grasp aperture. The simple spike discharge was positively correlated with grasp force during both the reach and the grasp. There was no significant interaction between object and grasp force modulation, supporting previous kinematic findings that grasp kinematics and force are signaled independently. Singular value decomposition (SVD) was used to quantify the temporal patterns in the simple spike discharge. Most cells had a predominant discharge pattern that remained relatively constant across object grasp dimensions and force levels. A single predominant simple spike discharge pattern that spans reach and grasp and accounts for most of the variation (>60%) is consistent with the concept that the cerebellum is involved with synergies underlying prehension. Therefore Purkinje cells are involved with the signaling of prehension, providing independent signals for hand shaping and grasp force.

Handwriting performance versus arm forward reach and grasp abilities among post-stroke patients, a case-control study.

PubMed

Israely, Sharon; Carmeli, Eli

2017-01-01

Evidence-based studies regarding deficits in handwriting performance relative to hand reaching and grasping after a stroke are lacking. To evaluate the extent of damage to handwriting skills compared to arm reach and grasp task among post-stroke patients. Eighteen patients and 19 healthy subjects were recruited to this case-control study. Patients were evaluated 15.2 days (±6.5) after the stroke using a Computerized Penmanship Evaluation Tool, surface Electromyography and Fugl-Meyer assessment. This study compared motor deficits in hand reaching and grasping and in handwriting between stroke patients and healthy subjects. Damage to handwriting performance relative to hand reaching and grasping skills was also evaluated. Significant differences were found between groups in handwriting performance (p < 0.05). The performance of the trapezius, biceps, and triceps muscles can predict 63.5% of the variance in the ability to write a short sentence (p < 0.023). Pen pressure can predict 74.9% of the hand motor performance from Fugl-Meyer assessment (p < 0.05). Handwriting was more damaged than was the pattern of activation of the proximal muscles of the shoulder and arm (p < 0.05). FM scores were highly, negatively correlated with the in-air writing time across tasks (r = -0.819, p < 0.004). This study confirms the clinical observation that dexterity skills are more damaged than are arm forward reach after a stroke. However, these differences in motor performance were not significant in mildly disabled patients, demonstrating the feasibility of handwriting rehabilitation in these patients. Therefore, we modestly recommend focusing on handwriting rehabilitation of the hemiparetic upper extremity in mildly impaired patients after a stroke.

The Sander parallelogram illusion dissociates action and perception despite control for the litany of past confounds.

PubMed

Whitwell, Robert L; Goodale, Melvyn A; Merritt, Kate E; Enns, James T

2018-01-01

The two visual systems hypothesis proposes that human vision is supported by an occipito-temporal network for the conscious visual perception of the world and a fronto-parietal network for visually-guided, object-directed actions. Two specific claims about the fronto-parietal network's role in sensorimotor control have generated much data and controversy: (1) the network relies primarily on the absolute metrics of target objects, which it rapidly transforms into effector-specific frames of reference to guide the fingers, hands, and limbs, and (2) the network is largely unaffected by scene-based information extracted by the occipito-temporal network for those same targets. These two claims lead to the counter-intuitive prediction that in-flight anticipatory configuration of the fingers during object-directed grasping will resist the influence of pictorial illusions. The research confirming this prediction has been criticized for confounding the difference between grasping and explicit estimates of object size with differences in attention, sensory feedback, obstacle avoidance, metric sensitivity, and priming. Here, we address and eliminate each of these confounds. We asked participants to reach out and pick up 3D target bars resting on a picture of the Sander Parallelogram illusion and to make explicit estimates of the length of those bars. Participants performed their grasps without visual feedback, and were permitted to grasp the targets after making their size-estimates to afford them an opportunity to reduce illusory error with haptic feedback. The results show unequivocally that the effect of the illusion is stronger on perceptual judgments than on grasping. Our findings from the normally-sighted population provide strong support for the proposal that human vision is comprised of functionally and anatomically dissociable systems. Copyright © 2017 Elsevier Ltd. All rights reserved.

K-12 Education in Germany: Curriculum and PISA 2015

ERIC Educational Resources Information Center

Atmacasoy, Abdullah

2017-01-01

Against the backdrop of PISA 2015 results, the aim of this study is to review basic structures of German education system by exploring curriculum development process, key features of each educational level and teacher education in order to grasp how Germany has amended her poor performance after PISA 2000 and persistently improved the quality of…

Using Children's Literature to Inspire K-8 Preservice Teachers' Future Mathematics Pedagogy

ERIC Educational Resources Information Center

Ward, Robin A.

2005-01-01

A growing body of research in the fields of mathematics education and literacy supports the inclusion of children's literature with the teaching and learning of mathematics. When mathematics is couched within a story and presented using pictures and informal, familiar language, students can more readily grasp the mathematical ideas and concepts.…

The iNACOL State Policy Frameworks: 5 Critical Issues to Transform K-12 Education

ERIC Educational Resources Information Center

Worthen, Maria; Patrick, Susan

2014-01-01

Over the last decade, the American education system has seen unprecedented transformation of teaching and learning as educators have grasped the power of new learning models to close achievement gaps and extend access to high-quality learning opportunities. The availability of adaptive digital tools that use data to improve student learning has…

Hard Times Hit Schools

ERIC Educational Resources Information Center

McNeil, Michele

2008-01-01

Hard-to-grasp dollar amounts are forcing real cuts in K-12 education at a time when the cost of fueling buses and providing school lunches is increasing and the demands of the federal No Child Left Behind Act still loom larger over states and districts. "One of the real challenges is to continue progress in light of the economy," said…

Deposition and thermal characterization of nano-structured aluminum nitride thin film on Cu-W substrate for high power light emitting diode package.

PubMed

Cho, Hyun Min; Kim, Min-Sun

2014-08-01

In this study, we developed AlN thick film on metal substrate for hybrid type LED package such as chip on board (COB) using metal printed circuit board (PCB). Conventional metal PCB uses ceramic-polymer composite as electrical insulating layer. Thermal conductivities of such type dielectric film are typically in the range of 1~4 W/m · K depending on the ceramic filler. Also, Al or Cu alloy are mainly used for metal base for high thermal conduction to dissipate heat from thermal source mounted on metal PCB. Here we used Cu-W alloy with low thermal expansion coefficient as metal substrate to reduce thermal stress between insulating layer and base metal. AlN with polyimide (PI) powder were used as starting materials for deposition. We could obtain very high thermal conductivity of 28.3 W/m · K from deposited AlN-PI thin film by AlN-3 wt% PI powder. We made hybrid type high power LED package using AlN-PI thin film. We tested thermal performance of this film by thermal transient measurement and compared with conventional metal PCB substrate.

Tropospheric temperature measurements using a rotational raman lidar

NASA Astrophysics Data System (ADS)

Lee, Robert Benjamin, III

Using the Hampton University (HU) Mie and Raman lidar, tropospheric temperature profiles were inferred from lidar measurements of anti-Stokes rotational Raman (RR) backscattered laser light from atmospheric nitrogen and oxygen molecules. The molecules were excited by 354.7 nanometer (nm) laser light emitted by the HU lidar. Averaged over 60-minute intervals, RR backscattered signals were detected in narrow 353.35 nm and 354.20 nm spectral bands with full-widths-at-half-maxima (FWHM) of 0.3 nm. During the special April 19-30, 2012, Ground-Based Remote Atmospheric Sounding Program (GRASP) campaign, the lidar temperature calibration coefficients were empirically derived using linear least squares and second order polynomial analyses of the lidar backscattered RR signals and of reference temperature profiles, obtained from radiosondes. The GRASP radiosondes were launched within 400 meters of the HU lidar site. Lidar derived temperature profiles were obtained at altitudes from the surface to over 18 kilometers (km) at night, and up to 5 km during the day. Using coefficients generated from least squares analyses, nighttime profiles were found to agree with profiles from reference radiosonde measurements within 3 K, at altitudes between 4 km and 9 km. Coefficients generated from the second order analyses yielded profiles which agreed with the reference profiles within 1 K uncertainty level in the 4 km to 10 km altitude region. Using profiles from GRASP radiosondes, the spatial and temporal homogeneities of the atmosphere, over HU, were estimated at the 1.5 K level within a 10 km radius of HU, and for observational periods approaching 3 hours. Theoretical calibration coefficients were derived from the optical and physical properties of the HU RR lidar and from the spectroscopic properties of atmospheric molecular nitrogen and oxygen. The theoretical coefficients along with lidar measurements of sky background radiances were used to evaluate the temporal stability of the empirically derived temperature profiles from the RR lidar measurements. The evaluations revealed systematic drifts in the coefficients. Frequent reference radiosonde temperature profiles should be used to correct for the drifts in the coefficients. For the first time, the cause of the coefficient drifts has been identified as the differences in the aging of the spectral responses of the HU lidar detector pairs. For the first time, the use of lidar sky background measurements was demonstrated as a useful technique to correct for the coefficient drift. This research should advance the derivations of lidar temperature calibration coefficients which can be used for long observational periods of temperature fields without the need for frequent lidar calibrations using radiosondes.

Evaluation of reach and grasp robot-assisted therapy suggests similar functional recovery patterns on proximal and distal arm segments in sub-acute hemiplegia.

PubMed

Loureiro, Rui C V; Harwin, William S; Lamperd, Robert; Collin, Christine

2014-05-01

This paper provides some additional evidence in support of the hypothesis that robot therapies are clinically beneficial in neurorehabilitation. Although only four subjects were included in the study, the design of the intervention and the measures were done so as to minimize bias. The results are presented as single case studies, and can only be interpreted as such due to the study size. The intensity of intervention was 16 h and the therapy philosophy (based on Carr and Shepherd) was that coordinated movements are preferable to joint based therapies, and that coordinating distal movements (in this case grasps) helps not only to recover function in these areas, but has greater value since the results are immediately transferable to daily skills such as reach and grasp movements.

Graphical introduction to chromospheric line formation

NASA Astrophysics Data System (ADS)

Rutten, Rob

2012-03-01

The basics of chromospheric line formation theory were laid out in the 1960s and 1970s by e.g., Thomas, Avrett, Hummer, Jefferies, Mihalas, Shine, Milkey. Since then there has been a long silence, without much progress in understanding the chromosphere or its diagnostics. At present, the situation changes thanks to better ground-based observing, space-based monitoring, and increasingly realistic numerical simulations. There is a now a strong need to revamp classical one-dimensional static modeling as basis for chromospheric line interpretation into 3D dynamic understanding of the major diagnostics, including IRIS's Mg II h&k. In this introduction I aim to explain the old wisdom in tutorial fashion, using cartoons and graphs as means towards an intuitive grasp of fads and fallacies of chromospheric line formation.

A comparison of hand grasp breakaway strengths and bare-handed grip strengths of the astronauts, SML 3 test subjects, and the subjects from the general population

NASA Technical Reports Server (NTRS)

Rajulu, Sudhakar L.; Klute, Glenn K.

1993-01-01

Astronauts have the task of retrieving and deploying satellites and handling massive objects in a around the payload bay. Concerns were raised that manual handling of such massive objects might induce loads to the shuttle suits exceeding the design-certified loads. The Crew and Thermal Division of NASA JSC simulated the satellite handling tasks (Satellite Manload Tests 1 and 3) and determined the maximum possible load that a suited member could impart onto the suit. In addition, the tests revealed that the load to the suit by an astronaut could be calculated from the astronaut's maximum hand grasp breakaway strength. Thus, this study was conducted to document that hand grasp breakaway strengths of the astronauts who were scheduled to perform EVA during the upcoming missions. In addition, this study verified whether the SML 3 test results were sufficient for documenting the maximum possible load. An attempt was made to predict grasp strength from grip strength and hand anthropometry. Based on the results from this study, the SML 3 test results were deemed sufficient to document the maximum possible load on the suit. Finally, prediction of grasp strength from grip strength was not as accurate as expected. Hence, it was recommended that grasp strength be collected from the astronauts in order to obtain accurate load estimation.

Learning visuomotor transformations for gaze-control and grasping.

PubMed

Hoffmann, Heiko; Schenck, Wolfram; Möller, Ralf

2005-08-01

For reaching to and grasping of an object, visual information about the object must be transformed into motor or postural commands for the arm and hand. In this paper, we present a robot model for visually guided reaching and grasping. The model mimics two alternative processing pathways for grasping, which are also likely to coexist in the human brain. The first pathway directly uses the retinal activation to encode the target position. In the second pathway, a saccade controller makes the eyes (cameras) focus on the target, and the gaze direction is used instead as positional input. For both pathways, an arm controller transforms information on the target's position and orientation into an arm posture suitable for grasping. For the training of the saccade controller, we suggest a novel staged learning method which does not require a teacher that provides the necessary motor commands. The arm controller uses unsupervised learning: it is based on a density model of the sensor and the motor data. Using this density, a mapping is achieved by completing a partially given sensorimotor pattern. The controller can cope with the ambiguity in having a set of redundant arm postures for a given target. The combined model of saccade and arm controller was able to fixate and grasp an elongated object with arbitrary orientation and at arbitrary position on a table in 94% of trials.

Development of a sapphire optical pressure sensor for high-temperature applications

NASA Astrophysics Data System (ADS)

Mills, David A.; Alexander, Dylan; Subhash, Ghatu; Sheplak, Mark

2014-06-01

This paper presents the fabrication, packaging, and characterization of a sapphire optical pressure sensor for hightemperature applications. Currently available instrumentation poses significant limitations on the ability to achieve realtime, continuous measurements in high-temperature environments such as those encountered in industrial gas turbines and high-speed aircraft. The fiber-optic lever design utilizes the deflection of a circular platinum-coated sapphire diaphragm to modulate the light reflected back to a single send/receive sapphire optical fiber. The 7 mm diameter, 50 μm thick diaphragm is attached using a novel thermocompression bonding process based on spark plasma sintering technology. Bonds using platinum as an intermediate layer are achieved at a temperature of 1200°C with a hold time of 5 min. Initial characterization of the bond interface using a simple tensile test indicates a bond strength in excess of 12 MPa. Analysis of the buckled diaphragm after bonding is also presented. The packaged sensor enables continuous operation up to 900°C. Room-temperature characterization reveals a first resonance of 18.2 kHz, a flat-band sensitivity of -130 dB re 1 V/Pa (0.32 μV/Pa) from 4-20 kHz, a minimum detectable pressure of 3.8 Pa, and a linear response up to 169 dB at 1.9 kHz.

An Agent Based Collaborative Simplification of 3D Mesh Model

NASA Astrophysics Data System (ADS)

Wang, Li-Rong; Yu, Bo; Hagiwara, Ichiro

Large-volume mesh model faces the challenge in fast rendering and transmission by Internet. The current mesh models obtained by using three-dimensional (3D) scanning technology are usually very large in data volume. This paper develops a mobile agent based collaborative environment on the development platform of mobile-C. Communication among distributed agents includes grasping image of visualized mesh model, annotation to grasped image and instant message. Remote and collaborative simplification can be efficiently conducted by Internet.

Calibrations between the variables of microbial TTI response and ground pork qualities.

PubMed

Kim, Eunji; Choi, Dong Yeol; Kim, Hyun Chul; Kim, Keehyuk; Lee, Seung Ju

2013-10-01

A time-temperature indicator (TTI) based on a lactic acid bacterium, Weissella cibaria CIFP009, was applied to ground pork packaging. Calibration curves between TTI response and pork qualities were obtained from storage tests at 2°C, 10°C, and 13°C. The curves of the TTI vs. total cell number at different temperatures coincided to the greatest extent, indicating the highest representativeness of calibration, by showing the least coefficient of variance (CV=11%) of the quality variables at a given TTI response (titratable acidity) on the curves, followed by pH (23%), volatile basic nitrogen (VBN) (25%), and thiobarbituric acid-reactive substances (TBARS) (47%). Similarity of Arrhenius activation energy (Ea) could also reflect the representativeness of calibration. The total cell number (104.9 kJ/mol) was found to be the most similar to that of the TTI response (106.2 kJ/mol), followed by pH (113.6 kJ/mol), VBN (77.4 kJ/mol), and TBARS (55.0 kJ/mol). Copyright © 2013 Elsevier Ltd. All rights reserved.

The Grasp of Physics Concepts of Motion: Identifying Particular Patterns in Students' Thinking

ERIC Educational Resources Information Center

Obaidat, Ihab; Malkawi, Ehab

2009-01-01

We have investigated the grasp of some of the basic concepts of motion by students taking the introductory physics course in Mechanics at United Arab Emirates University (UAEU). We have developed a short research-based multiple-choice test where we were able to extract some information about the state of knowledge of the students. In general, the…

Analysis pipelines and packages for Infinium HumanMethylation450 BeadChip (450k) data

PubMed Central

Morris, Tiffany J.; Beck, Stephan

2015-01-01

The Illumina HumanMethylation450 BeadChip has become a popular platform for interrogating DNA methylation in epigenome-wide association studies (EWAS) and related projects as well as resource efforts such as the International Cancer Genome Consortium (ICGC) and the International Human Epigenome Consortium (IHEC). This has resulted in an exponential increase of 450k data in recent years and triggered the development of numerous integrated analysis pipelines and stand-alone packages. This review will introduce and discuss the currently most popular pipelines and packages and is particularly aimed at new 450k users. PMID:25233806

Rana computatrix to human language: towards a computational neuroethology of language evolution.

PubMed

Arbib, Michael A

2003-10-15

Walter's Machina speculatrix inspired the name Rana computatrix for a family of models of visuomotor coordination in the frog, which contributed to the development of computational neuroethology. We offer here an 'evolutionary' perspective on models in the same tradition for rat, monkey and human. For rat, we show how the frog-like taxon affordance model provides a basis for the spatial navigation mechanisms that involve the hippocampus and other brain regions. For monkey, we recall two models of neural mechanisms for visuomotor coordination. The first, for saccades, shows how interactions between the parietal and frontal cortex augment superior colliculus seen as the homologue of frog tectum. The second, for grasping, continues the theme of parieto-frontal interactions, linking parietal affordances to motor schemas in premotor cortex. It further emphasizes the mirror system for grasping, in which neurons are active both when the monkey executes a specific grasp and when it observes a similar grasp executed by others. The model of human-brain mechanisms is based on the mirror-system hypothesis of the evolution of the language-ready brain, which sees the human Broca's area as an evolved extension of the mirror system for grasping.

Humanoid Mobile Manipulation Using Controller Refinement

NASA Technical Reports Server (NTRS)

Platt, Robert; Burridge, Robert; Diftler, Myron; Graf, Jodi; Goza, Mike; Huber, Eric; Brock, Oliver

2006-01-01

An important class of mobile manipulation problems are move-to-grasp problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion toward the object. However, after the robot has located and approached the object, the robot must finely control its grasping contacts using precise visual and haptic feedback. This paper proposes that move-to-grasp problems are naturally solved by a sequence of controllers that iteratively refines what ultimately becomes the final solution. This paper introduces the notion of a refining sequence of controllers and characterizes this type of solution. The approach is demonstrated in a move-to-grasp task where Robonaut, the NASA/JSC dexterous humanoid, is mounted on a mobile base and navigates to and picks up a geological sample box. In a series of tests, it is shown that a refining sequence of controllers decreases variance in robot configuration relative to the sample box until a successful grasp has been achieved.

Microsoft kinect-based artificial perception system for control of functional electrical stimulation assisted grasping.

PubMed

Strbac, Matija; Kočović, Slobodan; Marković, Marko; Popović, Dejan B

2014-01-01

We present a computer vision algorithm that incorporates a heuristic model which mimics a biological control system for the estimation of control signals used in functional electrical stimulation (FES) assisted grasping. The developed processing software acquires the data from Microsoft Kinect camera and implements real-time hand tracking and object analysis. This information can be used to identify temporal synchrony and spatial synergies modalities for FES control. Therefore, the algorithm acts as artificial perception which mimics human visual perception by identifying the position and shape of the object with respect to the position of the hand in real time during the planning phase of the grasp. This artificial perception used within the heuristically developed model allows selection of the appropriate grasp and prehension. The experiments demonstrate that correct grasp modality was selected in more than 90% of tested scenarios/objects. The system is portable, and the components are low in cost and robust; hence, it can be used for the FES in clinical or even home environment. The main application of the system is envisioned for functional electrical therapy, that is, intensive exercise assisted with FES.

Grasping with mechanical intelligence. M.S. Thesis

NASA Technical Reports Server (NTRS)

Ulrich, Nathan Thatcher

1988-01-01

Many robotic hands have been designed and a number have been built. Because of the difficulty of controlling and using complex hands, which usually have nine or more degrees of freedom, the simple one- or two-degree-of-freedom gripper is still the most common robotic end effector. A new category of device is presented: a medium-complexity end effector. With three to five degrees of freedom, such a tool is much easier to control and use, as well as more economical, compact and lightweight than complex hands. In order to increase the versatility, it was necessary to identify grasping primitives and to implement them in the mechanism. In addition, power and enveloping grasps are stressed over fingertip and precision grasps. The design is based upon analysis of object apprehension types, requisite characteristics for active sensing, and a determination of necessary environmental interactions. Contained are the general concepts necessary to the design of a medium-complexity end effector, an analysis of typical performance, and a computer simulation of a grasp planning algorithm specific to this type of mechanism. Finally, some details concerning the UPenn Hand-a tool designed for the research laboratory-are presented.

Humanoid Mobile Manipulation Using Controller Refinement

NASA Technical Reports Server (NTRS)

Platt, Robert; Burridge, Robert; Diftler, Myron; Graf, Jodi; Goza, Mike; Huber, Eric

2006-01-01

An important class of mobile manipulation problems are move-to-grasp problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion toward the object. However, after the robot has located and approached the object, the robot must finely control its grasping contacts using precise visual and haptic feedback. In this paper, it is proposed that move-to-grasp problems are naturally solved by a sequence of controllers that iteratively refines what ultimately becomes the final solution. This paper introduces the notion of a refining sequence of controllers and characterizes this type of solution. The approach is demonstrated in a move-to-grasp task where Robonaut, the NASA/JSC dexterous humanoid, is mounted on a mobile base and navigates to and picks up a geological sample box. In a series of tests, it is shown that a refining sequence of controllers decreases variance in robot configuration relative to the sample box until a successful grasp has been achieved.

Microsoft Kinect-Based Artificial Perception System for Control of Functional Electrical Stimulation Assisted Grasping

PubMed Central

Kočović, Slobodan; Popović, Dejan B.

2014-01-01

We present a computer vision algorithm that incorporates a heuristic model which mimics a biological control system for the estimation of control signals used in functional electrical stimulation (FES) assisted grasping. The developed processing software acquires the data from Microsoft Kinect camera and implements real-time hand tracking and object analysis. This information can be used to identify temporal synchrony and spatial synergies modalities for FES control. Therefore, the algorithm acts as artificial perception which mimics human visual perception by identifying the position and shape of the object with respect to the position of the hand in real time during the planning phase of the grasp. This artificial perception used within the heuristically developed model allows selection of the appropriate grasp and prehension. The experiments demonstrate that correct grasp modality was selected in more than 90% of tested scenarios/objects. The system is portable, and the components are low in cost and robust; hence, it can be used for the FES in clinical or even home environment. The main application of the system is envisioned for functional electrical therapy, that is, intensive exercise assisted with FES. PMID:25202707

PCIPS 2.0: Powerful multiprofile image processing implemented on PCs

NASA Technical Reports Server (NTRS)

Smirnov, O. M.; Piskunov, N. E.

1992-01-01

Over the years, the processing power of personal computers has steadily increased. Now, 386- and 486-based PC's are fast enough for many image processing applications, and inexpensive enough even for amateur astronomers. PCIPS is an image processing system based on these platforms that was designed to satisfy a broad range of data analysis needs, while requiring minimum hardware and providing maximum expandability. It will run (albeit at a slow pace) even on a 80286 with 640K memory, but will take full advantage of bigger memory and faster CPU's. Because the actual image processing is performed by external modules, the system can be easily upgraded by the user for all sorts of scientific data analysis. PCIPS supports large format lD and 2D images in any numeric type from 8-bit integer to 64-bit floating point. The images can be displayed, overlaid, printed and any part of the data examined via an intuitive graphical user interface that employs buttons, pop-up menus, and a mouse. PCIPS automatically converts images between different types and sizes to satisfy the requirements of various applications. PCIPS features an API that lets users develop custom applications in C or FORTRAN. While doing so, a programmer can concentrate on the actual data processing, because PCIPS assumes responsibility for accessing images and interacting with the user. This also ensures that all applications, even custom ones, have a consistent and user-friendly interface. The API is compatible with factory programming, a metaphor for constructing image processing procedures that will be implemented in future versions of the system. Several application packages were created under PCIPS. The basic package includes elementary arithmetics and statistics, geometric transformations and import/export in various formats (FITS, binary, ASCII, and GIF). The CCD processing package and the spectral analysis package were successfully used to reduce spectra from the Nordic Telescope at La Palma. A photometry package is also available, and other packages are being developed. A multitasking version of PCIPS that utilizes the factory programming concept is currently under development. This version will remain compatible (on the source code level) with existing application packages and custom applications.

Raman Optical Activity Spectra from Density Functional Perturbation Theory and Density-Functional-Theory-Based Molecular Dynamics.

PubMed

Luber, Sandra

2017-03-14

We describe the calculation of Raman optical activity (ROA) tensors from density functional perturbation theory, which has been implemented into the CP2K software package. Using the mixed Gaussian and plane waves method, ROA spectra are evaluated in the double-harmonic approximation. Moreover, an approach for the calculation of ROA spectra by means of density functional theory-based molecular dynamics is derived and used to obtain an ROA spectrum via time correlation functions, which paves the way for the calculation of ROA spectra taking into account anharmonicities and dynamic effects at ambient conditions.

Prehension Synergies in the Grasps With Complex Friction Patterns: Local Versus Synergic Effects and the Template Control

PubMed Central

Niu, Xun; Latash, Mark L.; Zatsiorsky, Vladimir M.

2010-01-01

We studied adjustments of digit forces to changes in the friction. The subjects held a handle statically in a three-digit grasp. The friction under each digit was either high or low, resulting in eight three-element friction sets (such grasps were coined the grasps with complex friction pattern). The total load was also manipulated. It was found that digit forces were adjusted not only to the supported load and local friction, but also to friction at other digits (synergic effects). When friction under a digit was low, its tangential force decreased and the normal force increased (local effects). The synergic effects were directed to maintain the equilibrium of the handle. The relation between the individual digit forces and loads agreed with the triple-product model: fin=ki(2)ki(1)L, where fin is normal force of digit i, L is the load (newtons), ki(1) is a dimensionless coefficient representing sharing the total tangential force among the digits (Σki(1)=1.0), and ki(2) is a coefficient representing the relation between the tangential and normal forces of digit i (the overall friction equivalent, OFE). At each friction set, the central controller selected the grasping template—a three-element array of ki(2)ki(1) products—and then scaled the template with the load magnitude. PMID:17493928

Testing of Visual Field with Virtual Reality Goggles in Manual and Visual Grasp Modes

PubMed Central

Wroblewski, Dariusz; Francis, Brian A.; Sadun, Alfredo; Vakili, Ghazal; Chopra, Vikas

2014-01-01

Automated perimetry is used for the assessment of visual function in a variety of ophthalmic and neurologic diseases. We report development and clinical testing of a compact, head-mounted, and eye-tracking perimeter (VirtualEye) that provides a more comfortable test environment than the standard instrumentation. VirtualEye performs the equivalent of a full threshold 24-2 visual field in two modes: (1) manual, with patient response registered with a mouse click, and (2) visual grasp, where the eye tracker senses change in gaze direction as evidence of target acquisition. 59 patients successfully completed the test in manual mode and 40 in visual grasp mode, with 59 undergoing the standard Humphrey field analyzer (HFA) testing. Large visual field defects were reliably detected by VirtualEye. Point-by-point comparison between the results obtained with the different modalities indicates: (1) minimal systematic differences between measurements taken in visual grasp and manual modes, (2) the average standard deviation of the difference distributions of about 5 dB, and (3) a systematic shift (of 4–6 dB) to lower sensitivities for VirtualEye device, observed mostly in high dB range. The usability survey suggested patients' acceptance of the head-mounted device. The study appears to validate the concepts of a head-mounted perimeter and the visual grasp mode. PMID:25050326

A cooled 1- to 2-GHz balanced HEMT amplifier

NASA Technical Reports Server (NTRS)

Ortiz, Gerardo G.; Padin, Steven

1991-01-01

The design details and measurement results for a cooled L-band (1 to 2 GHz) balanced high electron mobility transistor (HEMT) amplifier are presented. The amplifier uses commercially available packaged HEMT devices (Fujitsu FHR02FH). At a physical temperature of 12 K, the amplifier achieves noise temperatures between 3 and 6 K over the 1 to 2 GHz band. The associated gain is approximately 20 dB.

Effect of different new packaging materials on biscuit quality during accelerated storage.

PubMed

Romani, Santina; Tappi, Silvia; Balestra, Federica; Rodriguez Estrada, Maria Teresa; Siracusa, Valentina; Rocculi, Pietro; Dalla Rosa, Marco

2015-06-01

The effect of innovative multilayer packaging materials versus a standard one on biscuit quality was studied during accelerated storage at 25, 35, 45 °C and 50% relative humidity for 92 days. Three different packaging materials were used: metalized orientated polypropylene (OPP)/paper (control); metalized poly-lactic acid (PLA)/paper; metalized OPP with ethylene vinyl acetate pro-oxidant additive (EVA-POA)/paper. EVA-POA additive is used to make the plastic layer biodegradable. Various quality sample parameters (moisture, water activity (aw ), texture, peroxide value (PV), hexanal) were analysed during storage. Rate constants (k) and activation energies (Ea ) of hydration reactions and hexanal formation were calculated. No remarkable differences in the evolution of primary and secondary lipid oxidation were observed among differently packed biscuits during storage. All samples maintained PV levels between 4 and 14 meq O2 kg(-1) oil. The product in flexible packaging with PLA reached the highest moisture and aw levels, but they did not significantly and adversely affect the other quality characteristics. The obtained results demonstrate that the new tested packaging materials were suitable for commercial biscuit storage, having similar performance and preservation effects on the overall product quality to those of the standard one. Furthermore, these results could make a contribution to the food industry, encouraging the use of packaging materials with a negligible environmental impact as an alternative to petroleum-based ones. © 2014 Society of Chemical Industry.

Effects of grasp compatibility on long-term memory for objects.

PubMed

Canits, Ivonne; Pecher, Diane; Zeelenberg, René

2018-01-01

Previous studies have shown action potentiation during conceptual processing of manipulable objects. In four experiments, we investigated whether these motor actions also play a role in long-term memory. Participants categorized objects that afforded either a power grasp or a precision grasp as natural or artifact by grasping cylinders with either a power grasp or a precision grasp. In all experiments, responses were faster when the affordance of the object was compatible with the type of grasp response. However, subsequent free recall and recognition memory tasks revealed no better memory for object pictures and object names for which the grasp affordance was compatible with the grasp response. The present results therefore do not support the hypothesis that motor actions play a role in long-term memory. Copyright © 2017 Elsevier B.V. All rights reserved.

Mena–GRASP65 interaction couples actin polymerization to Golgi ribbon linking

PubMed Central

Tang, Danming; Zhang, Xiaoyan; Huang, Shijiao; Yuan, Hebao; Li, Jie; Wang, Yanzhuang

2016-01-01

In mammalian cells, the Golgi reassembly stacking protein 65 (GRASP65) has been implicated in both Golgi stacking and ribbon linking by forming trans-oligomers through the N-terminal GRASP domain. Because the GRASP domain is globular and relatively small, but the gaps between stacks are large and heterogeneous, it remains puzzling how GRASP65 physically links Golgi stacks into a ribbon. To explore the possibility that other proteins may help GRASP65 in ribbon linking, we used biochemical methods and identified the actin elongation factor Mena as a novel GRASP65-binding protein. Mena is recruited onto the Golgi membranes through interaction with GRASP65. Depleting Mena or disrupting actin polymerization resulted in Golgi fragmentation. In cells, Mena and actin were required for Golgi ribbon formation after nocodazole washout; in vitro, Mena and microfilaments enhanced GRASP65 oligomerization and Golgi membrane fusion. Thus Mena interacts with GRASP65 to promote local actin polymerization, which facilitates Golgi ribbon linking. PMID:26538023

Combined effects of gamma irradiation and a modified atmospheric packaging on the physicochemical characteristics of sausage

NASA Astrophysics Data System (ADS)

Ahn, Hyun-Joo; Kim, Jae-Hyun; Jo, Cheorun; Lee, Ju-Woon; Yook, Hong-Sun; Kim, Hee-Yun; Byun, Myung-Woo

2004-09-01

This study is to investigate the combined effects of irradiation and a modified atmospheric packaging (MAP) on the color, nitrosoheme pigments (NO-Mb), residual nitrite and N-nitrosodimethylamine (NDMA) in sausage during storage. Sausage with air, vacuum, CO 2, N 2, or CO 2/N 2 packaging was irradiated at 5 kGy. Irradiation reduced the red color of sausage, and a vacuum or MAP was effective in minimizing the loss of redness. The reduction of NO-Mb was observed by irradiation, while the MAP was more effective in maintaining the NO-Mb than the aerobic ones. Residual nitrite was reduced by irradiation, and the contents were lower under vacuum or MAP than aerobic ones. NDMA was significantly reduced by irradiation.

Effects of gamma irradiation and silver nano particles on microbiological characteristics of saffron, using hurdle technology.

PubMed

Hamid Sales, E; Motamedi Sedeh, F; Rajabifar, S

2012-03-01

Saffron, a plant from the Iridaceae family, is the world's most expensive spice. Gamma irradiation and silver nano particles whose uses are gradually increasing worldwide, have positive effects on preventing decay by sterilizing the microorganisms and by improving the safety without compromising the nutritional properties and sensory quality of the foods. In the present study combination effects of gamma irradiation and silver nano particles packaging on the microbial contamination of saffron were considered during storage. A combination of hurdles can ensure stability and microbial safety of foods. For this purpose, saffron samples were packaged by Poly Ethylene films that posses up to 300 ppm nano silver particles as antimicrobial agents and then irradiated in cobalt-60 irradiator (gamma cell PX30, dose rate 0.55 Gry/Sec) to 0, 1, 2,3 and 4 kGy at room temperature. The antimicrobial activities against Total Aerobic Mesophilic Bacteria, Entrobacteriace, Escherichia Coli and Clostridium Perfringines were higher in the irradiated samples, demonstrating the inhibition zone for their growth. Irradiation of the saffron samples packaged by Poly Ethylene films with nano silver particles showed the best results for decreasing microbial contamination at 2 kGy and for Poly Ethylene films without silver nano particles; it was 4 kGy.

GRASP/Ada: Graphical Representations of Algorithms, Structures, and Processes for Ada. The development of a program analysis environment for Ada: Reverse engineering tools for Ada, task 2, phase 3

NASA Technical Reports Server (NTRS)

Cross, James H., II

1991-01-01

The main objective is the investigation, formulation, and generation of graphical representations of algorithms, structures, and processes for Ada (GRASP/Ada). The presented task, in which various graphical representations that can be extracted or generated from source code are described and categorized, is focused on reverse engineering. The following subject areas are covered: the system model; control structure diagram generator; object oriented design diagram generator; user interface; and the GRASP library.

Shape Memory Alloy-Based Soft Gripper with Variable Stiffness for Compliant and Effective Grasping.

PubMed

Wang, Wei; Ahn, Sung-Hoon

2017-12-01

Soft pneumatic actuators and motor-based mechanisms being concomitant with the cumbersome appendages have many challenges to making the independent robotic system with compact and lightweight configuration. Meanwhile, shape memory actuators have shown a promising alternative solution in many engineering applications ranging from artificial muscle to aerospace industry. However, one of the main limitations of such systems is their inherent softness resulting in a small actuation force, which prevents them from more effective applications. This issue can be solved by combining shape memory actuators and the mechanism of stiffness modulation. As a first, this study describes a shape memory alloy-based soft gripper composed of three identical fingers with variable stiffness for adaptive grasping in low stiffness state and effective holding in high stiffness state. Each finger with two hinges is fabricated through integrating soft composite actuator with stiffness changeable material where each hinge can approximately achieve a 55-fold changeable stiffness independently. Besides, each finger with two hinges can actively achieve multiple postures by both selectively changing the stiffness of hinges and actuating the relevant SMA wire. Based on these principles, the gripper is applicable for grasping objects with deformable shapes and varying shapes with a large range of weight where its maximum grasping force is increased to ∼10 times through integrating with the stiffness changeable mechanism. The final demonstration shows that the finger with desired shape-retained configurations enables the gripper to successfully pick up a frustum-shaped object.

Ultraviolet-C Light Sanitization of English Cucumber (Cucumis sativus) Packaged in Polyethylene Film.

PubMed

Tarek, Abdussamad R; Rasco, Barbara A; Sablani, Shyam S

2016-06-01

Food safety is becoming an increasing concern in the United States. This study investigated the effects of ultraviolet-C (UV-C) light as a postpackaging bactericidal treatment on the quality of English cucumber packaged in polyethylene (PE) film. Escherichia coli k-12 was used as a surrogate microbe. The microbial growth and physical properties of packaged cucumbers were analyzed during a 28-d storage period at 5 °C. Inoculating packaged cucumbers treated at 23 °C for 6 min with UV-C (560 mJ/cm(2) ) resulted in a 1.60 log CFU/g reduction. However, this treatment had no significant effect (P > 0.05) on the water vapor transmission rate or oxygen transmission rate of the PE film. Results show that UV-C light treatment delayed the loss of firmness and yellowing of English cucumber up to 28 d at 5 °C. In addition, UV-C light treatment extended the shelf life of treated cucumber 1 wk longer compared to untreated cucumbers. Electron microscopy images indicate that UV-C light treatment influences the morphology of the E. coli k-12 cells. Findings demonstrate that treating cucumbers with UV-C light following packaging in PE film can reduce bacterial populations significantly and delay quality loss. This technology may also be effective for other similarly packaged fresh fruits and vegetables. © 2016 Institute of Food Technologists®

21 CFR 1.24 - Exemptions from required label statements.

Code of Federal Regulations, 2014 CFR

2014-04-01

... skimmed milk, vitamin D milk and milk products, fortified milk and milk products, homogenized milk... food package shall be exempt from regulations of section 403 (e)(1), (g)(2), (i)(2), (k), and (q) of...

21 CFR 1.24 - Exemptions from required label statements.

Code of Federal Regulations, 2013 CFR

2013-04-01

... skimmed milk, vitamin D milk and milk products, fortified milk and milk products, homogenized milk... food package shall be exempt from regulations of section 403 (e)(1), (g)(2), (i)(2), (k), and (q) of...

21 CFR 1.24 - Exemptions from required label statements.

Code of Federal Regulations, 2012 CFR

2012-04-01

... skimmed milk, vitamin D milk and milk products, fortified milk and milk products, homogenized milk... food package shall be exempt from regulations of section 403 (e)(1), (g)(2), (i)(2), (k), and (q) of...

Design and Development of a CPCI-Based Electronics Package for Space Station Experiments

NASA Technical Reports Server (NTRS)

Kolacz, John S.; Clapper, Randy S.; Wade, Raymond P.

2006-01-01

The NASA John H. Glenn Research Center is developing a Compact-PCI (CPCI) based electronics package for controlling space experiment hardware on the International Space Station. Goals of this effort include an easily modified, modular design that allows for changes in experiment requirements. Unique aspects of the experiment package include a flexible circuit used for internal interconnections and a separate enclosure (box in a box) for controlling 1 kW of power for experiment fuel heating requirements. This electronics package was developed as part of the FEANICS (Flow Enclosure Accommodating Novel Investigations in Combustion of Solids) mini-facility which is part of the Fluids and Combustion Facility s Combustion Integrated Rack (CIR). The CIR will be the platform for future microgravity combustion experiments and will reside on the Destiny Module of the International Space Station (ISS). The FEANICS mini-facility will be the primary means for conducting solid fuel combustion experiments in the CIR on ISS. The main focus of many of these solid combustion experiments will be to conduct applied scientific investigations in fire-safety to support NASA s future space missions. A description of the electronics package and the results of functional testing are the subjects of this report. The report concludes that the use of innovative packaging methods combined with readily available COTS hardware can provide a modular electronics package which is easily modified for changing experiment requirements.

49 CFR 173.225 - Packaging requirements and other provisions for organic peroxides.

Code of Federal Regulations, 2014 CFR

2014-10-01

... Where: q = heat absorption (W) A = wetted area (m2) F = insulation factor (−) (B) Insulation factor (F... insulated vessels F is calculated using the following formula: ER20DE04.003 Where: U = K/L = heat transfer coefficient of the insulation (W·m−2·K−1); where K = heat conductivity of insulation layer (W·m−1·K−1), and L...

Isoform-specific tethering links the Golgi ribbon to maintain compartmentalization

PubMed Central

Jarvela, Timothy; Linstedt, Adam D.

2014-01-01

Homotypic membrane tethering by the Golgi reassembly and stacking proteins (GRASPs) is required for the lateral linkage of mammalian Golgi ministacks into a ribbon-like membrane network. Although GRASP65 and GRASP55 are specifically localized to cis and medial/trans cisternae, respectively, it is unknown whether each GRASP mediates cisternae-specific tethering and whether such specificity is necessary for Golgi compartmentalization. Here each GRASP was tagged with KillerRed (KR), expressed in HeLa cells, and inhibited by 1-min exposure to light. Significantly, inactivation of either GRASP unlinked the Golgi ribbon, and the immediate effect of GRASP65-KR inactivation was a loss of cis- rather than trans-Golgi integrity, whereas inactivation of GRASP55-KR first affected the trans- and not the cis-Golgi. Thus each GRASP appears to play a direct and cisternae-specific role in linking ministacks into a continuous membrane network. To test the consequence of loss of cisternae-specific tethering, we generated Golgi membranes with a single GRASP on all cisternae. Remarkably, the membranes exhibited the full connectivity of wild-type Golgi ribbons but were decompartmentalized and defective in glycan processing. Thus the GRASP isoforms specifically link analogous cisternae to ensure Golgi compartmentalization and proper processing. PMID:24227884

Distinct neural patterns enable grasp types decoding in monkey dorsal premotor cortex.

PubMed

Hao, Yaoyao; Zhang, Qiaosheng; Controzzi, Marco; Cipriani, Christian; Li, Yue; Li, Juncheng; Zhang, Shaomin; Wang, Yiwen; Chen, Weidong; Chiara Carrozza, Maria; Zheng, Xiaoxiang

2014-12-01

Recent studies have shown that dorsal premotor cortex (PMd), a cortical area in the dorsomedial grasp pathway, is involved in grasp movements. However, the neural ensemble firing property of PMd during grasp movements and the extent to which it can be used for grasp decoding are still unclear. To address these issues, we used multielectrode arrays to record both spike and local field potential (LFP) signals in PMd in macaque monkeys performing reaching and grasping of one of four differently shaped objects. Single and population neuronal activity showed distinct patterns during execution of different grip types. Cluster analysis of neural ensemble signals indicated that the grasp related patterns emerged soon (200-300 ms) after the go cue signal, and faded away during the hold period. The timing and duration of the patterns varied depending on the behaviors of individual monkey. Application of support vector machine model to stable activity patterns revealed classification accuracies of 94% and 89% for each of the two monkeys, indicating a robust, decodable grasp pattern encoded in the PMd. Grasp decoding using LFPs, especially the high-frequency bands, also produced high decoding accuracies. This study is the first to specify the neuronal population encoding of grasp during the time course of grasp. We demonstrate high grasp decoding performance in PMd. These findings, combined with previous evidence for reach related modulation studies, suggest that PMd may play an important role in generation and maintenance of grasp action and may be a suitable locus for brain-machine interface applications.

When Whole-Genome Alignments Just Won't Work: kSNP v2 Software for Alignment-Free SNP Discovery and Phylogenetics of Hundreds of Microbial Genomes

PubMed Central

Gardner, Shea N.; Hall, Barry G.

2013-01-01

Effective use of rapid and inexpensive whole genome sequencing for microbes requires fast, memory efficient bioinformatics tools for sequence comparison. The kSNP v2 software finds single nucleotide polymorphisms (SNPs) in whole genome data. kSNP v2 has numerous improvements over kSNP v1 including SNP gene annotation; better scaling for draft genomes available as assembled contigs or raw, unassembled reads; a tool to identify the optimal value of k; distribution of packages of executables for Linux and Mac OS X for ease of installation and user-friendly use; and a detailed User Guide. SNP discovery is based on k-mer analysis, and requires no multiple sequence alignment or the selection of a single reference genome. Most target sets with hundreds of genomes complete in minutes to hours. SNP phylogenies are built by maximum likelihood, parsimony, and distance, based on all SNPs, only core SNPs, or SNPs present in some intermediate user-specified fraction of targets. The SNP-based trees that result are consistent with known taxonomy. kSNP v2 can handle many gigabases of sequence in a single run, and if one or more annotated genomes are included in the target set, SNPs are annotated with protein coding and other information (UTRs, etc.) from Genbank file(s). We demonstrate application of kSNP v2 on sets of viral and bacterial genomes, and discuss in detail analysis of a set of 68 finished E. coli and Shigella genomes and a set of the same genomes to which have been added 47 assemblies and four “raw read” genomes of H104:H4 strains from the recent European E. coli outbreak that resulted in both bloody diarrhea and hemolytic uremic syndrome (HUS), and caused at least 50 deaths. PMID:24349125

When whole-genome alignments just won't work: kSNP v2 software for alignment-free SNP discovery and phylogenetics of hundreds of microbial genomes.

PubMed

Gardner, Shea N; Hall, Barry G

2013-01-01

Effective use of rapid and inexpensive whole genome sequencing for microbes requires fast, memory efficient bioinformatics tools for sequence comparison. The kSNP v2 software finds single nucleotide polymorphisms (SNPs) in whole genome data. kSNP v2 has numerous improvements over kSNP v1 including SNP gene annotation; better scaling for draft genomes available as assembled contigs or raw, unassembled reads; a tool to identify the optimal value of k; distribution of packages of executables for Linux and Mac OS X for ease of installation and user-friendly use; and a detailed User Guide. SNP discovery is based on k-mer analysis, and requires no multiple sequence alignment or the selection of a single reference genome. Most target sets with hundreds of genomes complete in minutes to hours. SNP phylogenies are built by maximum likelihood, parsimony, and distance, based on all SNPs, only core SNPs, or SNPs present in some intermediate user-specified fraction of targets. The SNP-based trees that result are consistent with known taxonomy. kSNP v2 can handle many gigabases of sequence in a single run, and if one or more annotated genomes are included in the target set, SNPs are annotated with protein coding and other information (UTRs, etc.) from Genbank file(s). We demonstrate application of kSNP v2 on sets of viral and bacterial genomes, and discuss in detail analysis of a set of 68 finished E. coli and Shigella genomes and a set of the same genomes to which have been added 47 assemblies and four "raw read" genomes of H104:H4 strains from the recent European E. coli outbreak that resulted in both bloody diarrhea and hemolytic uremic syndrome (HUS), and caused at least 50 deaths.

Stirling engine external heat system design with heat pipe heater

NASA Technical Reports Server (NTRS)

Godett, Ted M.; Ziph, Benjamin

1986-01-01

This final report presents the conceptual design of a liquid fueled external heating system (EHS) and the preliminary design of a heat pipe heater for the STM-4120 Stirling cycle engine, to meet the Air Force mobile electric power (MEP) requirement for units in the range of 20 to 60 kW. The EHS design had the following constraints: (1) Packaging requirements limited the overall system dimensions to about 330 mm x 250 mm x 100 mm; (2) Heat flux to the sodium heat pipe evaporator was limited to an average of 100 kW/m and a maximum of 550 kW/m based on previous experience; and (3) The heat pipe operating temperature was specified to be 800 C based on heat input requirements of the STM4-120. An analysis code was developed to optimize the EHS performance parameters and an analytical development of the sodium heat pipe heater was performed; both are presented and discussed. In addition, construction techniques were evaluated and scale model heat pipe testing performed.

Grasp movement decoding from premotor and parietal cortex.

PubMed

Townsend, Benjamin R; Subasi, Erk; Scherberger, Hansjörg

2011-10-05

Despite recent advances in harnessing cortical motor-related activity to control computer cursors and robotic devices, the ability to decode and execute different grasping patterns remains a major obstacle. Here we demonstrate a simple Bayesian decoder for real-time classification of grip type and wrist orientation in macaque monkeys that uses higher-order planning signals from anterior intraparietal cortex (AIP) and ventral premotor cortex (area F5). Real-time decoding was based on multiunit signals, which had similar tuning properties to cells in previous single-unit recording studies. Maximum decoding accuracy for two grasp types (power and precision grip) and five wrist orientations was 63% (chance level, 10%). Analysis of decoder performance showed that grip type decoding was highly accurate (90.6%), with most errors occurring during orientation classification. In a subsequent off-line analysis, we found small but significant performance improvements (mean, 6.25 percentage points) when using an optimized spike-sorting method (superparamagnetic clustering). Furthermore, we observed significant differences in the contributions of F5 and AIP for grasp decoding, with F5 being better suited for classification of the grip type and AIP contributing more toward decoding of object orientation. However, optimum decoding performance was maximal when using neural activity simultaneously from both areas. Overall, these results highlight quantitative differences in the functional representation of grasp movements in AIP and F5 and represent a first step toward using these signals for developing functional neural interfaces for hand grasping.

Development and validation of a comprehensive model for map of fruits based on enzyme kinetics theory and arrhenius relation.

PubMed

Mangaraj, S; K Goswami, T; Mahajan, P V

2015-07-01

MAP is a dynamic system where respiration of the packaged product and gas permeation through the packaging film takes place simultaneously. The desired level of O2 and CO2 in a package is achieved by matching film permeation rates for O2 and CO2 with respiration rate of the packaged product. A mathematical model for MAP of fresh fruits applying enzyme kinetics based respiration equation coupled with the Arrhenious type model was developed. The model was solved numerically using MATLAB programme. The model was used to determine the time to reach to the equilibrium concentration inside the MA package and the level of O2 and CO2 concentration at equilibrium state. The developed model for prediction of equilibrium O2 and CO2 concentration was validated using experimental data for MA packaging of apple, guava and litchi.

Packaging of single DNA molecules by the yeast mitochondrial protein Abf2p.

PubMed

Brewer, Laurence R; Friddle, Raymond; Noy, Aleksandr; Baldwin, Enoch; Martin, Shelley S; Corzett, Michele; Balhorn, Rod; Baskin, Ronald J

2003-10-01

Mitochondrial and nuclear DNA are packaged by proteins in a very different manner. Although protein-DNA complexes called "nucleoids" have been identified as the genetic units of mitochondrial inheritance in yeast and man, little is known about their physical structure. The yeast mitochondrial protein Abf2p was shown to be sufficient to compact linear dsDNA, without the benefit of supercoiling, using optical and atomic force microscopy single molecule techniques. The packaging of DNA by Abf2p was observed to be very weak as evidenced by a fast Abf2p off-rate (k(off) = 0.014 +/- 0.001 s(-1)) and the extremely small forces (<0.6 pN) stabilizing the condensed protein-DNA complex. Atomic force microscopy images of individual complexes showed the 190-nm structures are loosely packaged relative to nuclear chromatin. This organization may leave mtDNA accessible for transcription and replication, while making it more vulnerable to damage.

Functional Electrical Therapy Systems: Neuroprostheses for Life-Like Reach and Grasp

DTIC Science & Technology

2001-10-25

communication channel by means of an infrared link. Keywords – Neuroprosthesis, therapy, reaching, grasping I. INTRODUCTION Functional electrical...present technology and the next generation. Proc 2nd Int Symp IFESS, Burnaby, pp 139-140, 1997. [7] Ocadiz G, Mayagoitia RE. Programmable eight channel

[Energy and macronutrients intake from pre-packaged foods among urban residents].

PubMed

Zhang, Jiguo; Huang, Feifei; Wang, Huijun; Zhai, Feigying; Zhang, Bing

2015-03-01

To analyze the energy and macronutrients intake from pre-packaged foods among urban residents in China. The adult subjects were selected from 9 cities of Beijing, Shanghai, Chongqing, Shenyang, Harbin, Jinan, Zhengzhou, Changsha, Nanning. The recording method for 7 consecutive days was used to collect pre-packaged foods consumption information. Among subjects, the median intake of energy, protein, fat and carbohydrate from pre-packaged foods were 628. 8kJ/d, 5.0 g/d, 6.7 g/d and 17.0 g/d, respectively. Among consumers, the median intake of energy, protein, fat and carbohydrate from pre-packaged foods were 745. 3 kJ/d, 6. 0 g/d, 7. 7 g/d and 20. 7 g/d, respectively. The energy and macronutrients intake from pre-packaged foods were at low level.

Is the Control of Applied Digital Forces During Natural Five-digit Grasping Affected by Carpal Tunnel Syndrome?

PubMed

Chen, Po-Tsun; Jou, I-Ming; Lin, Chien-Ju; Chieh, Hsiao-Feng; Kuo, Li-Chieh; Su, Fong-Chin

2015-07-01

The impaired sensory function of the hand induced by carpal tunnel syndrome (CTS) is known to disturb dexterous manipulations. However, force control during daily grasping configuration among the five digits has not been a prominent focus of study. Because grasping is so important to normal function and use of a hand, it is important to understand how sensory changes in CTS affect the digit force of natural grasp. We therefore examined the altered patterns of digit forces applied during natural five-digit grasping in patients with CTS and compared them with those seen in control subjects without CTS. We hypothesized that the patients with CTS will grasp by applying larger forces with lowered pair correlations and more force variability of the involved digits than the control subjects. Specifically, we asked: (1) Is there a difference between patients with CTS and control subjects in applied force by digits during lift-hold-lower task? (2) Is there a difference in force correlation coefficient of the digit pairs? (3) Are there force variability differences during the holding phase? We evaluated 15 female patients with CTS and 15 control subjects matched for age, gender, and hand dominance. The applied radial forces (Fr) of the five digits were recorded by respective force transducers on a cylinder simulator during the lift-hold-lower task with natural grasping. The movement phases of the task were determined by a video-based motion capture system. The applied forces of the thumb in patients with CTS (7 ± 0.8 N; 95% CI, 7.2-7.4 N) versus control subjects (5 ± 0.8 N; 95% CI, 5.1-5.3 N) and the index finger in patients with CTS (3 ± 0.3 N; 95% CI, 3.2-3.3 N) versus control subjects (2 ± 0.3 N; 95% CI, 2.2-2.3 N) observed throughout most of the task were larger in the CTS group (p ranges 0.035-0.050 for thumb and 0.016-0.050 for index finger). In addition, the applied force of the middle finger in patients with CTS (1 ± 0.1 N; 95% CI, 1.3-1.4 N) versus the control subjects (2 ± 0.2 N; 95% CI, 1.9-2.0 N) during the lowering phase was larger in CTS group (p ranges 0.039-0.050). The force correlations of the thumb-middle finger observed during the lowering phase in the patients with CTS (0.8 ± 0.2; 95% CI, 0.6-0.9) versus the control subjects (0.9 ± 0.1; 95% CI, 0.8-1.0; p = 0.04) were weaker in the CTS group. The thumb-little finger during holding in the patients with CTS (0.5 ± 0.2; 95% CI, 0.3-0.7) versus the control subjects (0.8 ± 0.2; 95% CI, 0.6-0.9; p = 0.02), and the lowering phase in the patients with CTS (0.6 ± 0.2; 95% CI, 0.3-0.8) versus the control subjects (0.9 ± 0.1; 95% CI, 0.8-1.0; p = 0.01) also were weaker. The force variabilities of patients with CTS were greater in the CTS group than in the control subjects: in the thumb ([0.26 ± 0.11 N, 95% CI, 0.20-0.32 N] versus [0.19 ± 0.06 N; 95% CI, 0.16-0.22 N], p = 0.03); index finger ([0.09 ± 0.07 N; 95% CI, 0.05-0.13 N] versus [0.05 ± 0.03 N; 95% CI, 0.04-0.07 N], p = 0.03); middle finger ([0.06 ± 0.04 N; 95% CI, 0.04-0.08 N] versus [0.03 ± 0.01 N; 95% CI, 0.02-0.04 N], p = 0.02), and ring finger ([0.04 ± 0.03 N; 95% CI, 0.20-0.06 N] versus [0.02 ± 0.01 N; 95% CI, 0.02-0.02 N], p = 0.01). Patients with CTS grasped with greater digit force associated with weaker correlation and higher variability on specific digits in different task demands. These altered patterns in daily grasping may lead to secondary problems, which will need to be assessed in future studies with this model to see if they are reversible in patients undergoing carpal tunnel release. The current results helped to identify altered patterns of grasping force during simulated daily function in patients with CTS and to provide the clinician with potential information that might help guide the rehabilitation of grasp in these patients.

Development of a parametric kinematic model of the human hand and a novel robotic exoskeleton.

PubMed

Burton, T M W; Vaidyanathan, R; Burgess, S C; Turton, A J; Melhuish, C

2011-01-01

This paper reports the integration of a kinematic model of the human hand during cylindrical grasping, with specific focus on the accurate mapping of thumb movement during grasping motions, and a novel, multi-degree-of-freedom assistive exoskeleton mechanism based on this model. The model includes thumb maximum hyper-extension for grasping large objects (~> 50 mm). The exoskeleton includes a novel four-bar mechanism designed to reproduce natural thumb opposition and a novel synchro-motion pulley mechanism for coordinated finger motion. A computer aided design environment is used to allow the exoskeleton to be rapidly customized to the hand dimensions of a specific patient. Trials comparing the kinematic model to observed data of hand movement show the model to be capable of mapping thumb and finger joint flexion angles during grasping motions. Simulations show the exoskeleton to be capable of reproducing the complex motion of the thumb to oppose the fingers during cylindrical and pinch grip motions. © 2011 IEEE

Slip speed feedback for grip force control.

PubMed

Damian, D D; Arita, A H; Martinez, H; Pfeifer, R

2012-08-01

Grasp stability in the human hand has been resolved by means of an intricate network of mechanoreceptors integrating numerous cues about mechanical events, through an ontogenetic grasp practice. An engineered prosthetic interface introduces considerable perturbation risks in grasping, calling for feedback modalities that address the underlying slip phenomenon. In this study, we propose an enhanced slip feedback modality, with potential for myoelectric-based prosthetic applications, that relays information regarding slip events, particularly slip occurrence and slip speed. The proposed feedback modality, implemented using electrotactile stimulation, was evaluated in psychophysical studies of slip control in a simplified setup. The obtained results were compared with vision and a binary slip feedback that transmits on-off information about slip detection. The slip control efficiency of the slip speed display is comparable to that obtained with vision feedback, and it clearly outperforms the efficiency of the on-off slip modality in such tasks. These results suggest that the proposed tactile feedback is a promising sensory method for the restoration of stable grasp in prosthetic applications.

The Extrastriate Body Area Computes Desired Goal States during Action Planning123

PubMed Central

2016-01-01

Abstract How do object perception and action interact at a neural level? Here we test the hypothesis that perceptual features, processed by the ventral visuoperceptual stream, are used as priors by the dorsal visuomotor stream to specify goal-directed grasping actions. We present three main findings, which were obtained by combining time-resolved transcranial magnetic stimulation and kinematic tracking of grasp-and-rotate object manipulations, in a group of healthy human participants (N = 22). First, the extrastriate body area (EBA), in the ventral stream, provides an initial structure to motor plans, based on current and desired states of a grasped object and of the grasping hand. Second, the contributions of EBA are earlier in time than those of a caudal intraparietal region known to specify the action plan. Third, the contributions of EBA are particularly important when desired and current object configurations differ, and multiple courses of actions are possible. These findings specify the temporal and functional characteristics for a mechanism that integrates perceptual processing with motor planning. PMID:27066535

Free radical grafting of gallic acid (GA) on cellulose nanocrystals (CNCS) and evaluation of antioxidant reinforced gellan gum films

NASA Astrophysics Data System (ADS)

Criado, P.; Fraschini, C.; Salmieri, S.; Becher, D.; Safrany, A.; Lacroix, M.

2016-01-01

Antiradical properties were introduced on cellulose nanocrystals (CNCs) by redox pair (RP) initiator and γ-radiation treatments. Different procedures were tested on CNC, first a 2 h reaction of hydrogen peroxide (H2O2)/ascorbic acid (AA) was performed on CNC solution. γ-Radiation treatment at 20 kGy dose was then applied and immediately after GA was reacted during 24 h with the pretreated CNCs, giving CNC-H2O2-AA-γ-GA. The formation of new carboxylic acids and carbonyl groups were characterized by FT-IR at 1650 and 1730 cm-1 respectively. Carboxylic acid functionalities were also analyzed by conductometric titration where an increase from 49 to 134 mmol COOH kg-1 was found from native to irradiated CNCs. A similar increase in the carboxylic acid content (132 mmol kg-1) was observed for CNC-H2O2-AA-γ-GA, showing the highest radical scavenging properties (8 mM Trolox eq/mg CNC). Thermogravimetric analysis confirmed the structural changes onto CNC. Film packaging containing 20% of CNC-H2O2-AA-γ-GA was then added to a gellan-based film packaging. A significant improvement (p<0.05) of the tensile strength (TS), the tensile modulus (TM) and the elongation at break (EB) and water vapor permeability reduction was observed when CNC-H2O2-AA-γ-GA was added to the film packaging formulation.

The adaptive buffered force QM/MM method in the CP2K and AMBER software packages

DOE PAGES

Mones, Letif; Jones, Andrew; Götz, Andreas W.; ...

2015-02-03

We present the implementation and validation of the adaptive buffered force (AdBF) quantum-mechanics/molecular-mechanics (QM/MM) method in two popular packages, CP2K and AMBER. The implementations build on the existing QM/MM functionality in each code, extending it to allow for redefinition of the QM and MM regions during the simulation and reducing QM-MM interface errors by discarding forces near the boundary according to the buffered force-mixing approach. New adaptive thermostats, needed by force-mixing methods, are also implemented. Different variants of the method are benchmarked by simulating the structure of bulk water, water autoprotolysis in the presence of zinc and dimethyl-phosphate hydrolysis usingmore » various semiempirical Hamiltonians and density functional theory as the QM model. It is shown that with suitable parameters, based on force convergence tests, the AdBF QM/MM scheme can provide an accurate approximation of the structure in the dynamical QM region matching the corresponding fully QM simulations, as well as reproducing the correct energetics in all cases. Adaptive unbuffered force-mixing and adaptive conventional QM/MM methods also provide reasonable results for some systems, but are more likely to suffer from instabilities and inaccuracies.« less

The adaptive buffered force QM/MM method in the CP2K and AMBER software packages

PubMed Central

Mones, Letif; Jones, Andrew; Götz, Andreas W; Laino, Teodoro; Walker, Ross C; Leimkuhler, Ben; Csányi, Gábor; Bernstein, Noam

2015-01-01

The implementation and validation of the adaptive buffered force (AdBF) quantum-mechanics/molecular-mechanics (QM/MM) method in two popular packages, CP2K and AMBER are presented. The implementations build on the existing QM/MM functionality in each code, extending it to allow for redefinition of the QM and MM regions during the simulation and reducing QM-MM interface errors by discarding forces near the boundary according to the buffered force-mixing approach. New adaptive thermostats, needed by force-mixing methods, are also implemented. Different variants of the method are benchmarked by simulating the structure of bulk water, water autoprotolysis in the presence of zinc and dimethyl-phosphate hydrolysis using various semiempirical Hamiltonians and density functional theory as the QM model. It is shown that with suitable parameters, based on force convergence tests, the AdBF QM/MM scheme can provide an accurate approximation of the structure in the dynamical QM region matching the corresponding fully QM simulations, as well as reproducing the correct energetics in all cases. Adaptive unbuffered force-mixing and adaptive conventional QM/MM methods also provide reasonable results for some systems, but are more likely to suffer from instabilities and inaccuracies. © 2015 The Authors. Journal of Computational Chemistry Published by Wiley Periodicals, Inc. PMID:25649827

The adaptive buffered force QM/MM method in the CP2K and AMBER software packages

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

Mones, Letif; Jones, Andrew; Götz, Andreas W.

We present the implementation and validation of the adaptive buffered force (AdBF) quantum-mechanics/molecular-mechanics (QM/MM) method in two popular packages, CP2K and AMBER. The implementations build on the existing QM/MM functionality in each code, extending it to allow for redefinition of the QM and MM regions during the simulation and reducing QM-MM interface errors by discarding forces near the boundary according to the buffered force-mixing approach. New adaptive thermostats, needed by force-mixing methods, are also implemented. Different variants of the method are benchmarked by simulating the structure of bulk water, water autoprotolysis in the presence of zinc and dimethyl-phosphate hydrolysis usingmore » various semiempirical Hamiltonians and density functional theory as the QM model. It is shown that with suitable parameters, based on force convergence tests, the AdBF QM/MM scheme can provide an accurate approximation of the structure in the dynamical QM region matching the corresponding fully QM simulations, as well as reproducing the correct energetics in all cases. Adaptive unbuffered force-mixing and adaptive conventional QM/MM methods also provide reasonable results for some systems, but are more likely to suffer from instabilities and inaccuracies.« less

White thin-film flip-chip LEDs with uniform color temperature using laser lift-off and conformal phosphor coating technologies.

PubMed

Lin, Huan-Ting; Tien, Ching-Ho; Hsu, Chen-Peng; Horng, Ray-Hua

2014-12-29

We fabricated a phosphor-conversion white light emitting diode (PC-WLED) using a thin-film flip-chip GaN LED with a roughened u-GaN surface (TFFC-SR-LED) that emits blue light at 450 nm wavelength with a conformal phosphor coating that converts the blue light into yellow light. It was found that the TFFC-SR-LED with the thin-film substrate removal process and surface roughening exhibits a power enhancement of 16.1% when compared with the TFFC-LED without a sapphire substrate. When a TFFC-SR-LED with phosphors on a Cu-metal packaging-base (TFFC-SR-Cu-WLED) was operated at a forward-bias current of 350 mA, luminous flux and luminous efficacy were increased by 17.8 and 11.9%, compared to a TFFC-SR-LED on a Cup-shaped packaging-base (TFFC-SR-Cup-WLED). The angular correlated color temperature (CCT) deviation of a TFFC-SR-Cu-WLED reaches 77 K in the range of -70° to + 70° when the average CCT of white LEDs is around 4300 K. Consequently, the TFFC-SR-LED in a conformal coating phosphor structure on a Cu packaging-base could not only increase the luminous flux output, but also improve the angular-dependent CCT uniformity, thereby reducing the yellow ring effect.

Volitional and automatic control of the hand when reaching to grasp objects.

PubMed

Chen, Zhongting; Saunders, Jeffrey Allen

2018-06-01

When picking up an object, we tend to grasp at contact points that allow a stable grip. Recent studies have demonstrated that appropriate grasp points can be selected during an ongoing movement in response to unexpected perturbations of the target object. In this study, we tested whether such online grip adjustments are automatic responses or can be controlled volitionally. Subjects performed virtual grasping movements toward target 2D shapes that sometimes changed shape or orientation during movement. Unlike in previous studies, the conditions and task requirements discouraged any online adjustments toward the perturbed shapes. In Experiment 1, target shapes were perturbed briefly (200 ms) during movement before reverting to the original shape, and subjects were instructed to ignore the transient perturbations. Despite subjects' intentions, we observed online adjustments of grip orientation that were toward the expected grip axis of the briefly presented shape. In Experiment 2, we added a stop-signal to the grasping task, with target perturbation as the stop cue. We again observed unnecessary online adjustments toward the grip axis of the perturbed shape, with similar latency. Furthermore, the grip adjustments continued after the forward motion of the hand had stopped, indicating that the automatic response to the perturbed target shape co-occurred with the volitional response to the perturbation onset. Our results provide evidence that automatic control mechanisms are used to guide the fingers to appropriate grasp points and suggest that these mechanisms are distinct from those involved with volitional control. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Ammunition Loading and Firing Test Pretest Physical Conditioning of Female Soldier Participants

DTIC Science & Technology

1978-10-01

appear to be a significant improvement considering that Cooper’s values are based upon women running it, shorts and tennis shoes as opposed to the Ss who...machine. of the other, facing machine between handles. 2. Grasp lift handles. 2. Squat down, bending at knees and hips, and 3. "Pin" elbows to your side

Compact 1 mJ fiber MOPA for space-based laser-ablation resonant ionization mass spectrometry (LARIMS)

NASA Astrophysics Data System (ADS)

Mu, Xiaodong; Crain, William; Nguyen, Can; Ionov, Pavel; Steinvurzel, Paul; Dotan, Yaniv; Karuza, Petras; Lotshaw, William; Rose, Todd; Beck, Steven; Anderson, F. Scott

2018-02-01

A 1064 nm, 1 mJ pulsed fiber MOPA module, housed in 16"x14"x2.5" package for application in a lunar and planetary in-situ surface dating instrument is demonstrated. The module is based on a three-stage MOPA with a 60 μm core tapered fiber terminal amplifier. The master oscillator and first two preamplifier stages, which generate 20 μJ pulses, are all contained on a 13"x11"x1" board. Several improvements to the electronic signal control were instrumental to the laser development, including bipolar drive of the phase modulator for SBS suppression, shaping of the seed pulse to compensate pulse steepening, and pulsed operation of the power amplifier pump to reduce spontaneous emission at low pulse repetition frequency. The packaged laser runs at a repetition rate of 10 kHz and generates 10 ns pulses at 1 mJ with a 40 GHz linewidth, an M2 1.2 beam quality, and an 18 dB polarization extinction ratio. The modular design enables seven independent lasers to be stacked in a 20"x18"x16.25" enclosure, supporting a path towards a fiber laser based LARIMS for advanced materials characterization and chronological dating in harsh and remote environments.

Quasi-CW 110 kW AlGaAs Laser Diode Array Module for Inertial Fusion Energy Laser Driver

NASA Astrophysics Data System (ADS)

Kawashima, Toshiyuki; Kanzaki, Takeshi; Matsui, Ken; Kato, Yoshinori; Matsui, Hiroki; Kanabe, Tadashi; Yamanaka, Masanobu; Nakatsuka, Masahiro; Izawa, Yasukazu; Nakai, Sadao; Miyamoto, Masahiro; Kan, Hirofumi; Hiruma, Teruo

2001-12-01

We have successfully demonstrated a large aperture 803 nm AlGaAs diode laser module as a pump source for a 1053 nm, 10 J output Nd:glass slab laser amplifier for diode-pumped solid-state laser (DPSSL) fusion driver. Detailed performance results of the laser diode module are presented, including bar package and stack configuration, and their thermal design and analysis. A sufficiently low thermal impedance of the stack was realized by combining backplane liquid cooling configuration with modular bar package architecture. Total peak power of 110 kW and electrical to optical conversion efficiency of 46% were obtained from the module consisting of a total of 1000 laser diode bars. A peak intensity of 2.6 kW/cm2 was accomplished across an emitting area of 418 mm× 10 mm. Currently, this laser diode array module with a large two-dimensional aperture is, to our knowledge, the only operational pump source for the high output energy DPSSL.

Distinct neural patterns enable grasp types decoding in monkey dorsal premotor cortex

NASA Astrophysics Data System (ADS)

Hao, Yaoyao; Zhang, Qiaosheng; Controzzi, Marco; Cipriani, Christian; Li, Yue; Li, Juncheng; Zhang, Shaomin; Wang, Yiwen; Chen, Weidong; Chiara Carrozza, Maria; Zheng, Xiaoxiang

2014-12-01

Objective. Recent studies have shown that dorsal premotor cortex (PMd), a cortical area in the dorsomedial grasp pathway, is involved in grasp movements. However, the neural ensemble firing property of PMd during grasp movements and the extent to which it can be used for grasp decoding are still unclear. Approach. To address these issues, we used multielectrode arrays to record both spike and local field potential (LFP) signals in PMd in macaque monkeys performing reaching and grasping of one of four differently shaped objects. Main results. Single and population neuronal activity showed distinct patterns during execution of different grip types. Cluster analysis of neural ensemble signals indicated that the grasp related patterns emerged soon (200-300 ms) after the go cue signal, and faded away during the hold period. The timing and duration of the patterns varied depending on the behaviors of individual monkey. Application of support vector machine model to stable activity patterns revealed classification accuracies of 94% and 89% for each of the two monkeys, indicating a robust, decodable grasp pattern encoded in the PMd. Grasp decoding using LFPs, especially the high-frequency bands, also produced high decoding accuracies. Significance. This study is the first to specify the neuronal population encoding of grasp during the time course of grasp. We demonstrate high grasp decoding performance in PMd. These findings, combined with previous evidence for reach related modulation studies, suggest that PMd may play an important role in generation and maintenance of grasp action and may be a suitable locus for brain-machine interface applications.

Vibrotactile grasping force and hand aperture feedback for myoelectric forearm prosthesis users.

PubMed

Witteveen, Heidi J B; Rietman, Hans S; Veltink, Peter H

2015-06-01

User feedback about grasping force and hand aperture is very important in object handling with myoelectric forearm prostheses but is lacking in current prostheses. Vibrotactile feedback increases the performance of healthy subjects in virtual grasping tasks, but no extensive validation on potential users has been performed. Investigate the performance of upper-limb loss subjects in grasping tasks with vibrotactile stimulation, providing hand aperture, and grasping force feedback. Cross-over trial. A total of 10 subjects with upper-limb loss performed virtual grasping tasks while perceiving vibrotactile feedback. Hand aperture feedback was provided through an array of coin motors and grasping force feedback through a single miniature stimulator or an array of coin motors. Objects with varying sizes and weights had to be grasped by a virtual hand. Percentages correctly applied hand apertures and correct grasping force levels were all higher for the vibrotactile feedback condition compared to the no-feedback condition. With visual feedback, the results were always better compared to the vibrotactile feedback condition. Task durations were comparable for all feedback conditions. Vibrotactile grasping force and hand aperture feedback improves grasping performance of subjects with upper-limb loss. However, it should be investigated whether this is of additional value in daily-life tasks. This study is a first step toward the implementation of sensory vibrotactile feedback for users of myoelectric forearm prostheses. Grasping force feedback is crucial for optimal object handling, and hand aperture feedback is essential for reduction of required visual attention. Grasping performance with feedback is evaluated for the potential users. © The International Society for Prosthetics and Orthotics 2014.

27 CFR 19.599 - Bottling and packaging records.

Code of Federal Regulations, 2013 CFR

2013-04-01

... spirits bottled or packaged (if different from the proof recorded under paragraph (f) of this section); (k) Total quantity bottled, packaged, or otherwise disposed of in bulk; (l) Losses or gains of the distilled...

27 CFR 19.599 - Bottling and packaging records.

Code of Federal Regulations, 2012 CFR

2012-04-01

... spirits bottled or packaged (if different from the proof recorded under paragraph (f) of this section); (k) Total quantity bottled, packaged, or otherwise disposed of in bulk; (l) Losses or gains of the distilled...

27 CFR 19.599 - Bottling and packaging records.

Code of Federal Regulations, 2014 CFR

2014-04-01

... spirits bottled or packaged (if different from the proof recorded under paragraph (f) of this section); (k) Total quantity bottled, packaged, or otherwise disposed of in bulk; (l) Losses or gains of the distilled...

University Students' Grasp of Inflection Points

ERIC Educational Resources Information Center

Tsamir, Pessia; Ovodenko, Regina

2013-01-01

This paper describes university students' grasp of inflection points. The participants were asked what inflection points are, to mark inflection points on graphs, to judge the validity of related statements, and to find inflection points by investigating (1) a function, (2) the derivative, and (3) the graph of the derivative. We found four…

Lockheed Martin microcryocoolers

NASA Astrophysics Data System (ADS)

Olson, Jeffrey R.; Roth, Eric W.; Sanders, Lincoln-Shaun; Will, Eric; Frank, David J.

2017-05-01

Lockheed Martin's Advanced Technology Center, part of Lockheed Martin Space Systems Company, has developed a series of long life microcryocoolers for avionics and space sensor applications. We report the development and testing of three varieties of single-stage, compact, coaxial, pulse tube microcryocoolers. These coolers support emerging large, high operating temperature (100-150K) infrared focal plane array sensors with nominal cooling loads of 200-2000 mW, and all share long life technology attributes used in space cryocoolers, which typically provide 10 years of continuous operation on orbit without degradation. These three models of microcryocooler are the 345 gram Micro1-1, designed to provide 1 W cooling at 150 K, the 450 gram Micro1-2, designed to provide 2 W cooling at 105 K, and the 320 gram Micro1-3, designed to provide 300 mW cooling at 125 K while providing the capability to cool the IR focal plane to 125 K in less than 3 minutes. The Micro1-3 was also designed with a highly compact package that reduced the coldhead length to 55 mm, a length reduction of more than a factor of two compared with the other coldheads. This paper also describes recent design studies of 2-stage microcryocoolers capable of providing cooling at 25-100K. LMSSC is an industry leader in multiple-stage coolers, having successfully built and tested eight 2-stage coolers (typically cooling to 35-55K), and four coolers with 3 or 4 stages (for cooling to 4-10K). The 2-stage microcryocooler offers a very low mass and compact package capable of cooling HgCdTe focal planes, while providing simultaneous optics cooling at a higher temperature.

Grasping objects by their handles: a necessary interaction between cognition and action

NASA Technical Reports Server (NTRS)

Creem, S. H.; Proffitt, D. R.; Kaiser, M. K. (Principal Investigator)

2001-01-01

Research has illustrated dissociations between "cognitive" and "action" systems, suggesting that different representations may underlie phenomenal experience and visuomotor behavior. However, these systems also interact. The present studies show a necessary interaction when semantic processing of an object is required for an appropriate action. Experiment 1 demonstrated that a semantic task interfered with grasping objects appropriately by their handles, but a visuospatial task did not. Experiment 2 assessed performance on a visuomotor task that had no semantic component and showed a reversal of the effects of the concurrent tasks. In Experiment 3, variations on concurrent word tasks suggested that retrieval of semantic information was necessary for appropriate grasping. In all, without semantic processing, the visuomotor system can direct the effective grasp of an object, but not in a manner that is appropriate for its use.

Comparison of force and tactile feedback for grasp force control in telemanipulation

NASA Technical Reports Server (NTRS)

Wiker, Steven F.; Duffie, Neil A.; Yen, Thomas Y.; Gale, Karen L.

1991-01-01

The comparative efficacy of using direct force feedback or a simple vibrotactile display to convey changes in the intensity of remote grasp force relayed from a robotic end effector is examined. The findings show that a simple vibrotactile cue, in the absence of direct force feedback, is effective in signaling abrupt changes in remote grasp force regardless of magnitude, and when changes in force are not too slow or protracted in nature (i.e., ramp time less than 2 s). In cases where the operator must dynamically tract and respond to slow but large variations in grasp force, the comparatively crude vibrotactile display would prove helpful; but would not be as effective as that of a direct contact force display. Immediate applications and utility of current generation and near-term prototype tactile displays are discussed.

It’s Out of My Hands! Grasping Capacity May Not Influence Perceived Object Size

PubMed Central

2017-01-01

Linkenauger, Witt, and Proffitt (2011) found that the perceived size of graspable objects was scaled by perceived grasping capacity. However, it is possible that this effect occurred because object size was estimated on the same trial as grasping capacity. This may have led to a conflation of estimates of perceived action capacity and spatial properties. In 5 experiments, we tested Linkenauger et al.’s claim that right-handed observers overestimate the grasping capacity of their right hand relative to their left hand, and that this, in turn, leads them to underestimate the size of objects to-be-grasped in their right hand relative to their left hand. We replicated the finding that right handers overestimate the size and grasping capacity of their right hand relative to their left hand. However, when estimates of object size and grasping capacity were made in separate tasks, objects grasped in the right hand were not underestimated relative to those grasped in the left hand. Further, when grasping capacity was physically restricted, observers appropriately recalibrated their perception of their maximum grasp but estimates of object size were unaffected. Our results suggest that changes in action capacity may not influence perceived object size if sources of conflation are controlled for. PMID:28191987

A neural network simulating human reach-grasp coordination by continuous updating of vector positioning commands.

PubMed

Ulloa, Antonio; Bullock, Daniel

2003-10-01

We developed a neural network model to simulate temporal coordination of human reaching and grasping under variable initial grip apertures and perturbations of object size and object location/orientation. The proposed model computes reach-grasp trajectories by continuously updating vector positioning commands. The model hypotheses are (1) hand/wrist transport, grip aperture, and hand orientation control modules are coupled by a gating signal that fosters synchronous completion of the three sub-goals. (2) Coupling from transport and orientation velocities to aperture control causes maximum grip apertures that scale with these velocities and exceed object size. (3) Part of the aperture trajectory is attributable to an aperture-reducing passive biomechanical effect that is stronger for larger apertures. (4) Discrepancies between internal representations of targets partially inhibit the gating signal, leading to movement time increases that compensate for perturbations. Simulations of the model replicate key features of human reach-grasp kinematics observed under three experimental protocols. Our results indicate that no precomputation of component movement times is necessary for online temporal coordination of the components of reaching and grasping.

The C-terminal domain of glyceraldehyde 3-phosphate dehydrogenase plays an important role in suppression of tRNALys3 packaging into human immunodeficiency virus type-1 particles.

PubMed

Kishimoto, Naoki; Onitsuka-Kishimoto, Ayano; Iga, Nozomi; Takamune, Nobutoki; Shoji, Shozo; Misumi, Shogo

2016-12-01

Human immunodeficiency virus type-1 (HIV-1) requires the packaging of human tRNA Lys3 as a primer for effective viral reverse transcription. Previously, we reported that glyceraldehyde 3-phosphate dehydrogenase (GAPDH) suppresses the packaging efficiency of tRNA Lys3 . Although the binding of GAPDH to Pr55 gag is important for the suppression mechanism, it remains unclear which domain of GAPDH is responsible for the interaction with Pr55 gag . In this study, we show that Asp 256 , Lys 260 , Lys 263 and Glu 267 of GAPDH are important for the suppression of tRNA Lys3 packaging. Yeast two-hybrid analysis demonstrated that the C -terminal domain of GAPDH (151-335) interacts with both the matrix region (MA; 1-132) and capsid N -terminal domain (CA-NTD; 133-282). The D256R, K263E or E267R mutation of GAPDH led to the loss of the ability to bind to wild-type (WT) MA, and the D256R/K260E double mutation of GAPDH resulted in the loss of detectable binding activity to WT CA-NTD. In contrast, R58E, Q59A or Q63A of MA, and E76R or R82E of CA-NTD abrogated the interaction with the C -terminal domain of GAPDH. Multiple-substituted GAPDH mutant (D256R/K260E/K263E/E267R) retained the oligomeric formation with WT GAPDH in HIV-1 producing cells, but the incorporation level of the hetero-oligomer was decreased in viral particles. Furthermore, the viruses produced from cells expressing the D256R/K260E/K263E/E267R mutant restored tRNA Lys3 packaging efficiency because the mutant exerted a dominant negative effect by preventing WT GAPDH from binding to MA and CA-NTD and improved the reverse transcription. These findings indicate that the amino acids Asp 256 , Lys 260 , Lys 263 and Glu 267 of GAPDH is essential for the mechanism of tRNA Lys3 -packaging suppression and the D256R/K260E/K263E/E267R mutant of GAPDH acts in a dominant negative manner to suppress tRNA Lys3 packaging.

Manipulation Capabilities with Simple Hands

DTIC Science & Technology

2010-01-01

allowing it to interpret online kinesthetic data, addressing two objectives: • Grasp classification: Distinguish between successful and unsuccessful...determining the grasp outcome before the grasping process is complete, by using the entire time series or kinesthetic signature of the grasping process. As...the grasp proceeds and additional kinesthetic data accumulates, the confidence also increases. In some cases Manipulation Capabilities with Simple Hands

Getting the right grasp on executive function

PubMed Central

Gonzalez, Claudia L. R.; Mills, Kelly J.; Genee, Inge; Li, Fangfang; Piquette, Noella; Rosen, Nicole; Gibb, Robbin

2014-01-01

Executive Function (EF) refers to important socio-emotional and cognitive skills that are known to be highly correlated with both academic and life success. EF is a blanket term that is considered to include self-regulation, working memory, and planning. Recent studies have shown a relationship between EF and motor control. The emergence of motor control coincides with that of EF, hence understanding the relationship between these two domains could have significant implications for early detection and remediation of later EF deficits. The purpose of the current study was to investigate this relationship in young children. This study incorporated the Behavioral Rating Inventory of Executive Function (BRIEF) and two motor assessments with a focus on precision grasping to test this hypothesis. The BRIEF is comprised of two indices of EF: (1) the Behavioral Regulation Index (BRI) containing three subscales: Inhibit, Shift, and Emotional Control; (2) the Metacognition Index (MI) containing five subscales: Initiate, Working Memory, Plan/Organize, Organization of Materials, and Monitor. A global executive composite (GEC) is derived from the two indices. In this study, right-handed children aged 5–6 and 9–10 were asked to: grasp-to-construct (Lego® models); and grasp-to-place (wooden blocks), while their parents completed the BRIEF questionnaire. Analysis of results indicated significant correlations between the strength of right hand preference for grasping and numerous elements of the BRIEF including the BRI, MI, and GEC. Specifically, the more the right hand was used for grasping the better the EF ratings. In addition, patterns of space-use correlated with the GEC in several subscales of the BRIEF. Finally and remarkably, the results also showed a reciprocal relationship between hand and space use for grasping and EF. These findings are discussed with respect to: (1) the developmental overlap of motor and executive functions; (2) detection of EF deficits through tasks that measure lateralization of hand and space use; and (3) the possibility of using motor interventions to remediate EF deficits. PMID:24778624

Tongue-Based Electrotactile Feedback to Perceive Objects Grasped by a Robotic Manipulator: Preliminary Results

DTIC Science & Technology

2001-10-25

INTRODUCTION There has been significant work in developing prostheses controlled by people with amputations or high- level quadriplegia . Tele...distribution of force and pressure, and shape of the contact region facilitates grasp stability and successful manipulation [3]. For people with quadriplegia ...cord injury. By using the tongue, tactile sensory deficiencies experienced by people with high-level quadriplegia may be overcome [4, 5]. Employing

Dexterous Robotic Hands: Kinematics and Control

DTIC Science & Technology

1988-11-01

Halstead. Our first implementation was based largely on their Concert system. Secondly, I would like to thank David Kriegman, and George Gerpheide for...environment and the grasped object (see Brost et al. [1983]). It practice, using this type of control, we have been able to perform a number of...May, 1986. 19. Brost , R. C., "Automatic Grasp Planning in the Presence of Uncertainty", Proc. IEEE International Conference on Robotics and

The Electrical Properties for Phenolic Isocyanate-Modified Bisphenol-Based Epoxy Resins Comprising Benzoate Group.

PubMed

Lee, Eun Yong; Chae, Il Seok; Park, Dongkyung; Suh, Hongsuk; Kang, Sang Wook

2016-03-01

Epoxy resin has been required to have a low dielectric constant (D(k)), low dissipation factor (Df), low coefficient of thermal expansion (CTE), low water absorption, high mechanical, and high adhesion properties for various applications. A series of novel phenolic isocyanate-modified bisphenol-based epoxy resins comprising benzoate group were prepared for practical electronic packaging applications. The developed epoxy resins showed highly reduced dielectric constants (D(k)-3.00 at 1 GHz) and low dissipation values (Df-0.014 at 1 GHz) as well as enhanced thermal properties.

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1992-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Coordination of reach-to-grasp kinematics in individuals with childhood-onset dystonia due to hemiplegic cerebral palsy

PubMed Central

Kukke, Sahana N.; Curatalo, Lindsey A.; de Campos, Ana Carolina; Hallett, Mark; Alter, Katharine E.; Damiano, Diane L.

2015-01-01

Functional reaching is impaired in dystonia. Here, we analyze upper extremity kinematics to quantify timing and coordination abnormalities during unimanual reach-to-grasp movements in individuals with childhood-onset unilateral wrist dystonia. Kinematics were measured during movements of both upper limbs in a patient group (n = 11, age = 17.5 ± 5 years), and a typically developing control group (n = 9, age = 16.6 ± 5 years). Hand aperture was computed to study the coordination of reach and grasp. Time-varying joint synergies within one upper limb were calculated using a novel technique based on principal component analysis to study intra-limb coordination. In the non-dominant arm, results indicate reduced coordination between reach and grasp in patients who could not lift the grasped object compared to those who could lift it. Lifters exhibit incoordination in distal upper extremity joints later in the movement and non-lifters lacked coordination throughout the movement and in the whole upper limb. The amount of atypical coordination correlates with dystonia severity in patients. Reduced coordination during movement may reflect deficits in the execution of simultaneous movements, motor planning, or muscle activation. Rehabilitation efforts can focus on particular time points when kinematic patterns deviate abnormally to improve functional reaching in individuals with childhood-onset dystonia. PMID:26208359

Coordination of Reach-to-Grasp Kinematics in Individuals With Childhood-Onset Dystonia Due to Hemiplegic Cerebral Palsy.

PubMed

Kukke, Sahana N; Curatalo, Lindsey A; de Campos, Ana Carolina; Hallett, Mark; Alter, Katharine E; Damiano, Diane L

2016-05-01

Functional reaching is impaired in dystonia. Here, we analyze upper extremity kinematics to quantify timing and coordination abnormalities during unimanual reach-to-grasp movements in individuals with childhood-onset unilateral wrist dystonia. Kinematics were measured during movements of both upper limbs in a patient group ( n = 11, age = 17.5 ±5 years), and a typically developing control group ( n = 9, age = 16.6 ±5 years). Hand aperture was computed to study the coordination of reach and grasp. Time-varying joint synergies within one upper limb were calculated using a novel technique based on principal component analysis to study intra-limb coordination. In the non-dominant arm, results indicate reduced coordination between reach and grasp in patients who could not lift the grasped object compared to those who could lift it. Lifters exhibit incoordination in distal upper extremity joints later in the movement and non-lifters lacked coordination throughout the movement and in the whole upper limb. The amount of atypical coordination correlates with dystonia severity in patients. Reduced coordination during movement may reflect deficits in the execution of simultaneous movements, motor planning, or muscle activation. Rehabilitation efforts can focus on particular time points when kinematic patterns deviate abnormally to improve functional reaching in individuals with childhood-onset dystonia.

Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors.

PubMed

Spiers, Adam J; Liarokapis, Minas V; Calli, Berk; Dollar, Aaron M

2016-01-01

Classical robotic approaches to tactile object identification often involve rigid mechanical grippers, dense sensor arrays, and exploratory procedures (EPs). Though EPs are a natural method for humans to acquire object information, evidence also exists for meaningful tactile property inference from brief, non-exploratory motions (a 'haptic glance'). In this work, we implement tactile object identification and feature extraction techniques on data acquired during a single, unplanned grasp with a simple, underactuated robot hand equipped with inexpensive barometric pressure sensors. Our methodology utilizes two cooperating schemes based on an advanced machine learning technique (random forests) and parametric methods that estimate object properties. The available data is limited to actuator positions (one per two link finger) and force sensors values (eight per finger). The schemes are able to work both independently and collaboratively, depending on the task scenario. When collaborating, the results of each method contribute to the other, improving the overall result in a synergistic fashion. Unlike prior work, the proposed approach does not require object exploration, re-grasping, grasp-release, or force modulation and works for arbitrary object start positions and orientations. Due to these factors, the technique may be integrated into practical robotic grasping scenarios without adding time or manipulation overheads.

Quality changes in sea urchin (Strongylocentrotus nudus) during storage in artificial seawater saturated with oxygen, nitrogen and air.

PubMed

Wang, Chao; Xue, Changhu; Xue, Yong; Li, Zhaojie; Lv, Yingchun; Zhang, Hao

2012-01-15

Sea urchin gonads are highly valued seafood that degenerates rapidly during the storage period. To study the influence of dissolved oxygen concentration on quality changes of sea urchin (Strongylocentrotus nudus) gonads, they were stored in artificial seawater saturated with oxygen, nitrogen or air at 5 ± 1 °C for 12 days. The sensory acceptability limit was 11-12, 6-7 and 7-8 days for gonads with oxygen, nitrogen or air packaging, respectively. Total volatile basic nitrogen (TVB-N) values reached 22.60 ± 1.32, 32.37 ± 1.37 and 24.91 ± 1.54 mg 100 g(-1) for gonads with oxygen, nitrogen or air packaging at the points of near to, exceeding and reaching the limit of sensory acceptability, indicating that TVB-N values of about 25 mg 100 g(-1) should be regarded as the limit of acceptability for sea urchin gonads. Relative ATP content values were 56.55%, 17.36% and 18.75% for gonads with oxygen, nitrogen or air packaging, respectively, on day 2. K-values were 19.37%, 25.05% and 29.02% for gonads with oxygen, nitrogen or air packaging, respectively, on day 2. Both pH and aerobic plate count values showed no significant difference (P > 0.05) for gonads with the three treatments. Gonads with oxygen packaging had lower sensory demerit point (P < 0.05) and TVB-N values (P < 0.05), and higher relative ATP content (P < 0.01) and K-values (P < 0.05), than that with nitrogen or air packaging, with an extended shelf life of 4-5 days during storage in artificial seawater at 5 ± 1 °C. Copyright © 2011 Society of Chemical Industry.

Inverting the planning gradient: adjustment of grasps to late segments of multi-step object manipulations.

PubMed

Mathew, Hanna; Kunde, Wilfried; Herbort, Oliver

2017-05-01

When someone grasps an object, the grasp depends on the intended object manipulation and usually facilitates it. If several object manipulation steps are planned, the first step has been reported to primarily determine the grasp selection. We address whether the grasp can be aligned to the second step, if the second step's requirements exceed those of the first step. Participants grasped and rotated a dial first by a small extent and then by various extents in the opposite direction, without releasing the dial. On average, when the requirements of the first and the second step were similar, participants mostly aligned the grasp to the first step. When the requirements of the second step were considerably higher, participants aligned the grasp to the second step, even though the first step still had a considerable impact. Participants employed two different strategies. One subgroup initially aligned the grasp to the first step and then ceased adjusting the grasp to either step. Another group also initially aligned the grasp to the first step and then switched to aligning it primarily to the second step. The data suggest that participants are more likely to switch to the latter strategy when they experienced more awkward arm postures. In summary, grasp selections for multi-step object manipulations can be aligned to the second object manipulation step, if the requirements of this step clearly exceed those of the first step and if participants have some experience with the task.

Closed-loop control of grasping with a myoelectric hand prosthesis: which are the relevant feedback variables for force control?

PubMed

Ninu, Andrei; Dosen, Strahinja; Muceli, Silvia; Rattay, Frank; Dietl, Hans; Farina, Dario

2014-09-01

In closed-loop control of grasping by hand prostheses, the feedback information sent to the user is usually the actual controlled variable, i.e., the grasp force. Although this choice is intuitive and logical, the force production is only the last step in the process of grasping. Therefore, this study evaluated the performance in controlling grasp strength using a hand prosthesis operated through a complete grasping sequence while varying the feedback variables (e.g., closing velocity, grasping force), which were provided to the user visually or through vibrotactile stimulation. The experiments were conducted on 13 volunteers who controlled the Otto Bock Sensor Hand Speed prosthesis. Results showed that vibrotactile patterns were able to replace the visual feedback. Interestingly, the experiments demonstrated that direct force feedback was not essential for the control of grasping force. The subjects were indeed able to control the grip strength, predictively, by estimating the grasping force from the prosthesis velocity of closing. Therefore, grasping without explicit force feedback is not completely blind, contrary to what is usually assumed. In our study we analyzed grasping with a specific prosthetic device, but the outcomes are also applicable for other devices, with one or more degrees-of-freedom. The necessary condition is that the electromyography (EMG) signal directly and proportionally controls the velocity/grasp force of the hand, which is a common approach among EMG controlled prosthetic devices. The results provide important indications on the design of closed-loop EMG controlled prosthetic systems.

9975 Shipping package component long-term degradation rates

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

Daugherty, W. L.

Special nuclear materials are being stored in the K-Area Complex using 3013 containers that are held within Model 9975 shipping packages. The service life for these packages in storage was recently increased from 15 to 20 years, since some of these packages have been stored for nearly 15 years. A strategy is also being developed whereby such storage might be extended beyond 20 years. This strategy is based on recent calculations that support acceptable 9975 package performance for 20 years with internal heat loads up to 19 watts, and identifies a lower heat load limit for which the package componentsmore » should degrade at half the bounding rate or less, thus doubling the effective storage life for these lower wattage packages. The components of the 9975 package that are sensitive to aging under storage conditions are the fiberboard overpack and the O-ring seals, although some degradation of the lead shield and outer drum are also possible. This report summarizes degradation rates applicable to lower heat load storage conditions. In particular, the O-ring seals should provide leak-tight performance for more than 40 years in packages for which their maximum temperature is ≤135 °F. Similarly, the fiberboard should remain acceptable in performance of its required safety functions for up to 40 years in packages with a maximum fiberboard temperature ≤125 °F.« less

Modeling and optimization of sensory changes and shelf-life in vacuum-packaged cooked ham treated by E-beam irradiation

NASA Astrophysics Data System (ADS)

Benedito, J.; Cambero, M. I.; Ortuño, C.; Cabeza, M. C.; Ordoñez, J. A.; de la Hoz, L.

2011-03-01

The E-beam irradiation of vacuum-packaged RTE cooked ham was carried out to establish the dose required to achieve the food safety objective (FSO) and to minimize changes in selected sensory attributes. Cooked ham was irradiated with doses ranging 1-4 kGy. After the treatment, the microbial inactivation of Listeria monocytogenes, the shelf-life of the product and some sensory attributes (appearance, odor, and flavor) were determined. The inactivation of L. monocytogenes was satisfactorily described by a first-order kinetics equation ( R2=0.99). The influence of the irradiation dose on appearance, odor, and flavor was modeled through Gompertz ( R2=0.99, for appearance) and Activation/Inactivation ( R2=0.99, for odor and flavor) equations. A model was also developed to determine the shelf-life of irradiated cooked ham depending on the irradiation dose ( R2>0.91). The dose that maximized the scores of the sensory attributes was 0.96 kGy resulting in an acceptable sensory quality for 80 days. It is possible to apply up to 2 kGy to ensure microbial safety, while provoking no significant changes in the above mentioned sensory attributes.

Gamma radiation effects in packaging for sterilization of health products and their constituents paper and plastic film

NASA Astrophysics Data System (ADS)

B. G. Porto, Karina Meschini; Napolitano, Celia Marina; Borrely, Sueli Ivone

2018-01-01

The integrity of materials containing packaging (natural or synthetic polymers) is essential to keep the aseptic condition of commercialized products (health care products, food and pharmaceuticals). The objective of this paper was to study gamma radiation effects (25 kGy, 40 kGy and 50 kGy) on the main properties of paper and multilayer films (polyester and polyethylene). Paper and multilayer films are components of packaging (pouches) for radiation sterilization containing medical equipment or products. Paper was the more radiation sensitive among the studied materials and radiation effects were more pronounced at brightness, pH, tearing resistance, bursting strength and tensile strength. Concerning plastic film, no pinholes were induced by radiation and the effects on the tensile strength were not significant. Although the seal strength packaging (pouches) decreased according to increasing dose, the sealing integrity was preserved.

Adaptive critic neural network-based object grasping control using a three-finger gripper.

PubMed

Jagannathan, S; Galan, Gustavo

2004-03-01

Grasping of objects has been a challenging task for robots. The complex grasping task can be defined as object contact control and manipulation subtasks. In this paper, object contact control subtask is defined as the ability to follow a trajectory accurately by the fingers of a gripper. The object manipulation subtask is defined in terms of maintaining a predefined applied force by the fingers on the object. A sophisticated controller is necessary since the process of grasping an object without a priori knowledge of the object's size, texture, softness, gripper, and contact dynamics is rather difficult. Moreover, the object has to be secured accurately and considerably fast without damaging it. Since the gripper, contact dynamics, and the object properties are not typically known beforehand, an adaptive critic neural network (NN)-based hybrid position/force control scheme is introduced. The feedforward action generating NN in the adaptive critic NN controller compensates the nonlinear gripper and contact dynamics. The learning of the action generating NN is performed on-line based on a critic NN output signal. The controller ensures that a three-finger gripper tracks a desired trajectory while applying desired forces on the object for manipulation. Novel NN weight tuning updates are derived for the action generating and critic NNs so that Lyapunov-based stability analysis can be shown. Simulation results demonstrate that the proposed scheme successfully allows fingers of a gripper to secure objects without the knowledge of the underlying gripper and contact dynamics of the object compared to conventional schemes.

Study of the effect of post-packaging pasteurization and argon modified atmosphere packaging on the sensory quality and growth of endogenous microflora of a sliced cooked meat product.

PubMed

Pérez-Rodríguez, Fernando; Zamorano, Arturo Rivera; Posada-Izquierdo, Guiomar Denisse; García-Gimeno, Rosa María

2014-01-01

The objective of this work was to study the effect of post-packaging pasteurization on the sensory quality and growth of natural microorganisms during refrigerated storage (6 °C) of a cooked meat product considering two packaging atmospheres based on mixture of typical gases (CO(2)/N(2) (22/78%) and novel gases (CO(2)/Ar (17/83%)). Growth of lactic acid bacteria was significantly different between samples with and without post-packaging pasteurization, showing a growth rate >0.44 and equal to 0.28 log cfu/day, respectively. For samples with post-packaging pasteurization, atmosphere CO(2)/Ar resulted in a lower growth of lactic acid bacteria and a better sensory quality. Overall, samples without post-packaging pasteurization did not show a significant reduction of sensory quality during storage time (121 days) while samples with post-packaging pasteurization showed deterioration in their sensory quality. Further investigation is needed to obtain more definitive conclusions about the effect of post-packaging pasteurization and argon-based packaging atmospheres on cooked meat products.

Probing the reaching-grasping network in humans through multivoxel pattern decoding.

PubMed

Di Bono, Maria Grazia; Begliomini, Chiara; Castiello, Umberto; Zorzi, Marco

2015-11-01

The quest for a putative human homolog of the reaching-grasping network identified in monkeys has been the focus of many neuropsychological and neuroimaging studies in recent years. These studies have shown that the network underlying reaching-only and reach-to-grasp movements includes the superior parieto-occipital cortex (SPOC), the anterior part of the human intraparietal sulcus (hAIP), the ventral and the dorsal portion of the premotor cortex, and the primary motor cortex (M1). Recent evidence for a wider frontoparietal network coding for different aspects of reaching-only and reach-to-grasp actions calls for a more fine-grained assessment of the reaching-grasping network in humans by exploiting pattern decoding methods (multivoxel pattern analysis--MVPA). Here, we used MPVA on functional magnetic resonance imaging (fMRI) data to assess whether regions of the frontoparietal network discriminate between reaching-only and reach-to-grasp actions, natural and constrained grasping, different grasp types, and object sizes. Participants were required to perform either reaching-only movements or two reach-to-grasp types (precision or whole hand grasp) upon spherical objects of different sizes. Multivoxel pattern analysis highlighted that, independently from the object size, all the selected regions of both hemispheres contribute in coding for grasp type, with the exception of SPOC and the right hAIP. Consistent with recent neurophysiological findings on monkeys, there was no evidence for a clear-cut distinction between a dorsomedial and a dorsolateral pathway that would be specialized for reaching-only and reach-to-grasp actions, respectively. Nevertheless, the comparison of decoding accuracy across brain areas highlighted their different contributions to reaching-only and grasping actions. Altogether, our findings enrich the current knowledge regarding the functional role of key brain areas involved in the cortical control of reaching-only and reach-to-grasp actions in humans, by revealing novel fine-grained distinctions among action types within a wide frontoparietal network.

RoboGlove-A Grasp Assist Device for Earth and Space

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ihrke, C. A.; Bridgwater, L. B.; Rogers, J. M.; Davis, D. R.; Linn, D. M.; Laske, E. A.; Ensley, K. G.; Lee, J. H.

2015-01-01

The RoboGlove is an assistive device that can augment human strength, endurance or provide directed motion for use in rehabilitation. RoboGlove is a spinoff of the highly successful Robonaut 2 (R2) system developed as part of a partnership between General Motors and NASA. This extremely lightweight device employs an actuator system based on the R2 finger drive system to transfer part or the entire grasp load from human tendons to artificial ones contained in the glove. Steady state loads ranging from 15 to 20 lbs. and peaks approaching 50 lbs. are achievable. Work is underway to integrate the RoboGlove system with a space suit glove to add strength or reduce fatigue during spacewalks. Tactile sensing, miniaturized electronics, and on-board processing provide sufficient flexibility for applications in many industries. The following describes the design, mechanical/electrical integration, and control features of the glove in an assembly-line configuration and discusses work toward the space suit application.

Pencil grasp and children's handwriting legibility during different-length writing tasks.

PubMed

Dennis, J L; Swinth, Y

2001-01-01

This study examined the influence ofpencil grasp on handwriting legibility during both short and long writing tasks in 46fourth-grade students who were typically developing. Matched samples were used to controlfor variability. Regular classroom writing assignments were scoredfor word and letter legibility, and scores were compared using a mixed repeated-measures analysis of variance design. The two independent variables were pencil grasp (dynamic tripod grasp vs. atypical grasp) and task length (short vs. long). A significant difference was found between the letter legibility scores on the short task and the letter legibility scores on the long task. Students' legibility was greater on the short task than on the long task across both grasp conditions. No significant difference was found in scores between students who used dynamic tripod grasps and those who used atypical grasps, nor was there a significant interaction between grasp and task length. No significant differences were found between word legibility scores. The results indicate that although the students in this study wrote more legibly on the short task than on the long task, the type of grasp they used did not affect their legibility. Because of the limited sample size, the results of this study should be interpreted cautiously. More research in handwriting performance and pencil grasp is needed to provide clear expectations and treatment options for students.

Analysis pipelines and packages for Infinium HumanMethylation450 BeadChip (450k) data.

PubMed

Morris, Tiffany J; Beck, Stephan

2015-01-15

The Illumina HumanMethylation450 BeadChip has become a popular platform for interrogating DNA methylation in epigenome-wide association studies (EWAS) and related projects as well as resource efforts such as the International Cancer Genome Consortium (ICGC) and the International Human Epigenome Consortium (IHEC). This has resulted in an exponential increase of 450k data in recent years and triggered the development of numerous integrated analysis pipelines and stand-alone packages. This review will introduce and discuss the currently most popular pipelines and packages and is particularly aimed at new 450k users. Copyright © 2014 The Authors. Published by Elsevier Inc. All rights reserved.

Writing Forces Associated With Four Pencil Grasp Patterns in Grade 4 Children

PubMed Central

Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl

2013-01-01

OBJECTIVE. We investigated differences in handwriting kinetics, speed, and legibility among four pencil grasps after a 10-min copy task. METHOD. Seventy-four Grade 4 students completed a handwriting assessment before and after a copy task. Grip and axial forces were measured with an instrumented stylus and force-sensitive tablet. We used multiple linear regression to analyze the relationship between grasp pattern and grip and axial forces. RESULTS. We found no kinetic differences among grasps, whether considered individually or grouped by the number of fingers on the barrel. However, when grasps were grouped according to the thumb position, the adducted grasps exhibited higher mean grip and axial forces. CONCLUSION. Grip forces were generally similar across the different grasps. Kinetic differences resulting from thumb position seemed to have no bearing on speed and legibility. Interventions for handwriting difficulties should focus more on speed and letter formation than on grasp pattern. PMID:23433277

Bone indicators of grasping hands in lizards

PubMed Central

2016-01-01

Grasping is one of a few adaptive mechanisms that, in conjunction with clinging, hooking, arm swinging, adhering, and flying, allowed for incursion into the arboreal eco-space. Little research has been done that addresses grasping as an enhanced manual ability in non-mammalian tetrapods, with the exception of studies comparing the anatomy of muscle and tendon structure. Previous studies showed that grasping abilities allow exploitation for narrow branch habitats and that this adaptation has clear osteological consequences. The objective of this work is to ascertain the existence of morphometric descriptors in the hand skeleton of lizards related to grasping functionality. A morphological matrix was constructed using 51 morphometric variables in 278 specimens, from 24 genera and 13 families of Squamata. To reduce the dimensions of the dataset and to organize the original variables into a simpler system, three PCAs (Principal Component Analyses) were performed using the subsets of (1) carpal variables, (2) metacarpal variables, and (3) phalanges variables. The variables that demonstrated the most significant contributions to the construction of the PCA synthetic variables were then used in subsequent analyses. To explore which morphological variables better explain the variations in the functional setting, we ran Generalized Linear Models for the three different sets. This method allows us to model the morphology that enables a particular functional trait. Grasping was considered the only response variable, taking the value of 0 or 1, while the original variables retained by the PCAs were considered predictor variables. Our analyses yielded six variables associated with grasping abilities: two belong to the carpal bones, two belong to the metacarpals and two belong to the phalanges. Grasping in lizards can be performed with hands exhibiting at least two different independently originated combinations of bones. The first is a combination of a highly elongated centrale bone, reduced palmar sesamoid, divergence angles above 90°, and slender metacarpal V and phalanges, such as exhibited by Anolis sp. and Tropidurus sp. The second includes an elongated centrale bone, lack of a palmar sesamoid, divergence angles above 90°, and narrow metacarpal V and phalanges, as exhibited by geckos. Our data suggest that the morphological distinction between graspers and non-graspers is demonstrating the existence of ranges along the morphological continuum within which a new ability is generated. Our results support the hypothesis of the nested origin of grasping abilities within arboreality. Thus, the manifestation of grasping abilities as a response to locomotive selective pressure in the context of narrow-branch eco-spaces could also enable other grasping-dependent biological roles, such as prey handling. PMID:27168987

11.72-sq cm Active-Area Wafer Interconnected PiN Diode Pulsed at 64 kA Dissipates 382 J and Exhibits an Action of 1.7 MA(sup 2)-s

DTIC Science & Technology

2012-01-30

calculated action exceeded 1.7 MA2 -s. Preliminary efforts on high voltage diode interconnection have produced quarter wafer interconnected PiN...was packaged in a “hockey-puck” configuration and pulsed to 64 kA, dissipating 382 J with a calculated action exceeding 1.7 MA2 -s. II. FULL...epitaxial layers are utilized. 11.72-cm2 Active-area Wafer Interconnected PiN Diode pulsed at 64 kA dissipates 382 J and exhibits an action of 1.7 MA2 -s

Proprioceptive Distance Cues Restore Perfect Size Constancy in Grasping, but Not Perception, When Vision Is Limited.

PubMed

Chen, Juan; Sperandio, Irene; Goodale, Melvyn Alan

2018-03-19

Our brain integrates information from multiple modalities in the control of behavior. When information from one sensory source is compromised, information from another source can compensate for the loss. What is not clear is whether the nature of this multisensory integration and the re-weighting of different sources of sensory information are the same across different control systems. Here, we investigated whether proprioceptive distance information (position sense of body parts) can compensate for the loss of visual distance cues that support size constancy in perception (mediated by the ventral visual stream) [1, 2] versus size constancy in grasping (mediated by the dorsal visual stream) [3-6], in which the real-world size of an object is computed despite changes in viewing distance. We found that there was perfect size constancy in both perception and grasping in a full-viewing condition (lights on, binocular viewing) and that size constancy in both tasks was dramatically disrupted in the restricted-viewing condition (lights off; monocular viewing of the same but luminescent object through a 1-mm pinhole). Importantly, in the restricted-viewing condition, proprioceptive cues about viewing distance originating from the non-grasping limb (experiment 1) or the inclination of the torso and/or the elbow angle of the grasping limb (experiment 2) compensated for the loss of visual distance cues to enable a complete restoration of size constancy in grasping but only a modest improvement of size constancy in perception. This suggests that the weighting of different sources of sensory information varies as a function of the control system being used. Copyright © 2018 Elsevier Ltd. All rights reserved.

Gallic Acid as an Oxygen Scavenger in Bio-Based Multilayer Packaging Films.

PubMed

Pant, Astrid F; Sängerlaub, Sven; Müller, Kajetan

2017-05-03

Oxygen scavengers are used in food packaging to protect oxygen-sensitive food products. A mixture of gallic acid (GA) and sodium carbonate was used as an oxygen scavenger (OSc) in bio-based multilayer packaging films produced in a three-step process: compounding, flat film extrusion, and lamination. We investigated the film surface color as well as oxygen absorption at different relative humidities (RHs) and temperatures, and compared the oxygen absorption of OSc powder, monolayer films, and multilayer films. The films were initially brownish-red in color but changed to greenish-black during oxygen absorption under humid conditions. We observed a maximum absorption capacity of 447 mg O₂/g GA at 21 °C and 100% RH. The incorporation of GA into a polymer matrix reduced the rate of oxygen absorption compared to the GA powder because the polymer acted as a barrier to oxygen and water vapor diffusion. As expected, the temperature had a significant effect on the initial absorption rate of the multilayer films; the corresponding activation energy was 75.4 kJ/mol. Higher RH significantly increased the oxygen absorption rate. These results demonstrate for the first time the production and the properties of a bio-based multilayer packaging film with GA as the oxygen scavenger. Potential applications include the packaging of food products with high water activity (a w > 0.86).

Reviews.

ERIC Educational Resources Information Center

Radcliffe, George; And Others

1988-01-01

Reviews three software packages: 1) a package containing 68 programs covering general topics in chemistry; 2) a package dealing with acid-base titration curves and allows for variables to be changed; 3) a chemistry tutorial and drill package. (MVL)

Quantitative model of transport-aperture coordination during reach-to-grasp movements.

PubMed

Rand, Miya K; Shimansky, Y P; Hossain, Abul B M I; Stelmach, George E

2008-06-01

It has been found in our previous studies that the initiation of aperture closure during reach-to-grasp movements occurs when the hand distance to target crosses a threshold that is a function of peak aperture amplitude, hand velocity, and hand acceleration. Thus, a stable relationship between those four movement parameters is observed at the moment of aperture closure initiation. Based on the concept of optimal control of movements (Naslin 1969) and its application for reach-to-grasp movement regulation (Hoff and Arbib 1993), it was hypothesized that the mathematical equation expressing that relationship can be generalized to describe coordination between hand transport and finger aperture during the entire reach-to-grasp movement by adding aperture velocity and acceleration to the above four movement parameters. The present study examines whether this hypothesis is supported by the data obtained in experiments in which young adults performed reach-to-grasp movements in eight combinations of two reach-amplitude conditions and four movement-speed conditions. It was found that linear approximation of the mathematical model described the relationship among the six movement parameters for the entire aperture-closure phase with very high precision for each condition, thus supporting the hypothesis for that phase. Testing whether one mathematical model could approximate the data across all the experimental conditions revealed that it was possible to achieve the same high level of data-fitting precision only by including in the model two additional, condition-encoding parameters and using a nonlinear, artificial neural network-based approximator with two hidden layers comprising three and two neurons, respectively. This result indicates that transport-aperture coordination, as a specific relationship between the parameters of hand transport and finger aperture, significantly depends on the condition-encoding variables. The data from the aperture-opening phase also fit a linear model, whose coefficients were substantially different from those identified for the aperture-closure phase. This result supports the above hypothesis for the aperture-opening phase, and consequently, for the entire reach-to-grasp movement. However, the fitting precision was considerably lower than that for the aperture-closure phase, indicating significant trial-to-trial variability of transport-aperture coordination during the aperture-opening phase. Implications for understanding the neural mechanisms employed by the CNS for controlling reach-to-grasp movements and utilization of the mathematical model of transport-aperture coordination for data analysis are discussed.

An introductory study of common grasps used by adults during performance of activities of daily living.

PubMed

Vergara, Margarita; Sancho-Bru, J L; Gracia-Ibáñez, V; Pérez-González, A

2014-01-01

This paper presents the results of a descriptive survey on human grasps. Sixty-four videos were selected to represent tasks performed in the main areas of activities of daily living (ADL) (personal care, meal preparation, eating, housekeeping, etc.). All the participants were right-handed. Elementary grasps were identified for each hand, and the grasp type (from a 9-type classification), the hands involved, and the duration were registered for each case. The results show that the most commonly used grasps are: pinch, non-prehensile, cylindrical, lateral pinch and lumbrical. The presence of these grasps in the areas of ADL is, however, very different (e.g., pinch is widely used in food preparation and very little in driving). Some grasps were used more frequently with one hand or when both hands were used simultaneously (e.g., special pinch was hardly used by the left hand). Knowing the grasp types most frequently used in ADL is essential to be able to assess grasp rehabilitation processes or hand prostheses development. Copyright © 2014 Hanley & Belfus. Published by Elsevier Inc. All rights reserved.

Fast grasping of unknown objects using cylinder searching on a single point cloud

NASA Astrophysics Data System (ADS)

Lei, Qujiang; Wisse, Martijn

2017-03-01

Grasping of unknown objects with neither appearance data nor object models given in advance is very important for robots that work in an unfamiliar environment. The goal of this paper is to quickly synthesize an executable grasp for one unknown object by using cylinder searching on a single point cloud. Specifically, a 3D camera is first used to obtain a partial point cloud of the target unknown object. An original method is then employed to do post treatment on the partial point cloud to minimize the uncertainty which may lead to grasp failure. In order to accelerate the grasp searching, surface normal of the target object is then used to constrain the synthetization of the cylinder grasp candidates. Operability analysis is then used to select out all executable grasp candidates followed by force balance optimization to choose the most reliable grasp as the final grasp execution. In order to verify the effectiveness of our algorithm, Simulations on a Universal Robot arm UR5 and an under-actuated Lacquey Fetch gripper are used to examine the performance of this algorithm, and successful results are obtained.

Robust Grasp Design Using Grasp Force Focus Positioning

DTIC Science & Technology

1991-12-12

the time for reviewing instructons. search-ng e isting date sources. gathering and maintainng the data needed, and completing and review ng the...of a larger scale task currently being studied at AFIT; a task which demonstrates intelligent part mating skills. The specific task involves the use of...program to generate the appropriate data for graphical analysis. The robotic hand model used in this study is based on the Utah/MIT Dexterous

Radiative rates for E1, E2, M1, and M2 transitions in the Br-like ions Sr IV, Y V, Zr VI, Nb VII, and Mo VIII

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

Aggarwal, Kanti M., E-mail: K.Aggarwal@qub.ac.uk; Keenan, Francis P.

Energies and lifetimes are reported for the lowest 375 levels of five Br-like ions, namely Sr IV, Y V, Zr VI, Nb VII, and Mo VIII, mostly belonging to the 4s{sup 2}4p{sup 5}, 4s{sup 2}4p{sup 4}4ℓ, 4s4p{sup 6}, 4s{sup 2}4p{sup 4}5ℓ, 4s{sup 2}4p{sup 3}4d{sup 2}, 4s4p{sup 5}4ℓ, and 4s4p{sup 5}5ℓ configurations. Extensive configuration interaction has been included and the general-purpose relativistic atomic structure package (GRASP) has been adopted for the calculations. Additionally, radiative rates are listed among these levels for all E1, E2, M1, and M2 transitions. From a comparison with the measurements, the majority of our energy levels are assessed to be accurate tomore » better than 2%, although discrepancies between theory and experiment for a few are up to 6%. An accuracy assessment of the calculated radiative rates (and lifetimes) is more difficult, because no prior results exist for these ions.« less

The effect of nonylphenol on gene expression in Atlantic salmon smolts

USGS Publications Warehouse

Robertson, Laura S.; McCormick, Stephen D.

2012-01-01

The parr–smolt transformation in Atlantic salmon (Salmo salar) is a complex developmental process that culminates in the ability to migrate to and live in seawater. Exposure to environmental contaminants like nonylphenol can disrupt smolt development and may be a contributing factor in salmon population declines. We used GRASP 16K cDNA microarrays to investigate the effects of nonylphenol on gene expression in Atlantic salmon smolts. Nonylphenol exposure reduced gill Na+/K+-ATPase activity and plasma cortisol and triiodothyronine levels. Transcriptional responses were examined in gill, liver, olfactory rosettes, hypothalamus, and pituitary. Expression of 124 features was significantly altered in the liver of fish exposed to nonylphenol; little to no transcriptional effects were observed in other tissues. mRNA abundance of genes involved in protein biosynthesis, folding, modification, transport and catabolism; nucleosome assembly, cell cycle, cell differentiation, microtubule-based movement, electron transport, and response to stress increased in nonylphenol-treated fish. This study expands our understanding of the effect of nonylphenol on smolting and provides potential targets for development of biomarkers.

Optimized Shielding and Fabrication Techniques for TiN and Al Microwave Resonators

NASA Astrophysics Data System (ADS)

Kreikebaum, John Mark; Kim, Eunseong; Livingston, William; Dove, Allison; Calusine, Gregory; Hover, David; Rosenberg, Danna; Oliver, William; Siddiqi, Irfan

We present a systematic study of the effects of shielding and packaging on the internal quality factor (Qi) of Al and TiN microwave resonators designed for use in qubit readout. Surprisingly, Qi =1.3x106 TiN samples investigated at 100 mK exhibited no significant changes in linewidth when operated without magnetic shielding and in an open cryo-package. In contrast, Al resonators showed systematic improvement in Qi with each successive shield. Measurements were performed in an adiabatic demagnetization refrigerator, where typical ambient fields of 0.2 mT are present at the sample stage. We discuss the effect of 100 mK and 500 mK Cu radiation shields and cryoperm magnetic shielding on resonator Q as a function of temperature and input power in samples prepared with a variety of surface treatments, fabrication recipes, and embedding circuits. This research was supported by the ARO and IARPA.

In Situ Packaging FeFx into Sack-like Carbon Nanoreactors: A Smart Way To Make Soluble Fluorides Applicable to Aqueous Batteries.

PubMed

Jiang, Jian; Li, Linpo; Xu, Maowen; Zhu, Jianhui; Li, Chang Ming

2016-02-17

Ferruginous materials have long attracted great interest in aqueous batteries since Fe is an earth-abundant and low toxic element. However, their practical application is severely hindered by their poor structural stability during deep cycling. To maximize their cyclability, we herein propose a simple and effective method, by in situ packaging Fe-based materials into carbon nanosacks via a facile CVD approach. To verify our strategy, we purposely choose water-soluble Fe2F5 as a study paradigm. The in situ formed Fe2F5@C nanosacks product exhibits prominent anodic performance with high electrochemical activity and capacity, obviously prolonged cyclic lifetime, and outstanding rate capabilities. Besides, by pairing with the cathode of α-Co(OH)2 nanowire arrays@carbon cloth, a full device of rechargeable aqueous batteries has been developed, capable to deliver both high specific energy and power densities (Max. values reaching up to ∼163 Wh kg(-1) and ∼14.2 kW kg(-1)), which shows great potential in practical usage. Our present work may not only demonstrate the feasibility of using soluble fluorides as anodes for aqueous batteries but also provide a smart way to upgrade cyclic behaviors of Fe-based anodes.

Mena-GRASP65 interaction couples actin polymerization to Golgi ribbon linking.

PubMed

Tang, Danming; Zhang, Xiaoyan; Huang, Shijiao; Yuan, Hebao; Li, Jie; Wang, Yanzhuang

2016-01-01

In mammalian cells, the Golgi reassembly stacking protein 65 (GRASP65) has been implicated in both Golgi stacking and ribbon linking by forming trans-oligomers through the N-terminal GRASP domain. Because the GRASP domain is globular and relatively small, but the gaps between stacks are large and heterogeneous, it remains puzzling how GRASP65 physically links Golgi stacks into a ribbon. To explore the possibility that other proteins may help GRASP65 in ribbon linking, we used biochemical methods and identified the actin elongation factor Mena as a novel GRASP65-binding protein. Mena is recruited onto the Golgi membranes through interaction with GRASP65. Depleting Mena or disrupting actin polymerization resulted in Golgi fragmentation. In cells, Mena and actin were required for Golgi ribbon formation after nocodazole washout; in vitro, Mena and microfilaments enhanced GRASP65 oligomerization and Golgi membrane fusion. Thus Mena interacts with GRASP65 to promote local actin polymerization, which facilitates Golgi ribbon linking. © 2016 Tang et al. This article is distributed by The American Society for Cell Biology under license from the author(s). Two months after publication it is available to the public under an Attribution–Noncommercial–Share Alike 3.0 Unported Creative Commons License (http://creativecommons.org/licenses/by-nc-sa/3.0).

Novel Cryogenic Heaters: Sputter Deposited Cermet Materials with Low Temperature Coefficients of Resistivity

NASA Astrophysics Data System (ADS)

Yeager, C. J.; Courts, S. S.; Chapin, L.

2004-06-01

The electrical properties of a novel cryogenic heater are presented. A new ceramic-metal composition (cermet) has been developed that can be sputter deposited. This material has a very low temperature coefficient of resistivity. Resistivity measurements as a function of temperature are presented. The cermet has a constant resistance to within 0.1% between 77 K and 50 mK. At 4.2 K the d(logR)/d(logT) value is approximately -0.0005. The resistance change between room temperature and 4.2 K is 2.5%. The cermet heater will be compared to other low temperature coefficient of resistivity alloys (Evanohm, phosphor-bronze, nichrome and platinum-tungsten wire) that are used for cryogenic heaters and fixed resistors. Unlike the wire alloys, this material can be sputter deposited. This allows various die designs (meander patterns) to control the final resistance. The die can be mounted into standard commercial cryogenic sensor packages. Compared to other wire alloys, this allows for a simpler implementation for a cryogenic heater and fixed resistance standards. The material can also be deposited onto existing structures such as MEMS based heat capacity chip under development.

Implementation of the NCAR (National Centre for Atmospheric Research) Graphics Package at ARL (Aeronautical Research Laboratory).

DTIC Science & Technology

1988-01-01

VELVCT. .. .. ... ... ... .... ... 57 E.5 Arguments for Subroutine EZVEC .. .. .. ... ... ... ... .... 59 E.6 Using VELVCT with the Mapping Packege EZMAP...VELVCT with the Mapping Packege EZMAP Using this routine to put vectors on an arbitrary background drawn by EZMAP is a bit tricky. The arithmetic...squares solutions to overdetermined linear systems. 129 K.2 The "Fishpack" Package This packege was included on the NCAR distribution tape. It consists of

Concatenation of Observed Grasp Phases with Observer’s Distal Movements: A Behavioural and TMS Study

PubMed Central

De Stefani, Elisa; Innocenti, Alessandro; De Marco, Doriana; Gentilucci, Maurizio

2013-01-01

The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3). Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed) when the observed (and simulated) movement was to be accomplished. The mechanism joining the observation of a conspecific’s action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals. PMID:24278395

Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2017-12-01

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

The neuroscience of vision-based grasping: a functional review for computational modeling and bio-inspired robotics.

PubMed

Chinellato, Eris; Del Pobil, Angel P

2009-06-01

The topic of vision-based grasping is being widely studied in humans and in other primates using various techniques and with different goals. The fundamental related findings are reviewed in this paper, with the aim of providing researchers from different fields, including intelligent robotics and neural computation, a comprehensive but accessible view on the subject. A detailed description of the principal sensorimotor processes and the brain areas involved is provided following a functional perspective, in order to make this survey especially useful for computational modeling and bio-inspired robotic applications.

Imaging Grating Spectrometer (I-GRASP) for Solar Soft X-Ray Spectral Measurements in Critically Under-Observed 0.5 - 7 nm Spectral Range

NASA Astrophysics Data System (ADS)

Didkovsky, L. V.; Wieman, S. R.; Chao, W.; Woods, T. N.; Jones, A. R.; Thiemann, E.; Mason, J. P.

2016-12-01

We discuss science and technology advantages of the Imaging Grating Spectrometer (I-GRASP) based on a novel transmission diffracting grating (TDG) made possible by technology for fabricating Fresnel zone plates (ZPs) developed at the Lawrence Berkeley National Laboratory (LBNL). Older version TDGs with 200 nm period available in the 1990s became a proven technology for providing 21 years of regular measurements of solar EUV irradiance. I-GRASP incorporates an advanced TDG with a grating period of 50 nm providing four times better diffraction dispersion than the 200 nm period gratings used in the SOHO/CELIAS/SEM, the SDO/EVE/ESP flight spectrophotometers, and the EVE/SAM sounding rocket channel. Such new technology for the TDG combined with a back-illuminated 2000 x 1504 CMOS image sensor with 7 micron pixels, will provide spatially-and-spectrally resolved images and spectra from individual Active Regions (ARs) and solar flares with high (0.15 nm) spectral resolution. Such measurements are not available in the spectral band from about 2 to 6 nm from existing or planned spectrographs and will be significantly important to study ARs and solar flare temperatures and dynamics, to improve existing spectral models, e.g. CHIANTI, and to better understand processes in the Earth's atmosphere processes. To test this novel technology, we have proposed to the NASA LCAS program an I-GRASP version for a sounding rocket flight to increase the TDG TRL to a level appropriate for future CubeSat projects.

Grasping with the eyes of your hands: hapsis and vision modulate hand preference.

PubMed

Stone, Kayla D; Gonzalez, Claudia L R

2014-02-01

Right-hand preference has been demonstrated for visually guided reaching and grasping. Grasping, however, requires the integration of both visual and haptic cues. To what extent does vision influence hand preference for grasping? Is there a hand preference for haptically guided grasping? Two experiments were designed to address these questions. In Experiment 1, individuals were tested in a reaching-to-grasp task with vision (sighted condition) and with hapsis (blindfolded condition). Participants were asked to put together 3D models using building blocks scattered on a tabletop. The models were simple, composed of ten blocks of three different shapes. Starting condition (Vision-First or Hapsis-First) was counterbalanced among participants. Right-hand preference was greater in visually guided grasping but only in the Vision-First group. Participants who initially built the models while blindfolded (Hapsis-First group) used their right hand significantly less for the visually guided portion of the task. To investigate whether grasping using hapsis modifies subsequent hand preference, participants received an additional haptic experience in a follow-up experiment. While blindfolded, participants manipulated the blocks in a container for 5 min prior to the task. This additional experience did not affect right-hand use on visually guided grasping but had a robust effect on haptically guided grasping. Together, the results demonstrate first that hand preference for grasping is influenced by both vision and hapsis, and second, they highlight how flexible this preference could be when modulated by hapsis.

Bio-inspired grasp control in a robotic hand with massive sensorial input.

PubMed

Ascari, Luca; Bertocchi, Ulisse; Corradi, Paolo; Laschi, Cecilia; Dario, Paolo

2009-02-01

The capability of grasping and lifting an object in a suitable, stable and controlled way is an outstanding feature for a robot, and thus far, one of the major problems to be solved in robotics. No robotic tools able to perform an advanced control of the grasp as, for instance, the human hand does, have been demonstrated to date. Due to its capital importance in science and in many applications, namely from biomedics to manufacturing, the issue has been matter of deep scientific investigations in both the field of neurophysiology and robotics. While the former is contributing with a profound understanding of the dynamics of real-time control of the slippage and grasp force in the human hand, the latter tries more and more to reproduce, or take inspiration by, the nature's approach, by means of hardware and software technology. On this regard, one of the major constraints robotics has to overcome is the real-time processing of a large amounts of data generated by the tactile sensors while grasping, which poses serious problems to the available computational power. In this paper a bio-inspired approach to tactile data processing has been followed in order to design and test a hardware-software robotic architecture that works on the parallel processing of a large amount of tactile sensing signals. The working principle of the architecture bases on the cellular nonlinear/neural network (CNN) paradigm, while using both hand shape and spatial-temporal features obtained from an array of microfabricated force sensors, in order to control the sensory-motor coordination of the robotic system. Prototypical grasping tasks were selected to measure the system performances applied to a computer-interfaced robotic hand. Successful grasps of several objects, completely unknown to the robot, e.g. soft and deformable objects like plastic bottles, soft balls, and Japanese tofu, have been demonstrated.

Compensatory motor control after stroke: an alternative joint strategy for object-dependent shaping of hand posture.

PubMed

Raghavan, Preeti; Santello, Marco; Gordon, Andrew M; Krakauer, John W

2010-06-01

Efficient grasping requires planned and accurate coordination of finger movements to approximate the shape of an object before contact. In healthy subjects, hand shaping is known to occur early in reach under predominantly feedforward control. In patients with hemiparesis after stroke, execution of coordinated digit motion during grasping is impaired as a result of damage to the corticospinal tract. The question addressed here is whether patients with hemiparesis are able to compensate for their execution deficit with a qualitatively different grasp strategy that still allows them to differentiate hand posture to object shape. Subjects grasped a rectangular, concave, and convex object while wearing an instrumented glove. Reach-to-grasp was divided into three phases based on wrist kinematics: reach acceleration (reach onset to peak horizontal wrist velocity), reach deceleration (peak horizontal wrist velocity to reach offset), and grasp (reach offset to lift-off). Patients showed reduced finger abduction, proximal interphalangeal joint (PIP) flexion, and metacarpophalangeal joint (MCP) extension at object grasp across all three shapes compared with controls; however, they were able to partially differentiate hand posture for the convex and concave shapes using a compensatory strategy that involved increased MCP flexion rather than the PIP flexion seen in controls. Interestingly, shape-specific hand postures did not unfold initially during reach acceleration as seen in controls, but instead evolved later during reach deceleration, which suggests increased reliance on sensory feedback. These results indicate that kinematic analysis can identify and quantify within-limb compensatory motor control strategies after stroke. From a clinical perspective, quantitative study of compensation is important to better understand the process of recovery from brain injury. From a motor control perspective, compensation can be considered a model for how joint redundancy is exploited to accomplish the task goal through redistribution of work across effectors.

Investigation of Thermal Interface Materials Using Phase-Sensitive Transient Thermoreflectance Technique: Preprint

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

Feng, X.; King, C.; DeVoto, D.

2014-08-01

With increasing power density in electronics packages/modules, thermal resistances at multiple interfaces are a bottleneck to efficient heat removal from the package. In this work, the performance of thermal interface materials such as grease, thermoplastic adhesives and diffusion-bonded interfaces are characterized using the phase-sensitive transient thermoreflectance technique. A multi-layer heat conduction model was constructed and theoretical solutions were derived to obtain the relation between phase lag and the thermal/physical properties. This technique enables simultaneous extraction of the contact resistance and bulk thermal conductivity of the TIMs. With the measurements, the bulk thermal conductivity of Dow TC-5022 thermal grease (70 tomore » 75 um bondline thickness) was 3 to 5 W/(m-K) and the contact resistance was 5 to 10 mm2-K/W. For the Btech thermoplastic material (45 to 80 μm bondline thickness), the bulk thermal conductivity was 20 to 50 W/(m-K) and the contact resistance was 2 to 5 mm2-K/W. Measurements were also conducted to quantify the thermal performance of diffusion-bonded interface for power electronics applications. Results with the diffusion-bonded sample showed that the interfacial thermal resistance is more than one order of magnitude lower than those of traditional TIMs, suggesting potential pathways to efficient thermal management.« less

Improvement and Neuroplasticity after Combined Rehabilitation to Forced Grasping

PubMed Central

Ogata, Atsuko; Kawahira, Kazumi; Shimodozono, Megumi

2017-01-01

The grasp reflex is a distressing symptom but the need to treat or suppress it has rarely been discussed in the literature. We report the case of a 17-year-old man who had suffered cerebral infarction of the right putamen and temporal lobe 10 years previously. Forced grasping of the hemiparetic left upper limb was improved after a unique combined treatment. Botulinum toxin type A (BTX-A) was first injected into the left biceps, wrist flexor muscles, and finger flexor muscles. Forced grasping was reduced along with spasticity of the upper limb. In addition, repetitive facilitative exercise and object-related training were performed under low-amplitude continuous neuromuscular electrical stimulation. Since this 2-week treatment improved upper limb function, we compared brain activities, as measured by near-infrared spectroscopy during finger pinching, before and after the combined treatment. Brain activities in the ipsilesional sensorimotor cortex (SMC) and medial frontal cortex (MFC) during pinching under electrical stimulation after treatment were greater than those before. The results suggest that training under electrical stimulation after BTX-A treatment may modulate the activities of the ipsilesional SMC and MFC and lead to functional improvement of the affected upper limb with forced grasping. PMID:28265475

An electromyographic analysis of two handwriting grasp patterns.

PubMed

de Almeida, Pedro Henrique Tavares Queiroz; da Cruz, Daniel Marinho Cezar; Magna, Luis Alberto; Ferrigno, Iracema Serrat Vergotti

2013-08-01

Handwriting is a fundamental skill needed for the development of daily-life activities during lifetime and can be performed using different forms to hold the writing object. In this study, we monitored the sEMG activity of trapezius, biceps brachii, extensor carpi radialis brevis and flexor digitorum superficialis during a handwriting task with two groups of subjects using different grasp patterns. Twenty-four university students (thirteen males and eleven females; mean age of 22.04±2.8years) were included in this study. We randomly invited 12 subjects that used the Dynamic Tripod grasp and 12 subjects that used the Static Tripod grasp. The static tripod group showed statistically significant changes in the sEMG activity of trapezium and biceps brachii muscles during handwriting when compared to dynamic tripod group's subjects. No significant differences were found in extensor carpi radialis brevis and flexor digitorum superficialis activities among the two groups. The findings in this study suggest an increased activity of proximal muscles among subjects using a transitional grasp, indicating potential higher energy expenditure and muscular harm with the maintenance of this motor pattern in handwriting tasks, especially during the progression in academic life. Copyright © 2013 Elsevier Ltd. All rights reserved.

Tactility as a function of grasp force: Effects of glove, orientation, pressure, load, and handle

NASA Technical Reports Server (NTRS)

Bishu, Ram R.; Bronkema, Lisa A.; Garcia, Dishayne; Klute, Glenn; Rajulu, Sudhakar

1994-01-01

One of the reasons for reduction in performance when gloves are donned is the lack of tactile sensitivity. It was argued that grasping force for a weight to be grasped will be a function of the weight to be lifted and the hand conditions. It was further reasoned that the differences in grasping force for various hand conditions will be a correlate of the tactile sensitivity of the corresponding hand conditions. The objective of this experiment, therefore, was to determine the effects of glove type, pressure, and weight of load on the initial grasping force and stable grasping force. It was hypothesized that when a person grasps an object, he/she grasps very firmly initially and then releases the grasp slightly after realizing what force is needed to maintain a steady grasp. This would seem to be particularly true when a person is wearing a glove and has lost some tactile sensitivity and force feedback during the grasp. Therefore, the ratio of initial force and stable force and the stable force itself would represent the amount of tactile adjustment that is made when picking up an object, and this adjustment should vary with the use of gloves. A dynamometer was fabricated to measure the grasping force; the tests were performed inside a glove box. Four female and four male subjects participated in the study, which measured the effects of four variables: load effect, gender effect, glove type, and pressure variance. The only significant effects on the peak and stable force were caused by gender and the weight of the load lifted. Neither gloves nor pressure altered these forces when compared to a bare-handed condition, as was suspected before the test. It is possible that gloves facilitate in holding due to coefficient of friction while they deter in peak grasp strength.

Coordination of pincer grasp and transport after mechanical perturbation of the index finger

PubMed Central

Schettino, Luis F.; Adamovich, Sergei V.

2017-01-01

Our understanding of reach-to-grasp movements has evolved from the original formulation of the movement as two semi-independent visuomotor channels to one of interdependence. Despite a number of important contributions involving perturbations of the reach or the grasp, some of the features of the movement, such as the presence or absence of coordination between the digits during the pincer grasp and the extent of spatio-temporal interdependence between the transport and the grasp, are still unclear. In this study, we physically perturbed the index finger into extension during grasping closure on a minority of trials to test whether modifying the movement of one digit would affect the movement of the opposite digit, suggestive of an overarching coordinative process. Furthermore, we tested whether disruption of the grasp results in the modification of kinematic parameters of the transport. Our results showed that a continuous perturbation to the index finger affected wrist velocity but not lateral displacement. Moreover, we found that the typical flexion of the thumb observed in nonperturbed trials was delayed until the index finger counteracted the extension force. These results suggest that physically perturbing the grasp modifies the kinematics of the transport component, indicating a two-way interdependence of the reach and the grasp. Furthermore, a perturbation to one digit affects the kinematics of the other, supporting a model of grasping in which the digits are coordinated by a higher-level process rather than being independently controlled. NEW & NOTEWORTHY A current debate concerning the neural control of prehension centers on the question of whether the digits in a pincer grasp are controlled individually or together. Employing a novel approach that perturbs mechanically the grasp component during a natural reach-to-grasp movement, this work is the first to test a key hypothesis: whether perturbing one of the digits during the movement affects the other. Our results support the idea that the digits are not independently controlled. PMID:28331008

Factors that affect error potentials during a grasping task: toward a hybrid natural movement decoding BCI.

PubMed

Omedes, Jason; Schwarz, Andreas; Müller-Putz, Gernot R; Montesano, Luis

2018-05-01

This paper presents a hybrid BCI combining neural correlates of natural movements and interaction error-related potentials (ErrP) to perform a 3D reaching task. It focuses on the impact that design factors of such a hybrid BCI have on the ErrP signatures and in their classification. Approach. Users attempted to control a 3D virtual interface that simulated their own hand, to reach and grasp two different objects. Three factors of interest were modulated during the experimentation: (1) execution speed of the grasping, (2) type of grasping and (3) motor commands generated by motor imagery or real motion. Thirteen healthy subjects carried out the protocol. The peaks and latencies of the ErrP were analyzed for the different factors as well as the classification performance. Main results. ErrP are evoked for erroneous commands decoded from neural correlates of natural movements. The ANOVA analyses revealed that latency and magnitude of the most characteristic ErrP peaks were significantly influenced by the speed at which the grasping was executed, but not the type of grasp. This resulted in an greater accuracy of single-trial decoding of errors for fast movements (75.65%) compared to slow ones (68.99%). Significance. Invariance of ErrP to different type of grasping movements and mental strategies proves this type of hybrid interface to be useful for the design of out of the lab applications such as the operation/control of prosthesis. Factors such as the speed of the movements have to be carefully tuned in order to optimize the performance of the system. . © 2018 IOP Publishing Ltd.

Grasp frequency and usage in daily household and machine shop tasks.

PubMed

Bullock, Ian M; Zheng, Joshua Z; De La Rosa, Sara; Guertler, Charlotte; Dollar, Aaron M

2013-01-01

In this paper, we present results from a study of prehensile human hand use during the daily work activities of four subjects: two housekeepers and two machinists. Subjects wore a head-mounted camera that recorded their hand usage during their daily work activities in their typical place of work. For each subject, 7.45 hours of video was analyzed, recording the type of grasp being used and its duration. From this data, we extracted overall grasp frequency, duration distributions for each grasp, and common transitions between grasps. The results show that for 80 percent of the study duration the housekeepers used just five grasps and the machinists used 10. The grasping patterns for the different subjects were compared, and the overall top 10 grasps are discussed in detail. The results of this study not only lend insight into how people use their hands during daily tasks, but can also inform the design of effective robotic and prosthetic hands.

Writing forces associated with four pencil grasp patterns in grade 4 children.

PubMed

Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl; Chau, Tom

2013-01-01

OBJECTIVE. We investigated differences in handwriting kinetics, speed, and legibility among four pencil grasps after a 10-min copy task. METHOD. Seventy-four Grade 4 students completed a handwriting assessment before and after a copy task. Grip and axial forces were measured with an instrumented stylus and force-sensitive tablet. We used multiple linear regression to analyze the relationship between grasp pattern and grip and axial forces. RESULTS. We found no kinetic differences among grasps, whether considered individually or grouped by the number of fingers on the barrel. However, when grasps were grouped according to the thumb position, the adducted grasps exhibited higher mean grip and axial forces. CONCLUSION. Grip forces were generally similar across the different grasps. Kinetic differences resulting from thumb position seemed to have no bearing on speed and legibility. Interventions for handwriting difficulties should focus more on speed and letter formation than on grasp pattern. Copyright © 2013 by the American Occupational Therapy Association, Inc.

Gravity: The Glue of the Universe. History and Activities.

ERIC Educational Resources Information Center

Gilbert, Harry; Smith, Diana Gilbert

This book presents a story of the history of gravity, the glue of the universe, and is based on two premises: (1) an understanding of mathematics is not required to grasp the concepts and implications of relativity; and (2) relativity has altered forever the perceptions of gravity, space, time, and how the universe works. A narrative text section…

Resistance to moist conditions of whey protein isolate and pea starch biodegradable films and low density polyethylene nondegradable films: a comparative study

NASA Astrophysics Data System (ADS)

Mehyar, G. F.; Bawab, A. Al

2015-10-01

Biodegradable packaging materials are degraded under the natural environmental conditions. Therefore using them could alleviate the problem of plastics accumulation in nature. For effective replacement of plastics, with biodegradable materials, biodegradable packages should keep their properties under the high relative humidity (RH) conditions. Therefore the objectives of the study were to develop biodegradable packaging material based on whey protein isolate (WPI) and pea starch (PS). To study their mechanical, oxygen barrier and solubility properties under different RHs compared with those of low density polyethylene (LDPE), the most used plastic in packaging. Films of WPI and PS were prepared separately and conditioned at different RH (30-90%) then their properties were studied. At low RHs (<50%), WPI films had 2-3 times lower elongation at break (E or stretchability) than PS and LDPE. Increasing RH to 90% significantly (P<0.01) increased the elongation of PS but not WPI and LDPE films. LDPE and WPI films kept significantly (P<0.01) higher tensile strength (TS) than PS films at high RH (90%). Oxygen permeability (OP) of all films was very low (<0.5 cm3 μm m-2 d-1 kPa-1) below 40% RH but increased for PS films and became significantly (P<0.01) different than that of LDPE and WPI at > 40% RH. Oxygen permeability of WPI and LDPE did not adversely affected by increasing RH to 65%. Furthermore, WPI and LDPE films had lower degree of hydration at 50% and 90% RH and total soluble matter than PS films. These results suggest that WPI could be successfully replacing LDPE in packaging of moist products.

Effects of material properties and object orientation on precision grip kinematics.

PubMed

Paulun, Vivian C; Gegenfurtner, Karl R; Goodale, Melvyn A; Fleming, Roland W

2016-08-01

Successfully picking up and handling objects requires taking into account their physical properties (e.g., material) and position relative to the body. Such features are often inferred by sight, but it remains unclear to what extent observers vary their actions depending on the perceived properties. To investigate this, we asked participants to grasp, lift and carry cylinders to a goal location with a precision grip. The cylinders were made of four different materials (Styrofoam, wood, brass and an additional brass cylinder covered with Vaseline) and were presented at six different orientations with respect to the participant (0°, 30°, 60°, 90°, 120°, 150°). Analysis of their grasping kinematics revealed differences in timing and spatial modulation at all stages of the movement that depended on both material and orientation. Object orientation affected the spatial configuration of index finger and thumb during the grasp, but also the timing of handling and transport duration. Material affected the choice of local grasp points and the duration of the movement from the first visual input until release of the object. We find that conditions that make grasping more difficult (orientation with the base pointing toward the participant, high weight and low surface friction) lead to longer durations of individual movement segments and a more careful placement of the fingers on the object.

Grasping rigid objects in zero-g

NASA Astrophysics Data System (ADS)

Anderson, Greg D.

1993-12-01

The extra vehicular activity helper/retriever (EVAHR) is a prototype for an autonomous free- flying robotic astronaut helper. The ability to grasp a moving object is a fundamental skill required for any autonomous free-flyer. This paper discusses an algorithm that couples resolved acceleration control with potential field based obstacle avoidance to enable a manipulator to track and capture a rigid object in (imperfect) zero-g while avoiding joint limits, singular configurations, and unintentional impacts between the manipulator and the environment.

An Improved Computational Method for the Calculation of Mixture Liquid-Vapor Critical Points

NASA Astrophysics Data System (ADS)

Dimitrakopoulos, Panagiotis; Jia, Wenlong; Li, Changjun

2014-05-01

Knowledge of critical points is important to determine the phase behavior of a mixture. This work proposes a reliable and accurate method in order to locate the liquid-vapor critical point of a given mixture. The theoretical model is developed from the rigorous definition of critical points, based on the SRK equation of state (SRK EoS) or alternatively, on the PR EoS. In order to solve the resulting system of nonlinear equations, an improved method is introduced into an existing Newton-Raphson algorithm, which can calculate all the variables simultaneously in each iteration step. The improvements mainly focus on the derivatives of the Jacobian matrix, on the convergence criteria, and on the damping coefficient. As a result, all equations and related conditions required for the computation of the scheme are illustrated in this paper. Finally, experimental data for the critical points of 44 mixtures are adopted in order to validate the method. For the SRK EoS, average absolute errors of the predicted critical-pressure and critical-temperature values are 123.82 kPa and 3.11 K, respectively, whereas the commercial software package Calsep PVTSIM's prediction errors are 131.02 kPa and 3.24 K. For the PR EoS, the two above mentioned average absolute errors are 129.32 kPa and 2.45 K, while the PVTSIM's errors are 137.24 kPa and 2.55 K, respectively.

Spatiotemporal distribution of location and object effects in reach-to-grasp kinematics

PubMed Central

Rouse, Adam G.

2015-01-01

In reaching to grasp an object, the arm transports the hand to the intended location as the hand shapes to grasp the object. Prior studies that tracked arm endpoint and grip aperture have shown that reaching and grasping, while proceeding in parallel, are interdependent to some degree. Other studies of reaching and grasping that have examined the joint angles of all five digits as the hand shapes to grasp various objects have not tracked the joint angles of the arm as well. We, therefore, examined 22 joint angles from the shoulder to the five digits as monkeys reached, grasped, and manipulated in a task that dissociated location and object. We quantified the extent to which each angle varied depending on location, on object, and on their interaction, all as a function of time. Although joint angles varied depending on both location and object beginning early in the movement, an early phase of location effects in joint angles from the shoulder to the digits was followed by a later phase in which object effects predominated at all joint angles distal to the shoulder. Interaction effects were relatively small throughout the reach-to-grasp. Whereas reach trajectory was influenced substantially by the object, grasp shape was comparatively invariant to location. Our observations suggest that neural control of reach-to-grasp may occur largely in two sequential phases: the first determining the location to which the arm transports the hand, and the second shaping the entire upper extremity to grasp and manipulate the object. PMID:26445870

Quantification and visualization of coordination during non-cyclic upper extremity motion.

PubMed

Fineman, Richard A; Stirling, Leia A

2017-10-03

There are many design challenges in creating at-home tele-monitoring systems that enable quantification and visualization of complex biomechanical behavior. One such challenge is robustly quantifying joint coordination in a way that is intuitive and supports clinical decision-making. This work defines a new measure of coordination called the relative coordination metric (RCM) and its accompanying normalization schemes. RCM enables quantification of coordination during non-constrained discrete motions. Here RCM is applied to a grasping task. Fifteen healthy participants performed a reach, grasp, transport, and release task with a cup and a pen. The measured joint angles were then time-normalized and the RCM time-series were calculated between the shoulder-elbow, shoulder-wrist, and elbow-wrist. RCM was normalized using four differing criteria: the selected joint degree of freedom, angular velocity, angular magnitude, and range of motion. Percent time spent in specified RCM ranges was used asa composite metric and was evaluated for each trial. RCM was found to vary based on: (1) chosen normalization scheme, (2) the stage within the task, (3) the object grasped, and (4) the trajectory of the motion. The RCM addresses some of the limitations of current measures of coordination because it is applicable to discrete motions, does not rely on cyclic repetition, and uses velocity-based measures. Future work will explore clinically relevant differences in the RCM as it is expanded to evaluate different tasks and patient populations. Copyright © 2017. Published by Elsevier Ltd.

Computer-based test-bed for clinical assessment of hand/wrist feed-forward neuroprosthetic controllers using artificial neural networks.

PubMed

Luján, J L; Crago, P E

2004-11-01

Neuroprosthestic systems can be used to restore hand grasp and wrist control in individuals with C5/C6 spinal cord injury. A computer-based system was developed for the implementation, tuning and clinical assessment of neuroprosthetic controllers, using off-the-shelf hardware and software. The computer system turned a Pentium III PC running Windows NT into a non-dedicated, real-time system for the control of neuroprostheses. Software execution (written using the high-level programming languages LabVIEW and MATLAB) was divided into two phases: training and real-time control. During the training phase, the computer system collected input/output data by stimulating the muscles and measuring the muscle outputs in real-time, analysed the recorded data, generated a set of training data and trained an artificial neural network (ANN)-based controller. During real-time control, the computer system stimulated the muscles using stimulus pulsewidths predicted by the ANN controller in response to a sampled input from an external command source, to provide independent control of hand grasp and wrist posture. System timing was stable, reliable and capable of providing muscle stimulation at frequencies up to 24Hz. To demonstrate the application of the test-bed, an ANN-based controller was implemented with three inputs and two independent channels of stimulation. The ANN controller's ability to control hand grasp and wrist angle independently was assessed by quantitative comparison of the outputs of the stimulated muscles with a set of desired grasp or wrist postures determined by the command signal. Controller performance results were mixed, but the platform provided the tools to implement and assess future controller designs.

Blending of brain-machine interface and vision-guided autonomous robotics improves neuroprosthetic arm performance during grasping.

PubMed

Downey, John E; Weiss, Jeffrey M; Muelling, Katharina; Venkatraman, Arun; Valois, Jean-Sebastien; Hebert, Martial; Bagnell, J Andrew; Schwartz, Andrew B; Collinger, Jennifer L

2016-03-18

Recent studies have shown that brain-machine interfaces (BMIs) offer great potential for restoring upper limb function. However, grasping objects is a complicated task and the signals extracted from the brain may not always be capable of driving these movements reliably. Vision-guided robotic assistance is one possible way to improve BMI performance. We describe a method of shared control where the user controls a prosthetic arm using a BMI and receives assistance with positioning the hand when it approaches an object. Two human subjects with tetraplegia used a robotic arm to complete object transport tasks with and without shared control. The shared control system was designed to provide a balance between BMI-derived intention and computer assistance. An autonomous robotic grasping system identified and tracked objects and defined stable grasp positions for these objects. The system identified when the user intended to interact with an object based on the BMI-controlled movements of the robotic arm. Using shared control, BMI controlled movements and autonomous grasping commands were blended to ensure secure grasps. Both subjects were more successful on object transfer tasks when using shared control compared to BMI control alone. Movements made using shared control were more accurate, more efficient, and less difficult. One participant attempted a task with multiple objects and successfully lifted one of two closely spaced objects in 92 % of trials, demonstrating the potential for users to accurately execute their intention while using shared control. Integration of BMI control with vision-guided robotic assistance led to improved performance on object transfer tasks. Providing assistance while maintaining generalizability will make BMI systems more attractive to potential users. NCT01364480 and NCT01894802 .

Effect of irradiation on stored vacuum packaged Wiltshire bacon

NASA Astrophysics Data System (ADS)

Dempster, JF; Halls, NA

Wiltshire cured 'middle-cut' bacon (NaCl, 4.87%; 40 mg/kg NO 2; 53 mg/kg NO 3) was boned, sliced and vacuum packaged. It was irradiated (25 kGy: 10 kGy) and stored aerobically (5 0 : 15 0). At weekly intervals the bacon was evaluated bacteriologically and organoleptically (appearance, odour, colour of lean and fat) against unirradiated (control) samples). Results indicated that irradiation (10 kGy) did not permanently inhibit bacterial growth. After initial reductions in count of 0.99 g -1-1(15 0C) and log 3.61 g -1 (5 0C), maximum numbers were reached in 28 days at 15 0C (log 10.32 g -1) and in 35 days at 5 0C (log 8.05 g -1). However viability was significantly affected by 25 kGy irradiation: final numbers reached being log 2.22 g -1 (15 0C) at 35 days and log 3.38 g -1 (5 0C) at 42 days. Appearance and colour (fat and lean) were not significantly impaired by irradiation. However the interaction of storage temperature (5 0 : 15 0C), irradiation (10 kGy: 25 kGy): duration of storage (42 days) and initial count (log 7.24 g -1) had pronounced adverse effects on odour judgements. Evaluation of odour changes in bacon due to irradiation require further investigation. This is especially so since it is often possible to detect odour changes in raw meat after doses as low as 0.5 kGy (Coleby 1959).

Evaluation of transition-sensitive eddy-viscosity turbulence models for separated flow in OpenFOAM

NASA Astrophysics Data System (ADS)

Fadhila, H.; Medina, H.; Beechook, A.; Aleksandrova, S.; Benjamin, S.

2017-07-01

A recently published transition-sensitive turbulence model, k-kL-ω-υ2 [1], is implemented in the open-source CFD package OpenFOAM, and its performance is evaluated in comparison with k-kL-ω [2] and υ2- f [3] models. On T3A and T3B flat plate cases, the k-kL-ω-υ2 model gives accurate transitional predictions. On a flapped NACA 23012 aerofoil, it is found to give only a small improvement over the k-kL-ω model (under 5% reduction in error for lift coefficient) compared with experimental results obtained at the Coventry University wind tunnel, showing limited effects of the extra transport equation which was added to sensitise the model to rotation and curvature effects. Assessment of fluctuating kinetic energy and the new wall-normal turbulent velocity scale shows overprediction near the wall compared to the υ2- f model which indicates a delayed prediction of separation.

Extending the shelf life of kohlrabi stems by modified atmosphere packaging.

PubMed

Escalona, V H; Aguayo, E; Artés, F

2007-06-01

Kohlrabi stems (without leaves) were stored under modified atmosphere packaging (MAP) for 60 d at 0 degrees C. An additional retail sale period of 3 d at 12 degrees C after each cold storage evaluation (30 and 60 d) was applied. Under high relative humidity (RH) and 0 degrees C, the stems showed low metabolic activity, as no changes in sugars and organic acids were found. From day 21 at 0 degrees C, air-stored stems showed a yellowing of stalks and later they fell down. This disorder severely affected the appearance of stems. A gas composition of 4.5 to 5.5 kPa O(2) plus 11 to 12 kPa CO(2) was reached using antimist oriented polypropylene plastic bags of 20-mum thicknesses. The stems in MAP conditions kept a high sensorial quality. It was enough for commercial purpose of 2 mo. The storage of kohlrabi stems in plastic bags, either MA or in perforated (control) packages, provided an additional protection reducing physical damage. The MAP conditions delayed the weight loss and development of bacterial soft and black rot, extending the shelf life of kohlrabi stems to 60 d at 0 degrees C plus 3 d at 12 degrees C. Stems are not chilling injury sensitive.

Observing functional actions affects semantic processing of tools: evidence of a motor-to-semantic priming.

PubMed

De Bellis, Francesco; Ferrara, Antonia; Errico, Domenico; Panico, Francesco; Sagliano, Laura; Conson, Massimiliano; Trojano, Luigi

2016-01-01

Recent evidence shows that activation of motor information can favor identification of related tools, thus suggesting a strict link between motor and conceptual knowledge in cognitive representation of tools. However, the involvement of motor information in further semantic processing has not been elucidated. In three experiments, we aimed to ascertain whether motor information provided by observation of actions could affect processing of conceptual knowledge about tools. In Experiment 1, healthy participants judged whether pairs of tools evoking different functional handgrips had the same function. In Experiment 2 participants judged whether tools were paired with appropriate recipients. Finally, in Experiment 3 we again required functional judgments as in Experiment 1, but also included in the set of stimuli pairs of objects having different function and similar functional handgrips. In all experiments, pictures displaying either functional grasping (aimed to use tools) or structural grasping (just aimed to move tools independently from their use) were presented before each stimulus pair. The results demonstrated that, in comparison with structural grasping, observing functional grasping facilitates judgments about tools' function when objects did not imply the same functional manipulation (Experiment 1), whereas worsened such judgments when objects shared functional grasp (Experiment 3). Instead, action observation did not affect judgments concerning tool-recipient associations (Experiment 2). Our findings support a task-dependent influence of motor information on high-order conceptual tasks and provide further insights into how motor and conceptual processing about tools can interact.

An on-line BCI for control of hand grasp sequence and holding using adaptive probabilistic neural network.

PubMed

Hazrati, Mehrnaz Kh; Erfanian, Abbas

2008-01-01

This paper presents a new EEG-based Brain-Computer Interface (BCI) for on-line controlling the sequence of hand grasping and holding in a virtual reality environment. The goal of this research is to develop an interaction technique that will allow the BCI to be effective in real-world scenarios for hand grasp control. Moreover, for consistency of man-machine interface, it is desirable the intended movement to be what the subject imagines. For this purpose, we developed an on-line BCI which was based on the classification of EEG associated with imagination of the movement of hand grasping and resting state. A classifier based on probabilistic neural network (PNN) was introduced for classifying the EEG. The PNN is a feedforward neural network that realizes the Bayes decision discriminant function by estimating probability density function using mixtures of Gaussian kernels. Two types of classification schemes were considered here for on-line hand control: adaptive and static. In contrast to static classification, the adaptive classifier was continuously updated on-line during recording. The experimental evaluation on six subjects on different days demonstrated that by using the static scheme, a classification accuracy as high as the rate obtained by the adaptive scheme can be achieved. At the best case, an average classification accuracy of 93.0% and 85.8% was obtained using adaptive and static scheme, respectively. The results obtained from more than 1500 trials on six subjects showed that interactive virtual reality environment can be used as an effective tool for subject training in BCI.

Software Reviews: Programs Worth a Second Look.

ERIC Educational Resources Information Center

Olds, Henry F., Jr.; And Others

1988-01-01

Examines four software packages: (1) "Wordbench"--writing and word processing, grades 9-12 (IBM and Apple); (2) "Muppet Slate"--language arts, grades K-2 (Apple); (3) "Accu-Weather Forecaster"--weather analysis and forecasting, grades 3-12 (modem with IBM or Mac); and (4) "The Ripple That Changed American…

Neural coordination during reach-to-grasp

PubMed Central

Vaidya, Mukta; Kording, Konrad; Saleh, Maryam; Takahashi, Kazutaka

2015-01-01

When reaching to grasp, we coordinate how we preshape the hand with how we move it. To ask how motor cortical neurons participate in this coordination, we examined the interactions between reach- and grasp-related neuronal ensembles while monkeys reached to grasp a variety of different objects in different locations. By describing the dynamics of these two ensembles as trajectories in a low-dimensional state space, we examined their coupling in time. We found evidence for temporal compensation across many different reach-to-grasp conditions such that if one neural trajectory led in time the other tended to catch up, reducing the asynchrony between the trajectories. Granger causality revealed bidirectional interactions between reach and grasp neural trajectories beyond that which could be attributed to the joint kinematics that were consistently stronger in the grasp-to-reach direction. Characterizing cortical coordination dynamics provides a new framework for understanding the functional interactions between neural populations. PMID:26224773

Human grasp assist device and method of use

NASA Technical Reports Server (NTRS)

Linn, Douglas Martin (Inventor); Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor)

2012-01-01

A grasp assist device includes a glove portion having phalange rings, contact sensors for measuring a grasping force applied by an operator wearing the glove portion, and a tendon drive system (TDS). The device has flexible tendons connected to the phalange rings for moving the rings in response to feedback signals from the sensors. The TDS is connected to each of the tendons, and applies an augmenting tensile force thereto via a microcontroller adapted for determining the augmenting tensile force as a function of the grasping force. A method of augmenting a grasping force of an operator includes measuring the grasping force using the sensors, encoding the grasping force as the feedback signals, and calculating the augmenting tensile force as a function of the feedback signals using the microcontroller. The method includes energizing at least one actuator of a tendon drive system (TDS) to thereby apply the augmenting tensile force.

GRASP1 regulates synaptic plasticity and learning through endosomal recycling of AMPA receptors

PubMed Central

Chiu, Shu-Ling; Diering, Graham Hugh; Ye, Bing; Takamiya, Kogo; Chen, Chih-Ming; Jiang, Yuwu; Niranjan, Tejasvi; Schwartz, Charles E.; Wang, Tao; Huganir, Richard L.

2017-01-01

Summary Learning depends on experience-dependent modification of synaptic efficacy and neuronal connectivity in the brain. We provide direct evidence for physiological roles of the recycling endosome protein GRASP1 in glutamatergic synapse function and animal behavior. Mice lacking GRASP1 showed abnormal excitatory synapse number, synaptic plasticity and hippocampal-dependent learning and memory due to a failure in learning-induced synaptic AMPAR incorporation. We identified two GRASP1 point mutations from intellectual disability (ID) patients that showed convergent disruptive effects on AMPAR recycling and glutamate uncaging-induced structural and functional plasticity. Wild-type GRASP1, but not ID mutants, rescues spine loss in hippocampal CA1 neurons of Grasp1 knockout mice. Together, these results demonstrate a requirement for normal recycling endosome function in AMPAR-dependent synaptic function and neuronal connectivity in vivo, and suggest a potential role for GRASP1 in the pathophysiology of human cognitive disorders. PMID:28285821

Feasibility of biodegradable based packaging used for red meat storage during shelf-life: A pilot study.

PubMed

Panseri, S; Martino, P A; Cagnardi, P; Celano, G; Tedesco, D; Castrica, M; Balzaretti, C; Chiesa, L M

2018-05-30

This study was designated to ascertain the effectiveness of polylactic acid (PLA) based packaging solution to store red fresh meat during its refrigerated shelf-life. Recently the attention in the packaging industry regarding the use of bioplastics has been shifting from compostable/biodegradable materials toward biobased materials. Steaks obtained from semimembranous muscle of Piemontese beef were packaged in PLA trays closed with a lid made of PLA film and for comparison purposed in a conventional reference package consisting of a amorphous polyethylene terephthalate/polyethylene (APET/PET) trays and wrapped in plastic film of polyvinyl chloride (PVC). The packaging under modified atmosphere MAP was carried out by using a gas mixture of 66% O 2 , 25% CO 2 and 9%N 2 . By using PLA packaging combination it was possible to maintain an optimum red colour together with a reduced content of volatile compounds associated to off-flavours of meat samples particularly related to the oxidation phenomena. Copyright © 2017 Elsevier Ltd. All rights reserved.

Determination of radiolysis products in gamma-irradiated multilayer barrier food packaging films containing a middle layer of recycled LDPE

NASA Astrophysics Data System (ADS)

Chytiri, Stavroula; Goulas, Antonios E.; Badeka, Anastasia; Riganakos, Kyriakos A.; Petridis, Dimitrios; Kontominas, Michael G.

2008-09-01

Volatile and non-volatile radiolysis products and sensory changes of five-layer food packaging films have been determined after gamma irradiation (5-60 kGy). Barrier films were based on polyamide (PA) and low-density polyethylene (LDPE). Each film contained a middle buried layer of recycled LDPE or 100% virgin LDPE (control samples). Data showed that a large number of radiolysis products were produced such as hydrocarbons, alcohols, carbonyl compounds, carboxylic acid. These compounds were detected in the food simulant after contact with all films even at the lower absorbed doses of 5 and 10 kGy. The type and concentration of radiolysis products increased progressively with radiation dose, while no new compounds were detected as a result of the presence of recycled LDPE. In addition, irradiation dose appears to influence the sensory properties of table water in contact with films.

Analysis and Implementation of Robust Grasping Behaviors

DTIC Science & Technology

1990-05-01

34 Technical Report 992, MIT Artificial Intelligence Laboratory, Cambridge, MA, May, 1987. 2. Brooks, R. A. "Achieving Artifci &l Intelligence Through...DTIu FILE COPY Technical Report 1237 ’Analysis and Implementation of NRobust Grasping Behaviors Camille Z. Chammas MIT Artificial Intelligence ...describes research conducted at the Artificial Intelligence Laboratory at the Massachusetts Institute of Technology. Support for the laboratory’s

A fully wafer-level packaged RF MEMS switch with low actuation voltage using a piezoelectric actuator

NASA Astrophysics Data System (ADS)

Park, Jae-Hyoung; Lee, Hee-Chul; Park, Yong-Hee; Kim, Yong-Dae; Ji, Chang-Hyeon; Bu, Jonguk; Nam, Hyo-Jin

2006-11-01

In this paper, a fully wafer-level packaged RF MEMS switch has been demonstrated, which has low operation voltage, using a piezoelectric actuator. The piezoelectric actuator was designed to operate at low actuation voltage for application to advanced mobile handsets. The dc contact type RF switch was packaged using the wafer-level bonding process. The CPW transmission lines and piezoelectric actuators have been fabricated on separate wafers and assembled together by the wafer-level eutectic bonding process. A gold and tin composite was used for eutectic bonding at a low temperature of 300 °C. Via holes interconnecting the electrical contact pads through the wafer were filled completely with electroplated copper. The fully wafer-level packaged RF MEMS switch showed an insertion loss of 0.63 dB and an isolation of 26.4 dB at 5 GHz. The actuation voltage of the switch was 5 V. The resonant frequency of the piezoelectric actuator was 38.4 kHz and the spring constant of the actuator was calculated to be 9.6 N m-1. The size of the packaged SPST (single-pole single-through) switch was 1.2 mm × 1.2 mm including the packaging sealing rim. The effect of the proposed package structure on the RF performance was characterized with a device having CPW through lines and vertical feed lines excluding the RF switches. The measured packaging loss was 0.2 dB and the return loss was 33.6 dB at 5 GHz.

Non-Intrusive Magneto-Optic Detecting System for Investigations of Air Switching Arcs

NASA Astrophysics Data System (ADS)

Zhang, Pengfei; Zhang, Guogang; Dong, Jinlong; Liu, Wanying; Geng, Yingsan

2014-07-01

In current investigations of electric arc plasmas, experiments based on modern testing technology play an important role. To enrich the testing methods and contribute to the understanding and grasping of the inherent mechanism of air switching arcs, in this paper, a non-intrusive detecting system is described that combines the magneto-optic imaging (MOI) technique with the solution to inverse electromagnetic problems. The detecting system works in a sequence of main steps as follows: MOI of the variation of the arc flux density over a plane, magnetic field information extracted from the magneto-optic (MO) images, arc current density distribution and spatial pattern reconstruction by inverting the resulting field data. Correspondingly, in the system, an MOI set-up is designed based on the Faraday effect and the polarization properties of light, and an intelligent inversion algorithm is proposed that involves simulated annealing (SA). Experiments were carried out for high current (2 kA RMS) discharge cases in a typical low-voltage switchgear. The results show that the MO detection system possesses the advantages of visualization, high resolution and response, and electrical insulation, which provides a novel diagnostics tool for further studies of the arc.

Relevance of grasp types to assess functionality for personal autonomy.

PubMed

Gracia-Ibáñez, Verónica; Sancho-Bru, Joaquin L; Vergara, Margarita

Cross-sectional research design. Current assessment of hand function is not focused on evaluating the real abilities required for autonomy. To quantify the relevance of grasp types for autonomy to guide hand recovery and its assessment. Representative tasks of the International Classification of Functioning, Disability and Health activities in which the hands are directly involved were recorded. The videos were analyzed to identify the grasps used with each hand, and their relevance for autonomy was determined by weighting time with the frequency of appearance of each activity in disability and dependency scales. Relevance is provided globally and distinguished by hand (right-left) and bimanual function. Significant differences in relevance are also checked. The most relevant grasps are pad-to-pad pinch (31.9%), lumbrical (15.4%), cylindrical (12%), and special pinch (7.3%) together with the nonprehensile (18.6%) use of the hand. Lumbrical grasp has higher relevance for the left hand (19.9% vs 12%) while cylindrical grasp for the right hand (15.3% vs 7.7%). Relevancies are also different depending on bimanual function. Different relative importance was obtained when considering dependency vs disability scales. Pad-to-pad pinch and nonprehensile grasp are the most relevant grasps for both hands, whereas lumbrical grasp is more relevant for the left hand and cylindrical grasp for the right one. The most significant difference in bimanual function refers to pad-to-pad pinch (more relevant for unimanual actions of the left hand and bimanual actions of the right). The relative importance of each grasp type for autonomy and the differences observed between hand and bimanual action should be used in medical and physical decision-making. N/A. Copyright © 2017 Hanley & Belfus. Published by Elsevier Inc. All rights reserved.

Effect of modified atmosphere and vacuum packaging on some quality characteristics and the shelf-life of "morcilla", a typical cooked blood sausage.

PubMed

Cachaldora, Aida; García, Gloria; Lorenzo, José M; García-Fontán, M Camino

2013-02-01

The effect of modified atmosphere and vacuum packaging on the shelf-life of "morcilla", a traditional cooked blood sausage, was investigated. A total of 99 "morcillas" were packaged under vacuum and in modified atmosphere using three different gas mixtures: 15:35:50/O(2):N(2):CO(2) (atmosphere 1), 60:40/N(2):CO(2) (atmosphere 2) and 40:60/N(2):CO(2) (atmosphere 3), and stored during 2, 4, 6 and 8 weeks at 4 °C. Shelf life evaluation was based on pH, water activity (a(w)), colour (CIE L*, a*, b*, C* and h*), TBARS formation and microbial counts. The results indicated that, in general, storage time affected (P<0.05) all parameters whereas no significant differences were observed (P>0.05) among packaging conditions. Based on the microbial counts, the shelf-life of "morcilla" would be greater than 8 weeks for all packaging conditions. Samples packaged with high CO(2) concentrations (40:60/N(2):CO(2)) showed the lowest values of TBARS at the end of storage. Copyright © 2012 Elsevier Ltd. All rights reserved.

Gaze anchoring guides real but not pantomime reach-to-grasp: support for the action-perception theory.

PubMed

Kuntz, Jessica R; Karl, Jenni M; Doan, Jon B; Whishaw, Ian Q

2018-04-01

Reach-to-grasp movements feature the integration of a reach directed by the extrinsic (location) features of a target and a grasp directed by the intrinsic (size, shape) features of a target. The action-perception theory suggests that integration and scaling of a reach-to-grasp movement, including its trajectory and the concurrent digit shaping, are features that depend upon online action pathways of the dorsal visuomotor stream. Scaling is much less accurate for a pantomime reach-to-grasp movement, a pretend reach with the target object absent. Thus, the action-perception theory proposes that pantomime movement is mediated by perceptual pathways of the ventral visuomotor stream. A distinguishing visual feature of a real reach-to-grasp movement is gaze anchoring, in which a participant visually fixates the target throughout the reach and disengages, often by blinking or looking away/averting the head, at about the time that the target is grasped. The present study examined whether gaze anchoring is associated with pantomime reaching. The eye and hand movements of participants were recorded as they reached for a ball of one of three sizes, located on a pedestal at arms' length, or pantomimed the same reach with the ball and pedestal absent. The kinematic measures for real reach-to-grasp movements were coupled to the location and size of the target, whereas the kinematic measures for pantomime reach-to-grasp, although grossly reflecting target features, were significantly altered. Gaze anchoring was also tightly coupled to the target for real reach-to-grasp movements, but there was no systematic focus for gaze, either in relation with the virtual target, the previous location of the target, or the participant's reaching hand, for pantomime reach-to-grasp. The presence of gaze anchoring during real vs. its absence in pantomime reach-to-grasp supports the action-perception theory that real, but not pantomime, reaches are online visuomotor actions and is discussed in relation with the neural control of real and pantomime reach-to-grasp movements.

Neuronal Correlates of Functional Coupling between Reach- and Grasp-Related Components of Muscle Activity

PubMed Central

Geed, Shashwati; McCurdy, Martha L.; van Kan, Peter L. E.

2017-01-01

Coordinated reach-to-grasp movements require precise spatiotemporal synchrony between proximal forelimb muscles (shoulder, elbow) that transport the hand toward a target during reach, and distal muscles (wrist, digit) that simultaneously preshape and orient the hand for grasp. The precise mechanisms through which the redundant neuromuscular circuitry coordinates reach with grasp, however, remain unclear. Recently, Geed and Van Kan (2016) demonstrated, using exploratory factor analysis (EFA), that limited numbers of global, template-like transport/preshape- and grasp-related muscle components underlie the complexity and variability of intramuscular electromyograms (EMGs) of up to 21 distal and proximal muscles recorded while monkeys performed reach-to-grasp tasks. Importantly, transport/preshape- and grasp-related muscle components showed invariant spatiotemporal coupling, which provides a potential mechanism for coordinating forelimb muscles during reach-to-grasp movements. In the present study, we tested whether ensemble discharges of forelimb neurons in the cerebellar nucleus interpositus (NI) and its target, the magnocellular red nucleus (RNm), a source of rubrospinal fibers, function as neuronal correlates of the transport/preshape- and grasp-related muscle components we identified. EFA applied to single-unit discharges of populations of NI and RNm neurons recorded while the same monkeys that were used previously performed the same reach-to-grasp tasks, revealed neuronal components in the ensemble discharges of both NI and RNm neuronal populations with characteristics broadly similar to muscle components. Subsets of NI and RNm neuronal components were strongly and significantly crosscorrelated with subsets of muscle components, suggesting that similar functional units of reach-to-grasp behavior are expressed by NI and RNm neuronal populations and forelimb muscles. Importantly, like transport/preshape- and grasp-related muscle components, their NI and RNm neuronal correlates showed invariant spatiotemporal coupling. Clinical and lesion studies have reported disruption of coupling between reach and grasp following cerebellar damage; the present results expand on those studies by identifying a neuronal mechanism that may underlie cerebellar contributions to spatiotemporal coordination of distal and proximal limb muscles during reaching to grasp. We conclude that finding similar functional units of behavior expressed at multiple levels of information processing along interposito-rubrospinal pathways and forelimb muscles supports the hypothesis that functionally related populations of NI and RNm neurons act synergistically in the control of complex coordinated motor behaviors. PMID:28270752

Spatiotemporal Distribution of Location and Object Effects in Primary Motor Cortex Neurons during Reach-to-Grasp

PubMed Central

Rouse, Adam G.

2016-01-01

Reaching and grasping typically are considered to be spatially separate processes that proceed concurrently in the arm and the hand, respectively. The proximal representation in the primary motor cortex (M1) controls the arm for reaching, while the distal representation controls the hand for grasping. Many studies of M1 activity therefore have focused either on reaching to various locations without grasping different objects, or else on grasping different objects all at the same location. Here, we recorded M1 neurons in the anterior bank and lip of the central sulcus as monkeys performed more naturalistic movements, reaching toward, grasping, and manipulating four different objects in up to eight different locations. We quantified the extent to which variation in firing rates depended on location, on object, and on their interaction—all as a function of time. Activity proceeded largely in two sequential phases: the first related predominantly to the location to which the upper extremity reached, and the second related to the object about to be grasped. Both phases involved activity distributed widely throughout the sampled territory, spanning both the proximal and the distal upper extremity representation in caudal M1. Our findings indicate that naturalistic reaching and grasping, rather than being spatially segregated processes that proceed concurrently, each are spatially distributed processes controlled by caudal M1 in large part sequentially. Rather than neuromuscular processes separated in space but not time, reaching and grasping are separated more in time than in space. SIGNIFICANCE STATEMENT Reaching and grasping typically are viewed as processes that proceed concurrently in the arm and hand, respectively. The arm region in the primary motor cortex (M1) is assumed to control reaching, while the hand region controls grasping. During naturalistic reach–grasp–manipulate movements, we found, however, that neuron activity proceeds largely in two sequential phases, each spanning both arm and hand representations in M1. The first phase is related predominantly to the reach location, and the second is related to the object about to be grasped. Our findings indicate that reaching and grasping are successive aspects of a single movement. Initially the arm and the hand both are projected toward the object's location, and later both are shaped to grasp and manipulate. PMID:27733614

Rehand: Realistic electric prosthetic hand created with a 3D printer.

PubMed

Yoshikawa, Masahiro; Sato, Ryo; Higashihara, Takanori; Ogasawara, Tsukasa; Kawashima, Noritaka

2015-01-01

Myoelectric prosthetic hands provide an appearance with five fingers and a grasping function to forearm amputees. However, they have problems in weight, appearance, and cost. This paper reports on the Rehand, a realistic electric prosthetic hand created with a 3D printer. It provides a realistic appearance that is same as the cosmetic prosthetic hand and a grasping function. A simple link mechanism with one linear actuator for grasping and 3D printed parts achieve low cost, light weight, and ease of maintenance. An operating system based on a distance sensor provides a natural operability equivalent to the myoelectric control system. A supporter socket allows them to wear the prosthetic hand easily. An evaluation using the Southampton Hand Assessment Procedure (SHAP) demonstrated that an amputee was able to operate various objects and do everyday activities with the Rehand.

Programming of left hand exploits task set but that of right hand depends on recent history.

PubMed

Tang, Rixin; Zhu, Hong

2017-07-01

There are many differences between the left hand and the right hand. But it is not clear if there is a difference in programming between left hand and right hand when the hands perform the same movement. In current study, we carried out two experiments to investigate whether the programming of two hands was equivalent or they exploited different strategies. In the first experiment, participants were required to use one hand to grasp an object with visual feedback or to point to the center of one object without visual feedback on alternate trials, or to grasp an object without visual feedback and to point the center of one object with visual feedback on alternating trials. They then performed the tasks with the other hand. The result was that previous pointing task affected current grasping when it was performed by the left hand, but not the right hand. In experiment 2, we studied if the programming of the left (or right) hand would be affected by the pointing task performed on the previous trial not only by the same hand, but also by the right (or left) hand. Participants pointed and grasped the objects alternately with two hands. The result was similar with Experiment 1, i.e., left-hand grasping was affected by right-hand pointing, whereas right-hand grasping was immune from the interference from left hand. Taken together, the results suggest that when open- and closed-loop trials are interleaved, motor programming of grasping with the right hand was affected by the nature of the online feedback on the previous trial only if it was a grasping trial, suggesting that the trial-to-trial transfer depends on sensorimotor memory and not on task set. In contrast, motor programming of grasping with the left hand can use information about the nature of the online feedback on the previous trial to specify the parameters of the movement, even when the type of movement that occurred was quite different (i.e., pointing) and was performed with the right hand. This suggests that trial-to-trial transfer with the left hand depends on some sort of carry-over of task set for dealing with the availability of visual feedback.

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments.

PubMed

Ramon Soria, Pablo; Arrue, Begoña C; Ollero, Anibal

2017-01-07

The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors.

Software Reviews.

ERIC Educational Resources Information Center

Bitter, Gary G., Ed.

1989-01-01

Reviews three software packages: (1) "Physics," tutorial, grades 11-12, Macintosh; (2) "Hands On Math: Volume I," interactive math exploration/simulation of manipulatives use, grades K-7, Apple II; and (3) "A.I.: An Experience with Artificial Intelligence," simulation, grades 5-12, Apple II. (MVL)

Differences in the effects of crowding on size perception and grip scaling in densely cluttered 3-D scenes.

PubMed

Chen, Juan; Sperandio, Irene; Goodale, Melvyn Alan

2015-01-01

Objects rarely appear in isolation in natural scenes. Although many studies have investigated how nearby objects influence perception in cluttered scenes (i.e., crowding), none has studied how nearby objects influence visually guided action. In Experiment 1, we found that participants could scale their grasp to the size of a crowded target even when they could not perceive its size, demonstrating for the first time that neurologically intact participants can use visual information that is not available to conscious report to scale their grasp to real objects in real scenes. In Experiments 2 and 3, we found that changing the eccentricity of the display and the orientation of the flankers had no effect on grasping but strongly affected perception. The differential effects of eccentricity and flanker orientation on perception and grasping show that the known differences in retinotopy between the ventral and dorsal streams are reflected in the way in which people deal with targets in cluttered scenes. © The Author(s) 2014.

A High-Q Resonant Pressure Microsensor with Through-Glass Electrical Interconnections Based on Wafer-Level MEMS Vacuum Packaging

PubMed Central

Luo, Zhenyu; Chen, Deyong; Wang, Junbo; Li, Yinan; Chen, Jian

2014-01-01

This paper presents a high-Q resonant pressure microsensor with through-glass electrical interconnections based on wafer-level MEMS vacuum packaging. An approach to maintaining high-vacuum conditions by integrating the MEMS fabrication process with getter material preparation is presented in this paper. In this device, the pressure under measurement causes a deflection of a pressure-sensitive silicon square diaphragm, which is further translated to stress build up in “H” type doubly-clamped micro resonant beams, leading to a resonance frequency shift. The device geometries were optimized using FEM simulation and a 4-inch SOI wafer was used for device fabrication, which required only three photolithographic steps. In the device fabrication, a non-evaporable metal thin film as the getter material was sputtered on a Pyrex 7740 glass wafer, which was then anodically bonded to the patterned SOI wafer for vacuum packaging. Through-glass via holes predefined in the glass wafer functioned as the electrical interconnections between the patterned SOI wafer and the surrounding electrical components. Experimental results recorded that the Q-factor of the resonant beam was beyond 22,000, with a differential sensitivity of 89.86 Hz/kPa, a device resolution of 10 Pa and a nonlinearity of 0.02% F.S with the pressure varying from 50 kPa to 100 kPa. In addition, the temperature drift coefficient was less than −0.01% F.S/°C in the range of −40 °C to 70 °C, the long-term stability error was quantified as 0.01% F.S over a 5-month period and the accuracy of the microsensor was better than 0.01% F.S. PMID:25521385

A high-Q resonant pressure microsensor with through-glass electrical interconnections based on wafer-level MEMS vacuum packaging.

PubMed

Luo, Zhenyu; Chen, Deyong; Wang, Junbo; Li, Yinan; Chen, Jian

2014-12-16

This paper presents a high-Q resonant pressure microsensor with through-glass electrical interconnections based on wafer-level MEMS vacuum packaging. An approach to maintaining high-vacuum conditions by integrating the MEMS fabrication process with getter material preparation is presented in this paper. In this device, the pressure under measurement causes a deflection of a pressure-sensitive silicon square diaphragm, which is further translated to stress build up in "H" type doubly-clamped micro resonant beams, leading to a resonance frequency shift. The device geometries were optimized using FEM simulation and a 4-inch SOI wafer was used for device fabrication, which required only three photolithographic steps. In the device fabrication, a non-evaporable metal thin film as the getter material was sputtered on a Pyrex 7740 glass wafer, which was then anodically bonded to the patterned SOI wafer for vacuum packaging. Through-glass via holes predefined in the glass wafer functioned as the electrical interconnections between the patterned SOI wafer and the surrounding electrical components. Experimental results recorded that the Q-factor of the resonant beam was beyond 22,000, with a differential sensitivity of 89.86 Hz/kPa, a device resolution of 10 Pa and a nonlinearity of 0.02% F.S with the pressure varying from 50 kPa to 100 kPa. In addition, the temperature drift coefficient was less than -0.01% F.S/°C in the range of -40 °C to 70 °C, the long-term stability error was quantified as 0.01% F.S over a 5-month period and the accuracy of the microsensor was better than 0.01% F.S.

Reversible grasp reflexes in normal pressure hydrocephalus.

PubMed

Thomas, Rhys H; Bennetto, Luke; Silva, Mark T

2009-05-01

We present two cases of normal pressure hydrocephalus in combination with grasp reflexes. In both cases the grasp reflexes disappeared following high volume cerebrospinal fluid removal. In one of the cases the grasp reflexes returned over a period of weeks but again resolved following definitive cerebrospinal fluid shunting surgery, and remained absent until final follow up at 9 months. We hypothesise that resolving grasp reflexes following high volume CSF removal has both diagnostic and prognostic value in normal pressure hydrocephalus, encouraging larger studies on the relevance of primitive reflexes in NPH.

Grasp Assist Device with Automatic Mode Control Logic

NASA Technical Reports Server (NTRS)

Laske, Evan (Inventor); Davis, Donald R. (Inventor); Ihrke, Chris A. (Inventor)

2018-01-01

A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.

Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator

PubMed Central

Katzschmann, Robert K.; Marchese, Andrew D.

2015-01-01

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

General Rotorcraft Aeromechanical Stability Program (GRASP) - Theory Manual

DTIC Science & Technology

1990-10-01

the A basis. Two symbols frequently encountered in vector operations that use index notation are the Kronecker delta eij and the Levi - Civita epsilon...Blade root cutout fijk Levi - Civita epsilon permutation symbol 0 pretwist angle 0’ pretwist per unit length (d;) Oi Tait-Bryan angles K~i moment strains...the components of the identity tensor in a Cartesian coordinate system, while the Levi Civita epsilon consists of components of the permutation

A perturbation-based balance training program for older adults: study protocol for a randomised controlled trial

PubMed Central

Mansfield, Avril; Peters, Amy L; Liu, Barbara A; Maki, Brian E

2007-01-01

Background Previous research investigating exercise as a means of falls prevention in older adults has shown mixed results. Lack of specificity of the intervention may be an important factor contributing to negative results. Change-in-support (CIS) balance reactions, which involve very rapid stepping or grasping movements of the limbs, play a critical role in preventing falls; hence, a training program that improves ability to execute effective CIS reactions could potentially have a profound effect in reducing risk of falling. This paper describes: 1) the development of a perturbation-based balance training program that targets specific previously-reported age-related impairments in CIS reactions, and 2) a study protocol to evaluate the efficacy of this new training program. Methods/Design The training program involves use of unpredictable, multi-directional moving-platform perturbations to evoke stepping and grasping reactions. Perturbation magnitude is gradually increased over the course of the 6-week program, and concurrent cognitive and movement tasks are included during later sessions. The program was developed in accordance with well-established principles of motor learning, such as individualisation, specificity, overload, adaptation-progression and variability. Specific goals are to reduce the frequency of multiple-step responses, reduce the frequency of collisions between the stepping foot and stance leg, and increase the speed of grasping reactions. A randomised control trial will be performed to evaluate the efficacy of the training program. A total of 30 community-dwelling older adults (age 64–80) with a recent history of instability or falling will be assigned to either the perturbation-based training or a control group (flexibility/relaxation training), using a stratified randomisation that controls for gender, age and baseline stepping/grasping performance. CIS reactions will be tested immediately before and after the six weeks of training, using platform perturbations as well as a distinctly different method of perturbation (waist pulls) in order to evaluate the generalisability of the training effects. Discussion This study will determine whether perturbation-based balance training can help to reverse specific age-related impairments in balance-recovery reactions. These results will help to guide the development of more effective falls prevention programs, which may ultimately lead to reduced health-care costs and enhanced mobility, independence and quality of life. PMID:17540020

A perturbation-based balance training program for older adults: study protocol for a randomised controlled trial.

PubMed

Mansfield, Avril; Peters, Amy L; Liu, Barbara A; Maki, Brian E

2007-05-31

Previous research investigating exercise as a means of falls prevention in older adults has shown mixed results. Lack of specificity of the intervention may be an important factor contributing to negative results. Change-in-support (CIS) balance reactions, which involve very rapid stepping or grasping movements of the limbs, play a critical role in preventing falls; hence, a training program that improves ability to execute effective CIS reactions could potentially have a profound effect in reducing risk of falling. This paper describes: 1) the development of a perturbation-based balance training program that targets specific previously-reported age-related impairments in CIS reactions, and 2) a study protocol to evaluate the efficacy of this new training program. The training program involves use of unpredictable, multi-directional moving-platform perturbations to evoke stepping and grasping reactions. Perturbation magnitude is gradually increased over the course of the 6-week program, and concurrent cognitive and movement tasks are included during later sessions. The program was developed in accordance with well-established principles of motor learning, such as individualisation, specificity, overload, adaptation-progression and variability. Specific goals are to reduce the frequency of multiple-step responses, reduce the frequency of collisions between the stepping foot and stance leg, and increase the speed of grasping reactions. A randomised control trial will be performed to evaluate the efficacy of the training program. A total of 30 community-dwelling older adults (age 64-80) with a recent history of instability or falling will be assigned to either the perturbation-based training or a control group (flexibility/relaxation training), using a stratified randomisation that controls for gender, age and baseline stepping/grasping performance. CIS reactions will be tested immediately before and after the six weeks of training, using platform perturbations as well as a distinctly different method of perturbation (waist pulls) in order to evaluate the generalisability of the training effects. This study will determine whether perturbation-based balance training can help to reverse specific age-related impairments in balance-recovery reactions. These results will help to guide the development of more effective falls prevention programs, which may ultimately lead to reduced health-care costs and enhanced mobility, independence and quality of life.

Nutritional quality of packaged foods targeted at children in Brazil: which ones should be eligible to bear nutrient claims?

PubMed

Rodrigues, V M; Rayner, M; Fernandes, A C; de Oliveira, R C; Proença, R P C; Fiates, G M R

2017-01-01

This study aimed to assess the nutritional quality of food products marketed at children, with and without nutrient claims, using two different approaches. Analyses were performed based on a data set with food composition and labelling data from every packaged food marketed at children sold in a major Brazilian supermarket (n=535). Foods were classified as 'healthier' and 'less healthy' according to the UK/Ofcom nutrient profile model and to the NOVA classification based on the level of food processing. Pearson's χ 2 test was used to compare proportions between models. Agreement was assessed using Cohen's κ-statistic (P<0.05). The NOVA model was stricter than the UK/Ofcom model, classifying more products as 'less healthy' (91.4%) compared with the nutrient profile-based model (75.0%; P<0.001). Agreement between models was 79.4% (k=0.30), because 72.9% (n=390) of products were categorised as 'less healthy' by both models, and 6.5% (n=35) as 'healthier'. Half of the food products marketed at children from the database (270; 50.5%) bore nutrient claims. From these products with nutrient claims, 95.9% (92.8-98.0) were classified as 'less healthy' by the NOVA model, whereas this percentage was 74.1% (68.4-79.2) according to the UK/Ofcom model (P<0.05). The high number of foods with low nutritional quality being marketed at children via product packaging and nutrient claims should be of concern to policy makers wanting to improve children's diets and to tackle childhood obesity. The implementation of nutritional quality criteria to ensure that foods targeted at children should be eligible to bear nutrient claims on their labels could avoid a situation where claims mask the overall nutritional status of a food.

Realization of wide circadian variability by quantum dots-luminescent mesoporous silica-based white light-emitting diodes

NASA Astrophysics Data System (ADS)

Xie, Bin; Zhang, Jingjing; Chen, Wei; Hao, Junjie; Cheng, Yanhua; Hu, Run; Wu, Dan; Wang, Kai; Luo, Xiaobing

2017-10-01

Human comfort has become one of the most important criteria in modern lighting architecture. Here, we proposed a tuning strategy to enhance the non-image forming photobiological effect on the human circadian rhythm based on quantum-dots-converted white light-emitting diodes (QDs-WLEDs). We introduced the limiting variability of the circadian action factor (CAF), defined as the ratio of circadian efficiency and luminous efficiency of radiation. The CAF was deeply discussed and was found to be a function of constraining the color rendering index (CRI) and correlated color temperatures. The maximum CAF variability of QDs-WLEDs was found to be dependent on the QDs’ peak wavelength and full width at half maximum. With the optimized parameters, the packaging materials were synthesized and WLEDs were packaged. Experimental results show that at CRI > 90, the maximum CAF variability can be tuned by 3.83 times (from 0.251 at 2700 K to 0.961 at 6500 K), which implies that our approach could reduce the number of tunable channels, and could achieve wider CAF variability.

Automatic computation of the travelling wave solutions to nonlinear PDEs

NASA Astrophysics Data System (ADS)

Liang, Songxin; Jeffrey, David J.

2008-05-01

Various extensions of the tanh-function method and their implementations for finding explicit travelling wave solutions to nonlinear partial differential equations (PDEs) have been reported in the literature. However, some solutions are often missed by these packages. In this paper, a new algorithm and its implementation called TWS for solving single nonlinear PDEs are presented. TWS is implemented in MAPLE 10. It turns out that, for PDEs whose balancing numbers are not positive integers, TWS works much better than existing packages. Furthermore, TWS obtains more solutions than existing packages for most cases. Program summaryProgram title:TWS Catalogue identifier:AEAM_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEAM_v1_0.html Program obtainable from:CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions:Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.:1250 No. of bytes in distributed program, including test data, etc.:78 101 Distribution format:tar.gz Programming language:Maple 10 Computer:A laptop with 1.6 GHz Pentium CPU Operating system:Windows XP Professional RAM:760 Mbytes Classification:5 Nature of problem:Finding the travelling wave solutions to single nonlinear PDEs. Solution method:Based on tanh-function method. Restrictions:The current version of this package can only deal with single autonomous PDEs or ODEs, not systems of PDEs or ODEs. However, the PDEs can have any finite number of independent space variables in addition to time t. Unusual features:For PDEs whose balancing numbers are not positive integers, TWS works much better than existing packages. Furthermore, TWS obtains more solutions than existing packages for most cases. Additional comments:It is easy to use. Running time:Less than 20 seconds for most cases, between 20 to 100 seconds for some cases, over 100 seconds for few cases. References: [1] E.S. Cheb-Terrab, K. von Bulow, Comput. Phys. Comm. 90 (1995) 102. [2] S.A. Elwakil, S.K. El-Labany, M.A. Zahran, R. Sabry, Phys. Lett. A 299 (2002) 179. [3] E. Fan, Phys. Lett. 277 (2000) 212. [4] W. Malfliet, Amer. J. Phys. 60 (1992) 650. [5] W. Malfliet, W. Hereman, Phys. Scripta 54 (1996) 563. [6] E.J. Parkes, B.R. Duffy, Comput. Phys. Comm. 98 (1996) 288.

Evaluation and Selection of a Telecommunication System at the Naval Postgraduate School BOQ

DTIC Science & Technology

1991-03-01

software, and operating system software as a part of a complete package. An internal modem must be included for remote diagnostic and programming...2 service delivery will follow the CCITT V.35 recommendation for physical, functional and electrical interfaces. Type 1 & 2 will transfer data at 56K ...by a dedicated access line at 4.8 kbs and 9.6 Kbps and 56k /64Kbps. PSS will follow the CCITT X.25 recommendations. E-mail service may be provided on

Miniature stick-packaging--an industrial technology for pre-storage and release of reagents in lab-on-a-chip systems.

PubMed

van Oordt, Thomas; Barb, Yannick; Smetana, Jan; Zengerle, Roland; von Stetten, Felix

2013-08-07

Stick-packaging of goods in tubular-shaped composite-foil pouches has become a popular technology for food and drug packaging. We miniaturized stick-packaging for use in lab-on-a-chip (LOAC) systems to pre-store and on-demand release the liquid and dry reagents in a volume range of 80-500 μl. An integrated frangible seal enables the pressure-controlled release of reagents and simplifies the layout of LOAC systems, thereby making the package a functional microfluidic release unit. The frangible seal is adjusted to defined burst pressures ranging from 20 to 140 kPa. The applied ultrasonic welding process allows the packaging of temperature sensitive reagents. Stick-packs have been successfully tested applying recovery tests (where 99% (STDV = 1%) of 250 μl pre-stored liquid is released), long-term storage tests (where there is loss of only <0.5% for simulated 2 years) and air transport simulation tests. The developed technology enables the storage of a combination of liquid and dry reagents. It is a scalable technology suitable for rapid prototyping and low-cost mass production.

Whisker and Nose Tactile Sense Guide Rat Behavior in a Skilled Reaching Task

PubMed Central

Parmiani, Pierantonio; Lucchetti, Cristina; Franchi, Gianfranco

2018-01-01

Skilled reaching is a complex movement in which a forelimb is extended to grasp food for eating. Video-recordings analysis of control rats enables us to distinguish several components of skilled reaching: Orient, approaching the front wall of the reaching box and poking the nose into the slot to locate the food pellet; Transport, advancing the forelimb through the slot to reach-grasp the pellet; and Withdrawal of the grasped food to eat. Although food location and skilled reaching is guided by olfaction, the importance of whisker/nose tactile sense in rats suggests that this too could play a role in reaching behavior. To test this hypothesis, we studied skilled reaching in rats trained in a single-pellet reaching task before and after bilateral whisker trimming and bilateral infraorbital nerve (ION) severing. During the task, bilaterally trimmed rats showed impaired Orient with respect to controls. Specifically, they detected the presence of the wall by hitting it with their nose (rather than their whiskers), and then located the slot through repetitive nose touches. The number of nose touches preceding poking was significantly higher in comparison to controls. On the other hand, macrovibrissae trimming resulted in no change in reaching/grasping or withdrawal components of skilled reaching. Bilaterally ION-severed rats, displayed a marked change in the structure of their skilled reaching. With respect to controls, in ION-severed rats: (a) approaches to the front wall were significantly reduced at 3–5 and 6–8 days; (b) nose pokes were significantly reduced at 3–5 days, and the slot was only located after many repetitive nose touches; (c) the reaching-grasping-retracting movement never appeared at 3–5 days; (d) explorative paw movements, equal to zero in controls, reached significance at 9–11 days; and (e) the restored reaching-grasping-retracting sequence was globally slower than in controls, but the success rate was the same. These findings strongly indicate that whisker trimming affected Orient, but not the reaching-grasping movement, while ION severing impaired both Orient (persistently) and reaching-grasping-retracting (transiently, for 1–2 weeks) components of skilled reaching in rats. PMID:29515377

Synergistic Effect of Freezing and Irradiation on Bonito Fish ( Sarda sarda Bloch, 1793).

PubMed

Altan, Can Okan; Turan, Hülya

2016-12-01

In this study, bonito fish ( Sarda sarda Bloch, 1793) were irradiated at 3 or 5 kGy, packaged, frozen, and stored at -20 ± 2°C for 12 months. During storage, the microbiological, physical, and chemical changes of the fish flesh were then assessed. Increasing the irradiation dose to 5 kGy provided greater inhibition of mesophilic and psychotropic aerobic bacteria (P < 0.05). Because fewer bacteria were detected in irradiated (3 and 5 kGy) as compared with unirradiated control fish suggests that freezing and irradiation yielded better results when combined. Irradiation at 3 and 5 kGy also positively impacted water activity, total volatile basic nitrogen, thiobarbituric acid-reactive substances, trimethylamine, and odor compared with the control group. However, a significant difference was not seen between the 3- and 5-kGy groups in terms of water activity, total volatile basic nitrogen, thiobarbituric acid-reactive substances, trimethylamine, and odor results (P > 0.05). Based on these findings, fish irradiated at 3 and 5 kGy remained within consumable limits during 12 months of frozen storage, while the control group was unacceptable after 9 months.

a Continuous Health Monitoring Guided Wave Fmd System for Retrofit to Existing Offshore Oilrigs

NASA Astrophysics Data System (ADS)

Mijarez, R.; Solis, L.; Martinez, F.

2010-02-01

An automatic health monitoring guided wave flood member detection (FMD) system, for retrofit to existing offshore oilrigs is presented. The system employs a microcontroller piezoelectric (PZT) based transmitter and a receiver instrumentation package composed of a PZT 40 kHz ultrasound transducer and a digital signal processor (DSP) module connected to a PC via USB for monitoring purposes. The transmitter and receiver were attached, non-intrusively, to the external wall of a steel tube; 1 m×27 cm×2 mm. Experiments performed in the laboratory have successfully identified automatically flooded tubes.

Development of a long-gauge vibration sensor

NASA Astrophysics Data System (ADS)

Kung, Peter; Comanici, Maria I.; Li, Qian; Zhang, Yiwei

2015-03-01

We have recently found that a long length of fiber of up to 1 km terminated with an in-fiber cavity structure can detect vibrations over a frequency range from 5 Hz to 2 kHz. We want to determine whether the sensor (including packaging) can be optimized to detect vibrations at even higher frequencies. The structure can be used as a distributed vibration sensor mounted on large motors and other rotating machines to capture the entire frequency spectrum of the associated vibration signals, and therefore, replace the many accelerometers, which add to maintenance cost. The sensor may also help detect in-slot vibrations which cause intermittent contact leading to sparking under high voltages inside air-cooled generators. However, that requires the sensor to detect frequencies associated with vibration sparking, ranging from 6 kHz to 15 kHz. Acoustic vibration monitoring may need sensing at even higher frequencies (30 kHz to 150 kHz) associated with partial discharge (PD) in generators and transformers. Detecting lower frequencies in the range 2 Hz to 200 Hz makes the sensor suitable for seismic studies and falls well into the vibrations associated with rotating machines. Another application of interest is corrosion detection in large re-enforced concrete structures by inserting the sensor along a long hole drilled around structures showing signs of corrosion. The frequency response for the proposed longgauge vibration sensor depends on packaging.

Unusual hand postures but not familiar tools show motor equivalence with precision grasping.

PubMed

Tang, Rixin; Whitwell, Robert L; Goodale, Melvyn A

2016-06-01

A central question in sensorimotor control is whether or not actions performed with the hands and corresponding actions performed with tools share a common underlying motor plan, even though different muscles and effectors are engaged. There is certainly evidence that tools used to extend the reach of the limb can be incorporated into the body schema after training. But even so, it is not clear whether or not actions such as grasping with tools and grasping with the fingers share the same programming network, i.e. show 'motor equivalence'. Here we first show that feedback-appropriate motor programming for grasps with atypical hand postures readily transfers to stereotypical precision grasps. In stark contrast, however, we find no evidence for an analogous transfer of the programming for grasps using tools to the same stereotypical precision grasps. These findings have important implications for our understanding of body schema. Although the extension of the limb that is afforded by tool use may be incorporated into the body schema, the programming of a grasping movement made with tools appears to resist such incorporation. It could be the case that the proprioceptive signals from the limb can be easily updated to reflect the end of a tool held in the hand, but the motor programs and sensory signals associated with grasping with the thumb and finger cannot be easily adapted to control the opening and closing of a tool. Instead, new but well-practiced motor programs are put in place for tool use that do not exhibit motor equivalence with manual grasping. Copyright © 2016 Elsevier B.V. All rights reserved.

Design and Test of a Closed-Loop FES System for Supporting Function of the Hemiparetic Hand Based on Automatic Detection using the Microsoft Kinect sensor.

PubMed

Simonsen, Daniel; Spaich, Erika G; Hansen, John; Andersen, Ole K

2016-10-26

This paper describes the design of a FES system automatically controlled in a closed loop using a Microsoft Kinect sensor, for assisting both cylindrical grasping and hand opening. The feasibility of the system was evaluated in real-time in stroke patients with hand function deficits. A hand function exercise was designed in which the subjects performed an arm and hand exercise in sitting position. The subject had to grasp one of two differently sized cylindrical objects and move it forward or backwards in the sagittal plane. This exercise was performed with each cylinder with and without FES support. Results showed that the stroke patients were able to perform up to 29% more successful grasps when they were assisted by FES. Moreover, the hand grasp-and-hold and hold-and-release durations were shorter for the smaller of the two cylinders. FES was appropriately timed in more than 95% of all trials indicating successful closed loop FES control. Future studies should incorporate options for assisting forward reaching in order to target a larger group of stroke patients.

Hand Grasping Synergies As Biometrics.

PubMed

Patel, Vrajeshri; Thukral, Poojita; Burns, Martin K; Florescu, Ionut; Chandramouli, Rajarathnam; Vinjamuri, Ramana

2017-01-01

Recently, the need for more secure identity verification systems has driven researchers to explore other sources of biometrics. This includes iris patterns, palm print, hand geometry, facial recognition, and movement patterns (hand motion, gait, and eye movements). Identity verification systems may benefit from the complexity of human movement that integrates multiple levels of control (neural, muscular, and kinematic). Using principal component analysis, we extracted spatiotemporal hand synergies (movement synergies) from an object grasping dataset to explore their use as a potential biometric. These movement synergies are in the form of joint angular velocity profiles of 10 joints. We explored the effect of joint type, digit, number of objects, and grasp type. In its best configuration, movement synergies achieved an equal error rate of 8.19%. While movement synergies can be integrated into an identity verification system with motion capture ability, we also explored a camera-ready version of hand synergies-postural synergies. In this proof of concept system, postural synergies performed well, but only when specific postures were chosen. Based on these results, hand synergies show promise as a potential biometric that can be combined with other hand-based biometrics for improved security.

An experiment in vision based autonomous grasping within a reduced gravity environment

NASA Technical Reports Server (NTRS)

Grimm, K. A.; Erickson, J. D.; Anderson, G.; Chien, C. H.; Hewgill, L.; Littlefield, M.; Norsworthy, R.

1992-01-01

The National Aeronautics and Space Administration's Reduced Gravity Program (RGP) offers opportunities for experimentation in gravities of less than one-g. The Extravehicular Activity Helper/Retriever (EVAHR) robot project of the Automation and Robotics Division at the Lyndon B. Johnson Space Center in Houston, Texas, is undertaking a task that will culminate in a series of tests in simulated zero-g using this facility. A subset of the final robot hardware consisting of a three-dimensional laser mapper, a Robotics Research 807 arm, a Jameson JH-5 hand, and the appropriate interconnect hardware/software will be used. This equipment will be flown on the RGP's KC-135 aircraft. This aircraft will fly a series of parabolas creating the effect of zero-g. During the periods of zero-g, a number of objects will be released in front of the fixed base robot hardware in both static and dynamic configurations. The system will then inspect the object, determine the objects pose, plan a grasp strategy, and execute the grasp. This must all be accomplished in the approximately 27 seconds of zero-g.

Evaluation of a graphic interface to control a robotic grasping arm: a multicenter study.

PubMed

Laffont, Isabelle; Biard, Nicolas; Chalubert, Gérard; Delahoche, Laurent; Marhic, Bruno; Boyer, François C; Leroux, Christophe

2009-10-01

Laffont I, Biard N, Chalubert G, Delahoche L, Marhic B, Boyer FC, Leroux C. Evaluation of a graphic interface to control a robotic grasping arm: a multicenter study. Grasping robots are still difficult to use for persons with disabilities because of inadequate human-machine interfaces (HMIs). Our purpose was to evaluate the efficacy of a graphic interface enhanced by a panoramic camera to detect out-of-view objects and control a commercialized robotic grasping arm. Multicenter, open-label trial. Four French departments of physical and rehabilitation medicine. Control subjects (N=24; mean age, 33y) and 20 severely impaired patients (mean age, 44y; 5 with muscular dystrophies, 13 with traumatic tetraplegia, and 2 others) completed the study. None of these patients was able to grasp a 50-cL bottle without the robot. Participants were asked to grasp 6 objects scattered around their wheelchair using the robotic arm. They were able to select the desired object through the graphic interface available on their computer screen. Global success rate, time needed to select the object on the screen of the computer, number of clicks on the HMI, and satisfaction among users. We found a significantly lower success rate in patients (81.1% vs 88.7%; chi(2)P=.017). The duration of the task was significantly higher in patients (71.6s vs 39.1s; P<.001). We set a cut-off for the maximum duration at 79 seconds, representing twice the amount of time needed by the control subjects to complete the task. In these conditions, the success rate for the impaired participants was 65% versus 85.4% for control subjects. The mean number of clicks necessary to select the object with the HMI was very close in both groups: patients used (mean +/- SD) 7.99+/-6.07 clicks, whereas controls used 7.04+/-2.87 clicks. Considering the severity of patients' impairment, all these differences were considered tiny. Furthermore, a high satisfaction rate was reported for this population concerning the use of the graphic interface. The graphic interface is of interest in controlling robotic arms for disabled people, with numerous potential applications in daily life.

A force vector and surface orientation sensor for intelligent grasping

NASA Technical Reports Server (NTRS)

Mcglasson, W. D.; Lorenz, R. D.; Duffie, N. A.; Gale, K. L.

1991-01-01

The paper discusses a force vector and surface orientation sensor suitable for intelligent grasping. The use of a novel four degree-of-freedom force vector robotic fingertip sensor allows efficient, real time intelligent grasping operations. The basis of sensing for intelligent grasping operations is presented and experimental results demonstrate the accuracy and ease of implementation of this approach.

Action Categorization in Rhesus Monkeys: discrimination of grasping from non-grasping manual motor acts.

PubMed

Nelissen, Koen; Vanduffel, Wim

2017-11-08

The ability to recognize others' actions is an important aspect of social behavior. While neurophysiological and behavioral research in monkeys has offered a better understanding of how the primate brain processes this type of information, further insight with respect to the neural correlates of action recognition requires tasks that allow recording of brain activity or perturbing brain regions while monkeys simultaneously make behavioral judgements about certain aspects of observed actions. Here we investigated whether rhesus monkeys could actively discriminate videos showing grasping or non-grasping manual motor acts in a two-alternative categorization task. After monkeys became proficient in this task, we tested their ability to generalize to a number of untrained, novel videos depicting grasps or other manual motor acts. Monkeys generalized to a wide range of novel human or conspecific grasping and non-grasping motor acts. They failed, however, for videos showing unfamiliar actions such as a non-biological effector performing a grasp, or a human hand touching an object with the back of the hand. This study shows the feasibility of training monkeys to perform active judgements about certain aspects of observed actions, instrumental for causal investigations into the neural correlates of action recognition.

Transfer of adaptation reveals shared mechanism in grasping and manual estimation.

PubMed

Cesanek, Evan; Domini, Fulvio

2018-06-19

An influential idea in cognitive neuroscience is that perception and action are highly separable brain functions, implemented in distinct neural systems. In particular, this theory predicts that the functional distinction between grasping, a skilled action, and manual estimation, a type of perceptual report, should be mirrored by a split between their respective control systems. This idea has received support from a variety of dissociations, yet many of these findings have been criticized for failing to pinpoint the source of the dissociation. In this study, we devised a novel approach to this question, first targeting specific grasp control mechanisms through visuomotor adaptation, then testing whether adapted mechanisms were also involved in manual estimation - a response widely characterized as perceptual in function. Participants grasped objects in virtual reality that could appear larger or smaller than the actual physical sizes felt at the end of each grasp. After brief exposure to a size perturbation, manual estimates were biased in the same direction as the maximum grip apertures of grasping movements, indicating that the adapted mechanism is active in both tasks, regardless of the perception-action distinction. Additional experiments showed that the transfer effect generalizes broadly over space (Exp. 1B) and does not appear to arise from a change in visual perception (Exp. 2). We discuss two adaptable mechanisms that could have mediated the observed effect: (a) an afferent proprioceptive mechanism for sensing grip shape; and (b) an efferent visuomotor transformation of size information into a grip-shaping motor command. Copyright © 2018. Published by Elsevier Ltd.

An involuntary stereotypical grasp tendency pervades voluntary dynamic multifinger manipulation

PubMed Central

Rácz, Kornelius; Brown, Daniel

2012-01-01

We used a novel apparatus with three hinged finger pads to characterize collaborative multifinger interactions during dynamic manipulation requiring individuated control of fingertip motions and forces. Subjects placed the thumb, index, and middle fingertips on each hinged finger pad and held it—unsupported—with constant total grasp force while voluntarily oscillating the thumb's pad. This task combines the need to 1) hold the object against gravity while 2) dynamically reconfiguring the grasp. Fingertip force variability in this combined motion and force task exhibited strong synchrony among normal (i.e., grasp) forces. Mechanical analysis and simulation show that such synchronous variability is unnecessary and cannot be explained solely by signal-dependent noise. Surprisingly, such variability also pervaded control tasks requiring different individuated fingertip motions and forces, but not tasks without finger individuation such as static grasp. These results critically extend notions of finger force variability by exposing and quantifying a pervasive challenge to dynamic multifinger manipulation: the need for the neural controller to carefully and continuously overlay individuated finger actions over mechanically unnecessary synchronous interactions. This is compatible with—and may explain—the phenomenology of strong coupling of hand muscles when this delicate balance is not yet developed, as in early childhood, or when disrupted, as in brain injury. We conclude that the control of healthy multifinger dynamic manipulation has barely enough neuromechanical degrees of freedom to meet the multiple demands of ecological tasks and critically depends on the continuous inhibition of synchronous grasp tendencies, which we speculate may be of vestigial evolutionary origin. PMID:22956798

Comparisons among tools, surface orientation, and pencil grasp for children 23 months of age.

PubMed

Yakimishyn, Janet E; Magill-Evans, Joyce

2002-01-01

The purpose of this study was to determine whether writing tool type and angle of writing surface affect grasp. Fifty-one children 23 to 24 months of age who were typically developing drew with a primary marker, colored pencil, and small piece of crayon on a table and an easel. The marker and pencil were presented pointing left, right, and toward the child. The order of writing tool presentation was counterbalanced. Grasps were scored with a 5-point rating system and analyzed with dependent t tests. Children used a more mature grasp when drawing with a piece of crayon than with a pencil. No difference in grasp maturity was found when using a pencil compared with a marker. A more mature grasp when drawing on the easel compared with the table was used with the crayon but not with the marker or pencil. Results imply that a short writing tool combined with a vertical surface can influence the grasp of young children.

Representation of grasp postures and anticipatory motor planning in children.

PubMed

Stöckel, Tino; Hughes, Charmayne M L; Schack, Thomas

2012-11-01

In this study, we investigated anticipatory motor planning and the development of cognitive representation of grasp postures in children aged 7, 8, and 9 years. Overall, 9-year-old children were more likely to plan their movements to end in comfortable postures, and have distinct representational structures of certain grasp postures, compared to the 7- and 8-year old children. Additionally, the sensitivity toward comfortable end-states (end-state comfort) was related to the mental representation of certain grasp postures. Children with grasp comfort related and functionally well-structured representations were more likely to have satisfied end-state comfort in both the simple and the advanced planning condition. In contrast, end-state comfort satisfaction for the advanced planning condition was much lower for children whose cognitive representations were not structured by grasp comfort. The results of the present study support the notion that cognitive action representation plays an important role in the planning and control of grasp postures.

Human grasping database for activities of daily living with depth, color and kinematic data streams.

PubMed

Saudabayev, Artur; Rysbek, Zhanibek; Khassenova, Raykhan; Varol, Huseyin Atakan

2018-05-29

This paper presents a grasping database collected from multiple human subjects for activities of daily living in unstructured environments. The main strength of this database is the use of three different sensing modalities: color images from a head-mounted action camera, distance data from a depth sensor on the dominant arm and upper body kinematic data acquired from an inertial motion capture suit. 3826 grasps were identified in the data collected during 9-hours of experiments. The grasps were grouped according to a hierarchical taxonomy into 35 different grasp types. The database contains information related to each grasp and associated sensor data acquired from the three sensor modalities. We also provide our data annotation software written in Matlab as an open-source tool. The size of the database is 172 GB. We believe this database can be used as a stepping stone to develop big data and machine learning techniques for grasping and manipulation with potential applications in rehabilitation robotics and intelligent automation.

An additional k-means clustering step improves the biological features of WGCNA gene co-expression networks.

PubMed

Botía, Juan A; Vandrovcova, Jana; Forabosco, Paola; Guelfi, Sebastian; D'Sa, Karishma; Hardy, John; Lewis, Cathryn M; Ryten, Mina; Weale, Michael E

2017-04-12

Weighted Gene Co-expression Network Analysis (WGCNA) is a widely used R software package for the generation of gene co-expression networks (GCN). WGCNA generates both a GCN and a derived partitioning of clusters of genes (modules). We propose k-means clustering as an additional processing step to conventional WGCNA, which we have implemented in the R package km2gcn (k-means to gene co-expression network, https://github.com/juanbot/km2gcn ). We assessed our method on networks created from UKBEC data (10 different human brain tissues), on networks created from GTEx data (42 human tissues, including 13 brain tissues), and on simulated networks derived from GTEx data. We observed substantially improved module properties, including: (1) few or zero misplaced genes; (2) increased counts of replicable clusters in alternate tissues (x3.1 on average); (3) improved enrichment of Gene Ontology terms (seen in 48/52 GCNs) (4) improved cell type enrichment signals (seen in 21/23 brain GCNs); and (5) more accurate partitions in simulated data according to a range of similarity indices. The results obtained from our investigations indicate that our k-means method, applied as an adjunct to standard WGCNA, results in better network partitions. These improved partitions enable more fruitful downstream analyses, as gene modules are more biologically meaningful.

A Multi-Start Evolutionary Local Search for the Two-Echelon Location Routing Problem

NASA Astrophysics Data System (ADS)

Nguyen, Viet-Phuong; Prins, Christian; Prodhon, Caroline

This paper presents a new hybrid metaheuristic between a greedy randomized adaptive search procedure (GRASP) and an evolutionary/iterated local search (ELS/ILS), using Tabu list to solve the two-echelon location routing problem (LRP-2E). The GRASP uses in turn three constructive heuristics followed by local search to generate the initial solutions. From a solution of GRASP, an intensification strategy is carried out by a dynamic alternation between ELS and ILS. In this phase, each child is obtained by mutation and evaluated through a splitting procedure of giant tour followed by a local search. The tabu list, defined by two characteristics of solution (total cost and number of trips), is used to avoid searching a space already explored. The results show that our metaheuristic clearly outperforms all previously published methods on LRP-2E benchmark instances. Furthermore, it is competitive with the best meta-heuristic published for the single-echelon LRP.

Stars and their Environments at High-Resolution with IGRINS

NASA Astrophysics Data System (ADS)

Mace, Gregory; Jaffe, Daniel; Kaplan, Kyle; Kidder, Benjamin; Oh, Heeyoung; Sneden, Christopher; Afşar, Melike

2016-06-01

TheImmersion Grating Infrared Spectrometer (IGRINS) is a revolutionary instrument that exploits broad spectral coverage at high-resolution in the near-infrared. There are no moving parts in IGRINS and its high-throughput white-pupil design maximizes sensitivity. IGRINS on the 2.7 meter Harlan J. Smith Telescope at McDonald Observatory is nearly as sensitive as CRIRES at the 8 meter Very Large Telescope. However, IGRINS at R=45,000 has more than 30 times the spectral grasp of CRIRES. The use of an immersion grating facilitates a compact cryostat while providing simultaneous H and K band observations with complete wavelength coverage from 1.45 - 2.45 microns. Here we discuss details of instrument performance and summarize the application of IGRINS to stellar characterization, star formation in regions like Taurus and Ophiuchus, the interstellar medium, and photodissociation regions. IGRINS has the largest spectral grasp of any high-resolution, near-infrared spectrograph, allowing us to study star formation and evolution in unprecedented detail. With its fixed format and high sensitivity, IGRINS is a great survey instrument for star clusters, high signal-to-noise (SNR>300) studies of field stars, and for mapping the interstellar medium. As a prototype for GMTNIRS on the Giant Magellan Telescope, IGRINS represents the future of high-resolution spectroscopy. In the future IGRINS will be deployed to numerous facilities and will remain a versatile instrument for the community while producing a rich archive of uniform spectra.

Climate Absolute Radiance and Refractivity Observatory (CLARREO)

NASA Technical Reports Server (NTRS)

Leckey, John P.

2015-01-01

The Climate Absolute Radiance and Refractivity Observatory (CLARREO) is a mission, led and developed by NASA, that will measure a variety of climate variables with an unprecedented accuracy to quantify and attribute climate change. CLARREO consists of three separate instruments: an infrared (IR) spectrometer, a reflected solar (RS) spectrometer, and a radio occultation (RO) instrument. The mission will contain orbiting radiometers with sufficient accuracy, including on orbit verification, to calibrate other space-based instrumentation, increasing their respective accuracy by as much as an order of magnitude. The IR spectrometer is a Fourier Transform spectrometer (FTS) working in the 5 to 50 microns wavelength region with a goal of 0.1 K (k = 3) accuracy. The FTS will achieve this accuracy using phase change cells to verify thermistor accuracy and heated halos to verify blackbody emissivity, both on orbit. The RS spectrometer will measure the reflectance of the atmosphere in the 0.32 to 2.3 microns wavelength region with an accuracy of 0.3% (k = 2). The status of the instrumentation packages and potential mission options will be presented.

Defining the Transfer Functions of the PCAD Model in North Atlantic Right Whales (Eubalaena glacialis) - Retrospective Analyses of Existing Data

DTIC Science & Technology

2012-09-30

potentially providing information on nutritional state and chronic stress ( Wasser et al., 2010). We tested both T3 and T4 assays for parallelism.The...EconPapers.RePEc.org/RePEc:inn:wpaper:2011-20 Hunt K.E., Rolland R.M., Kraus S.D., Wasser S.K. 2006. Analysis of fecal glucocorticoids in the North Atlantic right...version 1.2.5. http://CRAN.R-project.org/package=doMC Rolland R.M., Hunt K.E., Kraus S.D., Wasser S.K. 2005. Assessing reproductive status of right

The influence of visual feedback from the recent past on the programming of grip aperture is grasp-specific, shared between hands, and mediated by sensorimotor memory not task set.

PubMed

Tang, Rixin; Whitwell, Robert L; Goodale, Melvyn A

2015-05-01

Goal-directed movements, such as reaching out to grasp an object, are necessarily constrained by the spatial properties of the target such as its size, shape, and position. For example, during a reach-to-grasp movement, the peak width of the aperture formed by the thumb and fingers in flight (peak grip aperture, PGA) is linearly related to the target's size. Suppressing vision throughout the movement (visual open loop) has a small though significant effect on this relationship. Visual open loop conditions also produce a large increase in the PGA compared to when vision is available throughout the movement (visual closed loop). Curiously, this differential effect of the availability of visual feedback is influenced by the presentation order: the difference in PGA between closed- and open-loop trials is smaller when these trials are intermixed (an effect we have called 'homogenization'). Thus, grasping movements are affected not only by the availability of visual feedback (closed loop or open loop) but also by what happened on the previous trial. It is not clear, however, whether this carry-over effect is mediated through motor (or sensorimotor) memory or through the interference of different task sets for closed-loop and open-loop feedback that determine when the movements are fully specified. We reasoned that sensorimotor memory, but not a task set for closed and open loop feedback, would be specific to the type of response. We tested this prediction in a condition in which pointing to targets was alternated with grasping those same targets. Critically, in this condition, when pointing was performed in open loop, grasping was always performed in closed loop (and vice versa). Despite the fact that closed- and open-loop trials were alternating in this condition, we found no evidence for homogenization of the PGA. Homogenization did occur, however, in a follow-up experiment in which grasping movements and visual feedback were alternated between the left and the right hand, indicating that sensorimotor (or motor) memory can operate both within and between hands when the response type is kept the same. In a final experiment, we ruled out the possibility that simply alternating the hand used to perform the grasp interferes with motor or sensorimotor memory. We did this by showing that when the hand was alternated within a block of exclusively closed- or open-loop trials, homogenization of the PGA did not occur. Taken together, the results suggest that (1) interference from simply switching between task sets for closed or open-loop feedback or from switching between the hands cannot account homogenization in the PGA and that (2) the programming and execution of grasps can borrow not only from grasping movements executed in the past by the same hand, but also from grasping movements executed with the other hand. Copyright © 2015 Elsevier B.V. All rights reserved.

A linear-dendritic cationic vector for efficient DNA grasp and delivery.

PubMed

Yang, Bin; Sun, Yun-xia; Yi, Wen-jie; Yang, Juan; Liu, Chen-wei; Cheng, Han; Feng, Jun; Zhang, Xian-zheng; Zhuo, Ren-xi

2012-07-01

This paper presents an attempt to design an efficient and biocompatible cationic gene vector via structural optimization that favors the efficient utilization of amine groups for DNA condensation. To this end, a linear-dendritic block copolymer of methoxyl-poly(ethylene glycol)-dendritic polyglycerol-graft-tris(2-aminoethyl)amine (mPEG-DPG-g-TAEA) was prepared with specially designed multiple functions including strong DNA affinity, endosomal buffering and expected serum-tolerance. Based on the transfection in serum-free and serum-conditioned media, the influences of the polymer structures including the degree of polymerization of DPG and TAEA substitution degree were explored. As compared to polyethylenimine (M(w)=5 kDa) (PEI5k) with similar molecular weight and higher amine density, mPEG-DPG-g-TAEA displayed comparably high DNA affinity due to the special linear-dendritic architecture. Consequently, at very low N/P ratio, mPEG-DPG-g-TAEA vectors could mediate efficient in vitro luciferase expression at levels that are comparable with or even superior to the commercially available Lipofectamine™ 2000, while being apparently higher than PEI5k. The designed vectors exhibit considerably higher cell biocompatibility and better resistance against bovine serum albumin adsorption than PEI5k. The stability of the complexes on coincubation with heparin was found to be largely dependent on the polymer structure. As concluded from the comparative transfection study in the absence/presence of chloroquine, it is likely that the polycation itself could produce endosomal buffering. This linear-dendritic vector shows promising potential for the application of gene delivery. Copyright © 2012 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

An investigation of the tri-bar gripping system on isometric muscular endurance.

PubMed

Drury, Daniel G; Faggiono, Heath; Stuempfle, Kristin J

2004-11-01

Recently, a new product called the Tri-Bar has been introduced as an alternative to the standard round weightlifting bar. The Tri-Bar has the same weight, length, and circumference as a standard weightlifting bar and differs only in that the shape of the bar is formed like a triangle with rounded edges. Theoretically, the shape of the bar will enhance gripping comfort and increase muscular endurance. We studied 32 moderately trained males who were free from upper-body injury or limitation. Each participant completed 4 visits to the lab as part of 2 separate investigations. The first investigation was a comparison of straight-arm hang times while grasping a standard Olympic bar or a Tri-Bar attached to the top of a power rack. The second investigation involved grasping a standard revolving cable handle or a Tri-Bar revolving handle attached to a weight equal to half the subject's body weight. In both investigations, time was used as a measure of isometric muscular endurance. Differences were determined using a dependent t-test, and a level of significance was set at p < 0.05. Mean hang times were significantly longer when the men hung from the Tri-Bar (107.6 seconds) versus the standard bar (95.4 seconds) (p = 0.015). Conversely, in the investigation using the revolving handles, the round bar produced longer grasping times (71.5 seconds) than the Tri-Bar (62.6 seconds) (p = 0.000). The results of this investigation indicate that a fixed and stable Tri-Bar may help to increase hang time, but a Tri-Bar free to rotate within the grasp may decrease grasping time in comparison to a standard round handle. With regard to exercises that require isometric grasping, the Tri-Bar may be an effective alternative to the standard bar for increasing isometric grasping endurance.

“Left Neglected,” but Only in Far Space: Spatial Biases in Healthy Participants Revealed in a Visually Guided Grasping Task

PubMed Central

de Bruin, Natalie; Bryant, Devon C.; Gonzalez, Claudia L. R.

2014-01-01

Hemispatial neglect is a common outcome of stroke that is characterized by the inability to orient toward, and attend to stimuli in contralesional space. It is established that hemispatial neglect has a perceptual component, however, the presence and severity of motor impairments is controversial. Establishing the nature of space use and spatial biases during visually guided actions amongst healthy individuals is critical to understanding the presence of visuomotor deficits in patients with neglect. Accordingly, three experiments were conducted to investigate the effect of object spatial location on patterns of grasping. Experiment 1 required right-handed participants to reach and grasp for blocks in order to construct 3D models. The blocks were scattered on a tabletop divided into equal size quadrants: left near, left far, right near, and right far. Identical sets of building blocks were available in each quadrant. Space use was dynamic, with participants initially grasping blocks from right near space and tending to “neglect” left far space until the final stages of the task. Experiment 2 repeated the protocol with left-handed participants. Remarkably, left-handed participants displayed a similar pattern of space use to right-handed participants. In Experiment 3 eye movements were examined to investigate whether “neglect” for grasping in left far reachable space had its origins in attentional biases. It was found that patterns of eye movements mirrored patterns of reach-to-grasp movements. We conclude that there are spatial biases during visually guided grasping, specifically, a tendency to neglect left far reachable space, and that this “neglect” is attentional in origin. The results raise the possibility that visuomotor impairments reported among patients with right hemisphere lesions when working in contralesional space may result in part from this inherent tendency to “neglect” left far space irrespective of the presence of unilateral visuospatial neglect. PMID:24478751

A Biologically Inspired Learning to Grasp System

DTIC Science & Technology

2001-10-25

possible extensive discussions of data on the premotor cortex and monkey grasping circuit with Giacomo Rizzolatti , Vittorio Gallese, to whom we express...premotor specialisation for the different types of grasps that Rizzolatti group [3] has found be formed at this age yet. Infants will need to...our gratitude. REFERENCES [1] M. Jeannerod, M.A. Arbib, G. Rizzolatti , H. Sakata, “Grasping objects: the cortical mechanisms of visuomotor

A gustatory second-order neuron that connects sucrose-sensitive primary neurons and a distinct region of the gnathal ganglion in the Drosophila brain.

PubMed

Miyazaki, Takaaki; Lin, Tzu-Yang; Ito, Kei; Lee, Chi-Hon; Stopfer, Mark

2015-01-01

Although the gustatory system provides animals with sensory cues important for food choice and other critical behaviors, little is known about neural circuitry immediately following gustatory sensory neurons (GSNs). Here, we identify and characterize a bilateral pair of gustatory second-order neurons (G2Ns) in Drosophila. Previous studies identified GSNs that relay taste information to distinct subregions of the primary gustatory center (PGC) in the gnathal ganglia (GNG). To identify candidate G2Ns, we screened ∼5,000 GAL4 driver strains for lines that label neural fibers innervating the PGC. We then combined GRASP (GFP reconstitution across synaptic partners) with presynaptic labeling to visualize potential synaptic contacts between the dendrites of the candidate G2Ns and the axonal terminals of Gr5a-expressing GSNs, which are known to respond to sucrose. Results of the GRASP analysis, followed by a single-cell analysis by FLP-out recombination, revealed a pair of neurons that contact Gr5a axon terminals in both brain hemispheres and send axonal arborizations to a distinct region outside the PGC but within the GNG. To characterize the input and output branches, respectively, we expressed fluorescence-tagged acetylcholine receptor subunit (Dα7) and active-zone marker (Brp) in the G2Ns. We found that G2N input sites overlaid GRASP-labeled synaptic contacts to Gr5a neurons, while presynaptic sites were broadly distributed throughout the neurons' arborizations. GRASP analysis and further tests with the Syb-GRASP method suggested that the identified G2Ns receive synaptic inputs from Gr5a-expressing GSNs, but not Gr66a-expressing GSNs, which respond to caffeine. The identified G2Ns relay information from Gr5a-expressing GSNs to distinct regions in the GNG, and are distinct from other, recently identified gustatory projection neurons, which relay information about sugars to a brain region called the antennal mechanosensory and motor center (AMMC). Our findings suggest unexpected complexity for taste information processing in the first relay of the gustatory system.

Optimized respiratory-resolved motion-compensated 3D Cartesian coronary MR angiography.

PubMed

Correia, Teresa; Ginami, Giulia; Cruz, Gastão; Neji, Radhouene; Rashid, Imran; Botnar, René M; Prieto, Claudia

2018-04-22

To develop a robust and efficient reconstruction framework that provides high-quality motion-compensated respiratory-resolved images from free-breathing 3D whole-heart Cartesian coronary magnetic resonance angiography (CMRA) acquisitions. Recently, XD-GRASP (eXtra-Dimensional Golden-angle RAdial Sparse Parallel MRI) was proposed to achieve 100% scan efficiency and provide respiratory-resolved 3D radial CMRA images by exploiting sparsity in the respiratory dimension. Here, a reconstruction framework for Cartesian CMRA imaging is proposed, which provides respiratory-resolved motion-compensated images by incorporating 2D beat-to-beat translational motion information to increase sparsity in the respiratory dimension. The motion information is extracted from interleaved image navigators and is also used to compensate for 2D translational motion within each respiratory phase. The proposed Optimized Respiratory-resolved Cartesian Coronary MR Angiography (XD-ORCCA) method was tested on 10 healthy subjects and 2 patients with cardiovascular disease, and compared against XD-GRASP. The proposed XD-ORCCA provides high-quality respiratory-resolved images, allowing clear visualization of the right and left coronary arteries, even for irregular breathing patterns. Compared with XD-GRASP, the proposed method improves the visibility and sharpness of both coronaries. Significant differences (p < .05) in visible vessel length and proximal vessel sharpness were found between the 2 methods. The XD-GRASP method provides good-quality images in the absence of intraphase motion. However, motion blurring is observed in XD-GRASP images for respiratory phases with larger motion amplitudes and subjects with irregular breathing patterns. A robust respiratory-resolved motion-compensated framework for Cartesian CMRA has been proposed and tested in healthy subjects and patients. The proposed XD-ORCCA provides high-quality images for all respiratory phases, independently of the regularity of the breathing pattern. © 2018 The Authors Magnetic Resonance in Medicine published by Wiley Periodicals, Inc. on behalf of International Society for Magnetic Resonance in Medicine.

The GRASP project - a multidisciplinary study of hydrology and biogeochemistry in a periglacial catchment area

NASA Astrophysics Data System (ADS)

Johansson, Emma; Lindborg, Tobias

2017-04-01

The Arctic region is sensitive to global warming, and permafrost thaw and release of old carbon are examples of processes that may have a positive feedback effect to the global climate system. Quantification and assumptions on future change are often based on model predictions. Such models require cross-disciplinary data of high quality that often is lacking. Biogeochemical processes in the landscape are highly influenced by the hydrology, which in turn is intimately related to permafrost processes. Thus, a multidisciplinary approach is needed when collecting data and setting up field experiments aiming at increase the understanding of these processes. Here we summarize and present data collected in the GRASP, Greenland Analogue Surface Project. GRASP is a catchment-scale field study of the periglacial area in the Kangerlussuaq region, West Greenland, focusing on hydrological and biogeochemical processes in the landscape. The site investigations were initiated in 2010 and have since then resulted in three separate data sets published in ESSD (Earth system and Science Data) each one focusing on i) meteorological data and hydrology, ii) biogeochemistry and iii) geometries of sediments and the active layer. The three data-sets, which are freely available via the PANGAEA data base, enable conceptual and coupled numerical modeling of hydrological and biogeochemical processes. An important strength with the GRASP data is that all data is collected within the same, relatively small, catchment area. This implies that measurements are more easily linked to the right source area or process. Despite the small catchment area it includes the major units of the periglacial hydrological system; a lake, a talik, a supra- and subpermafrost aquifer and, consequently, biogeochemical processes in each of these units may be studied. The new data from GRASP is both used with the aim to increase the knowledge of present day periglacial hydrology and biogeochemistry but also in order to predict consequences within these subjects of future climate change.

Earlier and greater hand pre-shaping in the elderly: a study based on kinematic analysis of reaching movements to grasp objects.

PubMed

Tamaru, Yoshiki; Naito, Yasuo; Nishikawa, Takashi

2017-11-01

Elderly people are less able to manipulate objects skilfully than young adults. Although previous studies have examined age-related deterioration of hand movements with a focus on the phase after grasping objects, the changes in the reaching phase have not been studied thus far. We aimed to examine whether changes in hand shape patterns during the reaching phase of grasping movements differ between young adults and the elderly. Ten healthy elderly adults and 10 healthy young adults were examined using the Simple Test for Evaluating Hand Functions and kinetic analysis of hand pre-shaping reach-to-grasp tasks. The results were then compared between the two groups. For kinetic analysis, we measured the time of peak tangential velocity of the wrist and the inter-fingertip distance (the distance between the tips of the thumb and index finger) at different time points. The results showed that the elderly group's performance on the Simple Test for Evaluating Hand Functions was significantly lower than that of the young adult group, irrespective of whether the dominant or non-dominant hand was used, indicating deterioration of hand movement in the elderly. The peak tangential velocity of the wrist in either hand appeared significantly earlier in the elderly group than in the young adult group. The elderly group also showed larger inter-fingertip distances with arch-like fingertip trajectories compared to the young adult group for all object sizes. To perform accurate prehension, elderly people have an earlier peak tangential velocity point than young adults. This allows for a longer adjustment time for reaching and grasping movements and for reducing errors in object prehension by opening the hand and fingers wider. Elderly individuals gradually modify their strategy based on previous successes and failures during daily living to compensate for their decline in dexterity and operational capabilities. © 2017 Japanese Psychogeriatric Society.

Rapid and semi-analytical design and simulation of a toroidal magnet made with YBCO and MgB 2 superconductors

DOE PAGES

Dimitrov, I. K.; Zhang, X.; Solovyov, V. F.; ...

2015-07-07

Recent advances in second-generation (YBCO) high-temperature superconducting wire could potentially enable the design of super high performance energy storage devices that combine the high energy density of chemical storage with the high power of superconducting magnetic storage. However, the high aspect ratio and the considerable filament size of these wires require the concomitant development of dedicated optimization methods that account for the critical current density in type-II superconductors. In this study, we report on the novel application and results of a CPU-efficient semianalytical computer code based on the Radia 3-D magnetostatics software package. Our algorithm is used to simulate andmore » optimize the energy density of a superconducting magnetic energy storage device model, based on design constraints, such as overall size and number of coils. The rapid performance of the code is pivoted on analytical calculations of the magnetic field based on an efficient implementation of the Biot-Savart law for a large variety of 3-D “base” geometries in the Radia package. The significantly reduced CPU time and simple data input in conjunction with the consideration of realistic input variables, such as material-specific, temperature, and magnetic-field-dependent critical current densities, have enabled the Radia-based algorithm to outperform finite-element approaches in CPU time at the same accuracy levels. Comparative simulations of MgB 2 and YBCO-based devices are performed at 4.2 K, in order to ascertain the realistic efficiency of the design configurations.« less

Which Air Force Civil Engineer Capabilities Can Complement USNORTHCOM’s Role in Defense Support to Civil Authorities (DSCA)?

DTIC Science & Technology

2014-05-21

UTC REQUIRES PERSONNEL FROM STANDARD PRIME BEEF OR RED 4F9K4 PROVIDES FOLDED FIBERGLASS MATTING ( FFM ) FOR AIRFIELD DAMAGE REPAIR (ADR). PACKAGE...CONSISTS OF THREE FFM SETS (54’ X 60’), ONE FFM SUPPORT TOOL KIT, UPPER BUSHINGS, ANCHOR BUSHINGS, ANCHOR BOLTS, AND TWO EA MC-7 AIR COMPRESSORS. EACH...PACKAGE CONSISTS OF 7 FOLDED FIBERGLASS MAT SETS (54 FT X 60 FT), 2 FFM SUPPORT TOOL KIT, UPPER BUSHINGS, ANCHOR BUSHINGS, ANCHOR BOLTS AND 4 X

3-D-Gaze-Based Robotic Grasping Through Mimicking Human Visuomotor Function for People With Motion Impairments.

PubMed

Li, Songpo; Zhang, Xiaoli; Webb, Jeremy D

2017-12-01

The goal of this paper is to achieve a novel 3-D-gaze-based human-robot-interaction modality, with which a user with motion impairment can intuitively express what tasks he/she wants the robot to do by directly looking at the object of interest in the real world. Toward this goal, we investigate 1) the technology to accurately sense where a person is looking in real environments and 2) the method to interpret the human gaze and convert it into an effective interaction modality. Looking at a specific object reflects what a person is thinking related to that object, and the gaze location contains essential information for object manipulation. A novel gaze vector method is developed to accurately estimate the 3-D coordinates of the object being looked at in real environments, and a novel interpretation framework that mimics human visuomotor functions is designed to increase the control capability of gaze in object grasping tasks. High tracking accuracy was achieved using the gaze vector method. Participants successfully controlled a robotic arm for object grasping by directly looking at the target object. Human 3-D gaze can be effectively employed as an intuitive interaction modality for robotic object manipulation. It is the first time that 3-D gaze is utilized in a real environment to command a robot for a practical application. Three-dimensional gaze tracking is promising as an intuitive alternative for human-robot interaction especially for disabled and elderly people who cannot handle the conventional interaction modalities.

A Novel Device for Grasping Assessment during Functional Tasks: Preliminary Results

PubMed Central

Rocha, Ana Carolinne Portela; Tudella, Eloisa; Pedro, Leonardo M.; Appel, Viviane Cristina Roma; da Silva, Louise Gracelli Pereira; Caurin, Glauco Augusto de Paula

2016-01-01

This paper presents a methodology and first results obtained in a study with a novel device that allows the analysis of grasping quality. Such a device is able to acquire motion information of upper limbs allowing kinetic of manipulation analysis as well. A pilot experiment was carried out with six groups of typically developing children aged between 5 and 10 years, with seven to eight children in each one. The device, designed to emulate a glass, has an optical system composed by one digital camera and a special convex mirror that together allow image acquisition of grasping hand posture when it is grasped and manipulated. It also carries an Inertial Measurement Unit that captures motion data as acceleration, orientation, and angular velocities. The novel instrumented object is used in our approach to evaluate functional tasks performance in quantitative terms. During tests, each child was invited to grasp the cylindrical part of the device that was placed on the top of a table, simulating the task of drinking a glass of water. In the sequence, the child was oriented to transport the device back to the starting position and release it. The task was repeated three times for each child. A grasping hand posture evaluation is presented as an example to evaluate grasping quality. Additionally, motion patterns obtained with the trials performed with the different groups are presented and discussed. This device is attractive due to its portable characteristics, the small size, and its ability to evaluate grasping form. The results may be also useful to analyze the evolution of the rehabilitation process through reach-to-grasping movement and the grasping images analysis. PMID:26942178

Study of a generalized birks formula for the scintillation response of a CaMoO4 crystal

NASA Astrophysics Data System (ADS)

Lee, J. Y.; Kim, H. J.; Kang, Sang Jun; Lee, M. H.

2017-12-01

We have investigated the scintillation characteristics of CaMoO4 (CMO) crystals by using a gamma source and various internal alpha sources. A 137Cs source with 662-keV gamma-rays was used for the gamma-quanta light yield calibration. Internal radioactive contaminations provided alpha particles with different energies from 5.41 to 7.88 MeV. We developed a C++ program based on the ROOT package for the fitting of parameters in a generalized Birks semi-empirical formula by combining the experimental and the simulation data. Results for the fitted Birks parameters are k b1 = 3.3 × 10 -3 (g/MeVcm2) for the 1st parameter and k b2 = 7.9 × 10 -5 (g/MeVcm2)2 for the 2nd parameter. The χ2/n.d.f. (Number of Degree of Freedom) is calculated as 0.1/4. We were able to estimate the 238U and 234U contaminations in a CMO crystal by using the generalized Birks semi-empirical formula.

9975 SHIPPING PACKAGE LIFE EXTENSION SURVEILLANCE PROGRAM RESULTS SUMMARY

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

Daugherty, W.; Dunn, K.; Hackney, B.

2011-01-06

Results from the 9975 Surveillance Program at the Savannah River Site (SRS) are summarized for justification to extend the life of the 9975 packages currently stored in the K-Area Materials Storage (KAMS) facility from 10 years to 15 years. This justification is established with the stipulation that surveillance activities will continue throughout this extended time to ensure the continued integrity of the 9975 materials of construction and to further understand the currently identified degradation mechanisms. The current 10 year storage life was developed prior to storage. A subsequent report was later used to extend the qualification of the 9975 shippingmore » packages for 2 years for shipping plus 10 years for storage. However the qualification for the storage period was provided by the monitoring requirements of the Storage and Surveillance Program. This report summarizes efforts to determine a new safe storage limit for the 9975 shipping package based on the surveillance data collected since 2005 when the surveillance program began. KAMS is a zero-release facility that depends upon containment by the 9975 to meet design basis storage requirements. Therefore, to confirm the continued integrity of the 9975 packages while stored in KAMS, a 9975 Storage and Surveillance Program was implemented alongside the DOE required Integrated Surveillance Program (ISP) for 3013 plutonium-bearing containers. The 9975 Storage and Surveillance Program performs field surveillance as well as accelerated aging tests to ensure any degradation due to aging, to the extent that could affect packaging performance, is detected in advance of such degradation occurring in the field. The Program has demonstrated that the 9975 package has a robust design that can perform under a variety of conditions. As such the primary emphasis of the on-going 9975 Surveillance Program is an aging study of the 9975 Viton(reg.sign) GLT containment vessel O-rings and the Celotex(reg.sign) fiberboard thermal insulation at bounding conditions of radiation and elevated temperatures. Other materials of construction, however, are also discussed.« less

Food product design: emerging evidence for food policy.

PubMed

Al-Hamdani, Mohammed; Smith, Steven

2017-03-01

The research on the impact of specific brand elements such as food descriptors and package colors is underexplored. We tested whether a "light" color and a "low-calorie" descriptor on food packages gain favorable consumer perception ratings as compared with regular packages. Our online experiment recruited 406 adults in a 3 (product type: Chips versus Juice versus Yoghurt) × 2 (descriptor type: regular versus low-calorie) × 2 (color type: regular versus light) mixed design. Dependent variables were sensory (evaluations of the product's nutritional value and quality), product-based (evaluations of the product's physical appeal), and consumer-based (evaluations of the potential consumers of the product) scales. "Low-calorie" descriptors were found to increase sensory ratings as compared with regular descriptors and light-colored packages received higher product-based ratings as compared with their regular-colored counterparts. Food package color and descriptors present a promising venue for understanding preventative measures against obesity.[Formula: see text].

49 CFR 173.183 - Nitrocellulose base film.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 2 2011-10-01 2011-10-01 false Nitrocellulose base film. 173.183 Section 173.183 Transportation Other Regulations Relating to Transportation PIPELINE AND HAZARDOUS MATERIALS SAFETY... Nitrocellulose base film. Films, nitrocellulose base, must be packaged in packagings conforming to the...

49 CFR 173.183 - Nitrocellulose base film.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 49 Transportation 2 2013-10-01 2013-10-01 false Nitrocellulose base film. 173.183 Section 173.183 Transportation Other Regulations Relating to Transportation PIPELINE AND HAZARDOUS MATERIALS SAFETY... Nitrocellulose base film. Films, nitrocellulose base, must be packaged in packagings conforming to the...

49 CFR 173.183 - Nitrocellulose base film.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 2 2012-10-01 2012-10-01 false Nitrocellulose base film. 173.183 Section 173.183 Transportation Other Regulations Relating to Transportation PIPELINE AND HAZARDOUS MATERIALS SAFETY... Nitrocellulose base film. Films, nitrocellulose base, must be packaged in packagings conforming to the...

Responses of mirror neurons in area F5 to hand and tool grasping observation

PubMed Central

Rochat, Magali J.; Caruana, Fausto; Jezzini, Ahmad; Escola, Ludovic; Intskirveli, Irakli; Grammont, Franck; Gallese, Vittorio; Rizzolatti, Giacomo

2010-01-01

Mirror neurons are a distinct class of neurons that discharge both during the execution of a motor act and during observation of the same or similar motor act performed by another individual. However, the extent to which mirror neurons coding a motor act with a specific goal (e.g., grasping) might also respond to the observation of a motor act having the same goal, but achieved with artificial effectors, is not yet established. In the present study, we addressed this issue by recording mirror neurons from the ventral premotor cortex (area F5) of two monkeys trained to grasp objects with pliers. Neuron activity was recorded during the observation and execution of grasping performed with the hand, with pliers and during observation of an experimenter spearing food with a stick. The results showed that virtually all neurons responding to the observation of hand grasping also responded to the observation of grasping with pliers and, many of them to the observation of spearing with a stick. However, the intensity and pattern of the response differed among conditions. Hand grasping observation determined the earliest and the strongest discharge, while pliers grasping and spearing observation triggered weaker responses at longer latencies. We conclude that F5 grasping mirror neurons respond to the observation of a family of stimuli leading to the same goal. However, the response pattern depends upon the similarity between the observed motor act and the one executed by the hand, the natural motor template. PMID:20577726

affy2sv: an R package to pre-process Affymetrix CytoScan HD and 750K arrays for SNP, CNV, inversion and mosaicism calling.

PubMed

Hernandez-Ferrer, Carles; Quintela Garcia, Ines; Danielski, Katharina; Carracedo, Ángel; Pérez-Jurado, Luis A; González, Juan R

2015-05-20

The well-known Genome-Wide Association Studies (GWAS) had led to many scientific discoveries using SNP data. Even so, they were not able to explain the full heritability of complex diseases. Now, other structural variants like copy number variants or DNA inversions, either germ-line or in mosaicism events, are being studies. We present the R package affy2sv to pre-process Affymetrix CytoScan HD/750k array (also for Genome-Wide SNP 5.0/6.0 and Axiom) in structural variant studies. We illustrate the capabilities of affy2sv using two different complete pipelines on real data. The first one performing a GWAS and a mosaic alterations detection study, and the other detecting CNVs and performing an inversion calling. Both examples presented in the article show up how affy2sv can be used as part of more complex pipelines aimed to analyze Affymetrix SNP arrays data in genetic association studies, where different types of structural variants are considered.

Intensive virtual reality-based training for upper limb motor function in chronic stroke: a feasibility study using a single case experimental design and fMRI.

PubMed

Schuster-Amft, Corina; Henneke, Andrea; Hartog-Keisker, Birgit; Holper, Lisa; Siekierka, Ewa; Chevrier, Edith; Pyk, Pawel; Kollias, Spyros; Kiper, Daniel; Eng, Kynan

2015-01-01

To evaluate feasibility and neurophysiological changes after virtual reality (VR)-based training of upper limb (UL) movements. Single-case A-B-A-design with two male stroke patients (P1:67 y and 50 y, 3.5 and 3 y after onset) with UL motor impairments, 45-min therapy sessions 5×/week over 4 weeks. Patients facing screen, used bimanual data gloves to control virtual arms. Three applications trained bimanual reaching, grasping, hand opening. Assessments during 2-week baseline, weekly during intervention, at 3-month follow-up (FU): Goal Attainment Scale (GAS), Chedoke Arm and Hand Activity Inventory (CAHAI), Chedoke-McMaster Stroke Assessment (CMSA), Extended Barthel Index (EBI), Motor Activity Log (MAL). Functional magnetic resonance imaging scans (FMRI) before, immediately after treatment and at FU. P1 executed 5478 grasps (paretic arm). Improvements in CAHAI (+4) were maintained at FU. GAS changed to +1 post-test and +2 at FU. P2 executed 9835 grasps (paretic arm). CAHAI improvements (+13) were maintained at FU. GAS scores changed to -1 post-test and +1 at FU. MAL scores changed from 3.7 at pre-test to 5.5 post-test and 3.3 at FU. The VR-based intervention was feasible, safe, and intense. Adjustable application settings maintained training challenge and patient motivation. ADL-relevant UL functional improvements persisted at FU and were related to changed cortical activation patterns. Implications for Rehabilitation YouGrabber trains uni- and bimanual upper motor function. Its application is feasible, safe, and intense. The control of the virtual arms can be done in three main ways: (a) normal (b) virtual mirror therapy, or (c) virtual following. The mirroring feature provides an illusion of affected limb movements during the period when the affected upper limb (UL) is resting. The YouGrabber training led to ADL-relevant UL functional improvements that were still assessable 12 weeks after intervention finalization and were related to changed cortical activation patterns.

Energy levels, radiative rates, and lifetimes for transitions in W LVIII

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

Aggarwal, Kanti M., E-mail: K.Aggarwal@qub.ac.uk; Keenan, Francis P.

2014-11-15

Energy levels and radiative rates are reported for transitions in Cl-like W LVIII. Configuration interaction (CI) has been included among 44 configurations (generating 4978 levels) over a wide energy range up to 363 Ryd, and the general-purpose relativistic atomic structure package (GRASP) adopted for the calculations. Since no other results of comparable complexity are available, calculations have also been performed with the flexible atomic code (FAC), which help in assessing the accuracy of our results. Energies are listed for the lowest 400 levels (with energies up to ∼98 Ryd), which mainly belong to the 3s{sup 2}3p{sup 5}, 3s3p{sup 6}, 3s{supmore » 2}3p{sup 4}3d, 3s{sup 2}3p{sup 3}3d{sup 2}, 3s3p{sup 4}3d{sup 2}, 3s{sup 2}3p{sup 2}3d{sup 3}, and 3p{sup 6}3d configurations, and radiative rates are provided for four types of transitions, i.e. E1, E2, M1, and M2. Our energy levels are assessed to be accurate to better than 0.5%, whereas radiative rates (and lifetimes) should be accurate to better than 20% for a majority of the strong transitions.« less

Motivational state, reward value, and Pavlovian cues differentially affect skilled forelimb grasping in rats

PubMed Central

de Clauser, Larissa; Kasper, Hansjörg; Schwab, Martin E.

2016-01-01

Motor skills represent high-precision movements performed at optimal speed and accuracy. Such motor skills are learned with practice over time. Besides practice, effects of motivation have also been shown to influence speed and accuracy of movements, suggesting that fast movements are performed to maximize gained reward over time as noted in previous studies. In rodents, skilled motor performance has been successfully modeled with the skilled grasping task, in which animals use their forepaw to grasp for sugar pellet rewards through a narrow window. Using sugar pellets, the skilled grasping task is inherently tied to motivation processes. In the present study, we performed three experiments modulating animals’ motivation during skilled grasping by changing the motivational state, presenting different reward value ratios, and displaying Pavlovian stimuli. We found in all three studies that motivation affected the speed of skilled grasping movements, with the strongest effects seen due to motivational state and reward value. Furthermore, accuracy of the movement, measured in success rate, showed a strong dependence on motivational state as well. Pavlovian cues had only minor effects on skilled grasping, but results indicate an inverse Pavlovian-instrumental transfer effect on movement speed. These findings have broad implications considering the increasing use of skilled grasping in studies of motor system structure, function, and recovery after injuries. PMID:27194796

Diagnostic packages can be assigned accurately in emergency departments. A multi-centre cohort study.

PubMed

Nørgaard, Birgitte; Mogensen, Christian Backer; Teglbjærg, Lars Stubbe; Brabrand, Mikkel; Lassen, Annmarie Touborg

2016-06-01

In the Region of Southern Denmark, the emergency departments categorise patients based on presenting symptoms and a proposed diagnostic package (n = 40) within each category. The diagnostic packages describe relevant clinical information and standard laboratory and other investigations to be performed. Allocation to the right diagnostic package is assumed to be associated with a higher quality. The aim of this study was to describe to which degree the assigned symptom-based diagnostic packages are related to relevant discharge diagnoses. This was a descriptive cohort study. The analysis was based on data on assigned diagnostic package, patient discharge diagnosis, hospital, gender, age, time of admission and discharge, length of stay, diagnostic package assigned, discharge diagnosis and co-morbidity. An acceptable standard for what would be an appropriate primarily diagnostic package was developed using a modified Delphi method. A total of 16,543 patient contacts were identified. Women constituted 52.2% (n = 8,925) of the patients. The median age was 64 years and the median length of stay was one day. All diagnostic packages were represented. A total of 68% of the included patients had been assigned an acceptable diagnostic package (95% confidence interval: 67.2-68.7). We found an appropriate use of one of 30 diagnostic packages in more than 50% of the cases. We found that 68% of the included patients were assigned an acceptable diagnostic package and that about 80% of all acute pathways were covered by 14 diagnostic packages. The study was funded by Region of Southern Denmark. The study was registered with the Danish Data Protection Agency (No. 2008-58-0035). No further approval was required.

Simulation of rarefied low pressure RF plasma flow around the sample

NASA Astrophysics Data System (ADS)

Zheltukhin, V. S.; Shemakhin, A. Yu

2017-01-01

The paper describes a mathematical model of the flow of radio frequency plasma at low pressure. The hybrid mathematical model includes the Boltzmann equation for the neutral component of the RF plasma, the continuity and the thermal equations for the charged component. Initial and boundary conditions for the corresponding equations are described. The electron temperature in the calculations is 1-4 eV, atoms temperature in the plasma clot is (3-4) • 103 K, in the plasma jet is (3.2-10) • 102 K, the degree of ionization is 10-7-10-5, electron density is 1015-1019 m-3. For calculations plasma parameters is developed soft package on C++ program language, that uses the OpenFOAM library package. Simulations for the vacuum chamber in the presence of a sample and the free jet flow were carried out.

The effect of nonylphenol on gene expression in Atlantic salmon smolts.

PubMed

Robertson, Laura S; McCormick, Stephen D

2012-10-15

The parr-smolt transformation in Atlantic salmon (Salmo salar) is a complex developmental process that culminates in the ability to migrate to and live in seawater. Exposure to environmental contaminants like nonylphenol can disrupt smolt development and may be a contributing factor in salmon population declines. We used GRASP 16K cDNA microarrays to investigate the effects of nonylphenol on gene expression in Atlantic salmon smolts. Nonylphenol exposure reduced gill Na(+)/K(+)-ATPase activity and plasma cortisol and triiodothyronine levels. Transcriptional responses were examined in gill, liver, olfactory rosettes, hypothalamus, and pituitary. Expression of 124 features was significantly altered in the liver of fish exposed to nonylphenol; little to no transcriptional effects were observed in other tissues. mRNA abundance of genes involved in protein biosynthesis, folding, modification, transport and catabolism; nucleosome assembly, cell cycle, cell differentiation, microtubule-based movement, electron transport, and response to stress increased in nonylphenol-treated fish. This study expands our understanding of the effect of nonylphenol on smolting and provides potential targets for development of biomarkers. Published by Elsevier B.V.

Dikin-type algorithms for dextrous grasping force optimization

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

Buss, M.; Faybusovich, L.; Moore, J.B.

1998-08-01

One of the central issues in dextrous robotic hand grasping is to balance external forces acting on the object and at the same time achieve grasp stability and minimum grasping effort. A companion paper shows that the nonlinear friction-force limit constraints on grasping forces are equivalent to the positive definiteness of a certain matrix subject to linear constraints. Further, compensation of the external object force is also a linear constraint on this matrix. Consequently, the task of grasping force optimization can be formulated as a problem with semidefinite constraints. In this paper, two versions of strictly convex cost functions, onemore » of them self-concordant, are considered. These are twice-continuously differentiable functions that tend to infinity at the boundary of possible definiteness. For the general class of such cost functions, Dikin-type algorithms are presented. It is shown that the proposed algorithms guarantee convergence to the unique solution of the semidefinite programming problem associated with dextrous grasping force optimization. Numerical examples demonstrate the simplicity of implementation, the good numerical properties, and the optimality of the approach.« less

Packaging Technologies for High Temperature Electronics and Sensors

NASA Technical Reports Server (NTRS)

Chen, Liang-Yu; Hunter, Gary W.; Neudeck, Philip G.; Beheim, Glenn M.; Spry, David J.; Meredith, Roger D.

2013-01-01

This paper reviews ceramic substrates and thick-film metallization based packaging technologies in development for 500 C silicon carbide (SiC) electronics and sensors. Prototype high temperature ceramic chip-level packages and printed circuit boards (PCBs) based on ceramic substrates of aluminum oxide (Al2O3) and aluminum nitride (AlN) have been designed and fabricated. These ceramic substrate-based chip-level packages with gold (Au) thick-film metallization have been electrically characterized at temperatures up to 550 C. A 96% alumina based edge connector for a PCB level subsystem interconnection has also been demonstrated recently. The 96% alumina packaging system composed of chip-level packages and PCBs has been tested with high temperature SiC devices at 500 C for over 10,000 hours. In addition to tests in a laboratory environment, a SiC JFET with a packaging system composed of a 96% alumina chip-level package and an alumina printed circuit board mounted on a data acquisition circuit board was launched as a part of the MISSE-7 suite to the International Space Station via a Shuttle mission. This packaged SiC transistor was successfully tested in orbit for eighteen months. A spark-plug type sensor package designed for high temperature SiC capacitive pressure sensors was developed. This sensor package combines the high temperature interconnection system with a commercial high temperature high pressure stainless steel seal gland (electrical feed-through). Test results of a packaged high temperature capacitive pressure sensor at 500 C are also discussed. In addition to the pressure sensor package, efforts for packaging high temperature SiC diode-based gas chemical sensors are in process.

Packaging Technologies for High Temperature Electronics and Sensors

NASA Technical Reports Server (NTRS)

Chen, Liangyu; Hunter, Gary W.; Neudeck, Philip G.; Beheim, Glenn M.; Spry, David J.; Meredith, Roger D.

2013-01-01

This paper reviews ceramic substrates and thick-film metallization based packaging technologies in development for 500degC silicon carbide (SiC) electronics and sensors. Prototype high temperature ceramic chip-level packages and printed circuit boards (PCBs) based on ceramic substrates of aluminum oxide (Al2O3) and aluminum nitride (AlN) have been designed and fabricated. These ceramic substrate-based chiplevel packages with gold (Au) thick-film metallization have been electrically characterized at temperatures up to 550degC. A 96% alumina based edge connector for a PCB level subsystem interconnection has also been demonstrated recently. The 96% alumina packaging system composed of chip-level packages and PCBs has been tested with high temperature SiC devices at 500degC for over 10,000 hours. In addition to tests in a laboratory environment, a SiC JFET with a packaging system composed of a 96% alumina chip-level package and an alumina printed circuit board mounted on a data acquisition circuit board was launched as a part of the MISSE-7 suite to the International Space Station via a Shuttle mission. This packaged SiC transistor was successfully tested in orbit for eighteen months. A spark-plug type sensor package designed for high temperature SiC capacitive pressure sensors was developed. This sensor package combines the high temperature interconnection system with a commercial high temperature high pressure stainless steel seal gland (electrical feed-through). Test results of a packaged high temperature capacitive pressure sensor at 500degC are also discussed. In addition to the pressure sensor package, efforts for packaging high temperature SiC diode-based gas chemical sensors are in process.

A gustatory second-order neuron that connects sucrose-sensitive primary neurons and a distinct region of the gnathal ganglion in the Drosophila brain

PubMed Central

Miyazaki, Takaaki; Lin, Tzu-Yang; Ito, Kei; Lee, Chi-Hon; Stopfer, Mark

2016-01-01

Although the gustatory system provides animals with sensory cues important for food choice and other critical behaviors, little is known about neural circuitry immediately following gustatory sensory neurons (GSNs). Here, we identify and characterize a bilateral pair of gustatory second-order neurons in Drosophila. Previous studies identified GSNs that relay taste information to distinct subregions of the primary gustatory center (PGC) in the gnathal ganglia (GNG). To identify candidate gustatory second-order neurons (G2Ns) we screened ~5,000 GAL4 driver strains for lines that label neural fibers innervating the PGC. We then combined GRASP (GFP reconstitution across synaptic partners) with presynaptic labeling to visualize potential synaptic contacts between the dendrites of the candidate G2Ns and the axonal terminals of Gr5a-expressing GSNs, which are known to respond to sucrose. Results of the GRASP analysis, followed by a single cell analysis by FLPout recombination, revealed a pair of neurons that contact Gr5a axon terminals in both brain hemispheres, and send axonal arborizations to a distinct region outside the PGC but within the GNG. To characterize the input and output branches, respectively, we expressed fluorescence-tagged acetylcholine receptor subunit (Dα7) and active-zone marker (Brp) in the G2Ns. We found that G2N input sites overlaid GRASP-labeled synaptic contacts to Gr5a neurons, while presynaptic sites were broadly distributed throughout the neurons’ arborizations. GRASP analysis and further tests with the Syb-GRASP method suggested that the identified G2Ns receive synaptic inputs from Gr5a-expressing GSNs, but not Gr66a-expressing GSNs, which respond to caffeine. The identified G2Ns relay information from Gr5a-expressing GSNs to distinct regions in the GNG, and are distinct from other, recently identified gustatory projection neurons, which relay information about sugars to a brain region called the antennal mechanosensory and motor center (AMMC). Our findings suggest unexpected complexity for taste information processing in the first relay of the gustatory system. PMID:26004543

Neural Network Grasping Controller for Continuum Robots

DTIC Science & Technology

2006-01-01

string encoders attached to the base of section 1 and optical encoders located at the end plates of section 1 and 2. The cables from each of the...string encoders run the entire length of the arm through the optical encoders at the lower sections, as seen in Figure 1. This configuration enables the...encoders at the base section and the optical encoders at the end plates of the distal sections, there were a number of protrusions on the surface of the arm

Thermal Modeling and Cryogenic Design of a Helical Superconducting Undulator Cryostat

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

Shiroyanagi, Y.; Fuerst, J.; Hasse, Q.

A conceptual design for a helical superconducting undulator (HSCU) for the Advanced Photon Source (APS) at Argonne National Laboratory (ANL) has been completed. The device differs sufficiently from the existing APS planar superconducting undulator (SCU) design to warrant development of a new cryostat based on value engineering and lessons learned from the existing planar SCU. Changes include optimization of the existing cryocooler-based refrigeration system and thermal shield as well as cost reduction through the use of standard vacuum hardware. The end result is a design that provides significantly larger 4.2 K refrigeration margin in a smaller package for greater installationmore » flexibility in the APS storage ring. This paper presents ANSYS-based thermal analysis of the cryostat, including estimated static and dynamic« less

Control of a Robotic Hand Using a Tongue Control System-A Prosthesis Application.

PubMed

Johansen, Daniel; Cipriani, Christian; Popovic, Dejan B; Struijk, Lotte N S A

2016-07-01

The aim of this study was to investigate the feasibility of using an inductive tongue control system (ITCS) for controlling robotic/prosthetic hands and arms. This study presents a novel dual modal control scheme for multigrasp robotic hands combining standard electromyogram (EMG) with the ITCS. The performance of the ITCS control scheme was evaluated in a comparative study. Ten healthy subjects used both the ITCS control scheme and a conventional EMG control scheme to complete grasping exercises with the IH1 Azzurra robotic hand implementing five grasps. Time to activate a desired function or grasp was used as the performance metric. Statistically significant differences were found when comparing the performance of the two control schemes. On average, the ITCS control scheme was 1.15 s faster than the EMG control scheme, corresponding to a 35.4% reduction in the activation time. The largest difference was for grasp 5 with a mean AT reduction of 45.3% (2.38 s). The findings indicate that using the ITCS control scheme could allow for faster activation of specific grasps or functions compared with a conventional EMG control scheme. For transhumeral and especially bilateral amputees, the ITCS control scheme could have a significant impact on the prosthesis control. In addition, the ITCS would provide bilateral amputees with the additional advantage of environmental and computer control for which the ITCS was originally developed.

Taxonomy based analysis of force exchanges during object grasping and manipulation

PubMed Central

Martin-Brevet, Sandra; Jarrassé, Nathanaël; Burdet, Etienne

2017-01-01

The flexibility of the human hand in object manipulation is essential for daily life activities, but remains relatively little explored with quantitative methods. On the one hand, recent taxonomies describe qualitatively the classes of hand postures for object grasping and manipulation. On the other hand, the quantitative analysis of hand function has been generally restricted to precision grip (with thumb and index opposition) during lifting tasks. The aim of the present study is to fill the gap between these two kinds of descriptions, by investigating quantitatively the forces exerted by the hand on an instrumented object in a set of representative manipulation tasks. The object was a parallelepiped object able to measure the force exerted on the six faces and its acceleration. The grasping force was estimated from the lateral force and the unloading force from the bottom force. The protocol included eleven tasks with complementary constraints inspired by recent taxonomies: four tasks corresponding to lifting and holding the object with different grasp configurations, and seven to manipulating the object (rotation around each of its axis and translation). The grasping and unloading forces and object rotations were measured during the five phases of the actions: unloading, lifting, holding or manipulation, preparation to deposit, and deposit. The results confirm the tight regulation between grasping and unloading forces during lifting, and extend this to the deposit phase. In addition, they provide a precise description of the regulation of force exchanges during various manipulation tasks spanning representative actions of daily life. The timing of manipulation showed both sequential and overlapping organization of the different sub-actions, and micro-errors could be detected. This phenomenological study confirms the feasibility of using an instrumented object to investigate complex manipulative behavior in humans. This protocol will be used in the future to investigate upper-limb dexterity in patients with sensory-motor impairments. PMID:28562617

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments

PubMed Central

Ramon Soria, Pablo; Arrue, Begoña C.; Ollero, Anibal

2017-01-01

The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors. PMID:28067851

Challenges of animal models in SCI research: Effects of pre-injury task-specific training in adult rats before lesion.

PubMed

May, Zacnicte; Fouad, Karim; Shum-Siu, Alice; Magnuson, David S K

2015-09-15

A rarely explored subject in animal research is the effect of pre-injury variables on behavioral outcome post-SCI. Low reporting of such variables may underlie some discrepancies in findings between laboratories. Particularly, intensive task-specific training before a SCI might be important, considering that sports injuries are one of the leading causes of SCI. Thus, individuals with SCI often underwent rigorous training before their injuries. In the present study, we asked whether training before SCI on a grasping task or a swimming task would influence motor recovery in rats. Swim pre-training impaired recovery of swimming 2 and 4 weeks post-injury. This result fits with the idea of motor learning interference, which posits that learning something new may disrupt learning of a new task; in this case, learning strategies to compensate for functional loss after SCI. In contrast to swimming, grasp pre-training did not influence grasping ability after SCI at any time point. However, grasp pre-trained rats attempted to grasp more times than untrained rats in the first 4 weeks post-injury. Also, lesion volume of grasp pre-trained rats was greater than that of untrained rats, a finding which may be related to stress or activity. The increased participation in rehabilitative training of the pre-trained rats in the early weeks post-injury may have potentiated spontaneous plasticity in the spinal cord and counteracted the deleterious effect of interference and bigger lesions. Thus, our findings suggest that pre-training plays a significant role in recovery after CNS damage and needs to be carefully controlled for. Copyright © 2015 Elsevier B.V. All rights reserved.

Pectin-based nanocomposite aerogels for potential insulated food packaging application.

PubMed

Nešić, Aleksandra; Gordić, Milan; Davidović, Sladjana; Radovanović, Željko; Nedeljković, Jovan; Smirnova, Irina; Gurikov, Pavel

2018-09-01

Environmental-friendly pectin-TiO 2 nanocomposite aerogels were prepared via sol-gel process and subsequent drying under supercritical conditions. The first step includes dissolution of pectin in water, addition of proper amount of TiO 2 colloid and crosslinking reaction induced in the presence of tert-butanol and zinc ions. Then, the gels are subjected to the solvent exchange and supercritical CO 2 drying. The influence of TiO 2 nanoparticles on the textural, mechanical, thermal and antibacterial properties of aerogels was investigated. Results indicate that in the presence of TiO 2 nanoparticles (NPs) mechanical, thermal and antimicrobial properties of pectin-based aerogels are improved in comparison to the control pectin aerogels. It should be emphasized that the thermal conductivity of pectin-based aerogels (0.022-0.025 W m -1  K -1 ) is lower than the thermal conductivity of air. Generally, the results propose that the pectin-TiO 2 nanocomposite aerogels, as bio-based material, might have potential application for the storage of temperature-sensitive food. Copyright © 2018 Elsevier Ltd. All rights reserved.

27 CFR 19.599 - Bottling and packaging records.

Code of Federal Regulations, 2011 CFR

2011-04-01

... proof recorded under paragraph (f) of this section); (k) Total quantity bottled, packaged, or otherwise disposed of in bulk; (l) Losses or gains of the distilled spirits product; and (m) If labeled as bottled in...

Power Analysis of an Automated Dynamic Cone Penetrometer

DTIC Science & Technology

2015-09-01

temperature and b) as a function of load current at 21 °C ..3 Fig. 4 K33 stepper motor candidate in the standard NEMA 34 package .........5 Fig. 5 Analytical...will be assessed. Fig. 4 K33 stepper motor candidate in the standard NEMA 34 package 3. Analyses Analysis of the mechanical system begins with the...DCP dynamic cone penetrometer EMF electromotive force NEMA National Electrical Manufacturers Association 20 1 DEFENSE TECH INFO CTR

Comparison of grasping movements made by healthy subjects in a 3-dimensional immersive virtual versus physical environment.

PubMed

Magdalon, Eliane C; Michaelsen, Stella M; Quevedo, Antonio A; Levin, Mindy F

2011-09-01

Virtual reality (VR) technology is being used with increasing frequency as a training medium for motor rehabilitation. However, before addressing training effectiveness in virtual environments (VEs), it is necessary to identify if movements made in such environments are kinematically similar to those made in physical environments (PEs) and the effect of provision of haptic feedback on these movement patterns. These questions are important since reach-to-grasp movements may be inaccurate when visual or haptic feedback is altered or absent. Our goal was to compare kinematics of reaching and grasping movements to three objects performed in an immersive three-dimensional (3D) VE with haptic feedback (cyberglove/grasp system) viewed through a head-mounted display to those made in an equivalent physical environment (PE). We also compared movements in PE made with and without wearing the cyberglove/grasp haptic feedback system. Ten healthy subjects (8 women, 62.1±8.8years) reached and grasped objects requiring 3 different grasp types (can, diameter 65.6mm, cylindrical grasp; screwdriver, diameter 31.6mm, power grasp; pen, diameter 7.5mm, precision grasp) in PE and visually similar virtual objects in VE. Temporal and spatial arm and trunk kinematics were analyzed. Movements were slower and grip apertures were wider when wearing the glove in both the PE and the VE compared to movements made in the PE without the glove. When wearing the glove, subjects used similar reaching trajectories in both environments, preserved the coordination between reaching and grasping and scaled grip aperture to object size for the larger object (cylindrical grasp). However, in VE compared to PE, movements were slower and had longer deceleration times, elbow extension was greater when reaching to the smallest object and apertures were wider for the power and precision grip tasks. Overall, the differences in spatial and temporal kinematics of movements between environments were greater than those due only to wearing the cyberglove/grasp system. Differences in movement kinematics due to the viewing environment were likely due to a lack of prior experience with the virtual environment, an uncertainty of object location and the restricted field-of-view when wearing the head-mounted display. The results can be used to inform the design and disposition of objects within 3D VEs for the study of the control of prehension and for upper limb rehabilitation. Copyright © 2011 Elsevier B.V. All rights reserved.

ANSO study: evaluation in an indoor environment of a mobile assistance robotic grasping arm.

PubMed

Coignard, P; Departe, J P; Remy Neris, O; Baillet, A; Bar, A; Drean, D; Verier, A; Leroux, C; Belletante, P; Le Guiet, J L

2013-12-01

To evaluate the reliability and functional acceptability of the ‘‘Synthetic Autonomous Majordomo’’ (SAM) robotic aid system (a mobile Neobotix base equipped with a semi-automatic vision interface and a Manus robotic arm). An open, multicentre, controlled study. We included 29 tetraplegic patients (23 patients with spinal cord injuries, 3 with locked-in syndrome and 4 with other disorders; mean SD age: 37.83 13.3) and 34 control participants (mean SD age: 32.44 11.2). The reliability of the user interface was evaluated in three multi-step scenarios: selection of the room in which the object to be retrieved was located (in the presence or absence of visual control by the user), selection of the object to be retrieved, the grasping of the object itself and the robot’s return to the user with the object. A questionnaire was used to assess the robot’s user acceptability. The SAM system was stable and reliable: both patients and control participants experienced few failures when completing the various stages of the scenarios. The graphic interface was effective for selecting and grasping the object – even in the absence of visual control. Users and carers were generally satisfied with SAM, although only a quarter of patients said that they would consider using the robot in their activities of daily living. Copyright © 2013 Elsevier Masson SAS. All rights reserved.

The Primordial Inflation Polarization ExploreR Continuous Adiabatic Demagnetization Refrigerator

NASA Astrophysics Data System (ADS)

Pawlyk, Samuel; Ade, Peter; Benford, Dominic; Bennett, Charles; Chuss, David; Datta, Rahul; Dotson, Jessie; Essinger-Hileman, Thomas; Fixsen, Dale; Halpern, Mark; Hilton, Gene; Hinshaw, Gary; Irwin, Kent; Jhabvala, Christine; Kimball, Mark; Kogut, Al; Lowe, Luke; McMahon, Jeff; Miller, Timothy; Mirel, Paul; Moseley, Samuel Harvey; Rodriguez, Samelys; Sharp, Elmer; Shirron, Peter; Staguhn, Johannes G.; Sullivan, Dan; Switzer, Eric; Taraschi, Peter; Tucker, Carole; Wollack, Edward; Walts, Alexander

2018-01-01

The Primordial Inflation Polarization ExploreR (PIPER) uses a Continuous Adiabatic Demagnetization Refrigerator (CADR) to cool its detectors. The CADR consists of four independent stages with adjacent stages connected by gas gap (GG) or superconducting (SC) heat switches. The three warm stages cycle to transfer heat from the 100 mK detector package to the 1.5 K liquid helium bath. The coldest stage maintains a continuous temperature of 100 mK for the detector package with 10 uW cooling power. We describe the mechanical, electrical, and software design of the CADR and present recent results.

Research on a new fiber-optic axial pressure sensor of transformer winding based on fiber Bragg grating

NASA Astrophysics Data System (ADS)

Liu, Yuan; Li, Lianqing; Zhao, Lin; Wang, Jiqiang; Liu, Tongyu

2017-12-01

Based on the principle of the fiber Bragg grating, a new type of fiber-optic pressure sensor for axial force measurement of transformer winding is designed, which is designed with the structure of bending plate beam, the optimization of the packaging process, and material of the sensor. Through the calibration experiment to calibrate the sensor, the field test results of the Taikai transformer factory show that the sensitivity of the sensor is 0.133 pm/kPa and the repeatability error is 2.7% FS. The data of the fiber-optic pressure sensor in different positions maintain consistent and repeatable, which can meet the requirement of the real-time monitoring of the axial force of transformer winding.

High-Performance Power-Semiconductor Packages

NASA Technical Reports Server (NTRS)

Renz, David; Hansen, Irving; Berman, Albert

1989-01-01

A 600-V, 50-A transistor and 1,200-V, 50-A diode in rugged, compact, lightweight packages intended for use in inverter-type power supplies having switching frequencies up to 20 kHz. Packages provide low-inductance connections, low loss, electrical isolation, and long-life hermetic seal. Low inductance achieved by making all electrical connections to each package on same plane. Also reduces high-frequency losses by reducing coupling into inherent shorted turns in packaging material around conductor axes. Stranded internal power conductors aid conduction at high frequencies, where skin effect predominates. Design of packages solves historical problem of separation of electrical interface from thermal interface of high-power semiconductor device.

Limited Fine Motor and Grasping Skills in Six-month-old Infants at High Risk for Autism

PubMed Central

Libertus, Klaus; Sheperd, Kelly A.; Ross, Samuel W.; Landa, Rebecca J.

2014-01-01

Atypical motor behaviors are common among children with Autism Spectrum Disorders (ASD). However, little is known about onset and functional implications of differences in early motor development among infants later diagnosed with ASD. Two prospective experiments were conducted to investigate motor skills among six-month-olds at increased risk (high-risk) for ASD (N1 = 129; N2 = 46). Infants were assessed using the Mullen Scales of Early Learning (MSEL) and during toy play. Across both experiments, high-risk infants exhibited less mature object manipulation in a highly structured (MSEL) context and reduced grasping activity in an unstructured (free play) context than infants with no family history of ASD. Longitudinal assessments suggest that between six and ten months, grasping activity increases in high-risk infants. PMID:24978128

Characterization of a Compact Cryogenic Package Approach to Ion Trap Quantum Comuting

NASA Astrophysics Data System (ADS)

Spivey, Robert; Vrijsen, Geert; Ahn, Byeong-Hyeon; Hudek, Kai; Crain, Stephen; van Rynbach, Andre; Rachel, Noek; Kim, Jungsang

One challenge for the expansion of trapped ion systems to a large scale is the lack of repeatable integration technology to realize compact and stable operating environment. In this work, we present a novel ion trapping environment where conventional ultra-high vacuum (UHV) chambers are replaced with a sealed ceramic package operating in a cryogenic environment. A microfabricated surface ion trap mounted on a 100-pin ceramic pin grid array (CPGA) package is placed in a UHV environment. A titanium lid with windows for optical access is then attached to the CPGA via an indium seal which maintains the UHV conditions for the ion trap. The trap package assembly is operated at cryogenic temperatures (5K) in order to freeze out most of the residual background gas. Activated charcoal is used to pump remaining helium and hydrogen molecules. Metallic Yb ablated using a Q-switched Nd:YAG laser at 1,064 nm is used as the atomic source. A compact radio frequency resonant circuit is used to create the RF potential for trapping. A low output impedance amplifier drives a superconducting inductor of value 2 uH in series with the trap capacitance in order to produce 200V at 26 MHz with low heating at 5K. We present the experimental progress towards trapping ions in this compact cryogenic setup.

Analysis of Structures with Rotating, Flexible Substructures Applied to Rotorcraft Aeroelasticity in GRASP (General Rotorcraft Aeromechanical Stability Program),

DTIC Science & Technology

1987-01-01

two nodes behave identically. In GRASP, these constraints are entirely invisible from the user’s point of view. GRASP (Recall that the Levi - Civita ...virtual rotation GRASP is the first program implementing a new methodWl( = Levi -Ciudta symbol op for dynamic analysis of structures, parts of which may...natural coordinatization of sis for this methodology, which incorporates body flexibility components. with the large discrete motions previously

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

PubMed Central

Nogami, Hirofumi; Higurashi, Eiji; Sawada, Renshi

2018-01-01

The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping. PMID:29360799

Correlations between grasp-reflex strengths and serum thyroid-hormone levels depending upon sex and familial sinistrality in human neonates: importance of genetically predetermined cerebral organization.

PubMed

Tan, U

1994-03-01

Relations of grasp-reflex strengths to serum free-thyroid hormone levels were studied in human neonates. In right-dominant (RH) males and females without familial sinistrality (-FS), grasp-reflex strengths from right (R) and left (L) inversely correlated with serum triiodothyronine (T3). In RH, +FS males, grasp-reflex strengths from R and L hands directly correlated with T3 (no correlations in RH, +FS females). There was no significant correlation between grasp reflex and T3 in non-right-handed (NRH), -FS neonates. In NRH +FS neonates, there was a significant negative linear correlation between grasp reflex from left and T3 only in NRH, +FS males. The following correlations were found between grasp reflex and thyroxine (T4): direct relation in RH, +FS males and females; inverse relation in NRH, -FS females only for the right hand; inverse correlations in NRH, +FS females. The R-L grasp reflex directly correlated with T3 in RH, -FS males, and inversely correlated with T3 in RH, -FS females (no significant correlations in others). These results indicated that thyroid hormones may influence cerebral maturation and lateralization differentially according to genetically predetermined cerebral organization. The generalizations of the hormonal effects on, at least, cerebral functioning would be wrong, if the genetically predetermined main features of the brain are neglected.

Attention and reach-to-grasp movements in Parkinson's disease.

PubMed

Lu, Cathy; Bharmal, Aamir; Kiss, Zelma H; Suchowersky, Oksana; Haffenden, Angela M

2010-08-01

The role of attention in grasping movements directed at common objects has not been examined in Parkinson's disease (PD), though these movements are critical to activities of daily living. Our primary objective was to determine whether patients with PD demonstrate automaticity in grasping movements directed toward common objects. Automaticity is assumed when tasks can be performed with little or no interference from concurrent tasks. Grasping performance in three patient groups (newly diagnosed, moderate, and advanced/surgically treated PD) on and off of their medication or deep brain stimulation was compared to performance in an age-matched control group. Automaticity was demonstrated by the absence of a decrement in grasping performance when attention was consumed by a concurrent spatial-visualization task. Only the control group and newly diagnosed PD group demonstrated automaticity in their grasping movements. The moderate and advanced PD groups did not demonstrate automaticity. Furthermore, the well-known effects of pharmacotherapy and surgical intervention on movement speed and muscle activation patterns did not appear to reduce the impact of attention-demanding tasks on grasping movements in those with moderate to advanced PD. By the moderate stage of PD, grasping is an attention-demanding process; this change is not ameliorated by dopaminergic or surgical treatments. These findings have important implications for activities of daily living, as devoting attention to the simplest of daily tasks would interfere with complex activities and potentially exacerbate fatigue.

The functional subdivision of the visual brain: Is there a real illusion effect on action? A multi-lab replication study.

PubMed

Kopiske, Karl K; Bruno, Nicola; Hesse, Constanze; Schenk, Thomas; Franz, Volker H

2016-06-01

It has often been suggested that visual illusions affect perception but not actions such as grasping, as predicted by the "two-visual-systems" hypothesis of Milner and Goodale (1995, The Visual Brain in Action, Oxford University press). However, at least for the Ebbinghaus illusion, relevant studies seem to reveal a consistent illusion effect on grasping (Franz & Gegenfurtner, 2008. Grasping visual illusions: consistent data and no dissociation. Cognitive Neuropsychology). Two interpretations are possible: either grasping is not immune to illusions (arguing against dissociable processing mechanisms for vision-for-perception and vision-for-action), or some other factors modulate grasping in ways that mimic a vision-for perception effect in actions. It has been suggested that one such factor may be obstacle avoidance (Haffenden Schiff & Goodale, 2001. The dissociation between perception and action in the Ebbinghaus illusion: nonillusory effects of pictorial cues on grasp. Current Biology, 11, 177-181). In four different labs (total N = 144), we conducted an exact replication of previous studies suggesting obstacle avoidance mechanisms, implementing conditions that tested grasping as well as multiple perceptual tasks. This replication was supplemented by additional conditions to obtain more conclusive results. Our results confirm that grasping is affected by the Ebbinghaus illusion and demonstrate that this effect cannot be explained by obstacle avoidance. Copyright © 2016 Elsevier Ltd. All rights reserved.

Similar Cerebral Motor Plans for Real and Virtual Actions

PubMed Central

Bozzacchi, Chiara; Giusti, Maria Assunta; Pitzalis, Sabrina; Spinelli, Donatella; Di Russo, Francesco

2012-01-01

A simple movement, such as pressing a button, can acquire different meanings by producing different consequences, such as starting an elevator or switching a TV channel. We evaluated whether the brain activity preceding a simple action is modulated by the expected consequences of the action itself. To further this aim, the motor-related cortical potentials were compared during two key-press actions that were identical from the kinematics point of view but different in both meaning and consequences. In one case (virtual grasp), the key-press started a video clip showing a hand moving toward a cup and grasping it; in the other case, the key-press did not produce any consequence (key-press). A third condition (real grasp) was also compared, in which subjects actually grasped the cup, producing the same action presented in the video clip. Data were collected from fifteen subjects. The results showed that motor preparation for virtual grasp (starting 3 s before the movement onset) was different from that of the key-press and similar to the real grasp preparation–as if subjects had to grasp the cup in person. In particular, both virtual and real grasp presented a posterior parietal negativity preceding activity in motor and pre-motor areas. In summary, this finding supports the hypothesis that motor preparation is affected by the meaning of the action, even when the action is only virtual. PMID:23112847

Steady-state low thermal resistance characterization apparatus: The bulk thermal tester

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

Burg, Brian R.; Kolly, Manuel; Blasakis, Nicolas

The reliability of microelectronic devices is largely dependent on electronic packaging, which includes heat removal. The appropriate packaging design therefore necessitates precise knowledge of the relevant material properties, including thermal resistance and thermal conductivity. Thin materials and high conductivity layers make their thermal characterization challenging. A steady state measurement technique is presented and evaluated with the purpose to characterize samples with a thermal resistance below 100 mm{sup 2} K/W. It is based on the heat flow meter bar approach made up by two copper blocks and relies exclusively on temperature measurements from thermocouples. The importance of thermocouple calibration is emphasizedmore » in order to obtain accurate temperature readings. An in depth error analysis, based on Gaussian error propagation, is carried out. An error sensitivity analysis highlights the importance of the precise knowledge of the thermal interface materials required for the measurements. Reference measurements on Mo samples reveal a measurement uncertainty in the range of 5% and most accurate measurements are obtained at high heat fluxes. Measurement techniques for homogeneous bulk samples, layered materials, and protruding cavity samples are discussed. Ultimately, a comprehensive overview of a steady state thermal characterization technique is provided, evaluating the accuracy of sample measurements with thermal resistances well below state of the art setups. Accurate characterization of materials used in heat removal applications, such as electronic packaging, will enable more efficient designs and ultimately contribute to energy savings.« less

NORTICA—a new code for cyclotron analysis

NASA Astrophysics Data System (ADS)

Gorelov, D.; Johnson, D.; Marti, F.

2001-12-01

The new package NORTICA (Numerical ORbit Tracking In Cyclotrons with Analysis) of computer codes for beam dynamics simulations is under development at NSCL. The package was started as a replacement for the code MONSTER [1] developed in the laboratory in the past. The new codes are capable of beam dynamics simulations in both CCF (Coupled Cyclotron Facility) accelerators, the K500 and K1200 superconducting cyclotrons. The general purpose of this package is assisting in setting and tuning the cyclotrons taking into account the main field and extraction channel imperfections. The computer platform for the package is Alpha Station with UNIX operating system and X-Windows graphic interface. A multiple programming language approach was used in order to combine the reliability of the numerical algorithms developed over the long period of time in the laboratory and the friendliness of modern style user interface. This paper describes the capability and features of the codes in the present state.

Design and implementation of a micromechanical silicon resonant accelerometer.

PubMed

Huang, Libin; Yang, Hui; Gao, Yang; Zhao, Liye; Liang, Jinxing

2013-11-19

The micromechanical silicon resonant accelerometer has attracted considerable attention in the research and development of high-precision MEMS accelerometers because of its output of quasi-digital signals, high sensitivity, high resolution, wide dynamic range, anti-interference capacity and good stability. Because of the mismatching thermal expansion coefficients of silicon and glass, the micromechanical silicon resonant accelerometer based on the Silicon on Glass (SOG) technique is deeply affected by the temperature during the fabrication, packaging and use processes. The thermal stress caused by temperature changes directly affects the frequency output of the accelerometer. Based on the working principle of the micromechanical resonant accelerometer, a special accelerometer structure that reduces the temperature influence on the accelerometer is designed. The accelerometer can greatly reduce the thermal stress caused by high temperatures in the process of fabrication and packaging. Currently, the closed-loop drive circuit is devised based on a phase-locked loop. The unloaded resonant frequencies of the prototype of the micromechanical silicon resonant accelerometer are approximately 31.4 kHz and 31.5 kHz. The scale factor is 66.24003 Hz/g. The scale factor stability is 14.886 ppm, the scale factor repeatability is 23 ppm, the bias stability is 23 μg, the bias repeatability is 170 μg, and the bias temperature coefficient is 0.0734 Hz/°C.

Hand Grasping Synergies As Biometrics

PubMed Central

Patel, Vrajeshri; Thukral, Poojita; Burns, Martin K.; Florescu, Ionut; Chandramouli, Rajarathnam; Vinjamuri, Ramana

2017-01-01

Recently, the need for more secure identity verification systems has driven researchers to explore other sources of biometrics. This includes iris patterns, palm print, hand geometry, facial recognition, and movement patterns (hand motion, gait, and eye movements). Identity verification systems may benefit from the complexity of human movement that integrates multiple levels of control (neural, muscular, and kinematic). Using principal component analysis, we extracted spatiotemporal hand synergies (movement synergies) from an object grasping dataset to explore their use as a potential biometric. These movement synergies are in the form of joint angular velocity profiles of 10 joints. We explored the effect of joint type, digit, number of objects, and grasp type. In its best configuration, movement synergies achieved an equal error rate of 8.19%. While movement synergies can be integrated into an identity verification system with motion capture ability, we also explored a camera-ready version of hand synergies—postural synergies. In this proof of concept system, postural synergies performed well, but only when specific postures were chosen. Based on these results, hand synergies show promise as a potential biometric that can be combined with other hand-based biometrics for improved security. PMID:28512630

Emergent coordination underlying learning to reach to grasp with a brain-machine interface.

PubMed

Vaidya, Mukta; Balasubramanian, Karthikeyan; Southerland, Joshua; Badreldin, Islam; Eleryan, Ahmed; Shattuck, Kelsey; Gururangan, Suchin; Slutzky, Marc; Osborne, Leslie; Fagg, Andrew; Oweiss, Karim; Hatsopoulos, Nicholas G

2018-04-01

The development of coordinated reach-to-grasp movement has been well studied in infants and children. However, the role of motor cortex during this development is unclear because it is difficult to study in humans. We took the approach of using a brain-machine interface (BMI) paradigm in rhesus macaques with prior therapeutic amputations to examine the emergence of novel, coordinated reach to grasp. Previous research has shown that after amputation, the cortical area previously involved in the control of the lost limb undergoes reorganization, but prior BMI work has largely relied on finding neurons that already encode specific movement-related information. In this study, we taught macaques to cortically control a robotic arm and hand through operant conditioning, using neurons that were not explicitly reach or grasp related. Over the course of training, stereotypical patterns emerged and stabilized in the cross-covariance between the reaching and grasping velocity profiles, between pairs of neurons involved in controlling reach and grasp, and to a comparable, but lesser, extent between other stable neurons in the network. In fact, we found evidence of this structured coordination between pairs composed of all combinations of neurons decoding reach or grasp and other stable neurons in the network. The degree of and participation in coordination was highly correlated across all pair types. Our approach provides a unique model for studying the development of novel, coordinated reach-to-grasp movement at the behavioral and cortical levels. NEW & NOTEWORTHY Given that motor cortex undergoes reorganization after amputation, our work focuses on training nonhuman primates with chronic amputations to use neurons that are not reach or grasp related to control a robotic arm to reach to grasp through the use of operant conditioning, mimicking early development. We studied the development of a novel, coordinated behavior at the behavioral and cortical level, and the neural plasticity in M1 associated with learning to use a brain-machine interface.

Mechanism of Intermolecular Electron Transfer in Bionanostructures

NASA Astrophysics Data System (ADS)

Gruodis, A.; Galikova, N.; Šarka, K.; Saulė, R.; Batiuškaitė, D.; Saulis, G.

Hepatocellular carcinoma (HCC) is one of the most common malignant tumors worldwide. Most patients are inoperable and hepatoma cells are resistant to conventional chemotherapies. Thus, the development of novel therapies for HCC treatment is of paramount importance. Amongst different alimentary factors, vitamin C and vitamin K3 In the present work, it has been shown that the treatment of mouse hepatoma MH-22A cells by vitamin C and vitamin K3 at the ratio of 100:1 greatly enhanced their cytotoxicity. When cells were subjected to vitamin C at 200 μM or to vitamin K3 at 2 μM separately, their viability reduced by only about 10%. However, when vitamins C and K3 were combined at the same concentrations, they killed more than 90% of cells. To elucidate the mechanism of the synergistic cytotoxicity of the C&K3 mixture, theoretical quantum-chemical analysis of the dynamics of intermolecular electron transfer (IET) processes within the complexes containing C (five forms) and K3 (one form) has been carried out. Optimization of the ground state complex geometry has been provided by means of GAUSSIAN03 package. Simulation of the IET has been carried out using NUVOLA package, in the framework of molecular orbitals (MO). The rate of IET has been calculated using Fermi Golden rule. The results of simulations allow us to create the preliminary model of the reaction pathway.

Packaging Technologies for 500 C SiC Electronics and Sensors: Challenges in Material Science and Technology

NASA Technical Reports Server (NTRS)

Chen, Liang-Yu; Neudeck, Philip G.; Behelm, Glenn M.; Spry, David J.; Meredith, Roger D.; Hunter, Gary W.

2015-01-01

This paper presents ceramic substrates and thick-film metallization based packaging technologies in development for 500C silicon carbide (SiC) electronics and sensors. Prototype high temperature ceramic chip-level packages and printed circuit boards (PCBs) based on ceramic substrates of aluminum oxide (Al2O3) and aluminum nitride (AlN) have been designed and fabricated. These ceramic substrate-based chip-level packages with gold (Au) thick-film metallization have been electrically characterized at temperatures up to 550C. The 96 alumina packaging system composed of chip-level packages and PCBs has been successfully tested with high temperature SiC discrete transistor devices at 500C for over 10,000 hours. In addition to tests in a laboratory environment, a SiC junction field-effect-transistor (JFET) with a packaging system composed of a 96 alumina chip-level package and an alumina printed circuit board was tested on low earth orbit for eighteen months via a NASA International Space Station experiment. In addition to packaging systems for electronics, a spark-plug type sensor package based on this high temperature interconnection system for high temperature SiC capacitive pressure sensors was also developed and tested. In order to further significantly improve the performance of packaging system for higher packaging density, higher operation frequency, power rating, and even higher temperatures, some fundamental material challenges must be addressed. This presentation will discuss previous development and some of the challenges in material science (technology) to improve high temperature dielectrics for packaging applications.

Predicting Student Grade Based on Free-Style Comments Using Word2Vec and ANN by Considering Prediction Results Obtained in Consecutive Lessons

ERIC Educational Resources Information Center

Luo, Jingyi; Sorour, Shaymaa E.; Goda, Kazumasa; Mine, Tsunenori

2015-01-01

Continuously tracking students during a whole semester plays a vital role to enable a teacher to grasp their learning situation, attitude and motivation. It also helps to give correct assessment and useful feedback to them. To this end, we ask students to write their comments just after each lesson, because student comments reflect their learning…

Design and fabrication of robotic gripper for grasping in minimizing contact force

NASA Astrophysics Data System (ADS)

Heidari, Hamidreza; Pouria, Milad Jafary; Sharifi, Shahriar; Karami, Mahmoudreza

2018-03-01

This paper presents a new method to improve the kinematics of robot gripper for grasping in unstructured environments, such as space operations. The robot gripper is inspired from the human hand and kept the hand design close to the structure of human fingers to provide successful grasping capabilities. The main goal is to improve kinematic structure of gripper to increase the grasping capability of large objects, decrease the contact forces and makes a successful grasp of various objects in unstructured environments. This research will describe the development of a self-adaptive and reconfigurable robotic hand for space operations through mechanical compliance which is versatile, robust and easy to control. Our model contains two fingers, two-link and three-link, with combining a kinematic model of thumb index. Moreover, some experimental tests are performed to examine the effectiveness of the hand-made in real, unstructured tasks. The results represent that the successful grasp range is improved about 30% and the contact forces is reduced approximately 10% for a wide range of target object size. According to the obtained results, the proposed approach provides an accommodative kinematic model which makes the better grasping capability by fingers geometries for a robot gripper.

Laser-machined piezoelectric cantilevers for mechanical energy harvesting.

PubMed

Kim, HyunUk; Bedekar, Vishwas; Islam, Rashed Adnan; Lee, Woo-Ho; Leo, Don; Priya, Shashank

2008-09-01

In this study, we report results on a piezoelectric- material-based mechanical energy-harvesting device that was fabricated by combining laser machining with microelectronics packaging technology. It was found that the laser-machining process did not have significant effect on the electrical properties of piezoelectric material. The fabricated device was tested in the low-frequency regime of 50 to 1000 Hz at constant force of 8 g (where g = 9.8 m/s(2)). The device was found to generate continuous power of 1.13 microW at 870 Hz across a 288.5 kOmega load with a power density of 301.3 microW/cm(3).

Numerical simulation of vessel dynamics in manoeuvrability and seakeeping problems

NASA Astrophysics Data System (ADS)

Blishchik, A. E.; Taranov, A. E.

2018-05-01

This paper deals with some examples of numerical modelling for ship's dynamics problems and data comparison with corresponding experimental results. It was considered two kinds of simulation: self-propelled turning motion of crude carrier KVLCC2 and changing position of container carrier S 175 due to wave loadings. Mesh generation and calculation were made in STAR-CCM+ package. URANS equations were used as system of equations closed by k-w SST turbulence model. The vessel had several degrees of freedom, which depend on task. Based on the results of this research, the conclusion was made concerning the applicability of used numerical methods.

Thin-film decoupling capacitors for multi-chip modules

NASA Astrophysics Data System (ADS)

Dimos, D.; Lockwood, S. J.; Schwartz, R. W.; Rogers, M. S.

Thin-film decoupling capacitors based on ferroelectric lead lanthanum zirconate titanate (PLZT) films are being developed for use in advanced packages, such as multi-chip modules. These thin-film decoupling capacitors are intended to replace multi-layer ceramic capacitors for certain applications, since they can be more fully integrated into the packaging architecture. The increased integration that can be achieved should lead to decreased package volume and improved high-speed performance, due to a decrease in interconnect inductance. PLZT films are fabricated by spin coating using metal carboxylate/alkoxide solutions. These films exhibit very high dielectric constants ((var epsilon) greater than or equal to 900), low dielectric losses (tan(delta) = 0.01), excellent insulation resistances (rho greater than 10(exp 13) (Omega)-cm at 125 C), and good breakdown field strengths (E(sub B) = 900 kV/cm). For integrated circuit applications, the PLZT dielectric is less than 1 micron thick, which results in a large capacitance/area (8-9 nF/sq mm). The thin-film geometry and processing conditions also make these capacitors suitable for direct incorporation onto integrated circuits and for packages that require embedded components.

Development and assessment of a hand assist device: GRIPIT.

PubMed

Kim, Byungchul; In, Hyunki; Lee, Dae-Young; Cho, Kyu-Jin

2017-02-21

Although various hand assist devices have been commercialized for people with paralysis, they are somewhat limited in terms of tool fixation and device attachment method. Hand exoskeleton robots allow users to grasp a wider range of tools but are heavy, complicated, and bulky owing to the presence of numerous actuators and controllers. The GRIPIT hand assist device overcomes the limitations of both conventional devices and exoskeleton robots by providing improved tool fixation and device attachment in a lightweight and compact device. GRIPIT has been designed to assist tripod grasp for people with spinal cord injury because this grasp posture is frequently used in school and offices for such activities as writing and grasping small objects. The main development objective of GRIPIT is to assist users to grasp tools with their own hand using a lightweight, compact assistive device that is manually operated via a single wire. GRIPIT consists of only a glove, a wire, and a small structure that maintains tendon tension to permit a stable grasp. The tendon routing points are designed to apply force to the thumb, index finger, and middle finger to form a tripod grasp. A tension-maintenance structure sustains the grasp posture with appropriate tension. Following device development, four people with spinal cord injury were recruited to verify the writing performance of GRIPIT compared to the performance of a conventional penholder and handwriting. Writing was chosen as the assessment task because it requires a tripod grasp, which is one of the main performance objectives of GRIPIT. New assessment, which includes six different writing tasks, was devised to measure writing ability from various viewpoints including both qualitative and quantitative methods, while most conventional assessments include only qualitative methods or simple time measuring assessments. Appearance, portability, difficulty of wearing, difficulty of grasping the subject, writing sensation, fatigability, and legibility were measured to assess qualitative performance while writing various words and sentences. Results showed that GRIPIT is relatively complicated to wear and use compared to a conventional assist device but has advantages for writing sensation, fatigability, and legibility because it affords sufficient grasp force during writing. Two quantitative performance factors were assessed, accuracy of writing and solidity of writing. To assess accuracy of writing, we asked subjects to draw various figures under given conditions. To assess solidity of writing, pen tip force and the angle variation of the pen were measured. Quantitative evaluation results showed that GRIPIT helps users to write accurately without pen shakes even high force is applied on the pen. Qualitative and quantitative results were better when subjects used GRIPIT than when they used the conventional penholder, mainly because GRIPIT allowed them to exert a higher grasp force. Grasp force is important because disabled people cannot control their fingers and thus need to move their entire arm to write, while non-disabled people only need to move their fingers to write. The tension-maintenance structure developed for GRIPIT provides appropriate grasp force and moment balance on the user's hand, but the other writing method only fixes the pen using friction force or requires the user's arm to generate a grasp force.

Clearing a Pile of Unknown Objects using Interactive Perception

DTIC Science & Technology

2012-11-01

blocks and the shampoo . The robot now decides to grasp the bottle of shampoo . Next, the tissue box and the chunk of wood are pushed and grasped. The...20 seconds. Poking an object requires 12 (a) Initial pile (b) Poking macaroni box (c) After poking (d) Grasping shampoo (e) After grasping (f) Pooking...objects: a tissue box, a chunk of wood, a bottle of shampoo , a box of macaroni, and toy blocks. The algorithm switches between pushing to verify

Long-Term Stability of NIST Chip-Scale Atomic Clock Physics Packages

DTIC Science & Technology

2007-01-01

vacuum packaging), as has been demonstrated by Lutwak et al. [3]. Nevertheless, we tried to investigate the causes for the frequency shifts of...stability,” Optics Express, 13, 1249-1253. [3] R. Lutwak , J. Deng, W. Riley, M. Varghese, J. Leblanc, G. Tepolt, M. Mescher, D. K. Serkland, K. M. Geib...the 1st Annual Multiconference on Electronics and Photonics, 7-11 November 2006, Guanajuato, Mexico, in press. [6] R. Lutwak , P. Vlitas, M

Design considerations for FET-gated power transistors

NASA Technical Reports Server (NTRS)

Chen, D. Y.; Chin, S. A.

1983-01-01

An FET-bipolar combinational power transistor configuration (tested up to 300 V, 20 A at 100 kHz) is described. The critical parameters for integrating the chips in hybrid form are examined, and an effort to optimize the overall characteristics of the configuration is discussed. Chip considerations are examined with respect to the voltage and current rating of individual chips, the FET surge capability, the choice of triple diffused transistor or epitaxial transistor for the bipolar element, the current tailing effect, and the implementation of the bipolar transistor and an FET as single chip or separate chips. Package considerations are discussed with respect to package material and geometry, surge current capability of bipolar base terminal bonding, and power losses distribution.

Decoding natural reach-and-grasp actions from human EEG

NASA Astrophysics Data System (ADS)

Schwarz, Andreas; Ofner, Patrick; Pereira, Joana; Ioana Sburlea, Andreea; Müller-Putz, Gernot R.

2018-02-01

Objective. Despite the high number of degrees of freedom of the human hand, most actions of daily life can be executed incorporating only palmar, pincer and lateral grasp. In this study we attempt to discriminate these three different executed reach-and-grasp actions utilizing their EEG neural correlates. Approach. In a cue-guided experiment, 15 healthy individuals were asked to perform these actions using daily life objects. We recorded 72 trials for each reach-and-grasp condition and from a no-movement condition. Main results. Using low-frequency time domain features from 0.3 to 3 Hz, we achieved binary classification accuracies of 72.4%, STD  ±  5.8% between grasp types, for grasps versus no-movement condition peak performances of 93.5%, STD  ±  4.6% could be reached. In an offline multiclass classification scenario which incorporated not only all reach-and-grasp actions but also the no-movement condition, the highest performance could be reached using a window of 1000 ms for feature extraction. Classification performance peaked at 65.9%, STD  ±  8.1%. Underlying neural correlates of the reach-and-grasp actions, investigated over the primary motor cortex, showed significant differences starting from approximately 800 ms to 1200 ms after the movement onset which is also the same time frame where classification performance reached its maximum. Significance. We could show that it is possible to discriminate three executed reach-and-grasp actions prominent in people’s everyday use from non-invasive EEG. Underlying neural correlates showed significant differences between all tested conditions. These findings will eventually contribute to our attempt of controlling a neuroprosthesis in a natural and intuitive way, which could ultimately benefit motor impaired end users in their daily life actions.

The contributions of vision and haptics to reaching and grasping

PubMed Central

Stone, Kayla D.; Gonzalez, Claudia L. R.

2015-01-01

This review aims to provide a comprehensive outlook on the sensory (visual and haptic) contributions to reaching and grasping. The focus is on studies in developing children, normal, and neuropsychological populations, and in sensory-deprived individuals. Studies have suggested a right-hand/left-hemisphere specialization for visually guided grasping and a left-hand/right-hemisphere specialization for haptically guided object recognition. This poses the interesting possibility that when vision is not available and grasping relies heavily on the haptic system, there is an advantage to use the left hand. We review the evidence for this possibility and dissect the unique contributions of the visual and haptic systems to grasping. We ultimately discuss how the integration of these two sensory modalities shape hand preference. PMID:26441777

Grasping isoluminant stimuli.

PubMed

Kleinholdermann, Urs; Franz, Volker H; Gegenfurtner, Karl R; Stockmeier, Kerstin

2009-07-01

We used a virtual reality setup to let participants grasp discs, which differed in luminance, chromaticity and size. Current theories on perception and action propose a division of labor in the brain into a color proficient perception pathway and a less color-capable action pathway. In this study, we addressed the question whether isoluminant stimuli, which provide only a chromatic but no luminance contrast for action planning, are harder to grasp than stimuli providing luminance contrast or both kinds of contrast. Although we found that grasps of isoluminant stimuli had a slightly steeper slope relating the maximum grip aperture to disc size, all other measures of grip quality were unaffected. Overall, our results do not support the view that isoluminance of stimulus and background impedes the planning of a grasping movement.

2.3-MW Medium-Voltage, Three-Level Wind Energy Inverter Applying a Unique Bus Structure and 4.5-kV Si/SiC Hybrid Isolated Power Modules: Preprint

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

Erdman, W.; Keller, J.; Grider, D.

A high-efficiency, 2.3-MW, medium-voltage, three-level inverter utilizing 4.5-kV Si/SiC (silicon carbide) hybrid modules for wind energy applications is discussed. The inverter addresses recent trends in siting the inverter within the base of multimegawatt turbine towers. A simplified split, three-layer laminated bus structure that maintains low parasitic inductances is introduced along with a low-voltage, high-current test method for determining these inductances. Feed-thru bushings, edge fill methods, and other design features of the laminated bus structure provide voltage isolation that is consistent with the 10.4-kV module isolation levels. Inverter efficiency improvement is a result of the (essential) elimination of the reverse recoverymore » charge present in 4.5-kV Si PIN diodes, which can produce a significant reduction in diode turn-off losses as well as insulated-gate bipolar transistor (IGBT) turn-on losses. The hybrid modules are supplied in industry-standard 140 mm x 130 mm and 190 mm x 130 mm packages to demonstrate direct module substitution into existing inverter designs. A focus on laminated bus/capacitor-bank/module subassembly level switching performance is presented.« less

Low thrust vehicle concept study

NASA Technical Reports Server (NTRS)

1980-01-01

Low thrust chemical (hydrogen-oxygen) propulsion systems configured specifically for low acceleration orbit transfer of large space systems were defined. Results indicate that it is cost effective and least risk to combine the OTV and stowed spacecraft in a single 65 K Shuttle. The study shows that the engine for an optimized low thrust stage (1) does not require very low thrust; (2) 1-3 K thrust range appears optimum; (3) thrust transient is not a concern; (4) throttling probably not worthwhile; and (5) multiple thrusters complicate OTV/LSS design and aggravate LSS loads. Regarding the optimum vehicle for low acceleration missions, the single shuttle launch (LSS and expendable OTV) is most cost effective and least risky. Multiple shuttles increase diameter 20%. The space based radar structure short OTV (which maximizes space available for packaged LSS) favors use of torus tank. Propellant tank pressures/vapor residuals are little affected by engine thrust level or number of burns.

Grip type and task goal modify reach-to-grasp performance in post-stroke hemiparesis.

PubMed

Schaefer, Sydney Y; DeJong, Stacey L; Cherry, Kendra M; Lang, Catherine E

2012-04-01

This study investigated whether grip type and/or task goal influenced reaching and grasping performance in poststroke hemiparesis. Sixteen adults with poststroke hemiparesis and twelve healthy adults reached to and grasped a cylindrical object using one of two grip types (3-finger or palmar) to achieve one of two task goals (hold or lift). Performance of the stroke group was characteristic of hemiparetic limb movement during reach-to-grasp, with more curved handpaths and slower velocities compared with the control group. These effects were present regardless of grip type or task goal. Other measures of reaching (reach time and reach velocity at object contact) and grasping (peak thumb-index finger aperture during the reach and peak grip force during the grasp) were differentially affected by grip type, task goal, or both, despite the presence of hemiparesis, providing new evidence that changes in motor patterns after stroke may occur to compensate for stroke-related motor impairment.